JP2018055692A - Physical distribution system, baggage transport method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a physical distribution system, baggage transport method and program which allow a claimant to surely receive or entrust a baggage, when an unmanned aircraft delivers or collects the baggage.SOLUTION: An association part 51 of a server 10 in a physical distribution system associates authentication information related to a claimant with a baggage, and records the same in a data storage part 50. An instruction part 54 instructs an unmanned aircraft 20 on which the baggage is mounted to move to a place, based on place information related to the place which is a collection destination or delivery destination of the baggage. An arrival determination part 55 determines whether or not the unmanned aircraft arrived at the place. A confirmation part 56 confirms whether or not the claimant exists in the place, based on the authentication information associated with the baggage, and a state of the place detected by the unmanned aircraft or a communication content with a terminal. A movement control part 58 moves the unmanned aircraft toward the claimant in the place when existence of the claimant is confirmed by the confirmation part 56.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a physical distribution system, a package transportation method, and a program.

  2. Description of the Related Art Conventionally, techniques for improving convenience when collecting or delivering packages are known. For example, in Patent Document 1, in order to prevent a third party from tricking a baggage by impersonating a right holder having the right to receive a baggage, it is authenticated using a password or an image. The system is described.

JP 2006-92507 A

  In recent years, techniques for collecting and delivering packages to unmanned aerial vehicles in place of humans of delivery companies have been studied. However, for example, when an unmanned aerial vehicle arrives at a collection destination or a delivery destination, there is a possibility that a third party erroneously deposits or receives a package. Unmanned aerial vehicles are unmanned, and it is not possible to confirm whether the right holder is at the collection destination or the delivery destination like a person of a delivery company, so the right owner is required to securely deposit and receive the package. .

  The present invention has been made in view of the above problems, and an object of the present invention is to enable right holders to securely deposit and receive packages when unmanned aircraft collects or delivers packages. It is.

  In order to solve the above-described problems, a physical distribution system according to the present invention includes an association unit that records authentication information related to a right holder for depositing or receiving a package in a storage unit in association with the package, and a collection destination or a delivery destination of the package. The unmanned aerial vehicle is based on the location information on the location of the unmanned aircraft based on the location information on the location of the unmanned aircraft that places the load on the basis of the location information on the location of the unmanned aircraft. An arrival determination means for determining whether the vehicle has arrived at the place, and the authentication information associated with the package and the state of the place detected by the unmanned aircraft or the terminal when it is determined that the arrival determination means has arrived Based on the content of the communication with the confirmation means for confirming whether the right holder is in the place, and when the confirmation means confirms, Characterized in that it comprises a movement control means for moving the unmanned aircraft towards the right holder in.

  The baggage transport method according to the present invention is based on an association step of recording authentication information relating to a right holder for depositing or receiving a baggage in a storage means in association with the baggage, and location information on a location where the package is collected or delivered. And determining whether or not the unmanned aircraft has arrived at the location based on the instruction step for instructing the unmanned aircraft to carry the luggage to move to the location, and the positional information on the location of the unmanned aircraft and the location information. The arrival determination step, and when the arrival determination step determines that the arrival has occurred, the authentication information associated with the package, and the state of the place detected by the unmanned aircraft or the communication content with the terminal, On the basis of the confirmation step for confirming whether the right holder is in the place, and the confirmation means when the confirmation means confirms. Characterized in that it comprises a movement control step of moving the unmanned aircraft towards the right holder Te.

  The program according to the present invention is based on association information for recording authentication information relating to a right holder for receiving or receiving a package in a storage unit in association with the package, based on location information on a location where the package is collected or delivered. Instructing means for instructing the unmanned aerial vehicle carrying the load to move to the location, and arrival determining means for determining whether the unmanned aircraft has arrived at the location based on the position information on the position of the unmanned aircraft and the location information. The right based on the authentication information associated with the package and the state of the location detected by the unmanned aircraft or the content of communication with the terminal when it is determined by the arrival determination means. Confirmation means for confirming whether the person is at the location, and when the confirmation means confirms the unmanned aircraft at the location, the right holder Movement control means for moving towards, it causes the computer to function as a.

  An information storage medium according to the present invention is a computer-readable information storage medium storing the above program.

  In the aspect of the invention, the physical distribution system further includes a notification unit that notifies the right holder of the authentication information associated with the package by the association unit, and the confirmation unit is notified by the notification unit. Confirmation is performed based on the authentication information.

  In the aspect of the invention, the unmanned aircraft includes a camera, the authentication information is confirmation image data related to a confirmation image, and the notification unit sends the confirmation image data to the right holder's terminal. The confirmation means performs confirmation by determining whether or not the confirmation image displayed on the terminal is photographed in the photographed image obtained by photographing the state of the place by the camera. And

  In one aspect of the present invention, the unmanned aerial vehicle includes a camera, the authentication information is appearance information related to an appearance of the right holder, and the confirmation unit is a photograph in which the camera captures the state of the place. Confirmation is performed by determining whether or not the right holder is photographed on the image.

  In one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the confirmation unit captures a change in a predetermined pattern in a captured image in which the camera continuously or repeatedly captures the state of the place. It is characterized by confirming by determining whether or not.

  In one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the confirmation unit determines whether the first state is captured in a captured image in which the camera captures the state of the place. The logistics system further includes distance information acquisition means for acquiring distance information related to a distance between the unmanned aircraft and the right holder, wherein the confirmation means is configured such that the distance information is less than a predetermined distance. The step-by-step confirmation according to the distance information is performed by determining whether a second state different from the first state is captured in the captured image.

  In one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the confirmation unit includes a state of the place photographed in the photographed image of the state of the place by the camera, a predetermined state, The distribution system further includes distance information acquisition means for acquiring distance information regarding the distance between the unmanned aircraft and the right holder, and the confirmation means Is characterized in that when the distance information is less than a predetermined distance, the threshold value is changed and a determination is made based on the changed threshold value to perform stepwise confirmation according to the distance information. And

  In one embodiment of the present invention, the unmanned aircraft and the terminal can each perform short-range wireless communication, and the physical distribution system includes a case where the unmanned aircraft and the terminal are connected by the short-range wireless communication. The authentication information acquisition means for acquiring the authentication information from the terminal is further included, and the confirmation means confirms based on the authentication information.

  In one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the logistics system estimates a position where the right holder is located based on a photographed image obtained by photographing the state of the place by the camera. Means for moving the unmanned aircraft based on the position estimated by the position estimating means.

  In one aspect of the present invention, the unmanned aircraft generates electromagnetic waves or sound waves having directivity in a plurality of directions when it is determined by the arrival determination means that the logistics system includes the terminal Further comprising: timing information acquisition means for acquiring timing information relating to the timing at which the electromagnetic wave or the sound wave is detected; and position estimation means for estimating the position where the right holder is present based on the timing information. The means moves the unmanned aerial vehicle based on the position estimated by the position estimating means.

  Moreover, in one aspect of the present invention, the terminal accepts a positional relationship instruction operation for instructing a positional relationship with the unmanned aircraft, and the physical distribution system is configured to execute the positional relationship instruction operation based on the positional relationship instruction operation. Position estimation means for estimating a position is further included, and the movement control means moves the unmanned aircraft based on the position estimated by the position estimation means.

  In the aspect of the invention, the terminal accepts a direction instruction operation for instructing a moving direction of the unmanned aircraft, and the movement control unit moves the unmanned aircraft based on the direction instruction operation. It is characterized by that.

  In one embodiment of the present invention, the unmanned aircraft and the terminal can each perform short-range wireless communication, and the physical distribution system includes a case where the unmanned aircraft and the terminal are connected by the short-range wireless communication. Further including position estimation means for estimating the position of the right holder based on the communication state of the right person, wherein the movement control means moves the unmanned aircraft based on the position estimated by the position estimation means. And

  In one aspect of the present invention, the unmanned aircraft waits at an altitude of a predetermined level or higher after arriving at the location, and the movement control means is configured to check the unmanned aircraft at the location when confirmed by the confirmation means. The unmanned aircraft is moved toward the right holder by lowering the aircraft to an altitude lower than the predetermined level.

  In one aspect of the present invention, the physical distribution system further includes location information acquisition means for acquiring terminal location information relating to the location of the right holder's terminal as the location information.

  In one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the distribution system stores, in a storage unit, an image captured by the camera of how the right holder deposits or receives the package. And the like.

  According to the present invention, when an unmanned aerial vehicle collects or delivers a package, the right holder can reliably deposit and receive the package.

It is a figure which shows the hardware constitutions of a physical distribution system. It is a figure which shows the outline | summary of a process of a physical distribution system. It is a figure which shows an example of the image for confirmation. It is a functional block diagram which shows an example of the function implement | achieved by a physical distribution system. It is a figure which shows the example of data storage of a delivery database. It is a figure which shows a mode that an unmanned aircraft image | photographs. It is an example of a picked-up image. It is a flowchart which shows an example of the process performed in a physical distribution system. It is a flowchart which shows an example of the process performed in a physical distribution system. It is a functional block diagram of a modification. It is a figure which shows a mode that the image for a confirmation switches in a terminal. It is a figure for demonstrating the processing content of the confirmation part of a modification (3). It is a figure which shows the outline | summary of the process of the physical distribution system in a modification (5). It is a figure which shows a mode that an unmanned aircraft irradiates infrared rays in a delivery destination. It is a figure which shows a mode that a right holder instruct | indicates the positional relationship with an unmanned aircraft.

[1. Distribution system hardware configuration]
Hereinafter, an example of an embodiment of a physical distribution system according to the present invention will be described. In this embodiment, a case where an unmanned aircraft delivers a package will be described as an example, and a case where a baggage is collected will be described in a modification example which will be described later.

  FIG. 1 is a diagram illustrating a hardware configuration of a physical distribution system. As shown in FIG. 1, the logistics system 1 includes a server 10, an unmanned aircraft 20, and a terminal 30. Server 10, unmanned aerial vehicle 20, and terminal 30 are connected via a network so that data can be transmitted and received. In FIG. 1, the server 10, the unmanned aircraft 20, and the terminal 30 are illustrated one by one, but there may be a plurality of these.

  The server 10 is a server computer managed by a delivery company. The server 10 includes a control unit 11, a storage unit 12, and a communication unit 13. The control unit 11 includes, for example, one or a plurality of microprocessors. The control unit 11 executes processing according to programs and data stored in the storage unit 12. The storage unit 12 includes a main storage unit and an auxiliary storage unit. For example, the main storage unit is a volatile memory such as a RAM, and the auxiliary storage unit is a non-volatile memory such as a hard disk or a flash memory. The communication unit 13 includes a network card for wired communication or wireless communication. The communication unit 13 performs data communication via a network.

  The unmanned aerial vehicle 20 is an aircraft on which a person does not board, for example, an unmanned aircraft driven by a battery (so-called drone) or an unmanned aircraft driven by an engine. For example, the unmanned aerial vehicle 20 is arranged at a collection / delivery center of an operator of the logistics system 1. The unmanned aircraft 20 includes a control unit 21, a storage unit 22, a communication unit 23, and a sensor unit 24. The unmanned aerial vehicle 20 includes general hardware such as a propeller, a motor, and a battery, but is omitted here. The hardware configurations of the control unit 21, the storage unit 22, and the communication unit 23 are the same as those of the control unit 11, the storage unit 12, and the communication unit 13, respectively.

