JP2017058937A - Air delivery system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a configuration capable of reliably delivering a delivery object to a desired delivery place using a remotely controlled airborne delivery vehicle.SOLUTION: An air delivery system 10 comprises: an airborne delivery vehicle 20 which can deliver a delivery object D; and a management device 50 which can remotely control the airborne delivery vehicle 20. A mark (information code C) is displayed on a delivery place at a destination of the delivery object D. When identifying the mark (information code C) in a captured image, a control section 21 of the airborne delivery vehicle 20 controls a flight state thereof so that the same moves to a position where delivery can be made with reference to the mark (information code C) in the captured image.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flight delivery system.

  2. Description of the Related Art Conventionally, as a technology related to a flight delivery system that delivers a delivery using a flight delivery machine, for example, a material distribution support system disclosed in Patent Document 1 below is known. This material distribution support system includes a disaster victim terminal (a mobile wireless terminal such as a mobile phone), a system management center, a delivery center, a radio pilot, and a mobile communication network such as a mobile phone network. The system management center instructs the delivery center to prepare for delivery based on the desired goods received from the mobile radio terminal and the location information of the mobile radio terminal, and the radio ready for air transportation of the goods is completed via the mobile communication network. By transmitting a signal for controlling the flight direction to the pilot, the goods are transported by air to the position of the portable wireless terminal.

JP 2007-305077 A

  By the way, since the delivery system like patent document 1 is the structure by which goods are air-transported to the position of a disaster victim's terminal with a radio control device, the delivery place of goods becomes clear by a disaster victim's terminal. However, in this delivery system, since the position is specified based on the location information of the victim terminal, the operator who operates the victim terminal needs to be at the delivery location. In addition, the radio pilot needs to have a mobile phone function that periodically receives the location information of the victim terminal via the mobile communication network, and it is difficult to reduce the size and weight of the radio pilot. There's a problem.

  On the other hand, in order to simplify the delivery system, a configuration in which a delivery item is delivered to a delivery destination using a flight delivery machine that uses the GPS function without always receiving detailed information on the delivery location is considered. It is done. However, in such a delivery system, there is a possibility that the delivery cannot be delivered accurately to a desired delivery location at the delivery destination. For example, in the case of delivering a delivery item to a predetermined house in an apartment house such as an apartment, even if the place of the apartment house can be specified, it is possible to specify and deliver the desired house location. It becomes difficult. Therefore, for example, there is a problem that accurate delivery is difficult, such as a case where a delivery item is scheduled to be delivered to the front door of a desired house, but the delivery product is delivered to the front door of the adjacent house.

  The present invention has been made to solve the above-described problems, and provides a configuration capable of accurately delivering a delivery to a desired delivery location using a remotely operated flight delivery machine. With the goal.

In order to achieve the above object, the present invention is a flight delivery system comprising a flight delivery machine capable of delivering a delivery and a management device capable of remotely operating the flight delivery machine,
A mark indicating the delivery location is displayed at the delivery location at the delivery destination of the delivery item,
The flight delivery machine
A flight state control unit that controls the flight state according to an instruction from the management device;
An imaging unit capable of imaging the mark;
A recognizing unit capable of recognizing the mark in the captured image captured by the imaging unit;
With
When the mark is recognized from the captured image by the recognition unit, the flight state control unit controls the flight state of the flight delivery machine so that the flight state moves to a position that can be delivered with reference to the picked mark. It is characterized by doing.

  In the invention of claim 1, the flight delivery machine moves to the delivery destination by remote control by the management device until the mark is recognized by the recognition unit, and when the mark is recognized by the recognition unit, the recognized mark is used as a reference. It moves to the position where it can be delivered. Thus, even if the flight delivery machine is operated remotely, the flight delivery machine moves based on the mark of the delivery place when the flight delivery machine approaches the delivery place. It becomes possible to accurately control the tip. Therefore, it is possible to accurately deliver the delivery item to a desired delivery location based on the mark of the delivery location.

In the invention of claim 2, the mark is an information code, the flight delivery machine includes a decoding unit that decodes the information code captured by the imaging unit, and the flight state control unit recognizes the mark from the captured image by the recognition unit. When the decoding unit succeeds in decoding the information code, the flight state of the flight delivery machine is controlled so as to move to a position where delivery is possible based on the information code.
In this configuration, the delivery of the delivery item to the position based on the mark by the flight delivery machine is performed on the condition that the information code is decoded, so that the reliability of the mark serving as the reference position of the delivery place can be improved.

According to a third aspect of the present invention, the flight delivery machine includes a storage unit that stores information related to the information code displayed at the delivery location, and the flight state control unit stores information related to the information code that has been successfully decoded by the decoding unit. When the information is stored in the unit, the flight state of the flight delivery machine is controlled so as to move to a deliverable position based on the information code.
In this configuration, the delivery of the delivery to the position based on the mark by the flight delivery machine is information related to the information code displayed at the delivery location stored in the storage unit (for example, order information about the delivery and the destination address). Address information, etc.) is obtained. For this reason, since an information code whose information is not stored in the storage unit is not delivered even if the decoding is successful, it is based on a legitimate mark (information code whose information is stored in the storage unit). The delivery can be reliably delivered to the delivery destination. In this way, the reliability of the mark serving as the reference position of the delivery location can be further enhanced by taking into account the content of decoding the information code.

