Assistance device and assistance method

Abstract

Provided is an assistance device that, when deliveries are made by an autonomous mobile delivery robot device, reduces the need for a business operator to go to the position of the delivery robot device to perform work when an abnormality occurs that can be resolved simply by means of work to change the surrounding environment. When a first detection result obtained by detecting the occurrence of a problem or a sign that a problem may occur in an autonomous mobile delivery robot device (1) indicates that the problem has been detected, the assistance device according to the present disclosure identifies, on the basis of a second detection result obtained by detecting peripheral terminal devices, which are portable terminal devices (4) present in the vicinity of the delivery robot device (1), a portable terminal device (4) possessed by an assistance candidate, who is a pedestrian to be requested to provide problem resolution assistance for the delivery robot device (1), and transmits request information for requesting the problem resolution assistance to the identified portable terminal device (4).

Description

Support device and support method

[0001] The present disclosure relates to a support device and a support method.

[0002] Patent Document 1 describes an unmanned delivery system that performs delivery work that was previously done manually using an autonomous mobile robot and a server system that operates in association with it. The above unmanned delivery system includes a user terminal for a user to issue a delivery request, a delivery item management means for determining the feasibility of delivery based on the delivery request, and a delivery control means for generating, recording, and issuing a delivery order. Further, the above unmanned delivery system includes an autonomous mobile robot that stores user-specified luggage, takes out the specified luggage when the delivery order and the user authentication key match, and issues a delivery completion notice, and a remote monitoring means for determining the quality of the autonomous mobile robot based on its machine information.

[0003] Japanese Unexamined Patent Application Publication No. 2018-58656

[0004] However, in the unmanned delivery system described in Patent Document 1, it is possible to detect an abnormality by determining the quality of the mechanical state of the autonomous mobile robot based on information about mechanical components (such as power units) by the diagnostic function of the autonomous mobile robot. However, it is not possible to determine whether the abnormality is caused by an internal factor of the autonomous mobile robot or by the surrounding environment. Abnormalities caused by the surrounding environment include snow accumulation, stopping at a step, stopping due to inability to press a push-button traffic signal, and stopping due to being involved in an accident. Therefore, in the unmanned delivery system described in Patent Document 1, even in a situation where the abnormality can be resolved only by changing the surrounding environment, such as manually moving the autonomous mobile robot, pressing the button of the traffic signal, or removing snow from the road, the operator needs to go to the location of the autonomous mobile robot to check. Here, the operator can refer to a delivery operator, a system maintenance operator, etc.

[0005] Thus, when performing delivery using an autonomous mobile type delivery robot device such as an automatic mobile robot, an abnormality that can be resolved only by changing the surrounding environment may occur, but the operator needs to go to the location of the delivery robot device to perform the work.

[0006] Therefore, when using autonomous mobile delivery robots for deliveries, there is a need to develop technologies that reduce the need for businesses to travel to the location of the delivery robots to perform work in the event of an anomaly that can be resolved simply by altering the surrounding environment.

[0007] The support device according to this disclosure includes, when a first detection result that detects the occurrence or precursor of a problem with an autonomous mobile delivery robot device indicates that a problem has been detected, an identification unit that identifies a mobile terminal device, which is a peripheral terminal device, located in the vicinity of the delivery robot device, based on a second detection result that detects a peripheral terminal device, which is a mobile terminal device located in the vicinity of the delivery robot device, and a request information transmission unit that transmits request information to the mobile terminal device held by the support candidate to request assistance in resolving the problem.

[0008] The support method relating to this disclosure is as follows: If the support device detects a first detection result indicating the occurrence or precursor of a problem with an autonomous mobile delivery robot device, and the first detection result indicates that the problem has been detected, the support device identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the request for assistance in resolving the problem with the delivery robot device, based on a second detection result indicating that a peripheral terminal device, which is a mobile terminal device, is located in the vicinity of the delivery robot device, and transmits request information to the mobile terminal device held by the support candidate requesting assistance in resolving the problem.

[0009] According to this disclosure, when an anomaly occurs in an autonomous mobile delivery robot that can be resolved simply by altering the surrounding environment, it becomes possible to reduce the need for the business operator to go to the location of the delivery robot and perform the necessary work.

[0010] This is a block diagram showing an example configuration of a support request system according to Embodiment 1. This is a schematic front view showing an example of a delivery robot device in the support request system of Figure 1. This is a schematic diagram showing an example of the surrounding environment of a delivery robot device to explain an example of the process of identifying a mobile terminal device to which request information will be sent in the support request system of Figure 1. This is a schematic diagram showing another example of the surrounding environment of a delivery robot device to explain an example of the process of identifying a mobile terminal device to which request information will be sent in the support request system of Figure 1. This is a flowchart illustrating an example of the support request process performed in the support request system of Figure 1. This is a block diagram showing an example configuration of a support request system according to Embodiment 2. This is a flowchart illustrating an example of the support request process performed in the support request system of Figure 1 as an example of a support request system according to Embodiment 3.

[0011] The following describes embodiments of the invention, but the invention claimed is not limited to these embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential for solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate.

[0012] <Embodiment 1> (Outline Configuration Example of the Support Request System) An example configuration of the support request system according to Embodiment 1 will be described using Figures 1 and 2. Figure 1 is a block diagram showing an example configuration of the support request system according to Embodiment 1. Figure 2 is a schematic front view showing an example of a delivery robot device in the support request system of Figure 1.

[0013] The support request system according to this embodiment is a system for requesting support for delivery by an autonomous mobile delivery robot device 1, and can be referred to as an automated delivery system or incorporated into an automated delivery system. An autonomous delivery robot device such as the delivery robot device 1 can also be referred to as an automated delivery robot. The delivery robot device 1 can refer to a robot that delivers various packages and goods to, for example, logistics centers or retail stores. The delivery robot device 1 can refer to a robot that meets certain size and structure requirements to be able to travel on public roads as a "remotely operated small vehicle" under the Road Traffic Act.

[0014] In this embodiment, troubles refer to abnormalities caused by the surrounding environment, such as snow accumulation, stopping due to uneven terrain, stopping due to inability to press a push-button traffic signal, or stopping due to being caught up in a sudden accident. These are not limited to predetermined troubles that can be resolved simply by changing the surrounding environment, but may also be included as troubles even if it is not possible to determine whether or not the abnormality is caused by the surrounding environment, as trouble resolution support, such as reporting the current situation, can be provided.

[0015] In this embodiment, support includes at least troubleshooting support for the delivery robot device 1. Troubleshooting support refers to assistance in resolving abnormalities in the delivery robot device 1 caused by the surrounding environment, and can include assistance in resolving problems such as snow accumulation, stopping due to uneven terrain, stopping due to inability to press a push-button traffic signal, and stopping due to being caught up in a sudden accident. Troubleshooting support may also be referred to as troubleshooting support.

[0016] Therefore, those who provide this assistance are basically those who can resolve problems with delivery robot device 1, and since those in cars need to secure a space to park their cars, pedestrians fall into this category. However, those who are running, such as by jogging, can also be considered pedestrians. Pedestrians can also be called passersby. In addition, those who are standing still on a bicycle or have dismounted from a bicycle can also be considered pedestrians. Furthermore, in the above assistance request system, cyclists may also be eligible to provide assistance, but it is preferable to have a configuration that allows for assistance from pedestrians as well.

[0017] The support request system according to this embodiment can be configured to include a delivery robot device 1 and a server device 3, as illustrated in the support request system 100 of Figure 1. Although not shown, the support request system 100 can include multiple delivery robot devices 1, and support requests can be made to any of the delivery robot devices 1. In the following description, the support request system 100 will be described as a system that also includes one or more mobile terminal devices 4. Thus, the system can also be referred to as a support request system that includes not only the delivery robot device 1 and the server device 3 but also the mobile terminal devices 4.

[0018] The delivery robot device 1 is configured to store transported items, i.e., objects to be delivered, and at least a part of its movement is controlled by the server device 3, including specifying the destination, specifying intermediate points and destinations, specifying the route, and remote movement control. In other words, the delivery robot device 1 only needs to be a device that operates autonomously for at least some of its movement control, such as avoiding obstacles.

[0019] The mobile terminal device 4 is a portable information terminal device carried by a user who may be moving around the vicinity of the delivery robot device 1, and can be exemplified by a mobile phone or smartphone. The mobile terminal device 4 can be said to be a computer, or to include a computer.

[0020] Server device 3 is configured to communicate with delivery robot device 1 and also with mobile terminal device 4. While the method of communication is not specified, since delivery robot device 1 and mobile terminal device 4 are mobile, server device 3 will communicate wirelessly with a mobile communication system in either case. Of course, this communication may include wired communication in some parts of the communication path. The following describes individual configuration examples for delivery robot device 1, mobile terminal device 4, and server device 3.

[0021] (Delivery Robot Device 1) The delivery robot device 1 may include a control unit 10, a communication unit 16, a drive unit 17, a GNSS receiver 18, an imaging unit 19, and a display unit 20. GNSS stands for Global Navigation Satellite System. In addition, although not shown, the delivery robot device 1 may also include a storage unit for storing various information and an input unit for turning the power on and off and inputting other operation details. For example, the delivery robot device 1 may be equipped with the control unit 10, the communication unit 16, the GNSS receiver 18, the display unit 20, the storage unit, and the input unit as an information terminal device. This information terminal device can be called a computer, or it can be said to include a computer.

[0022] The control unit 10 controls the entire delivery robot device 1. The control unit 10 may include a drive control unit 12, a location information acquisition unit 13, and a first detection processing unit 14a, which are responsible for the main functions of movement, acquisition of location information, and trouble detection in the delivery robot device 1, respectively. The control unit 10 may also include a second detection processing unit 14b, a communication control unit 11, and a display control unit 15, which are responsible for the main functions of detection of the mobile terminal device 4 in the delivery robot device 1, communication with the server device 3 and the mobile terminal device 4, and display on the display unit 20, respectively.

[0023] The control unit 10 may be implemented by, for example, a processor such as a CPU (Central Processing Unit), working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the delivery robot device 1. The control unit 10 may also be implemented using a programmable integrated circuit, such as an FPGA (field-programmable gate array) or a microcomputer.

[0024] Furthermore, the storage unit (not shown) is a storage device such as an SSD (Solid State Drive) or HDD (Hard Disk Drive) that stores various information used in the delivery robot device 1. This storage unit can store information to be displayed on the display unit 20, information indicating the detection conditions of the second detection processing unit 14b, and location information acquired by the location information acquisition unit 13 from the GNSS receiving unit 18. This storage unit stores and updates information according to the control unit 10.

[0025] The communication unit 16 performs wireless communication with external devices such as the server device 3 and the mobile terminal device 4. The communication unit 16 may be equipped with one or more types of communication interfaces for performing such wireless communication. The communication control unit 11 controls communication with external devices via the communication unit 16.

[0026] Let's take an example of the communication unit 16. For instance, the communication unit 16 is equipped with a first communication interface for connecting to a mobile communication system, which allows it to communicate wirelessly with a server device 3 and a mobile terminal device 4 via that mobile communication system.

[0027] Furthermore, the communication unit 16 may be equipped with a second communication interface that performs wireless communication in accordance with the Wi-Fi (registered trademark; hereinafter the same) standard. This allows the communication unit 16 to perform wireless communication with the server device 3 and the mobile terminal device 4 via its second communication interface and an access point installed nearby. This access point may include a free access point.

[0028] Furthermore, this second communication interface can be an interface capable of NAN communication, that is, Wi-Fi Aware communication, which can be realized by the Wi-Fi Aware function defined by the Wi-Fi Alliance. NAN stands for Neighbor Awareness Networking. Wi-Fi is the name of a wireless LAN (Local Area Network) that uses the IEEE (Institute of Electrical and Electronics Engineers) 802.11 standard or its derivative standards. Wi-Fi Aware communication enables the transmission and reception of information between the delivery robot device 1 and the mobile terminal device 4 located in its vicinity. This transmission and reception of information can be performed without performing NAN pairing.

[0029] Furthermore, the communication unit 16 may be equipped with a third communication interface that performs wireless communication in accordance with the Bluetooth (registered trademark; hereinafter the same) standard or its derivative standards, or wireless communication in accordance with other types of short-range wireless communication standards. This allows the communication unit 16 to perform short-range wireless communication after pairing with the mobile terminal device 4 via its third communication interface.

[0030] The drive unit 17 may include, for example, a plurality of wheels 17a and motors that drive those wheels 17a. The drive unit 17 drives the wheels 17a under the control of the drive control unit 12, thereby enabling the delivery robot device 1 to move.

[0031] The GNSS receiving unit 18 is a receiver for GNSS, receiving location information including latitude and longitude information from GNSS and time information at the time of acquisition, and passing it to the location information acquisition unit 13. As a result, the location information acquisition unit 13 can acquire the location information and time information. The location information acquisition unit 13 passes the acquired location information and time information to the drive control unit 12 for use in drive control, for example, or to the communication control unit 11 to transmit it to the server device 3 via the communication unit 16. Based on this location information and time information, the server device 3 sends a command for drive control back to the delivery robot device 1. The drive control unit 12 can then control the drive unit 17 according to this command.

[0032] Furthermore, the location information acquisition unit 13 can be configured to acquire location information of mobile terminal devices 4 located around the delivery robot device 1 via the communication unit 16. Hereinafter, the location information of the mobile terminal devices 4 will be referred to as the first location information, and the location information of the delivery robot device 1 acquired by the GNSS receiving unit 18 will be referred to as the second location information.

[0033] For example, the mobile terminal device 4 can be configured to include a GNSS receiver, and the location information acquisition unit 13 can acquire the first location information obtained by the GNSS receiver via the communication unit 16. More specifically, for example, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4 in its vicinity via Wi-Fi Aware communication. Of course, if user registration, as described later, has been performed, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4, or even from the mobile terminal device 4 via the server device 3, by means of a mobile communication system.