  In the present embodiment, the unmanned aerial vehicle 20 includes a storage unit that stores luggage. The storage unit only needs to have a space in which luggage can be stored, and may be integrated with the housing of the unmanned aerial vehicle 20 or may be a separate body. When the storage unit is integrated with the housing of the unmanned aircraft 20, for example, a luggage compartment (trunk) provided inside the housing of the unmanned aircraft 20 corresponds to the storage unit. When the storage unit is separate from the housing of the unmanned aerial vehicle 20, for example, a container suspended on the unmanned aircraft 20 by a string, a wire, a chain, a hanging tool, or the like may correspond to the storage unit, A container connected to the housing of the unmanned aerial vehicle 20 by a magnet or the like may correspond to the storage unit. The storage unit may be an arbitrary storage member, and may be, for example, a box, a bag, a net, a bag, or a container (case) in addition to the above-described luggage compartment or container.

  The sensor unit 24 includes a camera 24A, an infrared sensor 24B, and a GPS sensor 24C. The camera 24A records an image (still image or moving image) captured by an image sensor such as a CCD image sensor or a CMOS image sensor as digital data. The infrared sensor 24B is a quantum type or thermal type infrared sensor that detects the distance from an object using infrared rays. The GPS sensor 24C includes a receiver that receives a signal from a satellite and detects position information. An arbitrary sensor may be mounted on the unmanned aircraft 20, and the sensor unit 24 includes a voice sensor (microphone), a wind direction wind speed sensor, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an altitude sensor, a displacement sensor, or a temperature sensor. Etc. may be included.

  The terminal 30 is a computer operated by the right holder, and is, for example, a portable information terminal (including a tablet computer), a mobile phone (including a smartphone), a personal computer, or the like. The right holder is a person who has the right to receive the package, and is, for example, a recipient designated by the delivery requester or his agent.

  The terminal 30 includes a control unit 31, a storage unit 32, a communication unit 33, an operation unit 34, a display unit 35, and a GPS sensor 36. The hardware configuration of the control unit 31, the storage unit 32, the communication unit 33, and the GPS sensor 36 is the same as that of the control unit 11, the storage unit 12, the communication unit 13, and the GPS sensor 24C.

  The operation unit 34 is an input device for the player to perform an operation, and is, for example, a pointing device such as a touch panel or a mouse, a keyboard, or the like. The operation unit 34 transmits details of operations performed by the player to the control unit 31. The display unit 35 is, for example, a liquid crystal display unit or an organic EL display unit. The display unit 35 displays a screen according to instructions from the control unit 31.

  The program and data described as being stored in the storage units 12, 22, and 32 may be supplied to these via a network. Further, the hardware configurations of the server 10, the unmanned aircraft 20, and the terminal 30 are not limited to the above example, and various hardware can be applied. For example, each of the server 10, the unmanned aircraft 20, and the terminal 30 may include a reading unit (for example, an optical disk drive or a memory card slot) that reads a computer-readable information storage medium. In this case, the program and data stored in the information storage medium may be supplied to each computer via the reading unit.

[2. Overview of logistics system processing]
FIG. 2 is a diagram showing an outline of processing of the physical distribution system. As shown in FIG. 2, when the delivery date of the package approaches, the server 10 sends a delivery instruction to the unmanned aircraft 20 so as to fly the package to the delivery destination. The delivery destination may be an address designated in advance, but in this embodiment, the position of the terminal 30 is the delivery destination. For this reason, when the unmanned aerial vehicle 20 receives a delivery instruction, the unmanned aircraft 20 flies to the terminal 30 with a load. The delivery date and time is notified to the right holder in advance by e-mail or the like. The right holder waits for the arrival of the unmanned aircraft 20 with the terminal 30 when the delivery date and time approaches. When the unmanned aerial vehicle 20 arrives near the terminal 30, it is confirmed that a right holder is at the delivery destination in order to deliver the package. In this embodiment, this confirmation is performed using a confirmation image.

  FIG. 3 is a diagram illustrating an example of the confirmation image. It is assumed that the confirmation image is transmitted to the unmanned aircraft 20 and the terminal 30 in advance. When the unmanned aerial vehicle 20 arrives near the terminal 30, it hovers in the sky and stands by. Meanwhile, the right holder displays the confirmation image 40 on the display unit 35 and directs the screen toward the unmanned aircraft 20. The unmanned aerial vehicle 20 photographs the surroundings with the camera 24A, and when the confirmation image 40 is photographed in the photographed image, the unmanned aircraft 20 determines that the right holder is at the delivery destination. Then, the unmanned aerial vehicle 20 estimates the position of the right holder from the shooting position of the confirmation image 40 and approaches the right holder to deliver the package. In this way, the distribution system 1 prevents the package from being mistakenly delivered to a third party at the delivery destination, so that the right holder can receive the package securely at the delivery destination. Hereinafter, details of the technology will be described. In addition, when there is no particular need to refer to the drawings, the reference image is omitted from reference numerals.

[3. Functions realized in the logistics system]
FIG. 4 is a functional block diagram illustrating an example of functions realized in the physical distribution system 1. As shown in FIG. 4, in this embodiment, a data storage unit 50, an association unit 51, a notification unit 52, a location information acquisition unit 53, and an instruction unit 54 are realized by the server 10, and an arrival determination unit 55 and a confirmation unit 56. The case where the position estimation unit 57 and the movement control unit 58 are realized by the unmanned aerial vehicle 20 will be described.

[3-1. Data storage unit]
The data storage unit 50 is realized mainly by the storage unit 12. The data storage unit 50 stores data for the unmanned aircraft 20 to deliver a package. Here, a delivery database will be described as data stored in the data storage unit 50.

  FIG. 5 is a diagram illustrating an example of data storage in the delivery database. As shown in FIG. 5, the delivery database stores data related to the package to be delivered. As shown in FIG. 5, for example, the delivery database includes a delivery ID for uniquely identifying delivery, requester information about the requester who requested the delivery, location information about the delivery destination location of the package, and right holder information about the right holder. The image data for confirmation relating to the confirmation image, the delivery date / time information relating to the delivery date / time, and the unmanned aircraft ID for uniquely identifying the unmanned aircraft are stored.

  The client information includes the client name and contact information. The name of the client is the company name or name of the client. The contact information includes the client's address, telephone number, and e-mail address.

  The location information is address information and latitude / longitude information of a location where the right holder receives the package. The latitude / longitude information is information for specifying the position in the north-south direction and the position in the east-west direction on the earth, and is indicated by numerical values of degrees, minutes, and seconds, for example. In this embodiment, a case where the place indicated by the place information is a delivery destination will be described. For example, the location of the right holder's terminal 30 can be the delivery destination. In this case, the location information stores information indicating that the right holder's terminal 30 is designated as the delivery destination. For example, the terminal ID for uniquely identifying the terminal 30, the individual identification information of the terminal 30, or the IP address Etc. are stored.

  The right holder information includes the name of the right holder, terminal information related to the terminal 30, and contact information. The name of the right holder is the company name or name of the right holder. The terminal information is information for identifying the terminal 30 and includes, for example, a terminal ID, individual identification information, and an IP address. The contact information includes the right holder's address, telephone number, and e-mail address. For example, the terminal information and contact information may be used as a destination when a confirmation image or message is transmitted to the right holder.

  The confirmation image data is image data of a confirmation image. As described above, the confirmation image corresponds to authentication information for authenticating that the user is an authorized right holder. In this embodiment, the case where the confirmation image is generated for each delivery will be described. However, the confirmation image may be generated for each right holder. The confirmation image may be any image that can be detected by the camera 24A, and the shape, pattern, color, size, resolution, number of colors, and file format may be arbitrary.

  The delivery date / time information indicates at least one of delivery date and delivery time. The delivery date and time may be the date and time designated by the requester or right holder, or the date and time designated by the delivery company. It should be noted that no data is stored in the delivery date / time information particularly when the delivery date / time of the package is not designated.

  The unmanned aircraft ID is the unmanned aircraft ID of the unmanned aircraft 20 that is in charge of delivery. The unmanned aerial vehicle 20 in charge of delivery may be determined based on a predetermined method. For example, one of the plurality of unmanned aircraft 20 may be determined at random, or the unmanned aircraft 20 that can be delivered may be selected based on the weight of the package. Alternatively, for example, battery or fuel remaining amount information may be obtained from each unmanned aircraft 20 and determined based on the remaining amount information. For example, the operator of the delivery company may specify the unmanned aircraft ID.

  The data stored in the data storage unit 50 is not limited to the above example. For example, the data storage unit 50 may store an unmanned aircraft database that stores basic information of the unmanned aircraft 20. The unmanned aircraft database may store destination information (for example, an email address, individual identification information, or an IP address) for transmitting an instruction to the unmanned aircraft 20 in association with the unmanned aircraft ID. For example, the data storage unit 50 may store data indicating the relationship between address information and latitude / longitude information and map data.

[3-2. Association section]
The associating unit 51 is realized mainly by the control unit 11. The associating unit 51 records authentication information related to the right holder who receives the package in the data storage unit 50 in association with the package. For example, the associating unit 51 records the authentication information in association with the package by storing the authentication information together with the package delivery ID in the delivery database.

  The authentication information may be information that proves the right to receive the package, but in the present embodiment, a case will be described in which the authentication information is confirmation image data related to the confirmation image. When the server 10 receives a package delivery request, the associating unit 51 generates a delivery ID and confirmation image data for the package and stores them in the delivery database. Note that the confirmation image data may not be generated when a delivery request is accepted, but may be selected from those prepared in advance. In this case, the confirmation image data may be stored in the data storage unit 50 in advance.

[3-3. Notification section]
The notification unit 52 is realized mainly by the control unit 11. The notification unit 52 notifies the right holder of confirmation image data (an example of authentication information) associated with the package by the association unit 51. The notification unit 52 may transmit the confirmation image data itself to the terminal 30 or may transmit only the storage location (for example, URL) of the confirmation image data to the terminal 30. When only the storage location is notified, the right holder may operate the terminal 30 to access the storage location and download and display the confirmation image data on the terminal 30.

[3-4. Location information acquisition unit]
The location information acquisition unit 53 is realized mainly by the control unit 11. The location information acquisition unit 53 acquires location information. As described above, in the present embodiment, the case where the delivery destination is the position of the terminal 30 will be described. Therefore, the location information acquisition unit 53 acquires terminal location information regarding the location of the right holder's terminal 30 as location information. . The terminal position information may be information that can identify the position of the terminal 30. In the present embodiment, a case will be described in which latitude and longitude information detected by the GPS sensor 36 of the terminal 30 is used as terminal position information. Base station information with which the terminal 30 performs wireless communication (for example, wireless LAN access point information). May be used as terminal location information. The location information acquisition unit 53 may receive the terminal location information directly from the terminal 30 or may receive it via the server 10.

[3-5. Instruction section]
The instruction unit 54 is realized mainly by the control unit 11. The instruction unit 54 instructs the unmanned aerial vehicle 20 on which the package is placed to move to the delivery destination based on the location information regarding the delivery destination location of the package. Hereinafter, this instruction is referred to as a delivery instruction. The instruction unit 54 issues a delivery instruction by transmitting data in a predetermined format to the unmanned aircraft 20. The delivery instruction includes location information, right holder information, confirmation image data, and delivery date / time information. The unmanned aerial vehicle 20 records each piece of information included in the delivery instruction in the storage unit 22 and starts flying toward the location information. The package to be delivered may be placed in advance in the storage unit of the unmanned aircraft 20 by a delivery company.

