JP2019131068A - Unmanned delivery device, method and program therefor - Google Patents

Abstract

To provide an unmanned delivery device capable of delivering cargoes to a plurality of positions without returning to a terminal such as a delivery vehicle or a delivery terminal, and a method and program therefor.SOLUTION: An unmanned delivery device 1 which can autonomously fly comprises: storage means for storing a plurality of target positions and cargoes in association; holding means 30A for holding cargoes; movement means for subsequently flying from a departure to the plurality of target positions; arrival determination means for determining the delivery device arrived at any target position; and release means for releasing holding of the cargo by the holding means 30A when the delivery device arrives at any target position. The movement means moves to the next target position when the unmanned delivery device 1 releases holding of the cargo corresponding to the target position at one target position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned delivery apparatus, a method thereof, and a program.

  Conventionally, a delivery system using a small unmanned aerial vehicle (also called “drone”) has been proposed (for example, Patent Document 1).

Japanese Patent Laid-Open No. 2006-153337

  By the way, in the above-described technology, when one drone delivers one cargo to the first delivery destination and the delivery of the cargo is completed, the next delivery destination is located at a position close to the first delivery destination. It is supposed to return to the position of the delivery car that manages the drone.

  The present invention is an attempt to solve such a problem, and provides an unmanned delivery apparatus capable of delivering cargo to a plurality of locations without returning to a base such as a delivery vehicle or a delivery base, and a method and program thereof. For the purpose.

  A first invention is an unmanned delivery device capable of autonomous flight, wherein a plurality of target positions and cargo are stored in association with each other, storage means for holding the cargo, and a plurality of the above-mentioned items from a starting position. Moving means for sequentially flying to the target position, arrival determining means for determining whether or not any of the target positions has been reached, and release of holding of the cargo by the holding means upon reaching any of the target positions And when the unmanned delivery device releases the holding of the cargo corresponding to the target position at one target position, the moving means moves to the next target position. An unattended delivery device configured.

  According to the configuration of the first invention, the unmanned delivery device can determine whether or not the destination determination means has reached one target position, and when the destination position is reached, the storage means stores the target position and the destination position. It is possible to cancel the holding of the cargo stored in association and move to the next target position. Thereby, cargo can be delivered to a plurality of positions without returning to a base such as a delivery car or a delivery base.

  According to a second aspect of the present invention, in the configuration of the first aspect, the holding means is connected to the main body of the unmanned delivery device by a string-like member that can be wound and delivered, and in the sky above the target position, A lowering means for lowering the cargo by sending out the string-like member; and a grounding sensing means for sensing that the cargo is grounded. An unmanned delivery device configured to release holding of the cargo by a holding unit.

  According to a third aspect of the present invention, in the configuration of the second aspect of the invention, the ground detection means is an unmanned delivery device configured to sense that a load required for the flight of the unmanned delivery device has decreased. .

  4th invention has the cancellation confirmation means which confirms whether the holding | maintenance of the said cargo was cancelled | released with the electric power when winding the said string-like member in the structure of 2nd invention or 3rd invention, It is an unattended delivery device.

  According to a fifth invention, in any one of the first to fourth inventions, the holding means includes a first member and a second member, and the first member and the second member are relatively An annular portion for holding the annular projecting portion of the cargo is configured by moving, and the release means opens the annular portion by relatively moving the first member and the second member. An unattended delivery device configured to do this.

  According to a sixth aspect of the present invention, an unmanned delivery device capable of autonomous flight stores a plurality of destination positions and cargo in association with each other, a holding step for holding the cargo, and a plurality of destination positions from a departure position. A moving step of sequentially flying to, a position determining step of determining whether or not any of the target positions has been reached, and a releasing step of releasing the holding of the cargo by the holding means when reaching any of the target positions When the unmanned delivery device releases the holding of the cargo corresponding to the target position at one target position, the unmanned delivery method moves to the next target position.

  A seventh aspect of the invention is directed to a computer that is capable of autonomous flight and controls an unmanned delivery device that holds a plurality of cargoes, storage means that associates and stores a plurality of destination positions and cargoes, Moving means for sequentially flying to the target position, position determining means for determining whether or not any of the target positions has been reached, and release means for releasing the holding of the cargo by the holding means when reaching any of the target positions The moving means moves to the next target position when the unmanned delivery device releases the holding of the cargo corresponding to the target position at one target position. A computer program configured to move.