[0034] Alternatively, Wi-Fi Aware can include distance measurement with peer devices using the IEEE 802.11mc protocol. Therefore, the delivery robot device 1 can measure the distance to at least the mobile terminal device 4 within a communication range as first position information, and can determine whether or not the mobile terminal device 4 is within a predetermined distance from itself. The determination of whether or not it is within a predetermined distance refers to the determination of whether or not the mobile terminal device 4 is located in the vicinity of the delivery robot device 1, that is, whether or not it is a peripheral terminal device.

[0035] Alternatively, the location information acquisition unit 13 may measure the distance and direction of the mobile terminal device 4 located around the delivery robot device 1 via the third communication interface of the communication unit 16. In this case, the location information acquisition unit 13 can calculate the first location information of the mobile terminal device 4 using the measurement results and the second location information obtained from the GNSS receiving unit 18.

[0036] Thus, the location information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires first location information from a detected peripheral terminal device.

[0037] The second detection processing unit 14b detects peripheral terminal devices, which are mobile terminal devices 4, that are located around the delivery robot device 1 via the communication control unit 11 and the communication unit 16. In other words, the second detection processing unit 14b detects peripheral terminal devices, which are mobile terminal devices 4, that are located within a predetermined distance of the delivery robot device 1 via the communication control unit 11 and the communication unit 16. The delivery robot device 1 can determine whether a mobile terminal device 4 is located within a predetermined distance from itself or outside that predetermined distance based on the distance measurement results described above, or based on the difference in position between the acquired first position information and the second position information.

[0038] As illustrated by the second detection processing unit 14b, the communication control unit 11, and the communication unit 16, the delivery robot device 1 may be equipped with a second detection unit for detecting the above-mentioned peripheral terminal devices. The second detection processing unit 14b transmits the detection results of the peripheral terminal devices to the server device 3 via the communication control unit 11 and the communication unit 16.

[0039] Furthermore, regarding the mobile terminal device 4 owned by a user who has registered (as described later), the server device 3 can acquire its first and second location information, and can be configured to determine whether or not it is a mobile terminal device 4 located within a predetermined distance. Therefore, the second detection processing unit 14b may perform detection processing for users who have not registered, while the detection processing unit provided on the server device 3 side may perform detection processing for registered users.

[0040] Let me add some details about the detection process for peripheral terminal devices. The location information acquisition unit 13 can acquire the first location information when a peripheral terminal device, which is the source device for acquisition, is present around the delivery robot device 1. Therefore, the detection process for peripheral terminal devices itself can be performed when the communication unit 16 receives a beacon signal from the communication unit of the peripheral terminal device, and the second detection processing unit 14b detects that it has been received via the communication control unit 11. It should be noted that the second detection processing unit 14b can be included in the location information acquisition unit 13, or the location information acquisition unit 13 can be included in the second detection processing unit 14b.

[0041] Here, the area surrounding the delivery robot device 1 can refer to the range within which its radio waves can reach, and although this range may vary depending on factors such as the surrounding terrain and the presence of buildings, it can refer to a predetermined distance within which the radio waves can reach. Therefore, when the delivery robot device 1 performs detection directly, it can basically detect surrounding terminal devices based on radio waves received by a second or third communication interface other than radio waves transmitted via the mobile communication system.

[0042] Furthermore, the location information acquisition unit 13 may acquire not only the first location information but also route information indicating the planned travel route of the owner of the peripheral terminal device from the peripheral terminal device detected by the second detection processing unit 14b via the communication control unit 11 and the communication unit 16. For convenience, the route information indicating the planned travel route will be referred to as the first route information, and the route information indicating the planned delivery route of the delivery robot device 1 will be referred to as the second route information. The first route information is the route information set in the peripheral terminal device.

[0043] For example, through Wi-Fi Aware communication, the location information acquisition unit 13 can receive the first route information from the peripheral terminal information of the mobile terminal device 4 existing in its vicinity. Of course, if user registration described later has been performed, the location information acquisition unit 13 can receive the first route information from the mobile terminal device 4 or further from the mobile terminal device 4 via the server device 3 through the mobile communication system or the like.

[0044] In this way, the location information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires the first location information and the first route information from the detected peripheral terminal device.

[0045] In addition, the imaging unit 19 can include a camera that images the traveling direction in front of the delivery robot device 1, a camera that images the rear, left, and right of the delivery robot device 1. The imaging unit 19 may include an omnidirectional camera. Further, the imaging unit 19 may include a two-dimensional or three-dimensional optical sensor such as LiDAR (registered trademark; the same shall apply hereinafter). As in these examples, the imaging unit 19 can acquire a surrounding image that images the surroundings of the delivery robot device 1.

[0046] Although not shown, the imaging unit 19 can include an analysis unit that analyzes the captured image, or the control unit 10 can include such an analysis unit. The analysis unit determines obstacles and the like from the surrounding image, that is, the image in which the surrounding situation is captured. The determination result is passed to the drive control unit 12, for example, for use in drive control for avoiding obstacles. Also, the analysis unit can analyze the congestion situation of the people around, and in that case, the analysis result may be passed to the communication control unit 11 and transmitted to the server device 3 via the communication unit 16. The server device 3 can return an instruction for drive control to the delivery robot device 1 based on this analysis result. The drive control unit 12 can control the drive unit 17 according to the returned instruction.

[0047] The display unit 20 may be configured by a display device such as a liquid crystal panel, an organic electroluminescence panel, or the like. The display control unit 15 controls the display on the display unit 20.

[0048] The display control unit 15 can perform control to cause the display unit 20 to display the following access image. This access image is an image including information indicating the current position and current time of the delivery robot device 1 indicated by the second position information and access information for accessing the delivery robot device 1. The access image can be, for example, an image showing a two-dimensional code such as the QR code (registered trademark; the same shall apply hereinafter) 21 illustrated in FIG. 2, or an image showing a one-dimensional code such as a bar code (registered trademark). Since the access image includes the current time, it is displayed while being updated in real time.

[0049] In the case of this example, a person who has visually recognized the access image can capture the access image with the imaging unit provided in the portable terminal device 4 they possess, read the access image, and access based on the access information. Then, when there is an access based on this access information, the second detection processing unit 14b can detect the portable terminal device 4 as a peripheral terminal device and transmit the detection result to the server device 3 via the communication control unit 11 and the communication unit 16.

[0050] Note that the access information included in the access image may be access information for accessing the server device 3. In that case, the second detection processing unit 14b can detect it as a peripheral terminal device by receiving information indicating that there has been an access from the server device 3 via the communication unit 16 and the communication control unit 11. However, in this case, if the server device 3 has a function of detecting based on the access information in the second detection processing unit 14b, such transmission and reception of information are not necessary.

[0051] The first detection processing unit 14a detects the occurrence or sign of occurrence of a predetermined trouble with respect to the delivery robot device based on the detection results of various sensor groups provided in the delivery robot device 1 (not shown). The first detection processing unit 14a and the sensor group are an example of a first detection unit that performs such detection.

[0052] Furthermore, the sensor group may include the imaging unit 19 described above. In that case, the first detection processing unit 14a is equipped with a trouble analysis unit as described above as an analysis unit for determining obstacles, and analyzes the captured surrounding image to detect the occurrence or precursor of a trouble. The analysis unit may detect the occurrence or precursor of a predetermined trouble, such as snow accumulation, stopping due to a step, stopping because the button on a push-button traffic signal cannot be pressed, or stopping due to being caught in a sudden accident, from the surrounding image, or from the surrounding image and sensor information from other sensors.

[0053] For example, this trouble analysis unit may include a trained model that has been machine-learned to take ambient images or ambient images and sensor information from a group of other sensors as input and output detection results. The algorithm of this trained model is not limited. By inputting ambient images or ambient images and sensor information from a group of other sensors into this trained model, a detection result for a predetermined trouble can be obtained. The detection result for a predetermined trouble may be the occurrence of a trouble and the content of the trouble that has occurred, or it may be a prediction of the signs of trouble and the content of that trouble, or both.

[0054] The first detection processing unit 14a transmits the detection result of a predetermined trouble to the server device 3 via the communication control unit 11 and the communication unit 16. Alternatively, the first detection processing unit 14a may pass the detection result of a predetermined trouble to the second detection processing unit 14b and the display control unit 15. In this case, the second detection processing unit 14b only needs to detect peripheral terminal devices, which are mobile terminal devices 4, that are present around the delivery robot device 1, when a predetermined trouble is detected. The display control unit 15 only needs to display the access image when a predetermined trouble is detected.

[0055] Furthermore, the functions of the first detection processing unit 14a can be partially or entirely provided on the server device 3 side. In other words, the server device 3 can be configured to monitor for the occurrence of a predetermined trouble in the delivery robot device 1. In this case, the communication control unit 11 transmits the information necessary for detection to the server device 3 via the communication unit 16, so that the server device 3 can detect the occurrence or precursor of the predetermined trouble.

[0056] Furthermore, the first detection processing unit 14a may also determine the content of troubleshooting support to resolve the detected predetermined trouble. The content of troubleshooting support may refer to procedures for dealing with the trouble. The first detection processing unit 14a also functions as an example of a decision unit that makes such determinations. The above decision unit may be provided on the server device 3 side, in which case information indicating the detected predetermined trouble should be transmitted to the server device 3.

[0057] The above decision can be made, for example, by storing a table in the memory unit of the delivery robot device 1 that associates troubles with the content of trouble resolution support to resolve them, and by referring to that table and reading the contents when a predetermined trouble is detected. Of course, the trouble analysis unit may also be equipped with a trained model that has been trained to take ambient images or ambient images and sensor information from other sensor groups as input and output the content of trouble resolution support. The algorithm of this trained model is not specified. By taking ambient images or ambient images and sensor information from other sensor groups as input to this trained model, the content of trouble resolution support can be obtained along with the detection result of a predetermined trouble.

[0058] If the detected problem is a stoppage or reduction in movement speed due to snow accumulation, in other words, being stranded due to snow accumulation, the content of the trouble resolution support, that is, the method of resolution to be conveyed to the support candidate, can be as follows: In this case, the content of the trouble resolution support should be snow removal work, work to move the wheels 17a that are stuck in heavy snow or ruts, or assistance with driving by accompanying the vehicle.

[0059] If the detected problem is a stop due to a step or an obstacle, the troubleshooting support should involve shifting the delivery robot device 1 to avoid the step, or shifting the delivery robot device 1 to avoid the obstacle, or shifting the position of the obstacle, respectively. If the detected problem is a stop due to being unable to press a push-button traffic signal, the troubleshooting support should involve pressing the push-button traffic signal.

[0060] Furthermore, for any trouble, the support provided to resolve the trouble may include a report on the current situation, or a report on the results of resolving the trouble. If the detected trouble is a stoppage due to being caught in a sudden accident, the support provided to resolve the trouble should include moving the vehicle away from the accident scene, reporting the situation, notifying the police or calling an ambulance, and reporting on the results of resolving the trouble.

[0061] (Mobile Terminal Device 4) Although the configuration example of the mobile terminal device 4 is omitted, it can have a general computer configuration, for example, by removing the drive control unit 12, the first detection processing unit 14a, the second detection processing unit 14b, and the drive unit 17 from the parts shown in Figure 1 as the configuration of the delivery robot device 1, and adding an input unit and a storage unit.

[0062] Therefore, the control unit of the mobile terminal device 4 can also be realized by, for example, a processor, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the mobile terminal device 4. This program may include, for example, a program that executes communication processing with the communication destination device among the delivery robot device 1 and the server device 3, and processing for generating information to be transmitted. This control unit may also be realized using a programmable integrated circuit, such as an FPGA or a microcomputer.

[0063] Furthermore, the mobile terminal device 4 can be configured to display images on its display unit for route guidance, or navigation, to the user of the mobile terminal device 4, based on map data stored in its memory unit and first location information acquired by the GNSS receiver unit. This allows the user of the mobile terminal device 4 to travel to their destination while confirming the planned route to the destination on a map that includes their current location. As described above, the delivery robot device 1 can acquire this first route information indicating the planned route from the mobile terminal device 4.

[0064] Furthermore, in the example where the display unit 20 displays the access image, the owner of the mobile terminal device 4 captures this access image with the imaging unit provided in the mobile terminal device 4. As a result, the mobile terminal device 4 extracts access information from the access image, prompts the user to access the destination indicated by the access information, accepts the operation, or automatically accesses the destination. In this case, the owner is assumed to be walking around the delivery robot device 1, or to be standing still on a bicycle or to have dismounted from a bicycle, and can therefore be considered a candidate to request assistance in resolving the problem. A person who is standing still on a bicycle or to have dismounted from a bicycle can also be considered a pedestrian.

[0065] (Server device 3) Server device 3 is composed of a server computer and may include a control unit 30, a communication unit 36, and a storage unit 37. Although server device 3 is described as a single device, server device 3 can also be constructed as a server system with functions distributed among multiple devices. Server device 3 is one example of the configuration of the support device according to this embodiment.

[0066] The control unit 30 controls the entire server device 3. The control unit 30 may include a communication control unit 11 and a robot control unit 32, which are responsible for the main functions of sending and receiving information with the delivery robot device 1 and controlling the drive of the delivery robot device 1, respectively. The control unit 30 may also include an identification unit 33 and a request processing unit 34, which are responsible for the main functions of identifying the mobile terminal device 4 held by the support candidate and controlling the transmission of request information to the mobile terminal device 4 and the reception of the response, respectively.

[0067] The control unit 30 may be implemented, for example, by a processor such as a CPU, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the server device 3. Alternatively, the control unit 30 may be implemented using an integrated circuit that can be programmed by the user, such as an FPGA or a microcomputer.