  In addition, what is necessary is just to make it the method itself which the unmanned aerial vehicle 20 flies to the designated place be performed by the well-known autopilot method. For example, the unmanned aerial vehicle 20 may perform automatic flight by setting the latitude / longitude information obtained from the GPS sensor 24C as the current location and setting the latitude / longitude information indicated by the location information as the destination. The unmanned aerial vehicle 20 may control the propeller so that the direction from the current location to the destination is the traveling direction. The traveling direction is determined using the direction obtained from the geomagnetic sensor of the sensor unit 24. Further, the server 10 may instruct the unmanned aircraft 20 on the flight route information regarding the flight route to the destination (the delivery destination in the present embodiment). The flight route information is information indicating a flight route until the destination is reached, and may be, for example, information obtained by sequentially connecting latitude and longitude information to the destination so as to indicate the flight route. The server 10 may generate flight route information based on a predetermined route search algorithm. Note that the flight route information may be included in the delivery instruction. The unmanned aerial vehicle 20 executes the automatic control of the destination based on the flight route information received from the server 10.

  The unmanned aerial vehicle 20 determines the timing to depart from a standby place such as a delivery company's warehouse so as to meet the delivery date and time based on the current time information and the delivery date and time information acquired by the real time clock of the control unit 21. May be. Since the signal from the satellite includes time information based on the atomic clock mounted on the satellite, the unmanned aircraft 20 acquires the current time information based on the signal detected by the GPS sensor 24C. Also good.

[3-6. Arrival determination unit]
The arrival determination unit 55 is realized mainly by the control unit 21. The arrival determination unit 55 determines whether the unmanned aircraft 20 has arrived at the delivery destination based on the aircraft position information and the location information regarding the position of the unmanned aircraft 20. The aircraft position information may be any information that can identify the position of the unmanned aircraft 20, similarly to the terminal position information. In the present embodiment, a case will be described in which latitude and longitude information detected by the GPS sensor 24C of the unmanned aircraft 20 is used as aircraft position information. However, base station information (for example, an access point of a wireless LAN) with which the unmanned aircraft 20 performs wireless communication is described. Information) may be used as aircraft position information. The arrival determination unit 55 determines whether the position indicated by the aircraft position information and the position indicated by the location information match or approach each other. Here, the approach means that the distance between these positions is less than a threshold value.

[3-7. Confirmation part]
The confirmation unit 56 is realized mainly by the control unit 21. When it is determined that the arrival determination unit 55 has arrived, the confirmation unit 56 includes authentication information (for example, confirmation image data) associated with the package, a delivery destination detected by the unmanned aircraft 20 or the terminal 30. And whether the right holder is at the delivery destination on the basis of the communication contents. In the present embodiment, since the notification unit 52 notifies the right holder of the authentication information, the confirmation unit 56 performs confirmation based on the authentication information notified by the notification unit 52. The confirmation unit 56 performs two confirmations: confirmation of whether or not the right holder is a right holder and confirmation of whether or not the right holder is at the delivery destination.

  The state of the delivery destination is information that is obtained visually or audibly at the delivery destination, and may be information that the sensor unit 24 can detect optically or electrically at the delivery destination. For example, an image (still image or moving image) captured by the camera 24A or a sound detected by a microphone of the sensor unit 24 corresponds to the state of the delivery destination. The confirmation unit 56 confirms whether the right holder is at the delivery destination by judging whether the state of the delivery destination satisfies a predetermined criterion.

  The communication content with the terminal 30 is data transmitted and received through direct or indirect communication between the unmanned aircraft 20 and the terminal 30. Indirect communication means that the unmanned aircraft 20 and the terminal 30 communicate via another computer such as the server 10. The confirmation unit 56 confirms whether the right holder is at the delivery destination by determining whether the communication content with the terminal 30 satisfies a predetermined determination criterion.

  In the present embodiment, a case where the confirmation unit 56 performs confirmation based on the state of the delivery destination will be described. For example, the confirmation unit 56 performs confirmation based on a photographed image obtained by photographing the state of the delivery destination by the camera 24A. The confirmation unit 56 performs confirmation by determining whether or not a predetermined object is photographed in the photographed image. The object is an object or image that proves that it is the right holder, and in the present embodiment, a case where it is a confirmation image displayed on the terminal 30 will be described.

  FIG. 6 is a diagram illustrating a situation where the unmanned aircraft 20 captures images. As shown in FIG. 6, when the unmanned aircraft 20 arrives at the delivery destination, the unmanned aircraft 20 hovers in the sky and takes a picture of the surroundings with the camera 24A. If the unmanned aircraft 20 arrives at the delivery destination before the delivery date and time, it may wait in the sky until the delivery date and time arrives. The unmanned aerial vehicle 20 only needs to capture one or more points of the delivery destination, but here, the unmanned aircraft 20 will be described as capturing all directions while rotating in the horizontal direction U. The letters N, E, S, and W in FIG. 6 are north, east, south, and west directions, respectively. The unmanned aerial vehicle 20 generates a captured image for each shooting direction V (here, each direction of east, west, north, and south) and records it in the storage unit 22. The photographing direction V may be specified by a gyro sensor or a geomagnetic sensor of the sensor unit 24.

  FIG. 7 is an example of a captured image. FIG. 7 will be described as a panoramic view image in which captured images in each shooting direction (indicated by characters N, E, S, and W in FIG. 7) are connected. The confirmation unit 56 confirms the captured image by determining whether the confirmation image 40 displayed on the terminal 30 is captured. This determination itself may be performed using various known template matching methods. The captured image is used as a searched image, and the confirmation image 40 included in the delivery instruction is used as a template image. For example, the confirmation unit 56 performs pattern matching between each region of the captured image and the confirmation image 40 that is a template image, and calculates the degree of similarity between them. A higher similarity indicates that the images are similar, and a lower similarity indicates that the images are not similar. The similarity may be calculated based on the difference between these pixel values. For example, the smaller the difference between pixel values, the higher the similarity. The confirmation unit 56 determines that the confirmation image 40 is captured in an area where the similarity is equal to or greater than the threshold (in FIG. 7, the eastward captured image).

[3-8. Position estimation unit]
The position estimation unit 57 is realized mainly by the control unit 21. The position estimation unit 57 estimates the position of the right holder at the delivery destination. The unmanned aerial vehicle 20 can move close to the right holder to some extent using the GPS sensor 24C. However, since the accuracy of the position detectable by the GPS sensor 24C is limited, the position estimation unit 57 Estimate detailed rights holder location. The position of the right holder estimated by the position estimation unit 57 may be an absolute position on the earth or a relative position between the unmanned aircraft 20 and the right holder. In the present embodiment, the position estimation unit 57 estimates the positional relationship between the unmanned aircraft 20 and the right holder as a relative position.

  In the present embodiment, the position estimation unit 57 estimates the position where the right holder is located based on the captured image obtained by capturing the state of the delivery destination by the camera 24A. As described above, since the unmanned aerial vehicle 20 generates a captured image for each shooting direction and records it in the storage unit 22, the position estimation unit 57 is based on the shooting direction of the captured image in which the confirmation image is captured. The position where the right holder is located. In the example of FIG. 7, since the confirmation image is captured in the captured image captured facing east among the directions, the estimation unit estimates that there is a right holder in the east as viewed from the unmanned aircraft 20.

  For example, the position estimation unit 57 may estimate the position of the right holder based on the position of the confirmation image in the captured image. In this case, since the center point of the captured image is the gazing point (focus) of the camera 24A, the position estimation unit 57 determines the difference between the center point of the captured image from which the confirmation image is captured and the photographing position of the confirmation image. The position of the right holder is estimated so that the gaze point of the camera 24A and the shift of the position of the right holder correspond to each other. For example, the position estimating unit 57 estimates the position where the gazing point of the camera 24A is moved by the vector from the center point in the captured image to the capturing position of the confirmation image as the position of the right holder. Note that the gazing point of the camera 24A may be estimated based on settings at the time of shooting. For example, the position estimation unit 57 sets the point of interest as a gaze point from the camera 24A with respect to the shooting direction by a distance corresponding to the focus at the time of shooting. In this case, it is assumed that the setting information of the camera 24A at the time of shooting is stored in the storage unit 22.

[3-9. Movement control unit]
The movement control unit 58 is realized mainly by the control unit 21. The movement control unit 58 moves the unmanned aircraft 20 toward the right holder at the delivery destination when the confirmation unit 56 confirms the movement. The right holder is a direction in which the distance between the unmanned aircraft 20 and the right holder is shorter than before the movement (for example, when the unmanned airplane 20 is captured by the camera 24A). In the present embodiment, the movement control unit 58 moves the unmanned aircraft 20 based on the position estimated by the position estimation unit 57. That is, the movement control unit 58 moves the unmanned aerial vehicle 20 so as to go to the position estimated by the position estimation unit 57. If the movement control unit 58 identifies the direction toward the position estimated by the position estimation unit 57 based on the detection signal of the geomagnetic sensor or the gyro sensor, and moves the unmanned aircraft 20 in that direction by a predetermined distance, Good.

[4. Processing executed in logistics system]
8 and 9 are flowcharts showing an example of processing executed in the physical distribution system 1. The processes shown in FIGS. 8 and 9 are executed by the control units 11, 21, and 31 operating according to programs stored in the storage units 12, 22, and 32, respectively. In the present embodiment, the functional blocks shown in FIG. 4 are realized by executing the processing described below.

  As shown in FIG. 8, first, in the server 10, the control unit 11 determines whether a package delivery request by the client has been received (S1). The delivery request may be made in a predetermined data format. For example, the contents of the slip entered by the requester when depositing the package with the delivery company are sent to the computer by the delivery company employee who visited the collection. It is done by inputting. The delivery request includes requester information, location information, right holder information, and delivery date / time information.

  When it is determined that the delivery request has been received (S1; Y), the control unit 11 generates a confirmation image (S2). In S2, the control unit 11 generates a confirmation image based on a given generation rule. Note that confirmation images of a plurality of patterns may be prepared in advance and stored in the storage unit 22, and the confirmation images may be selected at random so as not to overlap with other deliveries.

  The control unit 11 determines the unmanned aircraft 20 in charge of delivery and updates the delivery database (S3). In S3, the control unit 11 issues a new delivery ID, and requestser information, location information, right holder information, and delivery date / time information received in S1, confirmation image data generated in S2, and delivery The unmanned aircraft ID of the unmanned aircraft 20 in charge of the is registered in the delivery database in association with each other.

  The control unit 11 notifies the right holder of the confirmation image generated in S2 based on the right holder information (S4). In S4, the control unit 11 identifies the right holder's destination based on the right holder information, and transmits the confirmation image data to this destination. For example, when using e-mail, the control unit 11 may transmit confirmation image data as an attached file together with a message such as delivery date and time, or on the server 10 on which the confirmation image data is registered. The URL may be included in the e-mail and transmitted.

  In the terminal 30, the control unit 31 records the received confirmation image data in the storage unit 32 (S5). When the confirmation image data is recorded in the storage unit 32 in S5, the control unit 31 can display the confirmation image on the display unit 35 in accordance with a user operation or the like.

  The control unit 11 refers to the delivery database and determines whether the timing for giving a delivery instruction has arrived (S6). The timing at which the delivery instruction should be made may be a predetermined timing, and may be determined according to the business of the delivery company. For example, it may be whether the date / time before a predetermined time before the delivery date / time has arrived, or whether the package has arrived at the nearest collection / delivery center of the right holder.

  If it is determined that the timing for delivery instruction has arrived (S6; Y), the control unit 11 refers to the delivery database and requests terminal location information from the right holder's terminal 30 (S7). A delivery instruction is transmitted to the unmanned aircraft 20 in charge of delivery (S8). In S <b> 7, the control unit 11 requests the right holder's terminal 30 to transmit the terminal position information detected by the GPS sensor 36 to the unmanned aircraft 20. The terminal position information may be transmitted from the terminal 30 to the unmanned aircraft 20 via the server 10, but here, a case where the terminal position information is transmitted directly from the terminal 30 to the unmanned aircraft 20 will be described. For this reason, the request for the terminal 30 includes destination information (for example, a mail address, individual identification information, or an IP address) of the unmanned aircraft 20. In S <b> 8, the control unit 11 transmits a delivery instruction including location information, right holder information, confirmation image data, and delivery date / time information to the unmanned aircraft 20 with the unmanned aircraft ID in charge of delivery.