  According to the present invention, cargo can be delivered to a plurality of positions without returning to a base such as a delivery vehicle or a delivery base.

It is the schematic which shows the unmanned delivery apparatus which concerns on embodiment of this invention. It is the schematic which shows an unmanned delivery apparatus. It is the schematic which shows the cargo holding part of an unmanned delivery apparatus. It is the schematic which shows the delivery operation | movement of the cargo by an unmanned delivery apparatus. It is the schematic which shows the delivery operation | movement of the cargo by an unmanned delivery apparatus. It is the schematic which shows the delivery operation | movement of the cargo by an unmanned delivery apparatus. It is the schematic which shows the delivery operation | movement of the cargo by an unmanned delivery apparatus. It is the schematic which shows the delivery operation | movement of the cargo by an unmanned delivery apparatus. It is the schematic which shows the delivery operation | movement of the cargo by an unmanned delivery apparatus. It is the schematic which shows the closed state of a holding member. It is the schematic which shows the open state of a holding member. It is the schematic which shows a 2nd member. It is the schematic which shows a 1st member. It is the schematic which shows a servomotor. It is the schematic which shows a motor fixing | fixed part. It is the schematic which shows the state which fixed the servomotor to the motor fixing | fixed part. It is the schematic which shows the state which fixed the 1st member to the servomotor. It is a schematic plan view which shows a 1st member. It is the schematic which shows the process which cancels | releases capture | acquisition of the wire by a holding member. It is the schematic which shows the process which cancels | releases the capture | acquisition of the wire by a holding member. It is the schematic which shows the functional block of an unattended delivery apparatus. It is a schematic flowchart which shows operation | movement of an unattended delivery apparatus. It is a schematic flowchart which shows operation | movement of an unattended delivery apparatus.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail. In the following description, the same reference numerals are given to the same components, and the description thereof is omitted or simplified. Note that description of configurations that can be appropriately implemented by those skilled in the art will be omitted, and only the basic configuration of the present invention will be described.

  1 is an example of an unmanned delivery device capable of autonomous flight. The drone 1 is an unmanned air vehicle flying in the air. The drone 1 holds the cargoes 180A and 180B at the starting position P1 that is the position of the building 200A, flies along the route indicated by the arrow R1, and sends the wire 170A when it reaches the target position P2 that is the position of the building 200B. The cargo 180A is lowered and the holding of the cargo 180A is released. Subsequently, the drone 1 flies along the route indicated by the route R2 and reaches the target position P3 that is the position of the building 200C, and then sends out the wire 170B to lower the cargo 180B and releases the holding of the cargo 180B. When the holding of the cargo 180B is released, the drone 1 flies along the route indicated by the arrow R3 and returns to the departure position P1.

  As shown in FIG. 2A, the drone 1 has a housing 2. Arranged in the housing 2 are a computer that controls each part of the drone 1, an autonomous flight device, a wireless communication device, a positioning device using GPS (Global Positioning System), an inertial sensor, an atmospheric pressure sensor, a battery, and the like. Further, the camera 10 is disposed in the housing 2 via the fixing device 12. The camera 10 is a visible light camera or a near infrared camera, but may be a switchable hybrid camera. The camera 10 is an example of information collection means. The fixing device 12 is a three-axis fixing device (so-called gimbal) that can minimize blurring of an image captured by the camera 10 and can control the optical axis of the camera 10 in an arbitrary direction.

  A round bar-like arm 4 is connected to the housing 2. A motor 6 is connected to each arm 4, and a propeller 8 is connected to each motor 6. Each motor 6 is a direct current motor (DC motor). Each motor 6 is independently controlled by the autonomous flight device in the housing 2 so that the drone 1 can freely move in the vertical and horizontal directions, stop in the air (hovering), and control the attitude. It has become. When the electric power supplied to each motor 6 by the autonomous flying device increases, the number of revolutions of each motor 6 increases, the output of each motor 6 increases, and the thrust generated by the propeller 8 connected to each motor 6 (hereinafter simply “ "Thrust") also increases. The autonomous flight device increases or decreases the electric power in order to achieve the thrust required to position the drone 1 at a predetermined altitude or to raise or lower it. This means that the increase / decrease in the power supplied to each motor 6 by the drone 1 indicates the increase / decrease in the required thrust. In this specification, the term “motor 6” simply means six motors 6, and the term “thrust of motor 6” means thrust by the six motors 6. For example, when the load (weight) supported by the drone 1 is reduced when the drone 1 is hovering, the autonomous flying device increases the drone 1 when the thrust of the motor 6 is maintained. To reduce the thrust, reduce the power. The present embodiment utilizes the above functions of the autonomous flight device.