[0068] The communication unit 36 ​​performs wireless communication with external devices such as the delivery robot device 1 and the mobile terminal device 4. The communication unit 36 ​​may be equipped with a communication interface for performing such wireless communication. For example, the communication unit 36 ​​may be equipped with a communication interface that connects to a mobile communication system in order to communicate with the delivery robot device 1 and the mobile terminal device 4. The communication control unit 31 controls communication with external devices via the communication unit 36.

[0069] The storage unit 37 is a storage device such as an SSD or HDD that stores various information used by the server device 3. The storage unit 37 can store user information 37a, which indicates a user of the support request system 100, as one type of information to be stored. User information 37a is information registered in advance about users who may be candidates for support, and may include the user's name or ID, contact information for the mobile terminal device 4 used by the user, device identification number, telephone number, and other access information. In addition, user information 37a may be registered automatically or with the user's consent for users who have received support once. The storage unit 37 stores and updates information according to the control of the control unit 30.

[0070] When the first detection processing unit 14a detects a predetermined trouble, the identification unit 33 identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian who is the target of the request for assistance in resolving the trouble of the delivery robot device 1, based on the detection result of the second detection processing unit 14b. Whether or not the person is a pedestrian can be determined, for example, by whether or not the speed of change of the first position information received from the mobile terminal device 4 is below a predetermined speed, or by whether or not the person is moving on a sidewalk. In the example where an access image is displayed, the person may also be determined to be a pedestrian simply by the fact that they accessed the device based on that access image.

[0071] Here, the identification in the identification unit 33 may be limited to one mobile terminal device 4, or it may be performed under the conditions of being within the first predetermined number of devices, or being greater than or equal to the second predetermined number of devices, or being within the first predetermined number of devices and greater than or equal to the second predetermined number of devices, or there may be no limit on the number of devices. It is expected that the number of support candidates who make trouble resolution requests will increase in proportion to the number of devices, and that the number of people who will accept the requests will also increase. In addition, the number of people required to resolve a trouble may vary depending on the trouble. For example, at least one of the first predetermined number and the second predetermined number may be changed depending on the nature of the trouble. Furthermore, support candidates are not limited to people walking on a sidewalk or other people moving toward a certain destination, but may also include, for example, construction workers or shop employees who stop or wander around along the delivery route of the delivery robot device 1.

[0072] In a simpler example, the identification unit 33 identifies the mobile terminal device 4 detected as being within a predetermined distance of the delivery robot device 1, as indicated by the detection results from the second detection processing unit 14b, as the mobile terminal device 4 possessed by the support candidate.

[0073] Alternatively, the identification unit 33 identifies a portable terminal device 4, that is, a peripheral terminal device, that meets predetermined conditions, as being located within a predetermined distance of the delivery robot device 1, as indicated by the detection results from the second detection processing unit 14b, and identifies it as the portable terminal device 4 possessed by the support candidate. Various examples of the above predetermined conditions are described below.

[0074] The above-mentioned predetermined conditions may be conditions relating to the first location information and first route information of the peripheral terminal device. In other words, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate based on the detection result of the second detection processing unit 14b, the first location information and first route information, the second location information of the delivery robot device 1, and the second route information indicating the planned delivery route of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify, for example, the nearest peripheral terminal device that is moving in the same direction or along the same route as the mobile terminal device 4 possessed by the support candidate.

[0075] Such specific examples will be explained using Figures 3 and 4. Figures 3 and 4 are schematic diagrams showing one example and another example of the situation around the delivery robot device 1, respectively, to explain an example of the process of identifying the mobile terminal device to which the request information will be sent in the support request system 100. In the situation 50 shown in Figure 3 and the situation 60 shown in Figure 4, the second detection processing unit 14b detects the mobile terminal device 4 within a circle 1c with a predetermined radius centered on the delivery robot device 1. In situations 50 and 60, the owners Ua, Ub, Uc and the delivery robot device 1 are all moving on sidewalk 52 of the sidewalks 52, 53, and 54 of the roadway 51, and their directions of movement are indicated by the arrows.

[0076] In the scenario 50 shown in Figure 3, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 50, the owner Ua of the mobile terminal device 4a is walking towards the delivery robot device 1 from behind, and the owner Ub of the mobile terminal device 4b is approaching from the front of the delivery robot device 1 in the opposite direction. In this case, the identification unit 33 identifies the mobile terminal device 4a, which is moving in the same direction as the support candidate, rather than the mobile terminal device 4b, which is moving in the opposite direction. In other words, in this case, the support candidate is owner Ua, not owner Ub.

[0077] In the scenario 60 shown in Figure 4, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 60, the owner Ua of the mobile terminal device 4a and the owner Uc of the mobile terminal device 4c are walking towards the delivery robot device 1 from behind, and owner Ua is closer to the delivery robot device 1 than owner Uc. However, the planned walking route 4ar indicated by the first route information obtained from the mobile terminal device 4a then shows that they will cross the pedestrian crossing 55 and move away from the delivery robot device 1. In this case, the identification unit 33 identifies the mobile terminal device 4c, which is moving in the same direction, rather than the closer mobile terminal device 4a, as the mobile terminal device possessed by the support candidate. In other words, in this case, the support candidate is owner Uc, not owner Ua.

[0078] Furthermore, the above-mentioned predetermined conditions may be conditions relating to the first location information of the peripheral terminal device, excluding the conditions relating to the first route information. In other words, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate based on the detection result in the second detection processing unit 14b, the first location information, and the second location information of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify, for example, the nearest peripheral terminal device, or a predetermined number of peripheral terminal devices in order of proximity, or a peripheral terminal device located within a predetermined distance shorter than the predetermined distance at the time of detection, as the mobile terminal device 4 possessed by the support candidate.

[0079] Alternatively, the identification unit 33 may identify a peripheral terminal device as a portable terminal device 4 held by the support candidate if the walking speed, which is the rate of change of the first position information, differs from the movement speed of the delivery robot device 1, which is the rate of change of the second position information, within a predetermined range. Alternatively, the identification unit 33 may identify a peripheral terminal device as a portable terminal device 4 held by the support candidate, which is the peripheral terminal device whose walking speed, which is the rate of change of the first position information, is closest to the movement speed of the delivery robot device 1, which is the rate of change of the second position information, or a predetermined number of peripheral terminal devices in order of proximity.

[0080] Furthermore, in the example of displaying an access image, the above-mentioned predetermined conditions may include the condition that the mobile terminal device 4 is the one that made the access based on that access image. In this case, the identification unit 33 may identify a peripheral terminal device, which is a mobile terminal device 4 located around the delivery robot device 1 that accessed the support request system 100 based on the access information, as the mobile terminal device 4 possessed by the support candidate. Of course, even in this case, the identification unit 33 may also take into account conditions based on location information, or location information and route information and a limit on the number of devices, or one or more of these, when making the identification. In this example, the first location information may be the location information of the delivery robot device 1 included in the access information.

[0081] Furthermore, the above-mentioned predetermined conditions may also include conditions regarding whether or not a user is registered. In other words, the identification unit 33 may, based on the detection results in the second detection processing unit 14b, refer to the user information 37a and identify peripheral terminal devices that have been registered as users as the mobile terminal devices 4 possessed by the support candidate, prioritizing them over peripheral terminal devices that have not been registered as users. A mobile terminal device 4 that has not been registered as a user means that it is a mobile terminal device possessed by an owner unrelated to the service requested in the support request system 100.

[0082] Alternatively, the second detection processing unit 14b may access the server device 3 and refer to user information 37a to detect peripheral terminal devices targeting mobile terminal devices 4 that have been registered as users. In this case, if the second detection processing unit 14b is unable to detect any peripheral terminal devices, it may detect peripheral terminal devices targeting mobile terminal devices 4 that have not been registered as users. For mobile terminal devices 4 that have not been registered as users, the delivery robot device 1 may request temporary user registration using an image from the display unit 20, or request temporary user registration using voice from an audio output device (not shown).

[0083] The request processing unit 34 performs a process to request the communication control unit 31 to transmit request information via the communication unit 36. In this way, the server device 3 can be equipped with a request information transmission unit that transmits the above request information. The request information is information for requesting trouble resolution assistance from the mobile terminal device 4 held by the support candidate, and may include information such as the details of the trouble and the details of the trouble resolution assistance, which is the method of resolving it. The details of the trouble resolution assistance are as described above. As in this example, the request information may include the details of the request, and may also include information such as the time it is expected to take to resolve the problem.

[0084] If the destination for the request information is a user-registered mobile terminal device 4, the destination may also be a mobile terminal device 4 included in the user information 37a. In this case, the request information transmission unit will be exemplified by the request processing unit 34, the communication control unit 31, and the communication unit 36. However, even if the destination for the request information is a user-registered mobile terminal device 4, the request processing unit 34 may request the delivery robot device 1 to transmit the request information to that mobile terminal device 4 via Wi-Fi Aware communication.

[0085] If the destination for the request information is a mobile terminal device 4 that has not been registered as a user, the destination is set to the delivery robot device 1, and the communication control unit 31 is requested to send the request information, specifying the final destination. Upon receiving this request, the communication control unit 31 transmits the request information to the delivery robot device 1 via the communication unit 36. The delivery robot device 1, having received the request information, transmits the request information via the communication unit 16 to the mobile terminal device 4 that corresponds to the final destination among the mobile terminal devices 4 detected by the second detection processing unit 14b. This transmission can be performed via Wi-Fi Aware communication. In this case, the request information transmission unit is exemplified by the request processing unit 34, the communication control unit 31, the communication unit 36, the communication control unit 11, and the communication unit 16.

[0086] Furthermore, the request processing unit 34 also performs the process of receiving agreement information from the mobile terminal device 4 as a response to the request information, via the communication control unit 31 and the communication unit 36, indicating an agreement to provide assistance in resolving the problem. In this way, the server device 3 can be equipped with an agreement information receiving unit that receives the above agreement information. The receiving path for the agreement information is the reverse of the transmission path for the request information, and can be made to differ depending on whether or not the user is registered, similar to the transmission path for the request information.

[0087] However, for example, the request information may include access information to the server device 3 for performing support after user registration. This allows the request processing unit 34 to receive agreement information from the mobile terminal device 4 via the communication control unit 31 and the communication unit 36, without going through the delivery robot device 1, either by accessing the device or by having the user select an agreement button after accessing it.

[0088] Furthermore, in the example of displaying an access image, the request processing unit 34 may transmit agreement information or information indicating that an agreement has been reached to the delivery robot device 1 via the communication control unit 31 and the communication unit 36. The display control unit 15 may then erase the access image on the display unit 20 when it receives agreement information or information indicating that an agreement has been reached via the communication unit 16 and the communication control unit 11, that is, when an agreement has been obtained from the support candidate. This prevents the reading of the access image for making a support request, thus avoiding unnecessary requests.

[0089] Furthermore, when the request processing unit 34 receives agreement information, it may prompt the owner of the mobile terminal device 4 to register as a user if they are not already registered, and then have them register. Also, when the request processing unit 34 receives agreement information and the user is already registered or has registered, it may provide an incentive such as points that can be used for a predetermined service. The incentive to be provided can be managed, for example, in association with user information 37a, or it may be notified to the system providing the predetermined service along with the user's information.

[0090] Furthermore, incentives may be awarded upon completion of support rather than upon agreement to the request. In this case, the incentive may be set higher depending on the content of the support, such as the time required for the support. Request information may also include information such as the time and content of the support to be provided. In this case as well, incentives can be awarded after the completion of the support, or they may be awarded when the agreement information is received.

[0091] Furthermore, in the example where an access image is displayed, the incentive may be awarded only based on accesses related to the access image. The incentive may also be awarded with a limit on the number of accesses. Additionally, when displaying an access image, it may be indicated simultaneously that there is a benefit for which an incentive will be awarded, or this may be announced via voice from an audio output device (not shown).

[0092] Alternatively, instead of displaying an access image, a voice request for assistance can be made from an audio output device (not shown). In this case, the mobile terminal device 4 of a pedestrian who stops, attracted by the voice, becomes easier to detect as a peripheral terminal device.

[0093] Furthermore, after the agreement is reached, the mobile terminal device 4 of the holder who has reached the agreement can communicate with the server device 3 or the delivery robot device 1 via a mobile communication system or Wi-Fi access point, or via Bluetooth communication after pairing is established. Therefore, the mobile terminal device 4 can also report the progress and results of troubleshooting, indicating the status of troubleshooting, to the server device 3 or the delivery robot device 1. In addition, in examples where access images are displayed or audio announcements are made, it is advisable to clear the display or stop the audio announcements once such communication becomes possible.

[0094] Even if a report is made to the delivery robot device 1, if the delivery robot device 1 sends the results of the trouble resolution to the server device 3, the server device 3 can manage the results of the trouble resolution. The server device 3 can thus also function as a monitoring center to monitor the trouble resolution status.

[0095] (Example of processing in the support request system 100) Next, an example of support request processing performed in the support request system 100 will be explained using Figure 5. Figure 5 is a flowchart illustrating an example of support request processing performed in the support request system 100 shown in Figure 1. Here, only a general example of processing is given, but the various examples described above can be applied to the configuration of the support request system 100.

[0096] First, in the delivery robot device 1, the first detection processing unit 14a performs detection of the occurrence or precursor of a predetermined trouble with respect to the delivery robot device 1, and determines whether or not a trouble has been detected (step S11).

[0097] When the answer to step S11 is YES, the second detection processing unit 14b detects peripheral terminal devices, which are mobile terminal devices 4, that are present in the vicinity (step S12). Next, the location information acquisition unit 13 acquires first location information and first route information from the detected peripheral terminal devices (step S13). The location information acquisition unit 13 also acquires second location information and second route information of the delivery robot device 1 (step S14). The order of steps S13 and S14 does not matter. The information acquired in steps S13 and S14, along with information indicating that a predetermined trouble has been detected, is transmitted by the communication control unit 11 to the server device 3 via the communication unit 16.