  When the terminal 30 receives the request for the terminal position information, the control unit 31 transmits the terminal position information detected by the GPS sensor 36 to the unmanned aircraft 20 (S9). It is assumed that the terminal 30 is set to permit the provision of terminal location information in advance. Thereafter, the terminal 30 periodically transmits terminal position information to the unmanned aircraft 20. The control unit 31 displays a confirmation image on the display unit 35 based on the confirmation image data received in S5 (S10). The confirmation image may not be automatically displayed as in S10, but may be displayed in accordance with the operation of the right holder.

  When the unmanned aircraft 20 receives the delivery instruction and the terminal position information, the control unit 21 starts flying to the delivery destination (S11). The method of flying the unmanned aerial vehicle 20 to the designated location itself may be performed by a known autopilot method. For example, the unmanned aircraft 20 may set the aircraft position information detected by the GPS sensor 24C as the current location, set the terminal location information received from the terminal 30 as the destination, and perform automatic flight. The unmanned aircraft 20 may control the propeller so that the direction from the current location to the destination is the traveling direction. The traveling direction may be determined using the direction obtained from the geomagnetic sensor of the sensor unit 24.

  Moving to FIG. 9, the control unit 21 determines whether the unmanned aircraft 20 has arrived at the delivery destination (S12). In S12, the control unit 21 determines whether the aircraft position information matches the terminal position information. When it is determined that the vehicle has arrived at the delivery destination (S12; Y), the control unit 21 performs hovering control so as to maintain a certain altitude, and images the surroundings with the camera 24A (S13). When the right holder confirms that the unmanned aerial vehicle 20 has arrived, he or she directs the terminal 30 to the unmanned aerial vehicle 20 with the confirmation image displayed. In S <b> 13, the control unit 21 records the shooting direction detected by the sensor unit 24 and the shot image in the storage unit 22 in association with each other.

  The control unit 21 determines whether a confirmation image is captured in the captured image acquired in S13 (S14). In S <b> 14, the control unit 21 executes the determination process by executing the template matching as described above based on the confirmation image data included in the delivery instruction. When it is not determined that the confirmation image is captured in the captured image (S14; N), this process ends. In this case, since the right holder is not at the delivery destination, the unmanned aircraft 20 takes the baggage back to the departure point. The latitude / longitude information of the departure point may be stored in the storage unit 22 in advance. In this case, the control unit 21 sets the destination as the departure point and starts flying.

  When it is determined that the confirmation image is captured in the captured image (S14; Y), the control unit 21 estimates the position of the right holder based on the position of the confirmation image captured in the captured image ( S15). In S15, the control unit 21 estimates the position of the right holder based on the shooting direction of the shot image and a vector connecting the center point of the shot image and the shooting position of the confirmation image. The control unit 21 moves the unmanned aerial vehicle 20 toward the right holder's position estimated in S16 (S16). Thereafter, when the unmanned aerial vehicle 20 approaches the place where the recipient can reach, the recipient receives the package stored in the storage unit of the unmanned aircraft 20.

  The control unit 21 determines whether the delivery of the package has been completed (S17). Completion of delivery may be determined by the operation of the right holder, or the unmanned aircraft 20 may determine based on the detection result of the sensor unit 24. When using the operation of the right holder, when a predetermined operation is performed from the terminal 30, data indicating that the receipt of the package has been completed is transmitted to the unmanned aircraft 20. The unmanned aerial vehicle 20 determines that the delivery has been completed when the data is received. On the other hand, when the unmanned aircraft 20 determines, it may be determined whether the weight detected by the weight sensor of the sensor unit 24 has decreased.

  When it is determined that the delivery is completed (S17; Y), the control unit 21 transmits a delivery completion notification indicating that the delivery is completed to the server 10 and starts flying to the original location (S18). This process ends.

  According to the logistics system 1 described above, the unmanned aerial vehicle 20 moves toward the right holder after confirming that the right owner is at the delivery destination, so that the unmanned aircraft 20 approaches the third party at the delivery destination and mistakenly loads the cargo. Can be prevented, and when the package is delivered using the unmanned aerial vehicle 20, the right holder can surely receive the package at the delivery destination. In addition, for example, when the unmanned aircraft 20 identifies a destination by using paper or the like printed with a predetermined mark regardless of the package, a person who does not have the right to receive the package impersonates the right holder and receives the package. In some cases, it may cause the package to be stolen or misdelivered because the package may be delivered to the place of the mark next to the house by mistake. Since confirmation is performed based on the information, theft and misdelivery can be prevented.

  In addition, the right holder is notified in advance of the authentication information associated with the package, and based on the notified authentication information, it is confirmed whether the right holder is at the delivery destination. It can prevent receiving.

  Also, by using the confirmation image as the authentication information, the right holder only has to display the confirmation image on the terminal 30 in order to confirm whether the right holder is at the delivery destination. Confirmation can be performed without causing Further, since the confirmation image is transmitted only to the right holder, it is possible to prevent the unmanned aircraft 20 from erroneously recognizing the object and approaching a third party, and the probability that the right holder receives the package at the delivery destination. Can be increased.

  In addition, since the position where the right holder is located is estimated using a photographed image that can grasp the state of the delivery destination in detail, the position of the right holder can be estimated more accurately. For this reason, the unmanned aerial vehicle 20 carrying the load can be brought close to the reach of the right holder, and the right holder can be saved when receiving the load.

  Further, since the terminal location information is used as the delivery destination, the unmanned aerial vehicle 20 carrying the luggage can be moved to the vicinity of the right holder. For this reason, it is not necessary to move the right holder to the delivery destination, and it is possible to save the trouble of the right holder when receiving the package. In other words, the right holder can receive the package anywhere as long as he / she is in a place where the terminal location information can be transmitted. For example, he / she can worry about the delivery date and time and wait at home. You will be able to receive your luggage without feeling. Furthermore, when the delivery destination is a predetermined address or the like, there is a possibility that a third party waits there and tricks the baggage, but since the unmanned aircraft 20 delivers the baggage to the terminal 30, It is also possible to prevent a third party from tricking a package.

[5. Modified example]
The present invention is not limited to the embodiment described above. Modifications can be made as appropriate without departing from the spirit of the present invention.

  FIG. 10 is a functional block diagram of a modified example. As shown in FIG. 10, in the modification described below, in addition to the functions of the embodiment, a distance information acquisition unit 59, an authentication information acquisition unit 60, a timing information acquisition unit 61, and an image storage unit 62 are realized. . Here, a case will be described in which the distance information acquisition unit 59, the authentication information acquisition unit 60, and the timing information acquisition unit 61 are realized by the unmanned aircraft 20, and the image storage unit 62 is realized by the server 10.

  (1) For example, in the embodiment, the case where the object used for the confirmation of the right holder is the confirmation image has been described, but the object may be the right holder itself. In this modification, the authentication information is appearance information regarding the appearance of the right holder. The delivery database of the modified example (1) stores appearance information relating to the appearance of the right holder. Appearance information is information indicating the characteristics of the right holder's appearance. For example, the right person's face, eyes, hairstyle, body shape, contour, height, clothes, or posture (pose) that the right holder should take to receive the package. It is information which shows. The appearance information may be image data, or may be information indicating only the shape and color characteristics. Here, a case will be described in which the appearance information is image data obtained by photographing the face of the right holder. In this case, the terminal 30 may include a camera, and appearance information may be generated using the camera in the terminal 30, or appearance information may be input to the terminal 30 from a camera connected to the terminal 30. . For example, the right holder operates the terminal 30 or another computer to upload appearance information to the server 10, and the associating unit 51 receives the uploaded appearance information, associates it with the package, and stores it in the delivery database. Good.

  The confirmation unit 56 of the modified example (1) determines whether the right holder is photographed in the photographed image based on the appearance information related to the appearance of the right owner. For example, when the appearance information is image data, the confirmation unit 56 may perform template matching using the appearance information as a template image. That is, the confirmation unit 56 determines whether or not a subject whose similarity to the appearance information is greater than or equal to the threshold is captured in the captured image. For example, when the right holder's face is used as appearance information, the confirmation unit 56 may use a known face authentication algorithm. In addition, for example, when the right holder's eyes are used as appearance information, the confirmation unit 56 may use a known retinal scan or iris recognition. In addition, various biometric authentications using photographed images can be used.

  When the appearance information is clothing color information, the confirmation unit 56 prepares a template image indicating the shape of the clothing in advance, and specifies an area in which the clothing is photographed in the photographed image using template matching. To do. Then, the confirmation unit 56 refers to the pixel value of the specified area and determines whether it matches or is similar to the color indicated by the appearance information. The similarity of colors means that the difference between pixel values is less than a threshold value. When it is determined that the color matches the color indicated by the appearance information or is similar to the color indicated by the appearance information, the confirmation unit 56 determines that the right holder is captured in the captured image.

  According to the modification (1), since the right holder's appearance information is used to check whether the right holder is at the delivery destination, the accuracy of the check can be improved. For example, if a confirmation image is stolen, a third party can impersonate the right holder and receive the package, but using appearance information can prevent spoofing and increase the security level. Can do. As a result, it is possible to effectively increase the probability that the right holder will receive the package at the delivery destination. Further, from the viewpoint of the right holder, it is not necessary to prepare a confirmation image, so that it is possible to save time and labor when receiving a package.

  (2) Further, for example, it may be confirmed whether or not the right holder is at the delivery destination based on a photographed image obtained by photographing the state of the delivery destination for a certain period of time, instead of using only one photographed image. In this case, in the terminal 30, a plurality of confirmation images may be switched in a given order, and the display order may be used for confirmation.

  In the modification (2), the camera 24A continuously or repeatedly captures the state of the delivery destination. The camera 24 periodically shoots at a predetermined frame rate, or shoots irregularly without setting a frame rate. The camera 24A may shoot at each of a plurality of time points, may shoot for a certain period in the moving image mode, may shoot in the continuous shooting mode of the still image, or may shoot repeatedly in the still image mode. Also good. When shooting in the still image mode, the unmanned aerial vehicle 20 records a shot image as a moving image in the storage unit 22, records the shot image and the shooting time in association with each other, records the shot image, and records the shot image. Or recorded in the storage unit 22 in order of series.

  The confirmation unit 56 of the modified example (2) performs confirmation by determining whether or not a change in a predetermined pattern is photographed in a photographed image photographed continuously or repeatedly by the camera 24A. The change in the predetermined pattern is a visual change pattern that appears as an image in the captured image, such as a change in an object or light. For example, the change of the predetermined pattern may be that a plurality of confirmation images are switched in a predetermined display order, the switching timing may be a predetermined timing, or a combination thereof is satisfied. It may be. Each confirmation image only needs to have at least one of a shape, a pattern, a color, and a size different from each other, and the amount of information may be the same or different in each confirmation image.

  In this modification, it is assumed that a plurality of confirmation images, data about their display order, and display switching timing (that is, data indicating changes in a predetermined pattern) are stored in the delivery database. This data may be moving image data or data for reproducing still images in a predetermined order using a slide show mode or the like. The server 10 transmits this data to the unmanned aircraft 20 and the terminal 30. The terminal 30 switches a plurality of confirmation images in a predetermined display order and switching timing based on the received data. After displaying the confirmation image with the last display order, the terminal 30 may display the first confirmation image with the first display order again and repeat playback.