According to a fourth aspect of the present invention, there is provided a holding switching unit that can be switched between a holding state in which a delivery item can be held and a holding release state in which the holding of the delivery item is released. When the flight delivery machine moves to a position where delivery is possible by the control by the flight state control unit, it is switched to the holding release state, and the flight state control unit holds the information by the holding switching unit on the information code recognized by the recognition unit. It is configured to control the flight state in the movement of the flight delivery machine so that the delivered item for which the release is released is delivered.
In this configuration, when the information code decoding process is successful, it is assumed that there are no obstacles such as people or objects on the information code. Can be delivered without causing problems such as contact with obstacles.

In the invention of claim 5, the code region constituting the information code includes an error correction region for performing error correction, and the decoding unit includes a calculation unit for calculating an error correction rate at the time of decoding, The flight state control unit cancels the holding by the holding switching unit on the information code recognized by the recognition unit when the error correction rate calculated by the calculation unit at the time of decoding by the decoding unit is below a predetermined value. The flight state of the flight delivery machine is controlled so that the delivered product is delivered.
In this configuration, even if the decoding process of the information code succeeds, if the error correction rate calculated by the calculation unit exceeds the predetermined value at the time of decoding by the decoding unit, there is a failure in delivery to the information code. Since there is a possibility that it exists, delivery of a delivery item can be avoided. On the other hand, if the decoding process of the information code is successful and the error correction rate is below a predetermined value, there will be no problems with delivery on the information code, such as damage to deliverables or harm to people. Deliverables can be delivered.

The invention according to claim 6 includes a notifying unit for notifying that a delivery cannot be delivered due to an obstacle on the information code when the information code recognized by the recognition unit is not decoded by the decoding unit. It has a configuration.
In this configuration, when a delivery item cannot be delivered due to an obstacle on the information code, the notification unit notifies the fact that the delivery item cannot be delivered. Therefore, it is possible to easily avoid a situation where the delivery cannot be delivered.

It is explanatory drawing which illustrates roughly the flight delivery system which concerns on 1st Embodiment of this invention. 2A is a block diagram illustrating the electrical configuration of the flight delivery machine of FIG. 1, and FIG. 2B is a block diagram schematically illustrating the information code reading unit of FIG. 2A. It is. It is a block diagram which illustrates the electrical constitution of a management device. It is a flowchart which illustrates the flow of the order reception process performed with the management apparatus of FIG. It is explanatory drawing which illustrates notionally an example of the order information database memorize | stored in memory of a management apparatus. It is a flowchart which illustrates the flow of the delivery process performed with the flight delivery machine of FIG. FIG. 7A is an explanatory diagram schematically illustrating how the flight delivery machine of FIG. 1 images the information code attached to the delivery location, and FIG. 7B is the flight delivery machine of FIG. FIG. 7C is an explanatory diagram schematically illustrating how the aircraft moves right above the information code, and FIG. 7C schematically illustrates how the flight delivery machine of FIG. 1 lands on the information code attached to the delivery location. FIG. It is a flowchart which illustrates the flow of the delivery process performed with the flight delivery machine which concerns on 2nd Embodiment of this invention. It is a flowchart which illustrates the flow of the delivery process performed with the flight delivery machine which concerns on 3rd Embodiment of this invention. It is a flowchart which illustrates the flow of the delivery process performed with the flight delivery machine which concerns on other embodiment of this invention. FIGS. 11A and 11B are explanatory diagrams schematically illustrating a method for displaying an information code in a flight delivery system according to another embodiment of the present invention.

[First Embodiment]
Hereinafter, a first embodiment of a flight delivery system according to the present invention will be described with reference to the drawings.
A flight delivery system 10 shown in FIG. 1 is a system that delivers a delivery D to a delivery destination using a flight delivery machine 20, a flight delivery machine 20 that can deliver the delivery D, and the flight delivery machine 20. And a management device 50 capable of remotely operating the device. In this flight delivery system 10, the flight state of the flight delivery machine 20 is controlled so as to move to a deliverable position with reference to the mark (information code C) displayed at the delivery location at the delivery destination of the delivery item D. It is supposed to be. Hereinafter, each structure which builds the flight delivery system 10 is demonstrated.

  The flight delivery machine 20 is configured to be capable of unmanned flight by automatic control in response to an instruction from the management device 50. For example, the flight delivery machine 20 performs flight control by setting a flight route or the like by a known method based on the location information of the delivery destination of the delivery destination transmitted from the management device 50 and the location information specified by the GPS. It has come to be. The flight delivery machine 20 is configured to be able to read information codes such as barcodes and two-dimensional codes.