[0098] Upon receiving this information, the server device 3 has a special unit 33 that identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian requesting assistance in resolving a problem with the delivery robot device 1, based on the first and second location information and the first and second route information (step S15). The special unit 33 then passes the information of the identified mobile terminal device 4 to the request processing unit 34.

[0099] Identifying a problem based on route information, as in step S15, is particularly useful, for example, when resolving the problem requires assistance from an accompanying person while driving. Furthermore, identification based on route information as well as location information may be performed only when the resolution of the detected problem involves assistance from an accompanying person while driving; otherwise, identification based solely on location information may be used.

[0100] Note that the process in step S11 may be executed after steps S12 to S14 and before step S15. In this case, if the answer in step S11 is NO, it is advisable to return to step S12.

[0101] After processing in step S15, the request processing unit 34 transmits request information to the mobile terminal device 4 held by the support candidate to request assistance in resolving the problem (step S16). Next, the request processing unit 34 determines whether or not it has received agreement information in response to this transmission (step S17), and if it has not received it, it terminates the process.

[0102] If the answer in step S17 is YES, that is, if agreement information is received, the request processing unit 34 receives a support report from the identified mobile terminal device 4 and stores it in the storage unit 37 (step S18), and terminates the process. This support report may refer to a report that the supporter who agreed to the support request has resolved the problem in question, or a report of the process of resolving the problem.

[0103] (Effects of Embodiment 1) As described above, in this embodiment, when delivery is made using an autonomous mobile delivery robot device, assistance in resolving problems is requested from people in the vicinity. Therefore, according to this embodiment, when delivery is made using an autonomous mobile delivery robot device, if an abnormality occurs that can be resolved simply by changing the surrounding environment, it becomes possible to reduce the need for the business operator to go to the location of the delivery robot device and perform the work.

[0104] To illustrate the effect, a comparative example is given. The autonomous mobile delivery robot device in the comparative example has a function to report the occurrence of a predetermined trouble to a monitoring center when it is detected by the onboard sensors. Therefore, in the delivery robot device in the comparative example, even if the detected trouble is one that can be resolved by simply changing the surrounding environment, although emergency response is required for smooth delivery, the operator's workers still need to go to the site to resolve it. In contrast, in this embodiment, assistance in resolving troubles can be requested from pedestrians near the delivery robot device 1, eliminating the need for the operator to go to the site when such troubles occur, and enabling quick resolution of troubles, thus realizing safe and smooth delivery.

[0105] Furthermore, in this embodiment, if the delivery robot device 1 is configured to display an access image such as a QR code, a service can be provided in which the robot receives an incentive for reading the access image or for reading it and providing assistance in resolving the problem. If such a service becomes established, or if deliveries are made while providing notifications, the probability of the person requesting assistance agreeing to the request can be increased, and the problem can be resolved more quickly.

[0106] In this embodiment, if the delivery robot device 1 is configured to display access images such as QR codes, the costs incurred by operators such as transportation companies for its introduction and operation will mainly consist of the display device or the display device and incentives. Therefore, such costs can be less than the amount of damage caused by theft or the resulting loss of customers. Furthermore, by including location information and time information in the access image displayed in real time, this information can be included in the access information from passersby such as pedestrians. As a result, even in environments where the delivery robot device 1 cannot receive GNSS signals or does not have communication functions, the system accessed based on that access information can determine the location and time of the delivery robot device 1 at a given point in time.

[0107] Furthermore, in this embodiment, as such a delivery service becomes established, the psychological effect of an unspecified number of passersby monitoring the delivery robot device 1 can reduce theft or vandalism of the delivery robot device 1 or the items it carries.

[0108] <Embodiment 2> The support request system according to Embodiment 2 will be explained using Figure 6, focusing on the differences from Embodiment 1, but various examples described in Embodiment 1 can be applied. Figure 6 is a block diagram showing one example configuration of the support request system according to Embodiment 2.

[0109] The support request system according to this embodiment can be configured to include a delivery robot device 1a and a server device 3a, as illustrated in the support request system 100a in Figure 6. In this embodiment as well, the support request system 100a will be described as a system that also includes a mobile terminal device 4.

[0110] The support request system 100a differs from Embodiment 1 in that, in the support request system 100 of Figure 1, the functions of the specific unit 33 and the request processing unit 34 in the server device 3 are mainly located on the delivery robot device 1a side. In other words, the support request system 100a differs from Embodiment 1 in that the server device 3a does not have the specific unit 33 and the request processing unit 34 in its control unit 30a, while the delivery robot device 1a has a control unit 10a that includes the specific unit 33a and the request processing unit 34a. Thus, the delivery robot device 1a has one example of the configuration of the support device according to this embodiment. In other words, the support device may be incorporated into the delivery robot device as in this embodiment.

[0111] In this embodiment, the server device 3a basically handles the movement control of the delivery robot device 1a, user management, and troubleshooting report management, but the delivery robot device 1a handles all other processing.

[0112] For example, the second detection processing unit 14b performs the process of detecting peripheral terminal devices, which are mobile terminal devices 4, that are present around the delivery robot device 1a. In this embodiment, the delivery robot device 1a can basically perform this detection without going through the server device 3a at all. Of course, for user-registered mobile terminal devices 4, this detection can also be performed by communicating with the server device 3a via a mobile communication system or the like.

[0113] When a predetermined trouble is detected, the identification unit 33a identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian who is the target of the request for assistance in resolving the trouble of the delivery robot device 1a, based on the detection result of the second detection processing unit 14b. The request processing unit 34a transmits request information to the mobile terminal device 4 held by the support candidate via the communication control unit 11 and the communication unit 16 to request assistance in resolving the trouble. The request processing unit 34a can also perform processing such as receiving agreement information in the same manner as in Embodiment 1. An example of the support request processing in this embodiment will be omitted as it is possible to refer to the explanation of Embodiment 1, although the communication path of information is mainly different compared to Embodiment 1.

[0114] According to this embodiment, compared to the server device 3 of Embodiment 1, the processing load on the server device 3a can be reduced, and the processing can be distributed to the delivery robot device 1a.

[0115] <Embodiment 3> (Outline Configuration Example of the Support Request System) An example configuration of the support request system according to Embodiment 3 will be described using Figures 1 and 2. Figure 1 is also a block diagram showing an example configuration of the support request system according to Embodiment 3. Figure 2 is an outline front view showing an example of a delivery robot device in the support request system of Figure 1. The support request system and its components according to this embodiment can be configured based on the configurations described in Embodiments 1 and 2, but they can also be configured independently of the configurations described in Embodiments 1 and 2.

[0116] The support request system according to this embodiment is a system for requesting support for delivery by an autonomous mobile delivery robot device 1, and can be referred to as an automated delivery system or incorporated into an automated delivery system. An autonomous delivery robot device such as the delivery robot device 1 can also be referred to as an automated delivery robot. The delivery robot device 1 can refer to a robot that delivers various packages and goods to, for example, logistics centers or retail stores. The delivery robot device 1 can refer to a robot that meets certain size and structure requirements to be able to travel on public roads as a "remotely operated small vehicle" under the Road Traffic Act.

[0117] In this embodiment, support includes at least troubleshooting support for the delivery robot device 1. Troubleshooting support refers to assistance in resolving abnormalities in the delivery robot device 1 caused by the surrounding environment, and can include assistance in resolving problems such as snow accumulation, stopping due to uneven terrain, stopping due to inability to press a push-button traffic signal, and stopping due to being caught up in a sudden accident. Troubleshooting support may also be referred to as troubleshooting support.

[0118] Therefore, those who provide this assistance are basically those who can resolve problems with delivery robot device 1, and since those in cars need to secure a space to park their cars, pedestrians fall into this category. However, those who are running, such as by jogging, can also be considered pedestrians. Pedestrians can also be called passersby. In addition, those who are standing still on a bicycle or have dismounted from a bicycle can also be considered pedestrians. Furthermore, in the above assistance request system, cyclists may also be eligible to provide assistance, but it is preferable to have a configuration that allows for assistance from pedestrians as well.

[0119] The support request system according to this embodiment can be configured to include a delivery robot device 1 and a server device 3, as illustrated in the support request system 100 of Figure 1. Although not shown, the support request system 100 can include multiple delivery robot devices 1, and support requests can be made to any of the delivery robot devices 1. In the following description, the support request system 100 will be described as a system that also includes one or more mobile terminal devices 4. Thus, the system can also be referred to as a support request system that includes not only the delivery robot device 1 and the server device 3 but also the mobile terminal devices 4.

[0120] The delivery robot device 1 is configured to store transported items, i.e., objects to be delivered, and at least a part of its movement is controlled by the server device 3, including specifying the destination, specifying intermediate points and destinations, specifying the route, and remote movement control. In other words, the delivery robot device 1 only needs to be a device that operates autonomously for at least some of its movement control, such as avoiding obstacles.

[0121] The mobile terminal device 4 is a portable information terminal device carried by a user who may be moving around the vicinity of the delivery robot device 1, and can be exemplified by a mobile phone or smartphone. The mobile terminal device 4 can be said to be a computer, or to include a computer.

[0122] Server device 3 is configured to communicate with delivery robot device 1 and also with mobile terminal device 4. While the method of communication is not specified, since delivery robot device 1 and mobile terminal device 4 are mobile, server device 3 will communicate wirelessly with a mobile communication system in either case. Of course, this communication may include wired communication in some parts of the communication path. The following describes individual configuration examples for delivery robot device 1, mobile terminal device 4, and server device 3.

[0123] (Delivery Robot Device 1) The delivery robot device 1 may include a control unit 10, a communication unit 16, a drive unit 17, a GNSS receiver 18, an imaging unit 19, and a display unit 20. GNSS stands for Global Navigation Satellite System. In addition, although not shown, the delivery robot device 1 may also include a storage unit for storing various information and an input unit for turning the power on and off and inputting other operation details. For example, the delivery robot device 1 may be equipped with the control unit 10, the communication unit 16, the GNSS receiver 18, the display unit 20, the storage unit, and the input unit as an information terminal device. This information terminal device can be called a computer, or it can be said to include a computer.

[0124] The control unit 10 controls the entire delivery robot device 1. The control unit 10 may include a drive control unit 12, a location information acquisition unit 13, and a first detection processing unit 14a, which are responsible for the main functions of movement, acquisition of location information, detection of troubles, and determination of support content in the delivery robot device 1, respectively. The control unit 10 may also include a second detection processing unit 14b and a communication control unit 11, which are responsible for the main functions of detecting the attributes of the mobile terminal device 4 and its owner in the delivery robot device 1, and communicating with the server device 3 and the mobile terminal device 4, respectively. The control unit 10 may also include a display control unit 15, which is responsible for the main functions of display on the display unit 20.

[0125] The control unit 10 may be implemented by, for example, a processor such as a CPU (Central Processing Unit), working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the delivery robot device 1. The control unit 10 may also be implemented using a programmable integrated circuit, such as an FPGA (field-programmable gate array) or a microcomputer.

[0126] Furthermore, the storage unit (not shown) is a storage device such as an SSD (Solid State Drive) or HDD (Hard Disk Drive) that stores various information used in the delivery robot device 1. This storage unit can store information to be displayed on the display unit 20, information indicating the detection conditions of the second detection processing unit 14b, and location information acquired by the location information acquisition unit 13 from the GNSS receiving unit 18. This storage unit stores and updates information according to the control unit 10.

[0127] The communication unit 16 performs wireless communication with external devices such as the server device 3 and the mobile terminal device 4. The communication unit 16 may be equipped with one or more types of communication interfaces for performing such wireless communication. The communication control unit 11 controls communication with external devices via the communication unit 16.

[0128] Let's take an example of the communication unit 16. For instance, the communication unit 16 is equipped with a first communication interface for connecting to a mobile communication system, which allows it to communicate wirelessly with a server device 3 and a mobile terminal device 4 via that mobile communication system.

[0129] Furthermore, the communication unit 16 may be equipped with a second communication interface that performs wireless communication in accordance with the Wi-Fi (registered trademark; hereinafter the same) standard. This allows the communication unit 16 to perform wireless communication with the server device 3 and the mobile terminal device 4 via its second communication interface and an access point installed nearby. This access point may include a free access point.

[0130] Furthermore, this second communication interface can be an interface capable of NAN communication, that is, Wi-Fi Aware communication, which can be realized by the Wi-Fi Aware function defined by the Wi-Fi Alliance. NAN stands for Neighbor Awareness Networking. Wi-Fi is the name of a wireless LAN (Local Area Network) that uses the IEEE (Institute of Electrical and Electronics Engineers) 802.11 standard or its derivative standards. Wi-Fi Aware communication enables the transmission and reception of information between the delivery robot device 1 and the mobile terminal device 4 located in its vicinity. This transmission and reception of information can be performed without performing NAN pairing.

[0131] Furthermore, the communication unit 16 may be equipped with a third communication interface that performs wireless communication in accordance with the Bluetooth (registered trademark; hereinafter the same) standard or its derivative standards, or wireless communication in accordance with other types of short-range wireless communication standards. This allows the communication unit 16 to perform short-range wireless communication after pairing with the mobile terminal device 4 via its third communication interface.

[0132] The drive unit 17 may include, for example, a plurality of wheels 17a and motors that drive those wheels 17a. The drive unit 17 drives the wheels 17a under the control of the drive control unit 12, thereby enabling the delivery robot device 1 to move.

[0133] The GNSS receiving unit 18 is a receiver for GNSS, receiving location information including latitude and longitude information from GNSS and time information at the time of acquisition, and passing it to the location information acquisition unit 13. As a result, the location information acquisition unit 13 can acquire the location information and time information. The location information acquisition unit 13 passes the acquired location information and time information to the drive control unit 12 for use in drive control, for example, or to the communication control unit 11 to transmit it to the server device 3 via the communication unit 16. Based on this location information and time information, the server device 3 sends a command for drive control back to the delivery robot device 1. The drive control unit 12 can then control the drive unit 17 according to this command.