  FIG. 11 is a diagram illustrating a state in which the confirmation image is switched on the terminal 30. As illustrated in FIG. 11, the terminal 30 switches the three confirmation images 40A to 40C having different patterns in a predetermined order. For example, when the confirmation image 40A is displayed for the first time, the terminal 30 switches to the confirmation image 40B. Then, when displaying the confirmation image 40B for the second time, the terminal 30 switches to the confirmation image 40C. Furthermore, when the confirmation image 40C is displayed only for the third time, the terminal 30 switches to the confirmation image 40A again. Thereafter, the terminal 30 may switch the display in the order of the confirmation images 40A, 40B, and 40C and repeat them. The first time to the third time may be the same length or different lengths. Although the three confirmation images 40A to 40C have been described here, two confirmation images may be switched, or four or more confirmation images may be switched.

  Based on the data received from the server 10 and the captured images captured continuously or repeatedly, the confirmation unit 56 captures a state in which a plurality of confirmation images are switched at a predetermined timing in a predetermined display order. Judge whether or not. If the determination result is affirmative, the confirmation unit 56 determines that the right holder is at the delivery destination. It should be noted that the confirmation image and the display order may not be completely matched but may be partially matched. For example, the confirmation unit 56 may consider that the plurality of confirmation images and the display instants do not coincide with each other as long as they match at least the reference number. Further, the timing at which the confirmation image is switched may not be completely coincident, and the confirming unit 56 may determine that the coincidence is satisfied if the temporal deviation is less than the threshold value.

  According to the modification (2), since it is determined whether or not a change in the predetermined pattern is captured in the captured image, the information for confirming whether the right holder is at the delivery destination can be complicated, and the security level Can be improved. As a result, it is possible to prevent spoofing of a third party and occurrence of false authentication, and effectively increase the probability that the right holder will receive the package at the delivery destination.

  In addition, as a change of a predetermined pattern, what is necessary is just the pattern detectable in a picked-up image, and you may utilize changes other than the image for a confirmation. For example, when the terminal 30 includes a light emitting unit such as an LED light, the switching timing (flashing timing) of the light emitting unit on (light emission) and off (light extinction) may be used as the predetermined pattern. Data indicating this timing may be stored in the delivery database and transmitted to the unmanned aircraft 20 and the terminal 30 by the server 10. The terminal 30 controls on / off of the light emitting unit based on this data. The right holder may point the light emitting unit toward the unmanned aircraft 20 at the delivery destination. In this case, the confirmation unit 56 first specifies the position of the light emitting unit captured in the captured image. For example, the confirmation unit 56 may detect an area having a predetermined pixel value as the position of the light emitting unit. This pixel value may be determined by the emission color, and may be, for example, a white system, a red system, or a green system. The confirmation unit 56 acquires the timing at which the pixel value at the position of the identified light emitting unit is changed as the on / off timing of the light emitting unit. Then, the confirmation unit 56 only has to compare the acquired timing with the timing indicated by the data received from the server 10 to determine whether or not they match. This coincidence is not a perfect coincidence, and a time lag less than a threshold value may be allowed. Note that the light emitting unit may not be included in the terminal 30, and a flashlight, a penlight, or the like held by the right holder may correspond to the light emitting unit. In this case, the right holder manually switches the light emitting unit on and off. This switching pattern may be notified to the right holder in advance using e-mail or the like.

  In addition, for example, the order in which a plurality of colors change and the timing thereof may be used as the predetermined pattern. In this case, the display unit 35 may be used to display a plurality of colors as confirmation images, or the light emitting unit may be used when the light emitting unit of the terminal 30 can emit light of a plurality of colors. . The processing when the confirmation image is used is the same as that described in the modification (2). For example, the similarity of only the color is determined without considering the similarity of the pattern pattern of the image. May be. On the other hand, when switching the light emission color of the light emitting unit, the data indicating the light emission color, the light emission order, and the switching timing may be stored in the delivery database, and the server 10 may transmit to the unmanned aircraft 20 and the terminal 30. The terminal 30 switches the light emission color of the light emitting unit in a predetermined order (for example, “white” → “red” → “green”) based on this data. The confirmation unit 56 identifies the position of the light emitting unit in the same manner as described above, acquires the color of the position, the light emitting order, and the switching timing, and the light emitting color, the light emitting order indicated by the data received from the server 10, and What is necessary is just to determine whether it corresponds compared with a switching timing. This coincidence is also not an exact coincidence, and a color, emission order, and temporal shift that are less than the threshold may be allowed. Note that both the order in which the colors change and the timing thereof may not be used as the predetermined pattern, and only one of them may be used.

  Further, for example, the right holder's gesture may be used as a predetermined pattern by combining the modifications (1) and (2). In this case, it is assumed that an operation pattern indicating a predetermined operation performed by a human is stored in the delivery database. This motion pattern may be an animation of a human body model. The server 10 transmits data indicating an operation pattern to the unmanned aircraft 20 and the terminal 30 in advance. The right holder displays the operation pattern transmitted to the terminal 30 on the display unit 35 and performs the same gesture as the operation pattern when the unmanned aircraft 20 arrives at the delivery destination. The unmanned aerial vehicle 20 may analyze the right holder's gesture from the captured image and determine whether or not it matches the operation pattern received from the server 10. For the gesture analysis itself, a known gesture recognition algorithm may be used. This match is not a perfect match, and a certain amount of deviation may be allowed.

  (3) Also, for example, if the unmanned aircraft 20 is away from the right holder, the situation in the vicinity of the right owner is not clearly captured and the accuracy of image analysis is low. If the unmanned aerial vehicle 20 approaches the right holder and can photograph the state near the right owner clearly, detailed confirmation may be performed. Good.

  The unmanned aerial vehicle 20 of the modified example (3) includes a distance information acquisition unit 59. The distance information acquisition unit 59 is realized mainly by the control unit 21. The distance information acquisition unit 59 acquires distance information regarding the distance between the unmanned aircraft 20 and the right holder. The distance information is an estimated value of the distance between the unmanned aircraft 20 and the right holder itself or the terminal 30 held by the right holder. The distance information acquisition unit 59 periodically acquires distance information. Various known methods can be applied to the method for estimating the distance between objects, and the distance is estimated by an electromagnetic or optical method.

  For example, the distance information acquisition unit 59 acquires distance information based on the detection signal of the infrared sensor 24B. The distance information acquisition unit 59 emits infrared rays from the infrared sensor 24B toward the position of the right holder estimated by the position estimation unit 57, and is reflected on an object in the direction (an object estimated to be the right holder itself or the terminal 30). The distance information is acquired based on the flight time until the infrared rays returned.

  When short-range wireless communication is possible between the unmanned aircraft 20 and the terminal 30, the distance information acquisition unit 59 may acquire distance information based on the communication state of the communication unit 23. Short-range wireless communication is wireless communication performed using a predetermined frequency band, and a communication area of about several centimeters to several tens of meters may be used. The short-range wireless communication standard may be arbitrary, for example, Bluetooth (registered trademark) or wireless LAN. The unmanned aircraft 20 and the terminal 30 may establish a connection according to a procedure defined by the short-range wireless communication standard. The distance information acquisition unit 59 acquires distance information based on the strength of radio waves of short-range wireless communication.

  In addition, the distance information acquisition unit 59 may acquire distance information based on the captured image of the camera 24A. In this case, the distance information acquisition unit 59 acquires distance information based on the size (number of pixels) occupied by a predetermined subject in the captured image. The subject is, for example, the terminal 30, a confirmation image, or a right holder. The predetermined subject may be specified using pattern matching with the template image of the basic shape. The template image may be stored in advance in the storage unit 22. The distance information acquisition unit 59 determines that the distance information is farther as the subject in the captured image is smaller, and determines that the distance information is closer as the subject is larger. The relationship between the size of the subject and the distance information may be determined in a mathematical expression format or a table format and stored in the storage unit 22 in advance. In addition, for example, when the camera 24A includes a distance image sensor that captures a distance image using the TOF (Time Of Flight) method, the distance information acquisition unit 59 acquires distance information based on the distance image captured by the camera 24A. May be. In this case, the camera 24A captures a distance image by measuring the time for which the light projected for each pixel reciprocates using, for example, the phase difference of light.

  The confirmation unit 56 of the modification (3) performs stepwise confirmation based on the distance information. Here, as in the embodiment, a case will be described in which the confirmation unit 56 determines whether a confirmation image displayed on the terminal 30 is captured.

  FIG. 12 is a diagram for explaining the processing content of the confirmation unit 56 of the modification (3). As shown in FIG. 12, the confirmation image changes according to the distance information. For example, when the distance information is less than a predetermined distance, the terminal 30 changes the display mode of the confirmation image. The terminal 30 acquires distance information from the distance information acquisition unit 59 and determines whether the distance information is less than a predetermined distance. The predetermined distance is a threshold value of distance, and is set to one here, but a plurality of stages may be prepared. Changing the display mode means switching the confirmation image to be displayed to another confirmation image, or changing at least one of the shape, pattern, color, brightness, size, and effect of the confirmation image. is there. An effect is an effect applied to an image, for example, a pattern such as rotation, expansion / contraction, or blinking of an image. Here, a case will be described in which changing the display mode from changing the confirmation image displayed so far to another confirmation image is described.

  As illustrated in FIG. 12, when the distance information becomes less than the predetermined distance, the terminal 30 switches the display to a new confirmation image 40E having a larger amount of information than the confirmation image 40D that has been displayed so far. The amount of information is the complexity of the confirmation image, and is, for example, the number of regions or colors in the image. The greater the amount of information in the confirmation image, the lower the probability of matching by template matching, and the higher the security level. However, since the confirmation image with a large amount of information is complicated, it is difficult to detect from the captured image if the distance is long. For this reason, the terminal 30 has a plurality of confirmation images such that the longer the distance indicated by the distance information, the smaller the information amount of the confirmation image, and the shorter the distance indicated by the distance information, the larger the information amount of the confirmation image. The thing to be displayed in is switched.

  In FIG. 12, description will be made on the assumption that two-stage confirmation is performed using two confirmation images 40A and 40B. However, three or more stages of confirmation may be performed using three or more confirmation images. Good. The terminal 30 displays the confirmation image associated with the current distance information on the display unit 35. The relationship between the distance information and the confirmation image to be displayed may be stored in the delivery database, and the server 10 transmits data indicating this relationship to the unmanned aircraft 20 and the terminal 30.

  The confirmation unit 56 performs confirmation by determining whether or not the first state is captured in the captured image. The first state is that the captured image is in the first state. For example, the confirmation image is in the first display mode, the right holder is in the first state, the confirmation image The switching is the first pattern, the on / off of the light emitting unit is the first pattern, or the color switching is the first pattern. Since the case where the confirmation image is used is described here, as shown in FIG. 12, the first state is that the confirmation image 40A (an example of the first display mode) is displayed on the terminal 30. It is. The confirmation unit 56 determines whether or not the confirmation image 40A is captured in the captured image. This determination may also be performed by template matching as in the embodiment.

  Further, the confirmation unit 56 acquires distance information from the distance information acquisition unit 59 and determines whether the distance information is less than a predetermined distance. When the distance information is less than the predetermined distance, the confirmation unit 56 performs stepwise confirmation according to the distance information by determining whether a second state different from the first state is captured. The second state is that the captured image is in the second state. For example, the confirmation image is in the second display mode, the right holder is in the second state, and the confirmation image is switched. Is the second pattern, ON / OFF of the light emitting unit is the second pattern, or the color switching is the second pattern. Here, since the case where the confirmation image is used is described, as shown in FIG. 12, the second state is that the confirmation image 40B (an example of the second display mode) is displayed on the terminal 30. It is. The confirmation unit 56 determines whether the confirmation image 40B is captured in the captured image. This determination may also be performed by template matching as in the embodiment.