  As shown in FIG. 2A, the flight delivery machine 20 is provided with a control unit 21 that controls the entire flight delivery machine 20. The control unit 21 is composed mainly of a microcomputer, has a CPU, a system bus, an input / output interface, and the like, and constitutes an information processing apparatus together with the memory 22. The control unit 21 corresponds to an example of a “flight state control unit” and functions to control the flight state in accordance with an instruction from the management device 50. In the memory 22, a predetermined program or the like for executing a reading process or the like to be described later is stored in advance so as to be executable by the control unit 21. The memory 22 corresponds to an example of a “storage unit”, and stores an address of a delivery destination of a delivery item D to be described later.

  The control unit 21 is connected to a flying means 23, a position detection unit 24, a holding switching unit 25, a buzzer 26, an external interface 27, and the like. Further, the flying means 23, the position detection unit 24, the holding switching unit 25, the buzzer 26, and the external interface 27 are configured to be controlled by the control unit 21, and operate according to instructions from the control unit 21. To do. The flying means 23 is a well-known flying means that realizes a flight state such as ascending, descending, advancing, reversing, hovering (stopping in the air), turning, etc. of the flight delivery machine 20. It is comprised by the motor etc. which transmit a driving force to a rotary blade. The position detection unit 24 is configured by a known GPS receiver or the like, and functions to acquire current position information (for example, latitude and longitude information or address (location)) of the flight delivery machine 20. For example, the position detector 24 is configured to receive information from a GPS satellite (not shown) and calculate the detailed latitude and longitude of the flight delivery machine 20. The holding switching unit 25 is configured as, for example, a pair of arm units provided at the lower part of the machine body, and holds the delivery item D in a holding state (a state in which the delivery item D is sandwiched) and releases the holding of the delivery item D. It can be switched to a released state (a state separated from the delivery item D). The external interface 27 is configured as an interface for performing data communication with an external device such as the management device 50 via a network or the like, and is configured to perform communication processing in cooperation with the control unit 21. Yes. Further, the flight delivery machine 20 is provided with a power supply unit 28, and power is supplied to the control unit 21 and various electric parts by the power supply unit 28 and the battery 28 a.

In addition, an information code reading unit 40 is connected to the control unit 21.
The information code reading unit 40 functions to optically read the information code. As shown in FIG. 2B, the light receiving sensor 43 including the CCD area sensor, the imaging lens 42, a plurality of LEDs, It has a configuration including an illumination unit 41 composed of a lens and the like, and functions to read an information code C (bar code or two-dimensional code) attached to a reading target R in cooperation with the control unit 21. To do.

  When reading is performed by the information code reading unit 40, first, the illumination light Lf is emitted from the illumination unit 41 which has been instructed by the control unit 21, and the illumination light Lf passes through the reading port 12 to be read R (for example, The mounting table S (see FIG. 1) is irradiated. Then, the reflected light Lr reflected by the information code C from the illumination light Lf is taken into the apparatus through the reading port 12 and is received by the light receiving sensor 43 through the imaging lens 42. The imaging lens 42 disposed between the reading port 12 and the light receiving sensor 43 is configured to form an image of the information code C on the light receiving sensor 43, and the light receiving sensor 43 is an image of the information code C. The light reception signal corresponding to the is output. The light receiving signal output from the light receiving sensor 43 is stored as image data in the memory 22 (FIG. 2A) and used for decoding processing for acquiring information included in the information code C. The information code reading unit 40 is provided with an amplifying circuit for amplifying the signal from the light receiving sensor 43 and an AD converting circuit for converting the amplified signal into a digital signal. Is omitted. The control unit 21 corresponds to an example of a “decoding unit” and functions to decode the information code C captured by the light receiving sensor 43. The light receiving sensor 43 corresponds to an example of an “imaging unit” and is configured to be able to image the information code C.

  Next, the information code C used in the flight delivery system of FIG. 1 will be described. The information code C is configured as, for example, a QR code (registered trademark), and cells serving as units for displaying information are arranged in a predetermined code area. The code area is a rectangular area that can include all of the plurality of dark cells arranged, and specifically, a minimum square area or rectangular area that includes all three position detection patterns (cutout symbols). Yes. In addition, a specific pattern area in which a specific pattern having a predetermined shape is arranged in the code area, a data recording area in which data is recorded by a plurality of types of cells, and an error correction code is recorded by a plurality of types of cells. And an error correction code recording area. Specifically, decoding target data expressed by a plurality of data words (data code words) is recorded in the data recording area, and an error correction code generated by a known method is expressed based on the configuration of the data words. A plurality of error correction words (error correction code words) are recorded in the error correction code recording area.

Next, the electrical configuration of the management device 50 will be described with reference to FIG.
The management device 50 shown in FIG. 3 corresponds to a host computer that performs various types of information processing in the flight delivery system 10 and can communicate with the flight delivery machine 20. In addition, the management device 50 is provided in a management center that manages, for example, products handled by dealers and deliverables D in which products are packed, and exchanges information with customers via the Internet and is transmitted from the customers. Order information for products is managed. As shown in FIG. 3, the management device 50 includes a control unit 51 configured as a CPU and the like, and a memory 52 that configures an information processing device together with the control unit 51. The order information database is constructed in the memory 22 by storing order information to be described later.