  The arm 4 is made of, for example, carbon fiber reinforced plastic and is configured to be lightweight while maintaining strength. The housing 2 and the like described above constitute the main body of the drone 1.

  As shown in FIG. 2 (b), the computer stored in the housing 2 is associated with a plurality of target position coordinates in addition to the departure position coordinates (latitude and longitude), and a cargo identification number (ID). ) Is remembered. The plurality of target positions are, for example, target positions P2 and P3. An identification number x1 of the cargo 180A to be delivered in association with the destination position P2 and an identification number x2 of the cargo 180B to be delivered in association with the destination position P3 are stored. The computer also stores a winding device identification number (ID) and a holding member identification number (ID), which will be described later, in association with the cargo ID. The computer (more precisely, the storage unit 102 in FIG. 21) is an example of a storage unit.

  A storage member 20 is connected to the housing 2. The storage member 20 is a structure for storing cargo. As shown in FIG. 3, the storage member 20 has a box portion 22. The bottom surface 22b of the box portion 22 is an opening. Winding devices 50A and 50B and transmitting devices 52A and 52B are arranged on the ceiling portion 22a of the box portion 22. The winding devices 50A and 50B are configured to send out tethers 60A and 60B, respectively, when receiving signals from the transmitting devices 52A and 52B. The transmission devices 52A and 52B transmit control signals to the winding devices 50A and 50B using a short-range wireless standard such as Bluetooth (registered trademark), for example. The winding devices 50A and 50B are devices that wind and send out the tethers 60A and 60B, respectively. Holding members 30A and 30B are connected to the lower ends of the tethers 60A and 60B, respectively. That is, the holding members 30A and 30B are connected to the main body of the drone 1 by tethers 60A and 60B that can be wound and delivered. The tethers 60A and 60B are examples of string members. The tether 60A is a rope made of plastic fiber such as polyamide (nylon), for example.

  The box portion 22 stores cargoes 180A and 180B. Annular protrusions 182A and 182B are connected to the upper surfaces of the cargos 180A and 180B, respectively. The holding members 30A and 30B are engaged with the annular protrusions 182A and 182B, respectively, and hold the cargo 180A and 180B. The holding members 30A and 30B are configured to receive signals from the transmission devices 52A and 52B and to engage and disengage the annular protrusions 182A and 182B, respectively. The holding members 30A and 30B are an example of holding means for holding cargo. The holding members 30A and 30B hold and release cargo according to signals from the transmission devices 52A and 52B, respectively.

  Hereinafter, a state in which the drone 1 releases the holding of the cargo 180A and 180B will be described with reference to FIGS. In addition, illustration of the main-body part of the drone 1 is abbreviate | omitted.

  When the drone 1 reaches above the target position P2, the winding device 50A sends out the tether 60A and lowers the cargo 180A by a signal from the transmission device 52A (see FIG. 4). When the cargo 180A comes in contact with the ground, the load (weight) borne by the propeller 8 of the drone 1 is reduced. If it does so, an autonomous flight apparatus will reduce the electric power supplied to the motor 6 automatically, and will reduce a thrust. When the drone 1 detects a decrease in the power supplied to the motor 6, the drone 1 transmits a signal for releasing the engagement with the annular protrusion 182A to the holding member 30A via the transmission device 52A. Then, the holding member 30A releases the engagement with the annular protrusion 182A (see FIG. 5). When the holding of the cargo 180A is released, the center of gravity of the drone 1 fluctuates, but the drone 1 is configured to maintain a horizontal state despite the change of the center of gravity. In addition, autonomous flight is controlled on the premise of a new center of gravity position.

  The drone 1 detects the power supplied to the winding device 50A, and confirms whether or not the power when winding the tether 60A is within a predetermined range (hereinafter referred to as “confirmation step”). For example, the power when winding the tether 60A in a state where only the holding member 30A is connected to the tether 60A is α, and it is determined whether the power is equal to or less than α. If the holding member 30A breaks down and the release of the cargo 180A is not completed, the power for winding the tether 60A is larger than α. The drone 1 continues to wind the tether 60A when the power when the tether 60A is wound is α or less. On the other hand, when the electric power for winding the tether 60A is larger than α, the drone 1 determines that the holding of the cargo 180A is not released, and interrupts the winding of the tether 60. In this case, the drone 1 releases the holding of the cargo 180A again.