  Note that, when performing confirmation in three or more stages instead of the two stages as shown in FIG. 12, the confirmation unit 56 checks the confirmation image associated with the current distance information every time the distance information becomes less than the threshold value. The confirmation process is executed based on the above. The confirmation unit 56 may use the confirmation image associated with the current distance information as the template image. Moreover, although this modification demonstrated the case where the process which determines whether distance information was less than predetermined distance was performed in each of the confirmation part 56 (unmanned aircraft 20) and the terminal 30, this process is either The determination result may be executed only on one side and the determination result may be transmitted to the other side. In addition, for example, this process may be executed by another computer such as the server 10, and the determination result may be transmitted to the unmanned aircraft 20 and the terminal 30.

  According to the modification (3), since the display mode of the confirmation image changes based on the distance information, the right holder can be confirmed by a method according to the distance information. As a result, when it is difficult to perform detailed image analysis because the unmanned aerial vehicle 20 is away from the right holder, a rough confirmation is performed using a simple confirmation image, and the distance is such that detailed image analysis is possible. In this case, detailed confirmation can be performed using a detailed confirmation image. As a result, it is possible to prevent a situation in which the right holder cannot be confirmed and the package cannot be received because the right holder is at the delivery destination but is far away from the unmanned aircraft 20, The probability that the right holder receives the package at the delivery destination can be increased.

  The modifications (1) and (3) may be combined. In this case, for example, the confirmation unit 56 determines whether the right holder is in the first state when the distance information is greater than or equal to a predetermined distance, and when the distance information is less than the predetermined distance, It may be determined whether the state is 2. For example, the first state is an upright posture that is relatively easy to detect, and the second state is a posture with both hands raised that require detailed shape analysis. In this case, when the unmanned aerial vehicle 20 is far away, the right holder stands by in an upright posture, and when the unmanned aircraft 20 approaches, raises both hands and sends a signal. Thus, the confirmation unit 56 may confirm the right holder by a simple method when the distance information is far, and may confirm the right holder by a detailed method when the distance information is near.

  Further, the modifications (2) and (3) may be combined. In this case, for example, when the distance information is greater than or equal to a predetermined distance, the confirmation unit 56 determines whether a certain confirmation image is displayed, and when the distance information is less than the predetermined distance, It may be determined whether the confirmation image is switched in a predetermined pattern. For example, the confirmation unit 56 determines whether the confirmation image is switched in the first pattern when the distance information is greater than or equal to the predetermined distance. If the distance information is less than the predetermined distance, the confirmation unit 56 determines the second pattern. It may be determined whether the confirmation image has been switched. In this case, the number of confirmation images of the second pattern is larger than that of the first pattern. The terminal 30 may switch the confirmation image with a pattern corresponding to the distance information. As described above, the confirmation unit 56 may confirm the right holder by decreasing the number of confirmation images when the distance information is far, and increasing the number of confirmation images when the distance information is close.

  In addition, for example, the confirmation unit 56 determines whether the on / off of light emission is switched in the first pattern when the distance information is equal to or greater than a predetermined distance, and turns on the light emission when the distance information is less than the predetermined distance. It may be determined whether / OFF is switched in the second pattern. In this case, the on / off switching frequency or number of times of the second pattern may be larger than that of the first pattern. The terminal 30 or the right holder may switch on / off the light emission with a pattern according to the distance information. As described above, the confirmation unit 56 may confirm the rights holder by simple on / off when the distance information is far, and may confirm the rights holder by complicated on / off when the distance information is close. .

  Further, for example, when the distance information is equal to or greater than a predetermined distance, the confirmation unit 56 determines whether the color switching is the first pattern, and when the distance information is less than the predetermined distance, the color switching is the first. It may be determined whether the pattern is the second pattern. In this case, the number of colors of the second pattern is larger than that of the first pattern. The terminal 30 may switch the number of colors according to the distance information. As described above, the confirmation unit 56 may confirm the right holder with a small number of colors when the distance information is far, and may confirm the right holder with many colors when the distance information is close.

  Further, for example, when the distance information is equal to or greater than a predetermined distance, the confirmation unit 56 determines whether the right holder is making the first gesture, and when the distance information is less than the predetermined distance, the right holder holds the second It may be determined whether or not a gesture is performed. In this case, the second gesture is more complex than the first gesture. A gesture is complicated when there is a large amount of movement for the right holder. As described above, the confirmation unit 56 may confirm the right holder with a simple gesture when the distance information is far, and may confirm the right holder with a complicated gesture when the distance information is close.

  (4) For example, in modification (3), the case where the confirmation image is switched according to the distance information has been described. However, the confirmation image is not particularly switched, and the similarity threshold in template matching is determined according to the distance information. A stepwise confirmation may be executed by changing the value. For example, when the distance between the unmanned aerial vehicle 20 and the right holder is far, the accuracy of the image analysis is low. Therefore, when the unmanned aircraft 20 approaches the right holder by lowering the threshold value, The threshold for the similarity may be tightened by increasing the threshold.

  The confirmation unit 56 performs confirmation by determining whether the degree of similarity between the state of the delivery destination photographed in the photographed image and the predetermined state is equal to or greater than a threshold value. The predetermined state is a state for determining that there is a right holder, for example, that the object is in a delivery destination or changes in a predetermined pattern. Here, a case will be described in which the confirmation unit 56 determines the similarity with an object as in the embodiment and the modification example (1). For this reason, the case where the similarity is a similarity in template matching will be described.

  When the distance information becomes less than the predetermined distance, the confirmation unit 56 changes the threshold value and performs determination based on the changed threshold value, thereby performing stepwise confirmation according to the distance information. For example, when the distance information is less than a predetermined distance, the confirmation unit 56 increases the similarity threshold and executes template matching again based on the increased threshold. The relationship between the distance information and the threshold value may be stored in advance in the data storage unit 50, the storage unit 22, or the like. This relationship is determined such that the longer the distance information, the lower the threshold value, and the shorter the distance information, the higher the threshold value.

  According to the modified example (4), since the determination criterion can be made sweeter or stricter based on the distance information, the right holder can be confirmed by a method according to the distance information, and the modified example (3) ) Can be obtained. Furthermore, in the modified example (4), since only the threshold value as the determination criterion is changed, it is not necessary to prepare a plurality of confirmation images, and step-by-step confirmation can be performed by a simpler method.

  In addition, combining the modified examples (2) and (4), the confirmation unit 56 may change the threshold value of the similarity with the predetermined pattern. The similarity in this case indicates the degree of similarity between the change in the captured image and the predetermined pattern. For example, the similarity indicates whether the images are similar, the order in which the patterns are switched is similar, and whether the switching timing is similar. The similarity is higher as the images are similar, the switching order is similar, and the switching timing is similar. In this way, even if you do not prepare multiple types of change patterns such as confirmation images, you can perform step-by-step confirmation by changing the threshold value. It can be carried out.

  Moreover, you may combine modification (3) and (4). For example, the confirmation unit 56 may change the threshold value for template matching while changing the confirmation image used for confirmation based on the distance information. Further, for example, the confirmation unit 56 may change the similarity determination threshold while changing the predetermined pattern used for confirmation based on the distance information. In this case, the condition for confirmation becomes milder as the distance information becomes farther, and the condition becomes stricter as the distance information becomes closer.

  (5) For example, although the case where a photographed image is used to check whether the right holder is at the delivery destination has been described, other methods may be used. For example, the communication contents between the unmanned aircraft 20 and the terminal 30 may be used to confirm whether the right holder is at the delivery destination.

  FIG. 13 is a diagram showing an outline of the processing of the physical distribution system in the modified example (5). As shown in FIG. 13, in the modification example (5), the unmanned aircraft 20 and the terminal 30 can each perform short-range wireless communication. When the unmanned aircraft 20 arrives at the delivery destination and approaches a distance at which the short distance wireless communication with the terminal 30 is possible, the connection by the short distance wireless communication is established between the unmanned aircraft 20 and the terminal 30 (S5 in FIG. 13). -1). Here, it is only necessary to establish a short-range wireless communication connection in accordance with a procedure defined by the communication standard. In order to establish short-range wireless communication, a password or the like may be used, or a connection may be established without a password like free WiFi. In this case, authentication information to be described later may be used as a password for establishing a connection.

  The unmanned aerial vehicle 20 of the modified example (5) includes an authentication information acquisition unit 60. The authentication information acquisition unit 60 is realized mainly by the control unit 21. The authentication information acquisition unit 60 acquires authentication information from the terminal 30 when the unmanned aircraft 20 and the terminal 30 are connected by short-range wireless communication (S5-2 in FIG. 13). The authentication information may be information used for authentication, and may be, for example, a password composed of at least one of letters and numbers, or may be individual identification information (serial number) of the terminal 30. In addition, for example, the authentication information may be biometric authentication information such as the right holder's face or fingerprint. The authentication information may be stored in advance in the storage unit 32 of the terminal 30 or may be input from the operation unit 34 by the right holder. In addition, for example, when biometric authentication information is used, the terminal 30 may include a camera or a scanner for reading a part such as the face or finger of the right holder.

  The authentication information is stored in the delivery database and is included in the delivery instruction that the server 10 sends to the unmanned aircraft 20. For this reason, it is assumed that the unmanned aircraft 20 holds the right holder's authentication information in the storage unit 22 before arriving at the delivery destination. As described in the embodiment, the authentication unit 52 may transmit the authentication information to the terminal 30 in advance. However, when the biometric authentication information or the individual identification information of the terminal 30 is used as the authentication information, In particular, authentication information is not transmitted in advance. In this case, authentication information is uploaded in advance to the server 10 from the terminal 30 or another computer operated by the right holder, and the associating unit 51 may associate the authentication information with the package and store it in the delivery database. The confirmation unit 56 of the modified example (5) performs confirmation based on the authentication information. The confirmation unit 56 determines whether the authentication information received from the terminal 30 using short-range wireless communication matches the authentication information stored in the storage unit 22. The confirmation unit 56 determines that the right holder is at the delivery destination when they match. In this case as well, it may be determined that they are not matched completely but are matched if they are partially matched. If the confirmation by the confirmation unit 56 is performed, the unmanned aircraft 20 approaches the right holder (S5-3 in FIG. 13). In this case, the position of the right holder may be estimated from the captured image as in the embodiment.

  According to the modification (5), it is possible to confirm that the terminal 30 is in the vicinity of the delivery destination by establishing the connection by short-range wireless communication, and it is possible to confirm the legitimacy of the right holder by using the authentication information. It is possible to confirm that the right holder is at the delivery destination using short-range wireless communication. As a result, it is possible to confirm that the right holder is at the delivery destination even in a dark place where it is difficult to shoot with the camera 24A compared to the case where the confirmation image is used. As a result, it is possible to effectively increase the probability that the right holder will receive the package at the delivery destination.

  (6) Further, for example, the case where the photographed image is used to estimate the position where the right holder is located at the delivery destination has been described. However, the position of the right holder may be estimated based on other methods. . For example, the position of the right holder at the delivery destination may be estimated using electromagnetic waves or sound waves having directivity.

  The unmanned aerial vehicle 20 of the modified example (6) generates electromagnetic waves or sound waves having directivity in a plurality of directions when the arrival determination unit 55 determines that the aircraft has arrived. What is necessary is just to use what the intensity | strength of electromagnetic waves or a sound wave changes with directions, for example, infrared rays and an ultrasonic wave. The unmanned aerial vehicle 20 includes an electromagnetic wave or sound wave generation unit. Here, the case where the infrared sensor 24B corresponds to the generation unit and uses infrared rays will be described.