  In addition, an operation unit 53, a display unit 54, an external interface 55, and the like are connected to the control unit 51. The operation unit 53 is configured to give an operation signal to the control unit 51, and the control unit 51 receives the operation signal and performs an operation according to the content of the operation signal. The display unit 54 is configured to be controlled by the control unit 51 and operates in response to a command from the control unit 51. In particular, the display unit 54 is configured by a known display device such as a liquid crystal display or an organic EL display, and can display various information such as an information processing result by the control unit 51 and an operation state of the management device 50. Yes. The external interface 55 is configured as an interface for performing data communication with an external device such as the flight delivery machine 20, and has a configuration for performing communication processing in cooperation with the control unit 51.

Next, the order reception process performed by the management apparatus 50 of FIG. 1 will be described using the flowchart shown in FIG.
Here, an example is shown in which the flight delivery system 10 is applied to non-store sales in which a customer can order a product via media such as the Internet. For example, a merchandise store provides merchandise information via the Internet, and a customer views merchandise information provided by a computer, a mobile phone, a smartphone, or the like. Then, the customer makes an application for the merchandise purchase to the dealer by using an order format provided by the dealer via the Internet or by sending an e-mail. For example, when applying for product purchase, a customer transmits order information such as a product name, a name, a delivery address of the product, a telephone number, an e-mail address, and a payment method to a store via the Internet.

  First, the management device 50 receives order information transmitted by a customer (step S101). For example, the management device 50 receives order information transmitted from the customer side according to the order format via the Internet. Subsequently, the management device 50 stores the received order information in the memory 52 as an order information database (S102). For example, when the customer orders the book A through the order format and sends the name “Aichi Taro”, the orderer's address “AAAA”, the telephone number “EEE”, and the mail address “IIIII”, FIG. As shown in the figure, as the order information with the order number “No1”, the orderer name “Aichi Taro”, the orderer address “AAAA”, the telephone number “ EEE ", mail address" IIIII ", and order contents" Book A "are registered in the order information database. In addition, the management device 50 associates the order with the order number “No1” with, for example, the delivery machine number “001” of the flight delivery machine 20 and registers it in the order information database.

  After the processing of S102, the management device 50 transmits the shipping notification information for notifying the customer of the shipping by e-mail (S103). Here, the shipping notification information includes image data of an information code C in which order identification information and the like are recorded together with character information such as contents registered in the order information database. For example, the e-mail for the order of the product with the order number “No 1” includes the order identification information “10001”, the orderer name “Aichi Taro”, the orderer address “AAAA”, the order content “Book A”, and the delivery machine number. “001” or the like is included in the character information, and image data of an information code C in which order identification information “10001” or the like is recorded is attached. In addition, in the text information of the e-mail, there is an instruction content that prompts the user to print the image of the information code C displayed based on the image data and paste it on the top surface of the mounting table S installed at the entrance of the delivery location. include. The text information of the e-mail may include the scheduled delivery date and time of the delivery item D.

  After the process of S103, the management device 50 acquires information indicating that the preparation for delivery based on the order information is completed (delivery preparation completion information) (S104). The delivery preparation is completed when the flight delivery machine 20 holds the delivery D by the holding switching unit 25. Further, the acquisition of the delivery preparation completion information of the management device 50 is received, for example, by receiving the delivery preparation completion information transmitted from the flight delivery machine 20, or the operator operating the operation unit 53 to input the delivery preparation completion information. Is done by. Subsequently, the management device 50 transmits delivery command information to the flight delivery machine 20 having the delivery machine number “001” associated with the order information related to the acquired delivery preparation completion information (S105). For example, in the case of ordering a product with the order number “No 1”, the management device 50 applies to the flight delivery machine 20 with the delivery machine number “001” that has been prepared for delivery of the “book A” as the order content in the management center. Then, the delivery command information is transmitted so as to deliver the delivery D to the address “AAAA” of the orderer as the delivery location. When the process of S105 ends, the order reception process of FIG. 4 ends. And the process of S101-S105 is each performed with respect to the order specified by each order number.

Next, the delivery process performed by the flight delivery machine 20 of FIG. 1 is demonstrated using the flowchart shown in FIG.
First, the flight delivery machine 20 receives delivery command information transmitted from the management device 50 (S201). Subsequently, the flight delivery machine 20 flies to the address of the delivery destination designated based on the delivery command information from the management device 50 (S202). For example, the flying delivery machine 20 with the delivery machine number “001” associated with the order number “No1” receives the address of the delivery location received from the management device 50 and the current aircraft position information detected by the position detection unit. Based on the above, the flight path is set and the flight travels.

  After the flight delivery machine 20 moves over the address of the delivery destination, as shown in FIG. 7A, the periphery of the aircraft is imaged by the information code reading unit 40 (S203). Subsequently, the control unit 21 determines whether the captured image captured by the information code reading unit 40 includes an information code C that is a mark indicating a delivery location (S204). Specifically, the control unit 21 determines that the information code C is included in the captured image by detecting three position detection patterns from the captured image captured by the information code reading unit 40. If the captured image does not include the information code C indicating the delivery location, the process proceeds to No in S204, and the imaging range is changed (S205). For example, the flight delivery machine 20 is turned under the control of the control unit 21 to change the imaging range of the information code reading unit 40. Thereafter, the process of S203 is performed again.