When it is confirmed by the confirmation process that the holding of the cargo 180A is released, the unmanned aircraft 1 winds up the tether 60A (see FIG. 6) and moves toward the next target position P3. When the drone 1 reaches above the target position P3, the winding device 50B sends out the tether 60B and lowers the cargo 180B by a signal from the transmission device 52B (see FIG. 7). When the drone 1 detects a decrease in the power supplied to the motor 6, the drone 1 transmits a signal for releasing the engagement with the annular protrusion 182B to the holding member 30B via the transmission device 52B. Then, the holding member 30B releases the engagement with the annular protrusion 182B (see FIG. 8). The drone 1
When the confirmation process described above is performed and it is confirmed that the cargo 180B is released, the tether 60B is wound (see FIG. 9) and moved toward the departure position P1.

  Next, the holding member 30 will be described with reference to FIGS. As shown in FIGS. 10 and 11, the holding member 30 includes an opening / closing chip 32, a fixed chip 36, a servo motor 38, and a motor storage unit 40. The fixed chip 36 is an example of a first member, and the open / close chip 32 is an example of a second member.

  The fixed chip 36 and the open / close chip 32 are configured to move relative to each other to form an annular part 33 (see FIG. 19) that can be freely opened and closed. Specifically, the open / close chip 32 rotates around the shaft portion 34 in the direction of the arrow a1 (see FIG. 10) and the direction of the arrow a2 (see FIG. 11). FIG. 10 shows a state in which an annular portion 33 for capturing the annular protrusion 182A and the like is configured by the fixed tip 36 and the opening / closing tip 32 (hereinafter referred to as “the closed state of the annular portion 33”). FIG. 11 shows a state in which the configuration of the annular part 33 is released (hereinafter referred to as “open state of the annular part 33”).

  The structure of the open / close chip 32 will be described with reference to FIG. The open / close chip 32 has a base portion 32a and a pair of leg portions 32cR and 32cL. A through-hole portion 32b is formed in the base portion 32a and forms a space S1. A space S2 is formed between the leg portions 32cR and 32cL. The shaft portion 34 (see FIGS. 10 and 11) is inserted into the space S1 of the through-hole portion 32b, and the opening / closing chip 32 and the rotating portion 38b (see FIG. 14) of the servo motor 38 are fixed.

  The structure of the fixed chip 36 will be described with reference to FIG. The fixed chip 36 has a base portion 36a and an arm portion 36c. A through-hole portion 36b is formed in the base portion 36a and constitutes a space S3. A space S4 is formed between the base portion 36a and the arm portion 36c.

  The structure of the servo motor 38 will be described with reference to FIG. The servo motor 38 includes a motor main body 38a and a rotating part 38b. The motor main body 38a is a DC servo motor.

  The structure of the motor storage unit 40 will be described with reference to FIG. The motor storage unit 40 includes a main body 40a and a frame-shaped protrusion 40b. The main body 40a stores a battery for driving the servo motor 38, a control device for controlling the servo motor 38, and a communication device for communicating with the transmission devices 52A and 52B using control signals. . The communication device is, for example, a communication device based on Bluetooth (registered trademark). The inside of the frame-shaped protrusion 40b is a space S5 that communicates with the main body 40a.

  As shown in FIG. 16, the motor main body 38a of the servo motor 38 is fixed to the frame-shaped protrusion 40b. As shown in FIG. 17, in a state where the rotating portion 38b of the servo motor 38 penetrates the space S3 (see FIG. 13) of the through hole portion 36b of the fixed tip 36, the fixed tip 36 is inserted into the motor main body portion 38a of the servo motor 38. Fixed. Then, as shown in FIGS. 10 and 11, the opening / closing chip 32 is fixed to the rotating portion 38 b by the shaft portion 34.

  The details of the fixed chip 36 will be described with reference to FIG. A space S4 is formed between the lower surface 36a1 of the base portion 36a and the arm portion 36c.