  FIG. 14 is a diagram illustrating a state in which the unmanned aircraft 20 irradiates infrared rays at a delivery destination. As shown in FIG. 14, when the unmanned aerial vehicle 20 arrives at the delivery destination, the unmanned aircraft 20 hovers in the sky and irradiates infrared rays toward the surrounding direction while rotating in the horizontal direction U on the spot. Here, a case where the unmanned aerial vehicle 20 irradiates infrared rays in all directions around the current position will be described, but it may be less than 360 degrees. The unmanned aerial vehicle 20 records the timing of irradiating infrared rays in each direction in the storage unit 22. The unmanned aircraft 20 may identify the direction by irradiating infrared rays with a geomagnetic sensor or a gyro sensor of the sensor unit 24. The unmanned aircraft 20 stores the infrared irradiation direction S and the irradiation timing in the storage unit 22 in association with each other. The irradiation timing may be acquired using the real time clock of the control unit 21.

  In the modification (6), the terminal 30 includes an electromagnetic wave or sound wave receiving unit having directivity. The receiving unit may be an infrared receiver, an ultrasonic receiver, or a directional microphone. Here, since infrared rays are taken as an example, the terminal 30 acquires timing information related to the timing at which the receiving unit receives infrared rays. The timing information may be information that can specify time, and may be, for example, the current time acquired by the control unit 31 using a real-time clock. The terminal 30 transmits timing information to the unmanned aircraft 20. It is assumed that the unmanned aircraft 20 and the terminal 30 are time aligned in advance. For example, the unmanned aerial vehicle 20 and the terminal 30 may each include a radio timepiece so that the time of each other is correct.

  The unmanned aerial vehicle 20 of the modified example (6) includes a timing information acquisition unit 61. The timing information acquisition unit 61 is realized mainly by the control unit 21. The timing information acquisition unit 61 acquires timing information related to the timing at which the terminal 30 detects electromagnetic waves or sound waves. The position estimation unit 57 estimates the position where the right holder is based on the timing information. For example, the position estimation unit 57 compares the received timing information with the infrared irradiation timing. And the position estimation part 57 estimates the irradiation direction of the irradiation timing nearest to the received timing information as a position where a right holder exists. Here, the time of the unmanned aircraft 20 and the terminal 30 matches, and the time until the infrared rays reach the terminal 30 from the unmanned aircraft 20 is extremely short and can be ignored. Estimate that there is. Thereafter, the process in which the unmanned aerial vehicle 20 moves based on the position estimated by the position estimation unit 57 is the same as the method described in the embodiment.

  According to the modification (6), the position where the right holder is located can be estimated using electromagnetic waves or sound waves, and the unmanned aircraft 20 can be moved toward the right holder. Even in an environment where the location of the right cannot be estimated, the probability that the right holder will receive the package can be increased.

  (7) For example, the right holder may instruct the positional relationship with the unmanned aircraft 20 by himself. The terminal 30 of the modified example (7) receives a positional relationship instruction operation for instructing the positional relationship between the terminal 30 and the unmanned aircraft 20. The positional relationship instruction operation is an operation for instructing the position of the unmanned aircraft 20 as viewed from the right holder, and may be an operation input from the operation unit 34. Here, the orientation and orientation of the terminal 30 are determined. I will change it.

  FIG. 15 is a diagram illustrating a state in which the right holder instructs the positional relationship with the unmanned aircraft 20. Here, a case where the principle of triangulation is used will be described. For example, the unmanned aerial vehicle 20 moves a predetermined distance L in a predetermined direction after arriving at the delivery destination and hovering in the sky. The unmanned aircraft 20 may notify the right holder of the traveling direction by data communication or voice before moving. As shown in FIG. 15, the right holder stands at a position perpendicular to the traveling direction of the unmanned aircraft 20 and points the terminal 30 toward the unmanned aircraft 20. When the unmanned aerial vehicle 20 starts to move, the right holder changes the orientation of the terminal 30 so as to face the position where the moving unmanned aerial vehicle 20 is present. In this modification, changing the orientation of the terminal 30 corresponds to the positional relationship instruction operation. For example, as shown in FIG. 15, when the unmanned aircraft 20 moves to the right as viewed from the right holder, the right holder turns the terminal 30 from the front to the right. The terminal 30 acquires its own angle θ changed between when the unmanned aircraft starts moving and stops using the gyro sensor or the geomagnetic sensor, and transmits it to the unmanned aircraft 20.

  The position estimation unit 57 estimates the position of the right holder based on the positional relationship instruction operation. For example, the position estimation unit 57 estimates the position of the right holder based on the current position of the unmanned aircraft 20 and the positional relationship indicated by the positional relationship instruction operation. When using the orientation of the terminal 30 as in the present modification, the position estimation unit 57 estimates the position and direction of the right holder viewed from the unmanned aircraft 20 from the relationship between the movement distance L and the angle θ. For example, here, since the right holder moves to a predetermined position when the unmanned aircraft 20 starts moving, the position estimation unit 57 can obtain the angle necessary for triangulation as long as the angle θ is acquired. You can get everything. Therefore, the position estimation unit 57 estimates the position of the right holder from the movement distance L and the angle θ. Thereafter, the process in which the unmanned aerial vehicle 20 moves based on the position estimated by the position estimation unit 57 is the same as the method described in the embodiment.

  According to the modification (7), since the position of the right holder is estimated based on the positional relationship instruction operation by the right holder, the position of the right holder can be estimated more accurately. As a result, the unmanned aerial vehicle 20 carrying the load can be moved to the vicinity of the right holder, and the trouble of the right holder when receiving the load can be more effectively reduced.

  Note that the method of estimating the position of the right holder using the positional relationship instruction operation is not limited to the above example. For example, the position estimation unit 57 may estimate the positional relationship using an elevation angle when the terminal 30 is directed to the unmanned aircraft 20 in the sky. Also in this case, the unmanned aerial vehicle 20 may move by a predetermined distance in a predetermined direction, and the position estimation unit 57 may estimate the position of the right holder based on the change in elevation angle during that time. Further, the positional relationship instruction operation is not limited to the operation of changing the orientation of the terminal 30. For example, an operation for designating in which direction the unmanned aircraft 20 is located as viewed from the right holder may correspond to a positional relationship instruction operation. In this case, a plurality of images for the right holder to specify the position where the unmanned aircraft is located as viewed from the right holder are displayed on the display unit 35, and the position estimation unit 57 indicates the position indicated by the image selected by the right holder. The position where the right holder is located may be estimated based on the above.

  (8) Further, for example, the right holder may control the unmanned aircraft 20 using the terminal 30. The terminal 30 receives a direction instruction operation for instructing the moving direction of the unmanned aircraft 20. The direction instruction operation may be performed from the operation unit 34 of the terminal 30 or may be performed by tilting the terminal 30. When the terminal 30 is tilted, the tilt of the terminal 30 is detected by a gyro sensor, and the direction in which the terminal 30 is tilted becomes the direction indicated by the direction indicating operation. The direction instruction operation may be the same operation as when the unmanned aircraft 20 is operated by the remote controller.

  The movement control unit 58 moves the unmanned aerial vehicle 20 based on the direction instruction operation. A known method can be applied to the method itself of moving the unmanned aircraft 20 based on the direction instruction operation. However, here, since the right holder is not confirmed to be at the delivery destination until the confirmation by the confirmation unit 56 is completed, the movement control unit 58 does not move based on the direction instruction operation, and the confirmation unit 56 When the confirmation is completed, movement based on the direction instruction operation is permitted. For example, the terminal 30 may not accept the direction instruction operation until confirmation by the confirmation unit 56 is completed, or may accept the direction instruction operation itself but may not move the unmanned aircraft 20 accordingly. .

  According to the modification (8), since the unmanned aerial vehicle 20 moves based on the direction instruction operation by the right holder, the unmanned aircraft 20 carrying the baggage can be moved close to the right holder, The labor of the right holder can be reduced more effectively.

  (9) For example, the position of the right holder may be estimated by short-range wireless communication. The position estimation unit 57 estimates the position of the right holder based on the communication state when the unmanned aircraft 20 and the terminal 30 are connected by short-range wireless communication. For example, the position estimation unit 57 estimates the position of the right holder based on the distance information between the unmanned aircraft 20 and the terminal 30 acquired using short-range wireless communication. The method of acquiring distance information using short-range wireless communication is as described in the modification (3). In this case, the position estimation unit 57 moves the unmanned aircraft 20 in a predetermined direction, and if the distance information becomes shorter, the position estimation unit 57 estimates that the right holder is in that direction, and if the distance information becomes far away, the right holder is in the opposite direction. presume. Thereafter, the process in which the unmanned aerial vehicle 20 moves based on the position estimated by the position estimation unit 57 is the same as the method described in the embodiment.

  According to the modification (9), since the unmanned aerial vehicle 20 moves by estimating the position of the right holder by short-range wireless communication, the unmanned aircraft 20 carrying the baggage can be moved to the vicinity of the right holder. It is possible to more effectively reduce the time and effort of the right holder when receiving the message.

  (10) Further, for example, when it is confirmed that the right holder is at the delivery destination without estimation by the position estimation unit 57, the altitude of the unmanned aircraft 20 is lowered to move the unmanned aircraft 20 toward the right holder. You may make it make it.

  For example, the unmanned aerial vehicle 20 waits at a predetermined altitude or higher after arriving at the delivery destination. As an altitude detection method, an altimeter may be used, or the distance from the ground may be detected by an infrared sensor. The altitude may be a predetermined altitude, for example, a height that is not reachable by human hands. The unmanned aerial vehicle 20 performs hovering control at a predetermined altitude (for example, 5 meters).

  When the confirmation unit 56 confirms the movement control unit 58, the unmanned aircraft 20 is moved toward the right holder by lowering the unmanned aircraft 20 at a delivery destination to an altitude lower than a predetermined level. The movement control unit 58 may reduce the altitude by decreasing the parameter indicating the rotation speed of the propeller. Further, when the unmanned aircraft 20 is lowered to a certain altitude, the unmanned aircraft 20 may perform the hovering control again. This altitude is an altitude that can be reached by a human hand (for example, 1 meter). The movement control unit 58 may land the unmanned aircraft 20 on the ground.

  According to the modification (10), when it is confirmed that the right holder is at the delivery destination, the unmanned aircraft 20 lowers the altitude. Since it can be made to fall to the altitude which can receive a package when it is performed, the probability that a right holder will receive a package can be improved.

  (11) Further, for example, the state in which the unmanned aircraft 20 delivers the package may be captured by the camera 24A and stored in the server 10 or the like as evidence that the package has been delivered. For example, when the unmanned aerial vehicle 20 detects receipt of the package by the right holder, the unmanned aircraft 20 captures the situation where the right holder receives the package with the camera 24 </ b> A and transmits the captured image to the server 10. Note that the timing at which the camera 24A captures images may be any timing when the unmanned aircraft 20 arrives at the delivery destination, and continuously after the arrival at the delivery destination or after confirmation by the confirmation unit 56 is performed. You may shoot with In addition, for example, the camera 24A may shoot after the position estimation unit 57 estimates the position of the right holder, or shoots when the distance information acquired by the distance information acquisition unit 59 is less than a threshold. Also good.

  The server 10 of the modification (11) includes an image storage unit 62. The image storage unit 62 is realized mainly by the control unit 11. The image storage unit 62 stores an image captured by the camera 24 </ b> A in the data storage unit 50 when the right holder receives the package. The image may be stored in a delivery database or in another database. The image storage unit 62 receives the image data of the captured image from the unmanned aircraft 20 and stores it.