  On the other hand, in the process of S204, if the control unit 21 determines that the information code C indicating the delivery location is included in the captured image, it is determined that the information code C is recognized, and the process proceeds to Yes. The control unit 21 corresponds to an example of a “recognition unit”, and is configured to be able to recognize the information code C in the captured image captured by the light receiving sensor 43. Subsequently, the recognized information code C is decoded (S206). Specifically, the data code word is decoded in the same manner as the known QR code decoding process. Subsequently, the control unit 21 determines whether or not the data of the decoded information code C includes order identification information associated with the delivery machine number of the flight delivery machine 20 that has read the information code C (S207). ). For example, when the order identification information not associated with the delivery machine number of the flight delivery machine 20 to be delivered is recorded in the information code C (for example, other than “10001” in the delivery of the order number No1). When the order identification information is recorded) or when the order identification information itself is not recorded in the information code C, it is determined that the order identification information is not included. In this case, the process proceeds to No in S207, and the process of S205 is performed. On the other hand, if it is determined in step S207 that the order identification information is included (for example, when the order identification information “10001” is recorded in the delivery of the order number No1), the process proceeds to Yes.

  When the process proceeds to Yes in S207, the flight delivery machine 20 moves directly above the information code C with reference to the information code C as shown in FIG. 7B (S208). Here, the flight movement of the flight delivery machine 20 can be controlled based on a predetermined mark (information code C) by a known method. For example, based on the position of the information code C in the captured image captured by the information code reading unit 40, a positional relationship between the flight delivery machine 20 and the information code C in the real space is specified and flight control is performed. be able to.

  After the process of S208, as shown in FIG. 7C, the flight delivery machine 20 lands on the information code C which is a deliverable position, and the holding switching unit 25 is switched to the holding release state. The delivery item D is placed on the code C (S209). Subsequently, the flight delivery machine 20 moves to the management center (S210) and ends the process of FIG.

  In the process of S206, when the decoding of the information code C fails, the flight delivery machine 20 may sound a buzzer and perform the decoding process again. For example, when an obstacle is placed on the information code C, it is possible to urge the customer or the like to eliminate the obstacle on the information code C, and the decoding process again becomes easy.

As described above, in the first embodiment, the flight delivery machine 20 moves to the delivery destination by the remote operation by the management device 50 until the mark (information code C) is recognized by the control unit 21, and the control unit 21. When the mark (information code C) is recognized by the above, it moves to a position where delivery is possible based on the recognized mark (information code C). Thus, even if the flight delivery machine 20 is remotely operated, the flight delivery machine 20 moves with reference to the mark (information code C) of the delivery place when the flight delivery machine 20 approaches the delivery place. ) Can accurately control the destination of the flight delivery machine 20 according to the display position. Therefore, it is possible to accurately deliver the delivery item D to a desired delivery location based on the delivery location mark (information code C).
In addition, a simple configuration in which the customer simply attaches the information code C to the delivery location, and an inexpensive and versatile delivery system is realized without using a special device that informs the flight delivery machine 20 of the delivery location. Can do.

The mark is an information code C, and the flight delivery machine 20 includes a control unit 21 that decodes the information code C imaged by the light receiving sensor 43. The control unit 21 obtains the mark (information code C) from the captured image. If the information code C is recognized and successfully decoded, the flight state of the flight delivery machine 20 is controlled so as to move to a position where delivery is possible based on the information code C.
In this configuration, the delivery D is delivered to the position based on the mark (information code C) by the flight delivery machine 20 on condition that the information code C is decoded. Reliability can be increased.

The flight delivery machine 20 includes a memory 22 in which information related to the information code C displayed at the delivery location is stored. The control unit 21 stores information related to the information code C that has been successfully decoded (order identification information) in the memory 22. When the information is stored, the flight state of the flight delivery machine 20 is controlled so as to move to a deliverable position with reference to the information code C.
In this configuration, the delivery of the delivery D to the position based on the mark by the flight delivery machine 20 is obtained information (order identification information) on the information code C displayed at the delivery location stored in the memory 22. It is done on condition that. For this reason, since the information code C in which the order identification information is not stored in the memory 22 is not delivered even if the decoding is successful, the legitimate mark (the information code in which the information is stored in the memory 22) The delivery D can be reliably delivered to the delivery destination based on C). In this way, by taking into account the content of decoding the information code C, it is possible to further increase the reliability of the mark serving as the reference position of the delivery location.