[0134] Furthermore, the location information acquisition unit 13 can be configured to acquire location information of mobile terminal devices 4 located around the delivery robot device 1 via the communication unit 16. Hereinafter, the location information of the mobile terminal devices 4 will be referred to as the first location information, and the location information of the delivery robot device 1 acquired by the GNSS receiving unit 18 will be referred to as the second location information.

[0135] For example, the mobile terminal device 4 can be configured to include a GNSS receiver, and the location information acquisition unit 13 can acquire the first location information obtained by the GNSS receiver via the communication unit 16. More specifically, for example, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4 in its vicinity via Wi-Fi Aware communication. Of course, if user registration, as described later, has been performed, the location information acquisition unit 13 can receive the first location information from the mobile terminal device 4, or even from the mobile terminal device 4 via the server device 3, by means of a mobile communication system.

[0136] Alternatively, Wi-Fi Aware can include distance measurement with peer devices using the IEEE 802.11mc protocol. Therefore, the delivery robot device 1 can measure the distance to at least the mobile terminal device 4 within a communication range as first position information, and can determine whether or not the mobile terminal device 4 is within a predetermined distance from itself. The determination of whether or not it is within a predetermined distance refers to the determination of whether or not the mobile terminal device 4 is located in the vicinity of the delivery robot device 1, that is, whether or not it is a peripheral terminal device.

[0137] Alternatively, the location information acquisition unit 13 may measure the distance and direction of the mobile terminal device 4 located around the delivery robot device 1 via the third communication interface of the communication unit 16. In this case, the location information acquisition unit 13 can calculate the first location information of the mobile terminal device 4 using the measurement results and the second location information obtained from the GNSS receiving unit 18.

[0138] Thus, the location information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires first location information from a detected peripheral terminal device.

[0139] The second detection processing unit 14b detects peripheral terminal devices, which are mobile terminal devices 4, that are located around the delivery robot device 1 via the communication control unit 11 and the communication unit 16. In other words, the second detection processing unit 14b detects peripheral terminal devices, which are mobile terminal devices 4, that are located within a predetermined distance of the delivery robot device 1 via the communication control unit 11 and the communication unit 16. The delivery robot device 1 can determine whether a mobile terminal device 4 is located within a predetermined distance from itself or outside that predetermined distance based on the distance measurement results described above, or based on the difference in position between the acquired first position information and the second position information.

[0140] As illustrated in the second detection processing unit 14b, the communication control unit 11, and the communication unit 16, the delivery robot device 1 includes a second detection unit for detecting the peripheral terminal devices. The second detection processing unit 14b transmits the detection results of the peripheral terminal devices to the server device 3 via the communication control unit 11 and the communication unit 16.

[0141] Furthermore, regarding the mobile terminal device 4 owned by a user who has registered (as described later), the server device 3 can acquire its first and second location information, and can be configured to determine whether or not it is a mobile terminal device 4 located within a predetermined distance. Therefore, the second detection processing unit 14b may perform detection processing for users who have not registered, while the detection processing unit provided on the server device 3 side may perform detection processing for registered users.

[0142] Let me add some details about the detection process for peripheral terminal devices. The location information acquisition unit 13 can acquire the first location information when a peripheral terminal device, which is the source device for acquisition, is present around the delivery robot device 1. Therefore, the detection process for peripheral terminal devices itself can be performed when the communication unit 16 receives a beacon signal from the communication unit of the peripheral terminal device, and the second detection processing unit 14b detects that it has been received via the communication control unit 11. It should be noted that the second detection processing unit 14b can be included in the location information acquisition unit 13, or the location information acquisition unit 13 can be included in the second detection processing unit 14b.

[0143] Here, the area surrounding the delivery robot device 1 can refer to the range within which its radio waves can reach, and although this range may vary depending on factors such as the surrounding terrain and the presence of buildings, it can refer to a predetermined distance within which the radio waves can reach. Therefore, when the delivery robot device 1 performs detection directly, it can basically detect surrounding terminal devices based on radio waves received by a second or third communication interface other than radio waves transmitted via the mobile communication system.

[0144] Furthermore, the location information acquisition unit 13 may acquire not only the first location information but also route information indicating the planned travel route of the owner of the peripheral terminal device from the peripheral terminal device detected by the second detection processing unit 14b via the communication control unit 11 and the communication unit 16. For convenience, the route information indicating the planned travel route will be referred to as the first route information, and the route information indicating the planned delivery route of the delivery robot device 1 will be referred to as the second route information. The first route information is the route information set in the peripheral terminal device.

[0145] For example, via Wi-Fi Aware communication, the location information acquisition unit 13 can receive first route information from surrounding terminal information, which is a mobile terminal device 4 located in its vicinity. Of course, if user registration, as described later, has been performed, the location information acquisition unit 13 can also receive first route information from the mobile terminal device 4, or even from the mobile terminal device 4 via the server device 3, through a mobile communication system.

[0146] Thus, the location information acquisition unit 13, the communication control unit 11, and the communication unit 16 can function as an example of an information acquisition unit that acquires first location information and first route information from detected peripheral terminal devices.

[0147] Furthermore, the imaging unit 19 may include a camera that images the direction of travel, which is the front of the delivery robot device 1, and cameras that image the rear and left and right sides of the delivery robot device 1. The imaging unit 19 may also include an omnidirectional camera. In addition, the imaging unit 19 may include a two-dimensional or three-dimensional optical sensor such as LiDAR (registered trademark; the same applies hereinafter). As in these examples, the imaging unit 19 can acquire a surrounding image that captures the area around the delivery robot device 1.

[0148] Although not shown in the diagram, the imaging unit 19 may include an analysis unit for analyzing the captured images, or the control unit 10 may include such an analysis unit. The analysis unit determines obstacles and other objects from the surrounding image, that is, the image of the surrounding environment. The determination result is passed to the drive control unit 12 for use in drive control, for example, to avoid obstacles. The analysis unit can also analyze the crowding situation of people in the surrounding area, in which case the analysis result is passed to the communication control unit 11 and transmitted to the server device 3 via the communication unit 16. Based on this analysis result, the server device 3 can send a command for drive control back to the delivery robot device 1. The drive control unit 12 can control the drive unit 17 according to the returned command.

[0149] Furthermore, the second detection processing unit 14b also detects attribute information indicating the attributes of the owner of the detected peripheral terminal device. In other words, the second detection unit detects not only the peripheral terminal device but also the attribute information of its owner. For this attribute information detection, for example, the surrounding image captured by the imaging unit 19 can be used. Therefore, the second detection unit can be exemplified as the second detection processing unit 14b, the communication control unit 11, and the communication unit 16, or the second detection processing unit 14b, the communication control unit 11, the communication unit 16, and the imaging unit 19. The second detection processing unit 14b then transmits the detection results of the peripheral terminal device and attribute information to the server device 3 via the communication control unit 11 and the communication unit 16. The second detection processing unit 14b may perform detection at all times, or it may perform detection only when a problem is detected by the first detection processing unit 14a.

[0150] Let me explain the reason for detecting attribute information. The owner of the mobile terminal device 4, who is a potential requester, is the person who will be asked to resolve the problem. Therefore, before requesting assistance in resolving the problem, it is advisable to perform attribute determination in the identification unit 33, which will be described later, in order to determine whether the problem can be resolved, is likely to be resolved, or not, based on the attributes of that person. By performing such determination before the request is made, the likelihood that the person who agrees to the request will be able to resolve the problem can be increased. For these reasons, it can be said that detecting attribute information is beneficial.

[0151] Next, a method for detecting attribute information using a surrounding image will be described. The second detection processing unit 14b may include an attribute analysis unit configured to receive a surrounding image captured from the imaging unit 19 and determine the attributes of the owner of the detected peripheral terminal device based on the surrounding image. The second detection processing unit 14b may use the determination result from the attribute analysis unit itself as the detection result of attribute information indicating the owner's attributes.

[0152] Next, let's look at some examples of attributes. The attributes to be detected can include one or more of the following: Attributes classified into two or more categories based on physique, attributes classified into two or more categories based on age, attributes indicating gender, and attributes indicating whether or not the person is accompanied by a child or elderly person. Basically, it can be said that it is easier to resolve problems if the person's physique is larger than a predetermined standard. Attributes classified based on age can include whether or not the person is above a predetermined lower age limit and below a predetermined upper age limit, or whether or not they are a child or elderly person. This is because children and the elderly may not be able to perform or responsibly perform trouble-resolvement support due to issues such as physical strength and the possibility of dementia. The attribute indicating whether or not the person is accompanied by a child or elderly person can also be used to classify the companions based on the same age-based attributes.

[0153] Furthermore, other attributes to be detected include whether or not the person is carrying large luggage, and whether or not at least one hand, i.e., one or both hands, are occupied due to carrying the luggage. It is assumed that carrying large luggage or having one or both hands occupied will make it difficult to resolve problems.

[0154] Furthermore, other attributes to be detected include those that can be determined from changes in location information or route information, such as attributes indicating whether or not the person is in a hurry, or attributes indicating whether or not they are moving in the opposite direction to the delivery robot device 1. It is assumed that if the person is in a hurry or is moving in the opposite direction, there is a high possibility that they will not accept a request for trouble resolution assistance. Note that if the identification unit 33, which will be described later, performs identification based on either changes in location information or route information, such attributes that can be determined from changes in location information or route information do not need to be included as targets for detection.

[0155] Furthermore, the second detection processing unit 14b can detect attribute information indicating the attributes of the owner based on the determination result based on the surrounding image by the attribute analysis unit and the user information received from the surrounding terminal device. Alternatively, the second detection processing unit 14b may detect attribute information indicating the attributes of the owner based on the user information received from the surrounding terminal device.

[0156] As in these examples, the second detection processing unit 14b may detect attribute information based on at least one of the surrounding image captured by the imaging unit 19 around the delivery robot device 1 and information transmitted from a peripheral terminal device. Alternatively, the second detection processing unit 14b may detect attribute information indicating the owner's attributes based on user information 37a acquired from the server device 3, in addition to or instead of user information received from a peripheral terminal device.

[0157] The attribute analysis unit described above may include a trained model that has been trained to output attribute information by taking an ambient image as input, or by taking an ambient image and user information received from at least one of the ambient terminal device and the server device 3 as input. The algorithm of this trained model is not limited. By inputting an ambient image or an ambient image and user information into this trained model, attribute information indicating the attributes of the owner can be obtained.

[0158] Furthermore, if the surrounding image contains multiple people, the second detection processing unit 14b may identify the owner of the surrounding terminal device from among the people contained in the surrounding image. For example, the second detection processing unit 14b can identify the owner of the surrounding terminal device based on one or more of the following: the result of comparison with the surrounding image from a predetermined period of time, such as several seconds ago, the first location information, and the first route information. Also, if the surrounding image contains multiple people and the owner of the surrounding terminal device cannot be identified from among them, the processing can proceed by setting the attribute to unknown or similar.

[0159] The display unit 20 may be composed of a display device such as a liquid crystal panel or an organic electroluminescent panel. The display control unit 15 controls the display on the display unit 20.

[0160] The display control unit 15 can control the display unit 20 to display an access image as follows. This access image is an image that includes information indicating the current location and current time of the delivery robot device 1 as indicated by the second location information, and access information for accessing the delivery robot device 1. The access image can be, for example, an image showing a two-dimensional code such as a QR code (registered trademark; the same applies hereinafter) 21 as illustrated in Figure 2, or an image showing a one-dimensional code such as a barcode (registered trademark). Since the access image includes the current time, it is displayed while being updated in real time.

[0161] In this example, a person who sees the access image can capture the access image with the imaging unit on their portable terminal device 4, thereby reading the access image and gaining access based on the access information. The second detection processing unit 14b then detects the portable terminal device 4 as a peripheral terminal device upon realizing that an access based on this access information has occurred, and can transmit the detection result to the server device 3 via the communication control unit 11 and the communication unit 16.

[0162] The access information included in the access image may be access information for accessing the server device 3. In that case, the second detection processing unit 14b can detect it as a peripheral terminal device by receiving information indicating that an access has occurred from the server device 3 via the communication unit 16 and the communication control unit 11. However, in this case, if the server device 3 is equipped with a function for detection based on access information in the second detection processing unit 14b, the sending and receiving of such information will not be necessary.

[0163] The first detection processing unit 14a detects the occurrence or precursor of a predetermined trouble in the delivery robot device 1 based on the detection results from various sensor groups (not shown) provided in the delivery robot device 1. The first detection processing unit 14a and the sensor group are an example of a first detection unit that performs such detection.

[0164] Furthermore, the sensor group may include the imaging unit 19 described above. In that case, the first detection processing unit 14a is equipped with a trouble analysis unit as described above as an analysis unit for determining obstacles, and analyzes the captured surrounding image to detect the occurrence or precursor of a trouble. The trouble analysis unit may detect the occurrence or precursor of a predetermined trouble, such as snow accumulation, stopping due to a step, stopping because the button on a push-button traffic signal cannot be pressed, or stopping due to being caught in a sudden accident, from the surrounding image, or from the surrounding image and sensor information from other sensors.

[0165] For example, this trouble analysis unit may include a trained model that has been machine-learned to take ambient images or ambient images and sensor information from a group of other sensors as input and output detection results. The algorithm of this trained model is not limited. By inputting ambient images or ambient images and sensor information from a group of other sensors into this trained model, a detection result for a predetermined trouble can be obtained. The detection result for a predetermined trouble may be the occurrence of a trouble and the content of the trouble that has occurred, or it may be a prediction of the signs of trouble and the content of that trouble, or both.