  According to the modified example (11), since the state in which the right holder receives the package is stored as an image, evidence at the time of receipt can be left. For this reason, if a third party receives a package illegally, the third party who received the package illegally can be specified, and the package can be prevented from being stolen.

  (12) Further, for example, in the embodiments and modifications (1) to (11), the case where the right holder receives a package from the unmanned aircraft 20 has been described as an example. However, in the logistics system 1, the right holder is an unmanned aircraft. The present invention can also be applied to a situation in which luggage is deposited at 20. That is, the process according to the present invention can also be applied when the unmanned aerial vehicle 20 heads for collection under the right holder. In this case, the description of “delivery destination” in the above description can be read as “collection destination”, and the description of “receive the package” can be read as “deposit the package”.

  For example, when the processing of the embodiment is executed in a situation where the right holder deposits the package, the right owner has the right to deposit the package, for example, a delivery requester or its agent. The location information is information related to the collection destination of the package. The collection destination is a place where the right holder deposits luggage. The unmanned aerial vehicle 20 moves to the collection destination based on the location information, and confirms whether the right holder is at the collection destination in the same manner as described in the embodiment. Note that the server 10 may transmit the confirmation image to the right holder based on the client information. The right holder displays the confirmation image on the terminal 30 at the collection destination and holds it over the unmanned aircraft 20. Thereafter, similarly to the embodiment, when the unmanned aerial vehicle 20 confirms the right holder at the pickup destination, the unmanned aircraft 20 approaches the right holder and picks up the package. When the unmanned aerial vehicle 20 detects that the package has been collected, the unmanned aircraft 20 returns the package to the departure point. The collected package may be delivered by a person of the delivery company, or may be delivered by the unmanned aerial vehicle 20 in the same manner as the method described in the embodiment and the modified examples (1) to (11).

  Also, when the unmanned aerial vehicle 20 collects luggage, it is confirmed that the right holder is at the collection destination in the same manner as the methods described in the modified examples (1) to (5). ) To (7) and (9), the position of the right holder may be estimated. Further, even when the unmanned aircraft 20 collects the luggage, the right holder may control the unmanned aircraft 20 at the collection destination as in the modified example (8), or the unmanned aircraft 20 as in the modified example (10). You may make it approach the right holder by lowering the altitude at the collection destination. Further, when the unmanned aerial vehicle 20 collects luggage, the camera 24A may take a picture of depositing the luggage as in Modification (11).

  (13) Further, for example, any two or more of the modifications (1) to (12) may be combined.

  Further, for example, in the embodiment, the case where the authentication image is transmitted from the server 10 to the terminal 30 has been described. However, when the unmanned aircraft 20 is connected to the terminal 30 by short-range wireless communication, the unmanned aircraft 20 to the terminal 30. A confirmation image may be transmitted to the terminal. In this case, the terminal 30 receives and displays the confirmation image after the right holder goes to the collection destination or the delivery destination. The processing after the confirmation image is displayed on the terminal 30 is the same as the method described in the embodiment.

  Further, for example, it is possible to confirm whether the right holder is at the collection destination or the delivery destination using voice. In this case, the sensor unit 24 includes a microphone. The server 10 transmits to the unmanned aircraft 20 and the terminal 30 in advance a secret word indicating that it is the right holder. The secret word may be composed of a predetermined word. When the right holder confirms that the unmanned aircraft 20 has arrived at the collection destination or the delivery destination, the right holder utters the words at a volume that can be detected by the microphone. The confirmation unit 56 performs a well-known voice analysis and compares it with the words received from the server 10, and determines that the right holder is at the collection destination or the delivery destination if they match. In this case as well, a certain range of deviation may be allowed instead of a perfect match. Also in this case, the above words may be output by voice or image after the unmanned aircraft 20 arrives at the collection destination or delivery destination. For example, the right holder may input voice from the terminal 30. Further, the secret word may be input as text instead of voice.

  In addition, for example, the position estimation unit 57 may estimate the position where the right holder is present using voice. In this case, the sensor unit 24 includes a directional microphone. The position estimation unit 57 specifies the direction in which the secret word issued by the right holder is detected from the directional microphone, and estimates that the right holder is in that direction.

  Further, for example, each function described above may be realized by any computer of the distribution system 1, and the function described as being realized by the server 10 is realized by the unmanned aircraft 20 or the terminal 30. Also good. Similarly, the function described as being realized by the unmanned aircraft 20 may be realized by the server 10 or the terminal 30. The functions described as being realized by the terminal 30 may be realized by the server 10 or the unmanned aircraft 20. Further, among the functions described above, functions other than the associating unit 51, the instruction unit 54, the arrival determining unit 55, the confirmation unit 56, and the movement control unit 58 may be omitted. Moreover, although the case where the unmanned aerial vehicle 20 is managed by a delivery company has been described, the logistics system 1 may be used in the scene of collecting or delivering a package. For example, the unmanned aircraft 20 is managed by an operator of an online shopping mall. You may be made to do.

Claims (18)

Associating means for recording authentication information relating to a right holder for depositing or receiving a package in a storage means in association with the package;
Instructing means for instructing the unmanned aircraft carrying the package to move to the location based on the location information regarding the collection destination or delivery destination location of the package;
Arrival determination means for determining whether the unmanned aircraft has arrived at the location based on the location information on the location of the unmanned aircraft and the location information;
The right holder based on the authentication information associated with the baggage and the state of the place detected by the unmanned aircraft or the content of communication with the terminal when it is determined by the arrival determination means Confirming means for confirming whether or not
A movement control means for moving the unmanned aerial vehicle toward the right holder at the location when confirmed by the confirmation means;
A logistics system characterized by including: The logistics system further includes notification means for notifying the right holder of the authentication information associated with the package by the association means,
The confirmation unit performs confirmation based on the authentication information notified by the notification unit.
The physical distribution system according to claim 1. The unmanned aerial vehicle includes a camera;
The authentication information is confirmation image data related to a confirmation image,
The notification means transmits the confirmation image data to the terminal of the right holder,
The confirmation unit performs confirmation by determining whether or not the confirmation image displayed on the terminal is photographed in a photographed image obtained by photographing the state of the place by the camera.
The physical distribution system according to claim 2. The unmanned aerial vehicle includes a camera;
The authentication information is appearance information regarding the appearance of the right holder,
The confirmation unit performs confirmation by determining whether the right holder is photographed in a photographed image obtained by photographing the state of the place by the camera.
The physical distribution system according to claim 1. The unmanned aerial vehicle includes a camera;
The confirmation means performs confirmation by determining whether a change in a predetermined pattern is photographed in a photographed image obtained by photographing the state of the place continuously or repeatedly by the camera.
The physical distribution system according to any one of claims 1 to 4. The unmanned aerial vehicle includes a camera;
The confirmation means performs confirmation by determining whether the first state is photographed in the photographed image obtained by photographing the state of the place by the camera,
The logistics system further includes distance information acquisition means for acquiring distance information regarding a distance between the unmanned aircraft and the right holder,
When the distance information is less than a predetermined distance, the confirmation unit determines whether a second state different from the first state is captured in the captured image, and thereby responds to the distance information. Step by step confirmation,
The physical distribution system according to claim 1, wherein: The unmanned aerial vehicle includes a camera;
The confirmation unit performs confirmation by determining whether the degree of similarity between the state of the place photographed in the photographed image obtained by photographing the state of the place and the predetermined state is a threshold value or more,
The logistics system further includes distance information acquisition means for acquiring distance information regarding a distance between the unmanned aircraft and the right holder,
The confirmation unit performs stepwise confirmation according to the distance information by changing the threshold when the distance information is less than a predetermined distance, and performing determination based on the changed threshold.
A physical distribution system according to any one of claims 1 to 6. The unmanned aerial vehicle and the terminal are each capable of short-range wireless communication,
The logistics system further includes authentication information acquisition means for acquiring the authentication information from the terminal when the unmanned aircraft and the terminal are connected by the short-range wireless communication,
The confirmation means performs confirmation based on the authentication information;
A physical distribution system according to any one of claims 1 to 7. The unmanned aerial vehicle includes a camera;
The physical distribution system further includes position estimation means for estimating a position where the right holder is present based on a photographed image obtained by photographing the state of the place by the camera.
The movement control means moves the unmanned aircraft based on the position estimated by the position estimation means.
The physical distribution system according to claim 1, wherein: When the unmanned aircraft is determined to have arrived by the arrival determination means, it generates electromagnetic waves or sound waves having directivity in a plurality of directions,
The logistics system
Timing information acquisition means for acquiring timing information related to the timing at which the terminal detects the electromagnetic wave or the sound wave;
Position estimating means for estimating a position where the right holder is present based on the timing information;
Further including
The movement control means moves the unmanned aircraft based on the position estimated by the position estimation means.
The physical distribution system according to claim 1, wherein: The terminal accepts a positional relationship instruction operation for instructing a positional relationship with the unmanned aircraft,
The physical distribution system further includes position estimation means for estimating the position of the right holder based on the positional relationship instruction operation,
The movement control means moves the unmanned aircraft based on the position estimated by the position estimation means.
The physical distribution system according to claim 1, wherein: The terminal accepts a direction instruction operation for instructing a moving direction of the unmanned aircraft,
The movement control means moves the unmanned aircraft based on the direction instruction operation.
The physical distribution system according to claim 1, wherein: The unmanned aerial vehicle and the terminal are each capable of short-range wireless communication,
The physical distribution system further includes a position estimating unit that estimates the position of the right holder based on a communication state when the unmanned aircraft and the terminal are connected by the short-range wireless communication.
The movement control means moves the unmanned aircraft based on the position estimated by the position estimation means.
The physical distribution system according to any one of claims 1 to 12, wherein The unmanned aircraft, after arriving at the location, waits at a predetermined altitude,
The movement control means, when confirmed by the confirmation means, moves the unmanned airplane toward the right holder by lowering the unmanned airplane at the altitude lower than the predetermined in the place,
The physical distribution system according to claim 1, wherein: The physical distribution system includes location information acquisition means for acquiring terminal location information regarding the location of the right holder's terminal as the location information;
The logistics system according to claim 1, further comprising: The unmanned aerial vehicle includes a camera;
The physical distribution system includes an image storage unit that stores an image captured by the camera in a storage unit when the right holder deposits or receives the package.
The physical distribution system according to claim 1, further comprising: An association step of recording authentication information relating to a right holder for depositing or receiving a package in a storage means in association with the package;
Instructing an unmanned aerial vehicle on which to load the package to move to the location based on location information regarding the location where the package is collected or delivered;
An arrival determination step for determining whether the unmanned aircraft has arrived at the location based on the location information on the location of the unmanned aircraft and the location information;
The right holder based on the authentication information associated with the package and the state of the place detected by the unmanned aircraft or the content of communication with the terminal when it is determined that the arrival has occurred in the arrival determination step. A confirmation step to confirm that the is in the location;
A movement control step for moving the unmanned aerial vehicle toward the right holder at the location when confirmed by the confirmation step;
A method for transporting luggage, comprising: Association means for recording authentication information relating to a right holder for depositing or receiving a package in a storage means in association with the package;
Instructing means for instructing the unmanned aircraft carrying the package to move to the location based on the location information regarding the collection destination or delivery destination location of the package,
Arrival determination means for determining whether or not the unmanned aircraft has arrived at the location based on position information on the position of the unmanned aircraft and the location information;
The right holder based on the authentication information associated with the baggage and the state of the place detected by the unmanned aircraft or the content of communication with the terminal when it is determined by the arrival determination means Confirming means for confirming whether or not
Movement control means for moving the unmanned aerial vehicle toward the right holder at the location when confirmed by the confirmation means;
As a program to make the computer function as.

Images