The holding switching unit 25 is switchable between a holding state in which the delivery item D can be held and a holding release state in which the holding of the delivery item D is released. The holding switching unit 25 switches to the holding state during delivery. When the flight delivery machine 20 moves to a deliverable position under the control of the control unit 21, the state is switched to the holding release state, and the control unit 21 releases the holding by the holding switching unit 25 on the recognized information code C. The flight state in the movement of the flight delivery machine 20 is controlled so that the delivery item D is delivered.
In this configuration, since it is assumed that there is no obstacle such as a person or an object on the information code C when the decoding process of the information code C is successful, the delivery item D is delivered on the information code C. Thus, the delivery can be delivered without causing a problem such as the delivery D coming into contact with the obstacle.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
In the second embodiment, in the delivery process of the flight delivery machine 20, a process for determining whether or not order identification information is obtained when the information code C is decoded, and whether or not to perform a predetermined notification by calculating an error correction rate This is different from the first embodiment in that a process for determining whether or not is performed. Further, the flight delivery machine 20 and the management device 50 according to the second embodiment are the same as the flight delivery machine 20 and the management device 50 of the first embodiment in terms of hardware configuration, and are denoted by the same reference numerals, and the hardware Detailed description of the configuration is omitted.

Hereinafter, the delivery process of the flight delivery machine 20 according to the present embodiment will be described.
FIG. 8 is a flowchart of a delivery process performed by the flight delivery machine 20 of the second embodiment. In S201 to S207, the same processing as S201 to S207 of FIG. 6 in the first embodiment is performed. If the control unit 21 determines in the process of S207 that the order identification information is included in the decoded data of the information code C, the process proceeds to Yes. Subsequently, the control unit 21 determines whether or not the error correction rate of the information code C is equal to or less than a predetermined set value (S301). Here, as for the error correction rate, error correction calculation is performed by a known method based on the error correction code word, similarly to the known QR code decoding process. The control unit 21 corresponds to an example of a “calculation unit” and functions to calculate an error correction rate when the information code C is decoded. For example, when the set value is set to 7%, an obstacle is placed on a part of the information code recognized in S204 (for example, the upper surface of the printed information code C), and the information code C is decoded. If the error correction rate at that time is calculated to be 5%, it is determined that the error correction rate is lower than the set value, and the process proceeds to Yes in S301. Subsequently, the processing of S208 to S210 is performed in the same manner as the processing of S208 to S210 of FIG. 6 in the first embodiment, and the processing of FIG.

  On the other hand, in the process of S301, for example, an obstacle is placed on a part of the information code C recognized in S204, and the error correction rate at the time of decoding the information code C is calculated by the control unit 21 as 20%. Then, it progresses to No because it is higher than a setting value. Subsequently, the flight delivery machine 20 sounds the buzzer 26 (S302). The buzzer 26 corresponds to an example of a “notification unit” and functions to notify that the delivery item D cannot be delivered because there is an obstacle on the information code C.

  After a lapse of a predetermined time (for example, 30 seconds) from the process of S302, the information code C is read (imaging process and decoding process) (S303). That is, the imaging process of the information code C similar to S203 and the decoding process similar to S206 are performed. Subsequently, the control unit 21 determines whether or not the error correction rate at the time of decoding the information code C is equal to or less than a set value (for example, 7%) (S304). If it is determined in S304 that the error correction rate at the time of decoding the information code C is equal to or less than the set value, the process proceeds to Yes and the process of S208 is performed. For example, when the customer notices the sound of the buzzer 26 and eliminates the obstacle on the information code C by the processing of S302, all the cells of the information code C are imaged, and the control unit 21 uses the information code It is determined that the error correction rate at the time of decoding C is equal to or less than a set value (for example, 7%).

  On the other hand, in the process of S304, if the control unit 21 determines that the error correction rate at the time of decoding the information code C exceeds the set value, the process proceeds to No, and the control unit 21 determines whether a predetermined time has elapsed. (S305). For example, it is determined whether or not the elapsed time from when the buzzer 26 is sounded in S302 exceeds a predetermined time (for example, 5 minutes). When it is determined by the control unit 21 that the predetermined time has not elapsed, the process proceeds to No, and the process of S302 is performed again. On the other hand, if the control unit 21 determines that the predetermined time has elapsed, the process proceeds to Yes, the process of S210 is performed in the same manner as the process of S210 in the first embodiment, and the process of FIG.

As described above, in the second embodiment, the code area constituting the information code C includes an error correction area for performing error correction, and the control unit calculates the error correction rate at the time of decoding. 21. When the error correction rate calculated by the control unit 21 at the time of decoding is equal to or lower than a predetermined value, the control unit 21 cancels the holding by the holding switching unit 25 on the recognized information code C. The flight state of the flight delivery machine 20 is controlled so that the delivered product D is delivered.
In this configuration, even if the decoding process of the information code C succeeds, if the error correction rate calculated at the time of decoding by the control unit 21 exceeds a predetermined value, there is a failure in delivery onto the information code C. Therefore, delivery of the delivery item D can be avoided. On the other hand, if the decoding process of the information code C is successful and the error correction rate is below a predetermined value, problems with delivery on the information code C such as damage to the delivery item D and harm to people occur. Assuming that there is no delivery, the delivery item D can be delivered.