[0166] The first detection processing unit 14a transmits the detection result of a predetermined trouble to the server device 3 via the communication control unit 11 and the communication unit 16. Alternatively, the first detection processing unit 14a may pass the detection result of a predetermined trouble to the second detection processing unit 14b and the display control unit 15. In this case, the second detection processing unit 14b only needs to detect peripheral terminal devices, which are mobile terminal devices 4, that are present around the delivery robot device 1, when a predetermined trouble is detected. The display control unit 15 only needs to display the access image when a predetermined trouble is detected.

[0167] Furthermore, the functions of the first detection processing unit 14a can be partially or entirely provided on the server device 3 side. In other words, the server device 3 can be configured to monitor for the occurrence of a predetermined trouble in the delivery robot device 1. In this case, the communication control unit 11 transmits the information necessary for detection to the server device 3 via the communication unit 16, so that the server device 3 can detect the occurrence or precursor of the predetermined trouble.

[0168] Furthermore, the first detection processing unit 14a determines the content of troubleshooting support to resolve the detected predetermined trouble. The content of troubleshooting support can refer to procedures for dealing with the trouble. The first detection processing unit 14a also functions as an example of a decision unit that makes such a determination. The above decision unit may be provided on the server device 3 side, in which case information indicating the detected predetermined trouble should be transmitted to the server device 3.

[0169] The above decision can be made, for example, by storing a table in the memory unit of the delivery robot device 1 that associates troubles with the content of trouble resolution support to resolve them, and by referring to that table and reading the contents when a predetermined trouble is detected. Of course, the trouble analysis unit may also be equipped with a trained model that has been trained to take ambient images or ambient images and sensor information from other sensor groups as input and output the content of trouble resolution support. The algorithm of this trained model is not specified. By taking ambient images or ambient images and sensor information from other sensor groups as input to this trained model, the content of trouble resolution support can be obtained along with the detection result of a predetermined trouble.

[0170] If the detected problem is a stoppage or reduction in movement speed due to snow accumulation, in other words, being stranded due to snow accumulation, the content of the trouble resolution support, that is, the method of resolution to be conveyed to the support candidate, can be as follows: In this case, the content of the trouble resolution support should be snow removal work, work to move the wheels 17a that are stuck in heavy snow or ruts, or assistance with driving by accompanying the vehicle.

[0171] If the detected problem is a stop due to a step or an obstacle, the troubleshooting support should involve shifting the delivery robot device 1 to avoid the step, or shifting the delivery robot device 1 to avoid the obstacle, or shifting the position of the obstacle, respectively. If the detected problem is a stop due to being unable to press a push-button traffic signal, the troubleshooting support should involve pressing the push-button traffic signal.

[0172] Furthermore, for any trouble, the support provided to resolve the trouble may include a report on the current situation, or a report on the results of resolving the trouble. If the detected trouble is a stoppage due to being caught in a sudden accident, the support provided to resolve the trouble should include moving the vehicle away from the accident scene, reporting the situation, notifying the police or calling an ambulance, and reporting on the results of resolving the trouble.

[0173] (Mobile Terminal Device 4) Although the configuration example of the mobile terminal device 4 is omitted, it can have a general computer configuration, for example, by removing the drive control unit 12, the first detection processing unit 14a, the second detection processing unit 14b, and the drive unit 17 from the parts shown in Figure 1 as the configuration of the delivery robot device 1, and adding an input unit and a storage unit.

[0174] Therefore, the control unit of the mobile terminal device 4 can also be realized by, for example, a processor, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the mobile terminal device 4. This program may include, for example, a program that executes communication processing with the communication destination device among the delivery robot device 1 and the server device 3, and processing for generating information to be transmitted. This control unit may also be realized using a programmable integrated circuit, such as an FPGA or a microcomputer.

[0175] Furthermore, the mobile terminal device 4 can be configured to display images on its display unit for route guidance, or navigation, to the user of the mobile terminal device 4, based on map data stored in its memory unit and first location information acquired by the GNSS receiver unit. This allows the user of the mobile terminal device 4 to travel to their destination while confirming the planned route to the destination on a map that includes their current location. As described above, the delivery robot device 1 can acquire this first route information indicating the planned route from the mobile terminal device 4.

[0176] Furthermore, in the example where the display unit 20 displays the access image, the owner of the mobile terminal device 4 captures this access image with the imaging unit provided in the mobile terminal device 4. As a result, the mobile terminal device 4 extracts access information from the access image, prompts the user to access the destination indicated by the access information, accepts the operation, or automatically accesses the destination. In this case, the owner is assumed to be walking around the delivery robot device 1, or to be standing still on a bicycle or to have dismounted from a bicycle, and can therefore be considered a candidate to request assistance in resolving the problem. A person who is standing still on a bicycle or to have dismounted from a bicycle can also be considered a pedestrian.

[0177] (Server device 3) Server device 3 is composed of a server computer and may include a control unit 30, a communication unit 36, and a storage unit 37. Although server device 3 is described as a single device, server device 3 can also be constructed as a server system with functions distributed among multiple devices. Server device 3 is one example of the configuration of the support device according to this embodiment.

[0178] The control unit 30 controls the entire server device 3. The control unit 30 may include a communication control unit 11 and a robot control unit 32, which are responsible for the main functions of sending and receiving information with the delivery robot device 1 and controlling the drive of the delivery robot device 1, respectively. The control unit 30 may also include an identification unit 33 and a request processing unit 34, which are responsible for the main functions of identifying the mobile terminal device 4 held by the support candidate and controlling the transmission of request information to the mobile terminal device 4 and the reception of the response, respectively.

[0179] The control unit 30 may be implemented, for example, by a processor such as a CPU, working memory, and a non-volatile storage device that stores a control program. This program may include a program that, when executed by the processor, realizes the functions of the server device 3. Alternatively, the control unit 30 may be implemented using an integrated circuit that can be programmed by the user, such as an FPGA or a microcomputer.

[0180] The communication unit 36 ​​performs wireless communication with external devices such as the delivery robot device 1 and the mobile terminal device 4. The communication unit 36 ​​may be equipped with a communication interface for performing such wireless communication. For example, the communication unit 36 ​​may be equipped with a communication interface that connects to a mobile communication system in order to communicate with the delivery robot device 1 and the mobile terminal device 4. The communication control unit 31 controls communication with external devices via the communication unit 36.

[0181] The storage unit 37 is a storage device such as an SSD or HDD that stores various information used by the server device 3. The storage unit 37 can store user information 37a, which indicates a user of the support request system 100, as one type of information to be stored. User information 37a is information registered in advance about users who may be candidates for support, and may include the user's name or ID, contact information for the mobile terminal device 4 used by the user, device identification number, telephone number, and other access information. In addition, user information 37a may be registered automatically or with the user's consent for users who have received support once. The storage unit 37 stores and updates information according to the control of the control unit 30.

[0182] When a predetermined trouble is detected by the first detection processing unit 14a, the identification unit 33 identifies the mobile terminal device 4 possessed by the support candidate based on the content of the trouble resolution support determined by the first detection processing unit 14a and the detection results from the second detection processing unit 14b. A support candidate refers to a pedestrian who requests trouble resolution support for the delivery robot device 1. Whether or not someone is a pedestrian can be determined, for example, by whether or not the speed of change of the first position information received from the mobile terminal device 4 is below a predetermined speed, or by whether or not they are moving on a sidewalk. In the example where an access image is displayed, it may also be determined that the person is a pedestrian based solely on the fact that they accessed the device based on that access image. Since the detection results from the second detection processing unit 14b also include attribute information indicating the pedestrian's attributes, the identification unit 33 will also identify the mobile terminal device 4 possessed by the support candidate based on this attribute information.

[0183] Here, the identification in the identification unit 33 may be limited to one mobile terminal device 4, or it may be performed under the conditions of being within the first predetermined number of devices, or being greater than or equal to the second predetermined number of devices, or being within the first predetermined number of devices and greater than or equal to the second predetermined number of devices, or there may be no limit on the number of devices. It is expected that the number of support candidates who make trouble resolution requests will increase in proportion to the number of devices, and that the number of people who will accept the requests will also increase. In addition, the number of people required to resolve a trouble may vary depending on the trouble. For example, at least one of the first predetermined number and the second predetermined number may be changed depending on the nature of the trouble. Furthermore, support candidates are not limited to people walking on a sidewalk or other people moving toward a certain destination, but may also include, for example, construction workers or shop employees who stop or wander around along the delivery route of the delivery robot device 1.

[0184] Let's consider a simpler example. The detection result in the second detection processing unit 14b is attribute information of the mobile terminal device 4 and its owner that has been detected as being within a predetermined distance of the delivery robot device 1. Therefore, the identification unit 33 identifies the mobile terminal device 4 of the owner whose attribute information shows predetermined attributes corresponding to the content of the trouble resolution support, among the mobile terminal devices 4 detected as being within a predetermined distance of the delivery robot device 1, as the mobile terminal device 4 possessed by the support candidate.

[0185] The specified attribute here can refer to the attribute that enables the execution of the support indicated by the content of the troubleshooting support. For example, for a problem that is easier to resolve if the person's physique is larger than a predetermined criterion, such as a problem requiring the manual movement of the delivery robot device 1, the content of the troubleshooting support for a problem that is easier to resolve if the person's physique is larger than a predetermined criterion would be as follows. In other words, the specified attribute for such troubleshooting support would refer to the attribute of having a physique that is larger than a predetermined criterion. An explanation of the specified attribute corresponding to each of the various examples of troubleshooting support content will be omitted, but it can be understood from the examples of attributes and troubleshooting support content described above.

[0186] Alternatively, the identification unit 33 identifies a peripheral terminal device that meets the condition that its attribute information indicates a predetermined attribute, as well as other predetermined conditions, as a portable terminal device 4 possessed by the support candidate, based on the detection results from the second detection processing unit 14b. Various examples of the above predetermined conditions are described below.

[0187] The above-mentioned predetermined conditions may be conditions relating to the first location information and first route information of the peripheral terminal device. In other words, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate based on the detection result of the second detection processing unit 14b, the first location information and first route information, the second location information of the delivery robot device 1, and the second route information indicating the planned delivery route of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate as the peripheral terminal device whose attribute information indicates predetermined attributes, for example, the nearest peripheral terminal device that is moving in the same direction or on the same route.

[0188] Such specific examples will be explained using Figures 3 and 4. Figures 3 and 4 are schematic diagrams showing one example and another example of the situation around the delivery robot device 1, respectively, to explain an example of the process of identifying the mobile terminal device to which the request information will be sent in the support request system 100. In the situation 50 shown in Figure 3 and the situation 60 shown in Figure 4, the second detection processing unit 14b detects the mobile terminal device 4 within a circle 1c with a predetermined radius centered on the delivery robot device 1. In situations 50 and 60, the owners Ua, Ub, Uc and the delivery robot device 1 are all moving on sidewalk 52 of the sidewalks 52, 53, and 54 of the roadway 51, and their directions of movement are indicated by the arrows.

[0189] In the scenario 50 shown in Figure 3, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 50, the owner Ua of the mobile terminal device 4a is walking towards the delivery robot device 1 from behind, and the owner Ub of the mobile terminal device 4b is approaching from the front of the delivery robot device 1 in the opposite direction. In this case, if the attributes of owners Ua and Ub are the same and the attributes are such that the content of the trouble resolution support can be performed, the identification unit 33 identifies the mobile terminal device 4a, which is moving in the same direction as the support candidate, rather than the mobile terminal device 4b, which is moving in the opposite direction. In other words, in this case, the support candidate is owner Ua, not owner Ub.

[0190] On the other hand, if the attributes of owner Ua differ from those of owner Ub, and the content of the trouble resolution support is more suitable for owner Ua's attributes than for owner Ub's attributes, the identification unit 33 performs the identification as follows. That is, in this case, the identification unit 33 identifies the mobile terminal device 4b, not the mobile terminal device 4a, as the mobile terminal device held by the support candidate, regardless of the direction of movement. In other words, in this case, the support candidate is owner Ub, not owner Ua.

[0191] For example, if the troubleshooting assistance involves moving the delivery robot device 1 while slightly lifting it, the owner Ua may have the attribute of being large in build, while the owner Ub may have the attribute of being accompanied by children or being small in build.

[0192] In the scenario 60 shown in Figure 4, the delivery robot device 1 is traveling along the planned delivery route 1r indicated by the second route information. Furthermore, in scenario 60, the owner Ua of the mobile terminal device 4a and the owner Uc of the mobile terminal device 4c are walking towards the delivery robot device 1 from behind, and owner Ua is closer to the delivery robot device 1 than owner Uc. However, the planned walking route 4ar indicated by the first route information obtained from the mobile terminal device 4a shows that they will then cross the pedestrian crossing 55 and move away from the delivery robot device 1. In this case, if the attributes of owner Ua are the same as those of owner Ub and the attributes are such that the content of the trouble resolution support can be performed, the identification unit 33 identifies mobile terminal device 4c, rather than the closer mobile terminal device 4a, as the mobile terminal device possessed by the support candidate. In other words, in this case, the support candidate is owner Uc, not owner Ua.

[0193] On the other hand, if the attributes of owner Ua differ from those of owner Uc, and the content of the trouble resolution support is more suitable for owner Ua's attributes than for owner Uc's attributes, the identification unit 33 performs the identification as follows. That is, in this case, the identification unit 33 identifies the mobile terminal device 4a, not the mobile terminal device 4c, as the mobile terminal device possessed by the support candidate, regardless of the planned walking route. In other words, in this case, the support candidate is owner Ua, not owner Uc.

[0194] Furthermore, the above-mentioned predetermined conditions may be conditions relating to the first location information of the peripheral terminal device, excluding the conditions relating to the first route information. In other words, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate based on the content of the trouble resolution support, the detection result from the second detection processing unit 14b, the first location information, and the second location information of the delivery robot device 1. More specifically, based on this information, the identification unit 33 may identify the nearest peripheral terminal device among those peripheral terminal devices whose attribute information indicates predetermined attributes as the mobile terminal device 4 possessed by the support candidate. Instead of identifying the nearest peripheral terminal device, the identification unit 33 may identify a predetermined number of peripheral terminal devices in order of proximity, or peripheral terminal devices located within a predetermined distance shorter than the predetermined distance at the time of detection, as the mobile terminal device 4 possessed by the support candidate.