  With reference to FIG.19 and FIG.20, the operation | movement which the holding member 30 cancels | releases capture | acquisition of the annular protrusion part 182A is demonstrated. 19 and 20, a cross section of the annular protrusion 182A is shown. 19 and 20, only the fixed chip 36 and the opening / closing chip 32 are shown, and the other parts of the drone 1 are not shown. FIG. 19A shows a state where the holding member 30 is capturing the annular protrusion 182A. An annular protrusion 182A is captured by the annular portion 33. The annular portion 33 includes an arm portion 36c of the fixed tip 36 and leg portions 32cR and 32cL of the opening / closing tip 32. When the open / close tip 32 rotates in the direction of the arrow a1 in the state of FIG. 19A, the annular portion 33 is opened as shown in FIG. 19B.

  When the drone 1 rises in the state of FIG. 19B, the annular protrusion 182A is left on the ground as shown in FIG.

  FIG. 21 is a diagram illustrating a functional configuration of the drone 1. As shown in FIG. 21, the drone 1 includes a CPU (Central Processing Unit) 100, a storage unit 102, a wireless communication unit 104, a satellite positioning unit 106, an inertial sensor unit 108, a drive control unit 110, an image processing unit 112, and The power supply unit 114 is included.

  The drone 1 can communicate with the base station 160 by the wireless communication unit 104. The drone 1 receives an instruction such as starting from the base station 160 by the wireless communication unit 104. The base station 160 is configured by a computer.

  The drone 1 can measure the position of the drone 1 itself by the satellite positioning unit 106 and the inertial sensor unit 108. The satellite positioning unit 106 basically receives radio waves from positioning satellites such as four or more GPS (Global Positioning System) satellites and measures the position of the drone 1. The inertial sensor unit 108 measures the position of the drone 1 by accumulating the movement of the drone 1 from the starting point using, for example, an acceleration sensor and a gyro sensor. The position information of the drone 1 itself is used for determining the movement route of the drone 1 and autonomous movement, and also for linking image data photographed by the image processing unit 112 and coordinates (position). .

  The image processing unit 112 allows the drone 1 to acquire an external image by operating the camera 10 (see FIG. 2).

  By the drive control unit 110, the drone 1 controls the rotation of the propeller 8 (see FIG. 2) connected to each motor 6 (see FIG. 2) to control the posture such as vertical horizontal movement, air suspension, and tilt. It has become.

  The power supply unit 114 is, for example, a replaceable rechargeable battery, and supplies power to each unit of the drone 1.

  The storage unit 102 stores various data and programs necessary for autonomous movement, such as data indicating a movement plan for autonomous movement from the start position P1 to the target positions P2 and P3, and the topography, shape, and position of the structure of the planned flight area. Is stored. Further, the cargo identification number, the winding device identification number, and the holding member identification number are stored in association with the coordinates of the target positions P2 and P3. Further, the storage unit 102 stores the following programs.

  The storage unit 102 stores a flight control program, a movement program, an arrival determination program, a descent program, a ground contact detection program, a release program, and a release confirmation program. The CPU 100 and the flight control program are examples of flight control means. The CPU 100 and the moving program are examples of moving means. The CPU 100 and the arrival determination program are examples of arrival determination means. The CPU 100 and the descending program are examples of descending means. The CPU 100 and the ground detection program are an example of a ground detection unit. The CPU 100 and the release program are examples of release means. The CPU 100 and the release confirmation program are examples of release confirmation means.

  The drone 1 controls autonomous flight of the drone 1 by a flight control program. Specifically, the drone 1 adjusts the power supplied to each motor 6 and flies in a predetermined route and altitude.

  The drone 1 flies sequentially from the starting position P1 to a plurality of destination positions P2 and P3 according to the movement program. Specifically, the drone 1 moves to the next destination position P3 when the holding of the cargo 180A corresponding to the destination position P2 is released by the movement program.

  The drone 1 determines whether any destination position has been reached by the arrival determination program. The drone 1 continuously measures the position of the drone 1 itself. For example, when the coordinates of the target position P2 coincide with the coordinates of the position of the drone 1 itself, the drone determines that the target position has been reached. .

  The drone 1 descends the cargo 180A and the like by sending out the tether 60A and the like over the target position by the descent program. When the drone 1 reaches the target position P2, the drone 1 sends out the tether 60A and lowers the cargo 180A. When the drone 1 reaches the target position P3, the drone 1 sends out the tether 60B and lowers the cargo 180B.