In addition, when the control unit 21 does not determine that the error correction rate of the information code C is equal to or less than a predetermined set value, the delivery item D cannot be delivered because there is an obstacle on the information code C. It is the structure provided with the buzzer 26 which alert | reports.
In this configuration, when the delivery item D cannot be delivered due to an obstacle on the information code C, the buzzer 26 notifies that fact, so that the recipient or the like can eliminate the obstacle on the information code C. Therefore, it is possible to easily avoid a situation where the delivery item D cannot be delivered.

[Third embodiment]
Next, a third embodiment of the present invention will be described.
The third embodiment differs from the second embodiment in that the flight delivery machine 20 notifies the customer of the delivery status via the management device 50 in the delivery process of the flight delivery machine 20. Further, the flight delivery machine 20 and the management device 50 according to the third embodiment are configured to be capable of long-distance wireless communication via radio waves, and other hardware configurations are the flight delivery machine of the second embodiment. 20 and the management device 50, the same reference numerals are given, and a detailed description of the hardware configuration is omitted.

Hereinafter, the delivery process of the flight delivery machine 20 according to the present embodiment will be described.
FIG. 9 is a flowchart of a delivery process performed by the flight delivery machine 20 of the third embodiment. In S201 to S209 and S301, the same processes as in S201 to S209 and S301 of FIG. 8 in the second embodiment are performed. After the process of S209, the flight delivery machine 20 transmits information indicating that the delivery is completed (delivery completion information) to the management device 50 (S401). With such a configuration, when receiving the delivery completion information from the flight delivery machine 20, the management device 50 can transmit an e-mail notifying the delivery completion information to the customer's mobile terminal or the like. For example, when receiving the delivery completion information from the flight delivery machine 20 with the delivery machine number “001”, the management device 50 can transmit an e-mail notifying the delivery completion information to the mail address “IIIII”. Become. Subsequently, in S210, the same process as in S210 of FIG. 8 in the second embodiment is performed, and the process of FIG.

  If the control unit 21 determines in the process of S301 that the error correction rate of the information code C is not equal to or less than a predetermined set value, the flight delivery machine 20 receives information indicating that it has arrived at the delivery address. (Arrival notification information) is transmitted to the management device 50 (S402). With such a configuration, when receiving the arrival notification information from the flight delivery machine 20, the management device 50 can transmit an e-mail notifying the arrival notification information to the customer's mobile terminal or the like. For example, when the arrival notification information is received from the flight delivery machine 20 with the delivery machine number “001”, the management device 50 can transmit an email notifying the arrival notification information to the mail address “IIIII”. Become. In addition, the operator of the management device 50 can call the telephone number “EEE” associated with the order number “No1” in the memory 52 to convey the arrival notification information to the customer. In this way, the customer who has acquired the arrival notification information can grasp that the delivery item D cannot be delivered because there is an obstacle on the information code C, for example, and can eliminate the obstacle. You will be prompted to take action. Subsequently, in S302 to S305, the same processing as S302 to S305 of FIG. 8 in the second embodiment is performed.

  After the process of S305, the flight delivery machine 20 transmits information indicating that the delivery is stopped (delivery stop information) to the management device 50 (S403). With such a configuration, the management device 50 can transmit an e-mail notifying the delivery stop information to the customer's mobile terminal or the like when the delivery stop information is received from the flight delivery machine 20. For example, when receiving the delivery stop information from the flight delivery machine 20 with the delivery machine number “001”, the management device 50 can send an e-mail notifying the delivery stop information to the mail address “IIIII”. Become. Subsequently, in S210, the same process as in S210 of FIG. 8 in the second embodiment is performed, and the process of FIG.

  As described above, in the delivery process of the flight delivery machine 20, the flight delivery machine 20 notifies the customer of the delivery status via the management device 50, so that the customer can grasp the delivery status. In particular, when it is determined that the error correction rate of the information code C decoded by the flight delivery machine 20 is not less than the set value (No in S301), the arrival notification information is received (S402), so It can be used as a material for determining whether or not to take measures such as eliminating obstacles.

[Other Embodiments]
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.

In the first embodiment, the configuration in which the mark displayed at the delivery location in the delivery destination of the delivery item D is the information code C is illustrated. However, a figure, a symbol, or the like other than the information code C may be used. For example, it may be a cross-shaped figure, a pattern such as a circle, a triangle, a square, or a star, or may be a character, a number, another symbol, or the like.
In such a configuration, the delivery process of the flight delivery machine 20 is performed as shown in the flowchart of FIG. In S201 to S203, the same processing as S201 to S203 of FIG. 6 in the first embodiment is performed. Subsequently, the control unit 21 determines whether or not a mark (for example, a cross-shaped figure) indicating a delivery location is included in the captured image captured by the information code reading unit 40 (S204a). If the picked-up image does not include a mark indicating the delivery location, the process proceeds to No in S204a and performs the same processing as S205 in FIG. 6 in the first embodiment. On the other hand, if the control unit 21 determines in the process of S204a that the captured image includes a mark indicating the delivery location, the process proceeds to Yes, assuming that the mark is recognized. Subsequently, by the same control process as in S208 of FIG. 6 in the first embodiment, the flight delivery machine 20 moves right above the mark with reference to the mark (S208a). Subsequently, in S209 and S210, processing similar to that in S209 and S210 of FIG. 6 in the first embodiment is performed, and the delivery processing of FIG.