[0195] Alternatively, the identification unit 33 may identify the mobile terminal device 4 as the result of identification if the walking speed, which is the rate of change of the first position information, is within a predetermined range of difference from the moving speed of the delivery robot device 1, which is the rate of change of the second position information, and the peripheral terminal device exhibits a predetermined attribute. Alternatively, the identification unit 33 may identify the mobile terminal device 4 possessed by the support candidate as the peripheral terminal device whose attribute information exhibits a predetermined attribute, and whose walking speed, which is the rate of change of the first position information, is closest to the moving speed of the delivery robot device 1, which is the rate of change of the second position information. The identification unit 33 may identify a predetermined number of peripheral terminal devices in order of proximity as the mobile terminal device 4 possessed by the support candidate, instead of identifying the closest peripheral terminal device.

[0196] Furthermore, in the example of displaying an access image, the above predetermined conditions may include the condition that the mobile terminal device 4 is the one that made the access based on that access image. That is, the identification unit 33 may identify a mobile terminal device 4 that is located around the delivery robot device 1 and has access to the support request system 100 based on the access information, and whose attribute information shows predetermined attributes, as the mobile terminal device 4 possessed by the support candidate. Of course, in this case as well, the identification unit 33 may also take into account conditions based on location information, or location information and route information and a limit on the number of devices, or one or more of these, when making the identification. In this example, the first location information may be the location information of the delivery robot device 1 included in the access information.

[0197] Furthermore, the above-mentioned predetermined conditions may also include conditions regarding whether or not a user is registered. In other words, the identification unit 33 may, based on the detection results in the second detection processing unit 14b, refer to the user information 37a and identify peripheral terminal devices that have been registered as users as the mobile terminal devices 4 possessed by the support candidate, prioritizing them over peripheral terminal devices that have not been registered as users. A mobile terminal device 4 that has not been registered as a user means that it is a mobile terminal device possessed by an owner unrelated to the service requested in the support request system 100.

[0198] Alternatively, the second detection processing unit 14b may access the server device 3 and refer to user information 37a to detect attribute information of peripheral terminal devices and their owners for mobile terminal devices 4 that have been registered as users. In this case, if the second detection processing unit 14b is unable to detect any devices, it may detect attribute information of peripheral terminal devices and their owners for mobile terminal devices 4 that have not been registered as users. For mobile terminal devices 4 that have not been registered as users, the delivery robot device 1 may request temporary user registration using an image from the display unit 20, or request temporary user registration using voice from an audio output device (not shown).

[0199] The request processing unit 34 processes a request to the communication control unit 31 to transmit request information via the communication unit 36. In this way, the server device 3 can be equipped with a request information transmission unit that transmits the above request information. The request information is information for requesting trouble resolution assistance from the mobile terminal device 4 held by the support candidate, and may include information such as the details of the trouble and the details of the trouble resolution assistance, which is the method of resolving it. As in this example, the request information may include the details of the request, and may also include information such as the time it is expected to take to resolve the problem.

[0200] If the destination for the request information is a user-registered mobile terminal device 4, the destination may also be a mobile terminal device 4 included in the user information 37a. In this case, the request information transmission unit will be exemplified by the request processing unit 34, the communication control unit 31, and the communication unit 36. However, even if the destination for the request information is a user-registered mobile terminal device 4, the request processing unit 34 may request the delivery robot device 1 to transmit the request information to that mobile terminal device 4 via Wi-Fi Aware communication.

[0201] If the destination for the request information is a mobile terminal device 4 that has not been registered as a user, the destination is set to the delivery robot device 1, and the communication control unit 31 is requested to send the request information, specifying the final destination. Upon receiving this request, the communication control unit 31 transmits the request information to the delivery robot device 1 via the communication unit 36. The delivery robot device 1, having received the request information, transmits the request information via the communication unit 16 to the mobile terminal device 4 that corresponds to the final destination among the mobile terminal devices 4 detected by the second detection processing unit 14b. This transmission can be performed via Wi-Fi Aware communication. In this case, the request information transmission unit is exemplified by the request processing unit 34, the communication control unit 31, the communication unit 36, the communication control unit 11, and the communication unit 16.

[0202] Furthermore, the request processing unit 34 also performs the process of receiving agreement information from the mobile terminal device 4 as a response to the request information, via the communication control unit 31 and the communication unit 36, indicating an agreement to provide assistance in resolving the problem. In this way, the server device 3 can be equipped with an agreement information receiving unit that receives the above agreement information. The receiving path for the agreement information is the reverse of the transmission path for the request information, and can be made to differ depending on whether or not the user is registered, similar to the transmission path for the request information.

[0203] However, for example, the request information may include access information to the server device 3 for performing support after user registration. This allows the request processing unit 34 to receive agreement information from the mobile terminal device 4 via the communication control unit 31 and the communication unit 36, without going through the delivery robot device 1, either by accessing the device or by having the user select an agreement button after accessing it.

[0204] Furthermore, in the example of displaying an access image, the request processing unit 34 may transmit agreement information or information indicating that an agreement has been reached to the delivery robot device 1 via the communication control unit 31 and the communication unit 36. The display control unit 15 may then erase the access image on the display unit 20 when it receives agreement information or information indicating that an agreement has been reached via the communication unit 16 and the communication control unit 11, that is, when an agreement has been obtained from the support candidate. This prevents the reading of the access image for making a support request, thus avoiding unnecessary requests.

[0205] Furthermore, when the request processing unit 34 receives agreement information, it may prompt the owner of the mobile terminal device 4 to register as a user if they are not already registered, and then have them register. Also, when the request processing unit 34 receives agreement information and the user is already registered or has registered, it may provide an incentive such as points that can be used for a predetermined service. The incentive to be provided can be managed, for example, in association with user information 37a, or it may be notified to the system providing the predetermined service along with the user's information.

[0206] Furthermore, incentives may be awarded upon completion of support rather than upon agreement to the request. In this case, the incentive may be set higher depending on the content of the support, such as the time required for the support. Request information may also include information such as the time and content of the support to be provided. In this case as well, incentives can be awarded after the completion of the support, or they may be awarded when the agreement information is received.

[0207] Furthermore, in the example where an access image is displayed, the incentive may be awarded only based on accesses related to the access image. The incentive may also be awarded with a limit on the number of accesses. Additionally, when displaying an access image, it may be indicated simultaneously that there is a benefit for which an incentive will be awarded, or this may be announced via voice from an audio output device (not shown).

[0208] Alternatively, instead of displaying an access image, a voice request for assistance can be made from an audio output device (not shown). In this case, the mobile terminal device 4 of a pedestrian who stops, attracted by the voice, becomes easier to detect as a peripheral terminal device.

[0209] Furthermore, after the agreement is reached, the mobile terminal device 4 of the holder who has reached the agreement can communicate with the server device 3 or the delivery robot device 1 via a mobile communication system or Wi-Fi access point, or via Bluetooth communication after pairing is established. Therefore, the mobile terminal device 4 can also report the progress and results of troubleshooting, indicating the status of troubleshooting, to the server device 3 or the delivery robot device 1. In addition, in examples where access images are displayed or audio announcements are made, it is advisable to clear the display or stop the audio announcements once such communication becomes possible.

[0210] Even if a report is made to the delivery robot device 1, if the delivery robot device 1 sends the results of the trouble resolution to the server device 3, the server device 3 can manage the results of the trouble resolution. The server device 3 can thus also function as a monitoring center to monitor the trouble resolution status.

[0211] (Example of processing in the support request system 100) Next, an example of support request processing performed in the support request system 100, which is an example of the support request system according to Embodiment 3, will be described using Figure 7. Figure 7 is a flowchart illustrating an example of support request processing performed in the support request system 100 of Figure 1, which is an example of the support request system according to Embodiment 3. Here, only a general example of processing is given, but the various examples described above can be applied to the configuration of the support request system 100 according to this embodiment.

[0212] First, in the delivery robot device 1, the first detection processing unit 14a performs detection of the occurrence or precursor of a predetermined trouble with respect to the delivery robot device 1, and determines whether or not a trouble has been detected (step S31).

[0213] If the answer is YES in step S31, the first detection processing unit 14a determines the content of the troubleshooting support to resolve the trouble it has detected (step S32).

[0214] Next, the second detection processing unit 14b detects the peripheral terminal device, which is a mobile terminal device 4, and attribute information of its owner that is present in the vicinity (step S33). Next, the location information acquisition unit 13 acquires first location information and first route information from the detected peripheral terminal device (step S34). The location information acquisition unit 13 also acquires second location information and second route information of the delivery robot device 1 (step S35). The order of steps S34 and S35 does not matter.

[0215] The information acquired in steps S33 to S35, along with the information indicating that a predetermined trouble was detected in steps S31 and S32, and the details of the trouble resolution support, is transmitted by the communication control unit 11 to the server device 3 via the communication unit 16.

[0216] Upon receiving this information, the server device 3 uses an identification unit 33 to identify the mobile terminal device 4 possessed by the support candidate based on the details of the trouble resolution support, attribute information, first and second location information, and first and second route information (step S36). The support candidate refers to a pedestrian who requests trouble resolution support for the delivery robot device 1. The identification unit 33 then passes the information of the identified mobile terminal device 4 to the request processing unit 34.

[0217] Identifying a problem based on route information, as in step S36, is particularly beneficial, for example, when resolving the problem requires assistance from an accompanying driver. Furthermore, identification based on route information as well as location information may be performed only when the resolution of the detected problem involves assistance from an accompanying driver; otherwise, identification based solely on location information may be used.

[0218] Note that the processing in steps S31 to S32 may be performed after steps S33 to S35 and before step S36. In this case, if the answer in step S31 is NO, the process should return to step S33.

[0219] After processing in step S36, the request processing unit 34 transmits request information to the mobile terminal device 4 held by the support candidate to request assistance in resolving the problem (step S37). Next, the request processing unit 34 determines whether or not it has received agreement information in response to this transmission (step S38), and if it has not received it, it terminates the process.

[0220] If the answer in step S38 is YES, that is, if agreement information is received, the request processing unit 34 receives a support report from the identified mobile terminal device 4 and stores it in the storage unit 37 (step S39), and terminates the process. This support report may refer to a report that the supporter who agreed to the support request has resolved the problem in question, or a report of the process of resolving the problem.

[0221] (Effects of Embodiment 3) As described above, in this embodiment, when delivery is performed by an autonomous mobile delivery robot device, assistance in resolving problems is requested from people in the vicinity. Therefore, according to this embodiment, when delivery is performed by an autonomous mobile delivery robot device, if an abnormality occurs that can be resolved simply by changing the surrounding environment, it becomes possible to reduce the need for the business operator to go to the location of the delivery robot device and perform the work. In particular, in this embodiment, since assistance in resolving problems is requested according to the attributes of the people in the vicinity of the delivery robot device, the possibility of resolving problems when an agreement is reached can be improved.

[0222] To illustrate the effect, a comparative example is given. The autonomous mobile delivery robot device in the comparative example has a function to report the occurrence of a predetermined trouble to a monitoring center when it is detected by the onboard sensors. Therefore, in the delivery robot device in the comparative example, even if the detected trouble is one that can be resolved by simply changing the surrounding environment, although emergency response is required for smooth delivery, the operator's workers still need to go to the site to resolve it. In contrast, in this embodiment, assistance in resolving the trouble can be requested from pedestrians who are near the delivery robot device 1 and have a high probability of resolving the trouble. Therefore, according to this embodiment, the operator does not need to go to the site when the above-mentioned trouble occurs, and the trouble can be resolved quickly, enabling safe and smooth delivery.

[0223] Furthermore, in this embodiment, if the delivery robot device 1 is configured to display an access image such as a QR code, a service can be provided in which the robot receives an incentive for reading the access image or for reading it and providing assistance in resolving the problem. If such a service becomes established, or if deliveries are made while providing notifications, the probability of the person requesting assistance agreeing to the request can be increased, and the problem can be resolved more quickly.

[0224] In this embodiment, if the delivery robot device 1 is configured to display access images such as QR codes, the costs incurred by operators such as transportation companies for its introduction and operation will mainly consist of the display device or the display device and incentives. Therefore, such costs can be less than the amount of damage caused by theft or the resulting loss of customers. Furthermore, by including location information and time information in the access image displayed in real time, this information can be included in the access information from passersby such as pedestrians. As a result, even in environments where the delivery robot device 1 cannot receive GNSS signals or does not have communication functions, the system accessed based on that access information can determine the location and time of the delivery robot device 1 at a given point in time.

[0225] Furthermore, in this embodiment, as such a delivery service becomes established, the psychological effect of an unspecified number of passersby monitoring the delivery robot device 1 can reduce theft or vandalism of the delivery robot device 1 or the items it carries.

[0226] <Embodiment 4> The support request system according to Embodiment 4 will be explained using Figure 6, focusing on the differences from Embodiment 3, but various examples described in Embodiment 3 can be applied. Figure 6 is also a block diagram showing one example configuration of the support request system according to Embodiment 4.

[0227] The support request system according to this embodiment can be configured to include a delivery robot device 1a and a server device 3a, as illustrated in the support request system 100a in Figure 6. In this embodiment as well, the support request system 100a will be described as a system that also includes a mobile terminal device 4.