  The drone 1 senses that the cargo 180A or the like is grounded when the drone 1 is located in the air by the ground sensing program. When the cargo 180A or the like is grounded, the load borne by the main body of the drone 1 is reduced, so that the power supplied to the motor 6 is reduced. The drone 1 senses that the cargo 180A or the like is grounded due to a decrease in power.

  The drone 1 releases the holding of the cargo 180A or the like by the holding member 30A or the like when the cargo 180A or the like is grounded by the release program.

  The drone 1 performs a confirmation process for confirming whether the holding of the cargo 180A or the like has been released by the release confirmation program.

  Hereinafter, the operation of the drone 1 will be described with reference to the flowcharts of FIGS. 22 and 23. The drone 1 stores a plurality of target positions P2 and the like in association with the cargo 180A and the like (step ST1 in FIG. 22), starts when receiving a base station 160 start instruction (step ST2), and starts positioning and photographing. (Step ST3) When it is determined that the first destination position P2 has been reached (step ST4), the tether 60A is sent out to lower the cargo 180A (step ST5). When it is determined that the load on the motor 6 has decreased (step ST6), the drone 1 releases the holding of the cargo 180A (step ST7), winds up the tether 60A, and moves toward the second target position P3. (Step ST8). A confirmation process is performed between step ST7 and step ST8.

  When it is determined that the drone 1 has reached the second destination position P3 (step ST9), the unmanned aircraft 1 sends out the tether 60B and lowers the cargo 180B (step ST10). When it is determined that the load on the motor 6 has decreased (step ST11), the drone 1 releases the holding of the cargo 180B (step ST12), winds up the tether 60B, and moves toward the departure position P1 (step ST13). ). A confirmation process is performed between step ST12 and step ST13.

  Note that the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within a scope in which the object of the present invention can be achieved are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Unmanned aircraft 2 Case 6 Motor 8 Propeller 20 Storage member 30A, 30B Holding member 50A, 50B Winding device 52A, 52B Transmitter 60A, 60B Tether 180A, 180B Cargo

Claims (7)

An unmanned delivery device capable of autonomous flight,
Storage means for storing a plurality of destination positions and cargoes in association with each other;
Holding means for holding the cargo;
Moving means for sequentially flying from a starting position to a plurality of the target positions;
Arrival determination means for determining whether or not any of the target positions has been reached;
Release means for releasing the holding of the cargo by the holding means when reaching any one of the target positions;
Have
The moving means is configured to move to the next target position when the unmanned delivery device releases the cargo corresponding to the target position at one target position.
Unmanned delivery device. The holding means is connected to the main body of the unmanned delivery device by a string-like member that can be wound and delivered;
Descent means for lowering the cargo by sending out the string-like member above the target position;
Grounding sensing means for sensing that the cargo is grounded;
Have
The release means is configured to release the holding of the cargo by the holding means when the cargo is grounded.
The unmanned delivery device according to claim 1. The ground sensing means is configured to sense that the load required for the flight of the unmanned delivery device has decreased;
The unmanned delivery device according to claim 2. Having a release confirmation means for confirming whether or not the holding of the cargo has been released by electric power when winding the string-like member;
The unmanned delivery apparatus according to claim 2 or 3. The holding means includes a first member and a second member,
The first member and the second member move relatively to form an annular portion for holding the cargo annular protrusion,
The release means is configured to open the annular portion by relatively moving the first member and the second member.
The unmanned delivery apparatus according to any one of claims 1 to 4. An unmanned delivery device capable of autonomous flight
A storage step for storing a plurality of destination positions and cargoes in association with each other;
A holding step for holding the cargo;
A moving step of sequentially flying from a starting position to a plurality of the target positions;
A position determination step for determining whether or not any of the target positions has been reached;
A release step for releasing the holding of the cargo by the holding means when reaching any one of the target positions;
Have
When the unmanned delivery device releases the holding of the cargo corresponding to the target position at one target position, it moves to the next target position.
Unmanned delivery method. A computer that is capable of autonomous flight and controls an unmanned delivery device that holds multiple cargoes,
Storage means for storing a plurality of target positions and cargoes in association with each other;
Moving means for sequentially flying from a starting position to a plurality of the target positions;
Position determination means for determining whether or not any of the target positions has been reached;
Release means for releasing holding of the cargo by the holding means when reaching any one of the target positions;
A computer program for functioning as
The moving means is configured to move to the next target position when the unmanned delivery device releases the cargo corresponding to the target position at one target position.
Computer program.