  In the first to third embodiments, the configuration in which the order identification information is recorded in the information code C is exemplified. However, other information stored in the memory 22 such as the orderer information and the address of the orderer is the information code. The structure recorded on C may be sufficient. When the orderer information associated with the delivery machine number of the flight delivery machine 20, the address of the orderer, etc. is obtained when the flight delivery machine 20 decodes the information code C, the information code C is properly registered. The information code may be determined as the information code.

  Moreover, in the said 1st-3rd embodiment, although the structure which affixes the information code C on the upper surface of the mounting base S installed in the entrance of the delivery place of the delivery D was illustrated, it is affixed on other places. It may be a configuration. In addition, the mark may be displayed at a place other than the top surface of the mounting table S even if the figure or symbol other than the information code C is used as the mark. For example, as shown in FIG. 11A, the information code C may be affixed to the wall next to the door of the delivery destination. In such a configuration, the delivery process of the flight delivery machine 20 is a process of moving right above the mounting table S instead of the process of moving right above the information code C in S205 of FIG. Further, as shown in FIG. 11B, the smartphone 70 or the like in a state where the information code C is displayed on the liquid crystal display unit 72 is arranged inside or below the transparent mounting table TS. Also good. The information code C may be arranged not only at the entrance of the delivery destination but also on the veranda, rooftop, or garden of the delivery destination house, or may be arranged directly on the ground.

  Further, in the first to third embodiments, the flying means 23 for realizing the flight state of the flight delivery machine 20 is constituted by a plurality of rotor blades provided on the upper part of the aircraft, a motor for transmitting driving force to these rotor blades, and the like. An example to be shown. However, the configuration of the flying means 23 may be other configurations, for example, a rotor blade (so-called main rotor) provided at the upper part of the aircraft, a rotor blade (so-called tail rotor) provided at the tail of the aircraft, and driven by these rotor blades. You may be comprised by the motor etc. which transmit force.

DESCRIPTION OF SYMBOLS 10 ... Flight delivery system 20 ... Flight delivery machine 21 ... Control part (flight state control part, recognition part, decoding part, calculation part)
22 ... Memory (storage unit)
26 ... Buzzer (notification part)
25 ... Holding switching unit 43 ... Imaging unit 60 ... Management device C ... Information code D ... Delivery

Claims (6)

A flight delivery system comprising: a flight delivery machine capable of delivering a delivery; and a management device capable of remotely operating the flight delivery machine,
A mark indicating the delivery location is displayed at the delivery location at the delivery destination of the delivery item,
The flight delivery machine
A flight state control unit that controls the flight state according to an instruction from the management device;
An imaging unit capable of imaging the mark;
A recognizing unit capable of recognizing the mark in the captured image captured by the imaging unit;
With
When the mark is recognized from the captured image by the recognition unit, the flight state control unit controls the flight state of the flight delivery machine so as to move to a deliverable position with reference to the picked-up mark. A flight delivery system characterized by: The landmark is an information code,
The flight delivery machine includes a decoding unit that decodes the information code imaged by the imaging unit,
When the landmark is recognized from the captured image by the recognition unit and the decoding unit succeeds in decoding the information code, the flight state control unit moves to a position where it can be delivered based on the information code. The flight delivery system according to claim 1, wherein a flight state of the flight delivery machine is controlled. The flight delivery machine includes a storage unit that stores information about the information code displayed at the delivery location,
The flight state control unit, when information related to the information code successfully decoded by the decoding unit is stored in the storage unit, the flight delivery so as to move to a deliverable position based on the information code The flight delivery system according to claim 2, wherein the flight state of the aircraft is controlled. A holding switching unit capable of switching between a holding state in which the delivery item can be held and a holding release state in which the holding of the delivery item is released;
The holding switching unit is switched to the holding state during delivery, and is switched to the holding release state when the flight delivery machine moves to the deliverable position under the control of the flight state control unit,
The flight state control unit determines the flight state in the movement of the flight delivery machine so that the delivery that has been released by the holding switching unit is delivered onto the information code recognized by the recognition unit. The flight delivery system according to claim 2 or 3, wherein the flight delivery system is controlled. The code area constituting the information code includes an error correction area for performing error correction,
The decoding unit includes a calculation unit that calculates an error correction rate at the time of decoding,
The flight state control unit, when the error correction rate calculated by the calculation unit at the time of decoding by the decoding unit is less than a predetermined value, on the information code recognized by the recognition unit, 5. The flight delivery system according to claim 4, wherein the flight state of the flight delivery machine is controlled so that the delivery item released by the holding switching unit is delivered.   A notification unit for notifying that the delivery code cannot be delivered because there is an obstacle on the information code when the information code recognized by the recognition unit is not decoded by the decoding unit; 6. The flight delivery system according to claim 4, wherein the flight delivery system is characterized.

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