[0228] The support request system 100a differs from Embodiment 3 in that, in the support request system 100 of Figure 1, the functions of the specific unit 33 and the request processing unit 34 in the server device 3 are mainly located on the delivery robot device 1a side. In other words, the support request system 100a differs from Embodiment 3 in that the server device 3a does not have the specific unit 33 and the request processing unit 34 in its control unit 30a, while the delivery robot device 1a has a control unit 10a that includes the specific unit 33a and the request processing unit 34a. Thus, the delivery robot device 1a has one example of the configuration of the support device according to this embodiment. In other words, the support device may be incorporated into the delivery robot device as in this embodiment.

[0229] In this embodiment, the server device 3a basically handles the movement control of the delivery robot device 1a, user management, and troubleshooting report management, but the delivery robot device 1a handles all other processing.

[0230] For example, the second detection processing unit 14b performs the process of detecting attribute information indicating the attributes of peripheral terminal devices, such as mobile terminal devices 4, and their owners, that are located around the delivery robot device 1a. In this embodiment, the delivery robot device 1a can basically perform this detection without going through the server device 3a at all. Of course, for user-registered mobile terminal devices 4, this detection can also be performed by communicating with the server device 3a via a mobile communication system, for example. This makes it possible to obtain attribute information of the owners of peripheral terminal devices as more reliable information.

[0231] When a predetermined trouble is detected, the identification unit 33a identifies the mobile terminal device 4 held by the support candidate, who is a pedestrian who is the target of the trouble resolution support request for the delivery robot device 1a, based on the content of the trouble resolution support and the detection result of the second detection processing unit 14b. The request processing unit 34a transmits request information to the mobile terminal device 4 held by the support candidate via the communication control unit 11 and the communication unit 16. The request processing unit 34a can also perform processing such as receiving agreement information in the same manner as in Embodiment 3. An example of the support request processing in this embodiment will be omitted as it is possible to refer to the explanation of Embodiment 3, although the communication path of information is mainly different compared to Embodiment 3.

[0232] According to this embodiment, compared to the server device 3 of Embodiment 1, the processing load on the server device 3a can be reduced, and the processing can be distributed to the delivery robot device 1a.

[0233] <Alternative Examples, etc.> Some or all of the processing in each of the above-described devices—server device 3, server device 3a, delivery robot device 1, delivery robot device 1a, and mobile terminal device 4—can be implemented as a computer program, as described as a control program. The above-described program includes a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments when loaded into a computer. The program may be stored in a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium, including electrically, optically, acoustically, or otherwise propagating signals.

[0234] This disclosure is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. For example, the shape and configuration of the delivery robot device are not limited to those exemplified, and only need to be able to accommodate the transported object and move autonomously. Furthermore, while embodiments 1 and 3 show examples in which the server device 3 is equipped with the specific unit and request processing unit, and embodiments 2 and 4 show examples in which the delivery robot device 1a is equipped with them, the method of distributing processing is not limited to these, and the server device and the delivery robot device may perform the processing in cooperation.

[0235] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A support device comprising: an identification unit that identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of requesting support to resolve the delivery robot device, based on a second detection result that detects a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, when a first detection result that detects the occurrence or indication of the occurrence of a trouble with an autonomous mobile delivery robot device indicates that the trouble has been detected; and a request information transmission unit that transmits request information to the mobile terminal device held by the support candidate to request support to resolve the trouble. (Note 2) The support device according to Note 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, from the peripheral terminal device indicated by the second detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the second detection result, the first location information, and the second location information, which is the location information of the delivery robot device. (Note 3) The support device according to Note 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, and first route information, which is the planned travel route of the owner of the peripheral terminal device, from the peripheral terminal device indicated by the second detection result, wherein the identification unit identifies the mobile terminal device possessed by the support candidate based on the second detection result, the first location information and the first route information, the second location information, which is the location information of the delivery robot device, and the second route information, which is the planned delivery route of the delivery robot device. (Note 4) The support device according to any one of Notes 1 to 3, wherein the identification unit identifies the mobile terminal device possessed by the support candidate, prioritizing peripheral terminal devices that have been registered as users with the support device over peripheral terminal devices that have not been registered as users with the support device, based on the second detection result, or, as the second detection result, uses the result of detecting the peripheral terminal device targeting mobile terminal devices that have been registered as users with the support device, and if detection is not possible, uses the result of detecting the peripheral terminal device targeting mobile terminal devices that have not been registered as users with the support device.(Note 5) The support device according to any one of Notes 1 to 4, wherein the support device according to Note 5, further comprising a determination unit that determines the content of trouble resolution support to resolve the predetermined trouble when the third detection result, which detects the occurrence or indication of the occurrence of a predetermined trouble with respect to the delivery robot device, indicates that the predetermined trouble has been detected, and the identification unit identifies the mobile terminal device held by the support candidate, who is a pedestrian who is the target of the trouble resolution support request, based on the content and a fourth detection result, which detects a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, and attribute information indicating the attributes of the owner of the peripheral terminal device. (Note 6) The support device according to Note 5, further comprising a location information acquisition unit that acquires third location information, which is the location information of the peripheral terminal device, from the peripheral terminal device indicated by the fourth detection result, and the identification unit identifies the mobile terminal device held by the support candidate, based on the fourth detection result, the third location information, and second location information, which is the location information of the delivery robot device. (Note 7) The support device according to Note 5, further comprising a location information acquisition unit that acquires a third location information which is the location information of the peripheral terminal device and a third route information which indicates the planned travel route of the owner of the peripheral terminal device from the peripheral terminal device indicated by the fourth detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the fourth detection result, the third location information and the third route information, a second location information which is the location information of the delivery robot device and a second route information which indicates the planned delivery route of the delivery robot device. (Note 8) The support device according to any one of Notes 5 to 7, wherein the fourth detection result uses the result of detecting the attribute information based on at least one of an ambient image taken around the delivery robot device acquired by an imaging unit provided in the delivery robot device and information transmitted from the peripheral terminal device.(Note 9) A support method in which, if the support device detects the occurrence or signs of a problem with an autonomous mobile delivery robot device, and the first detection result indicates that the problem has been detected, the support device identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the request for assistance in resolving the problem with the delivery robot device, based on a second detection result that detects a peripheral terminal device, which is a mobile terminal device located in the vicinity of the delivery robot device, and transmits request information to the mobile terminal device held by the support candidate to request assistance in resolving the problem. (Note 10) The support method according to Note 9, wherein the support device, when a third detection result indicating the occurrence or precursor of a predetermined trouble with respect to the delivery robot device indicates that the predetermined trouble has been detected, determines the content of trouble resolution support to resolve the predetermined trouble; and when the third detection result indicates that the predetermined trouble has been detected, identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the trouble resolution support request, based on the content and a fourth detection result indicating the detection of a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, and attribute information indicating the attributes of the owner of the peripheral terminal device, and transmits request information to the mobile terminal device held by the support candidate to request the trouble resolution support. (Note 11) A support device comprising: a determination unit that determines the content of trouble resolution support to resolve the predetermined trouble when a first detection result that detects the occurrence or indication of a predetermined trouble with respect to an autonomous mobile delivery robot device indicates that the predetermined trouble has been detected; an identification unit that identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the trouble resolution support request, based on the content and a second detection result that detects a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, and attribute information indicating the attributes of the owner of the peripheral terminal device, when the first detection result indicates that the predetermined trouble has been detected; and a request information transmission unit that transmits request information to the mobile terminal device held by the support candidate to request the trouble resolution support.(Note 12) The support device according to Note 11, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, from the peripheral terminal device indicated by the second detection result, wherein the identification unit identifies the mobile terminal device possessed by the support candidate based on the second detection result, the first location information, and second location information, which is the location information of the delivery robot device. (Note 13) The support device according to Note 11, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, and first route information, which indicates the planned travel route of the owner of the peripheral terminal device, from the peripheral terminal device indicated by the second detection result, wherein the identification unit identifies the mobile terminal device possessed by the support candidate based on the second detection result, the first location information, the first route information, second location information, which is the location information of the delivery robot device, and second route information, which indicates the planned delivery route of the delivery robot device. (Note 14) The support device according to any one of Notes 11 to 13, wherein the second detection result uses the result of detecting the attribute information based on at least one of the following: an ambient image taken of the area around the delivery robot device acquired by an imaging unit provided in the delivery robot device, and information transmitted from the peripheral terminal device. (Note 15) A support method in which the support device, when a first detection result indicating the occurrence or indication of a predetermined trouble with respect to an autonomous mobile delivery robot device indicates that the predetermined trouble has been detected, determines the content of trouble resolution support to resolve the predetermined trouble; when the first detection result indicates that the predetermined trouble has been detected, identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the trouble resolution support request, based on the content and a second detection result indicating the detection of a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, and attribute information indicating the attributes of the owner of the peripheral terminal device; and transmits request information to the mobile terminal device held by the support candidate to request the trouble resolution support.

[0236] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 8 that are dependent on Appendice 1 may also be dependent on Appendice 9 in the same manner as those described in Appendices 2 to 8. Some or all of the elements (e.g., configuration and function) described in Appendices 12 to 14 that are dependent on Appendice 11 may also be dependent on Appendice 15 in the same manner as those described in Appendices 12 to 14. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.

[0237] This application claims priority based on Japanese Patent Application No. 2024-166289 and Japanese Patent Application No. 2024-166290, both filed on September 25, 2024, and incorporates all of their disclosures herein.

[0238] The configuration described herein can be used to support autonomous mobile delivery robotic devices.

[0239] 1, 1a Delivery robot device 1r Delivery route 3, 3a Server device 4, 4a, 4b, 4c Mobile terminal device 4ar Walking route 10, 10a, 30, 30a Control unit 11, 31 Communication control unit 12 Drive control unit 13 Location information acquisition unit 14a First detection processing unit 14b Second detection processing unit 15 Display control unit 16, 36 Communication unit 17 Drive unit 17a Wheel 18 GNSS receiver unit 19 Imaging unit 20 Display unit 21 QR code 32 Robot control unit 33 Identification unit 34 Request processing unit 37 Storage unit 37a User information 50, 60 Status

Claims

1. A support device comprising: a first detection result that detects the occurrence or precursor of a problem with an autonomous mobile delivery robot device, which indicates that a problem has been detected, and based on a second detection result that detects a peripheral terminal device which is a mobile terminal device located in the vicinity of the delivery robot device, a identification unit that identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of a request for assistance in resolving the problem with the delivery robot device; and a request information transmission unit that transmits request information for assistance in resolving the problem to the mobile terminal device held by the support candidate.

2. The support device according to claim 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, from the peripheral terminal device indicated by the second detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the second detection result, the first location information, and the second location information, which is the location information of the delivery robot device.

3. The support device according to claim 1, further comprising an information acquisition unit that acquires first location information, which is the location information of the peripheral terminal device, and first route information, which is the planned travel route of the owner of the peripheral terminal device, from the peripheral terminal device indicated by the second detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the second detection result, the first location information and the first route information, second location information, which is the location information of the delivery robot device, and second route information, which is the planned delivery route of the delivery robot device.

4. The support device according to any one of claims 1 to 3, wherein the identification unit, based on the second detection result, identifies the peripheral terminal device that has been registered as a user with the support device as a mobile terminal device possessed by the support candidate, with priority given to the peripheral terminal device that has not been registered as a user with the support device, or, as the second detection result, uses the result of detecting the peripheral terminal device targeting mobile terminal devices that have been registered as a user with the support device, and if detection is not possible, uses the result of detecting the peripheral terminal device targeting mobile terminal devices that have not been registered as a user with the support device.

5. The support device according to any one of claims 1 to 4, wherein, if a third detection result that detects the occurrence or indication of a predetermined trouble with respect to the delivery robot device indicates that the predetermined trouble has been detected, the support device further comprises a determination unit that determines the content of trouble resolution support to resolve the predetermined trouble, and the identification unit, if the third detection result indicates that the predetermined trouble has been detected, identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the trouble resolution support request, based on the content and a fourth detection result that detects a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, and attribute information indicating the attributes of the owner of the peripheral terminal device.

6. The support device according to claim 5, further comprising a location information acquisition unit that acquires a third location information, which is the location information of the peripheral terminal device, from the peripheral terminal device indicated by the fourth detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the fourth detection result, the third location information, and the second location information, which is the location information of the delivery robot device.

7. The support device according to claim 5, further comprising a location information acquisition unit that acquires a third location information which is the location information of the peripheral terminal device and a third route information which is the planned travel route of the owner of the peripheral terminal device from the peripheral terminal device indicated by the fourth detection result, wherein the identification unit identifies the mobile terminal device held by the support candidate based on the fourth detection result, the third location information and the third route information, a second location information which is the location information of the delivery robot device and a second route information which is the planned delivery route of the delivery robot device.

8. The support device according to any one of claims 5 to 7, wherein the fourth detection result is used to detect the attribute information based on at least one of the following: an ambient image of the area around the delivery robot device acquired by an imaging unit provided in the delivery robot device, and information transmitted from the peripheral terminal device.

9. A support method comprising: when a support device detects the occurrence or indication of a problem with an autonomous mobile delivery robot device, and a first detection result indicates that the problem has been detected, the support device identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the request for assistance in resolving the problem with the delivery robot device, based on a second detection result that detects a peripheral terminal device, which is a mobile terminal device located in the vicinity of the delivery robot device, and transmits request information to the mobile terminal device held by the support candidate requesting assistance in resolving the problem.

10. The support method according to claim 9, wherein the support device, when a third detection result indicating the occurrence or precursor of a predetermined trouble with respect to the delivery robot device indicates that the predetermined trouble has been detected, determines the content of trouble resolution support to resolve the predetermined trouble; and when the third detection result indicates that the predetermined trouble has been detected, identifies a mobile terminal device held by a support candidate, who is a pedestrian who is the target of the trouble resolution support request, based on the content and a fourth detection result indicating the detection of a peripheral terminal device, which is a mobile terminal device located around the delivery robot device, and attribute information indicating the attributes of the owner of the peripheral terminal device; and transmits request information requesting trouble resolution support to the mobile terminal device held by the support candidate.

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