JP6384955B2 - Delivery method by unmanned air vehicle - Google Patents

Description

  The present invention relates to a delivery method using an unmanned air vehicle for delivering a package to a delivery destination.

  In many cases, a package is delivered to a delivery destination such as a customer by a car via a courier. However, the delivery by automobile has problems such as the delivery time being delayed due to traffic congestion and the like, requiring a driver and labor costs.

  In order to cope with this problem, Patent Document 1 discloses a method of carrying by an unmanned air vehicle. Further, according to the method disclosed in Patent Document 1, it is possible to drop and deliver a baggage without landing an unmanned air vehicle, and it is possible to deliver to a (narrow) location where there is no landing site.

  There have been the following problems with unmanned air vehicles for delivery to unspecified persons, especially for packages ordered by customers. (1) The delivery agent obtains a receipt when handing the package to the customer. This is a proof of delivery. It is difficult to obtain such a proof for delivery by an unmanned air vehicle. (2) The courier confirms the customer by the nameplate of the customer's residence, the imprint of the receipt stamp, etc. This is to prevent delivery to other than the correct delivery destination. In unmanned flight delivery, it is difficult to prevent a person other than the correct delivery destination, particularly a malicious person, from impersonating a customer and receiving a package. (3) Since the customer is an unspecified person, the delivery destination location is also different for each customer. Although it is considered that the customer designates the delivery destination location, the customer is not necessarily familiar with delivery by an unmanned air vehicle, and there may be a case where a location inappropriate for delivery is designated. In such a case, it becomes difficult to deliver.

  Regarding the above problems (1) and (2), Patent Document 1 discloses a method in which a customer operates a dial key by storing a package in a case that is opened and closed by matching a dial key number. Knowing the dial key number confirms the correct delivery destination, and operating the dial key to the correct number can be considered as a proof of delivery.

  However, the method of Patent Document 1 causes the following new problem. (4) A strong case made of metal or the like is required. The weight carried by the unmanned air vehicle increases and the cost increases. (5) In order to lower the case before operation of the dial key, a malicious person cuts the rope that hangs the case without operating the dial key, obtains the case, and later destroys the case. You can steal your luggage. (If a metal chain or the like is used instead of a rope, this problem does not occur, but in that case, the weight to be conveyed further increases.)

  Regarding the above problem (3), no countermeasure is disclosed in Patent Document 1 and other documents.

JP 2005-263112 A

  It is an object of the present invention to provide a delivery method using an unmanned air vehicle that can deliver a package to a customer and obtain a proof of delivery.

The delivery method by the unmanned air vehicle of the present invention is as follows.
It is a delivery method by an unmanned air vehicle that transports a package from a delivery source to a delivery destination using an unmanned air vehicle that autonomously moves toward a destination,
A setting process to receive a destination specification from the consignee;
A packing process in which the luggage is tied to a rope, and the rope provided on the unmanned air vehicle is wound on the reel;
A flight process for moving the unmanned air vehicle to the delivery destination;
Shooting processing for causing the unmanned air vehicle to hover at the delivery destination and photographing the image of the delivery destination with a camera included in the unmanned air vehicle,
Based on the video, it is determined whether or not the delivery of the package at the delivery destination is appropriate. (1) If the suitability is “appropriate”, the consignee is authenticated; After rotating and lowering the luggage, the rope is separated from the reel and delivered, and the process of delivering the luggage is photographed by the camera. (2) When the suitability is “No” Includes notifying the consignee of “no” and receiving a response instruction from the consignee who has received the notification, including suitability determination / package delivery processing,
The correspondence instruction includes designation of an alternative delivery destination. When the designation of the alternative delivery destination is received, the unmanned air vehicle is moved to the alternative delivery destination, and the photographing process and the suitability determination / delivery process are performed. It is characterized by that.

  The above problem (3) is solved by taking a picture of the delivery destination and determining whether the delivery at the delivery destination is appropriate based on the taken picture.

  The above problems (1) and (2) are solved in the same manner as Patent Document 1 by authenticating the consignee. Here, since the package is lowered only when it is authenticated, the package reaches only the authenticated consignee. It is not necessary to store the luggage in the case or prevent the rope from being cut as a countermeasure against a malicious person. The above problems (4) and (5) do not occur.

  A proof that the consignee has received the package is recorded as an image of the camera.

The delivery method by the unmanned air vehicle of the present invention is as follows.
The authentication is performed by inputting a personal identification code from a portable terminal device possessed by the consignee.

  As a portable terminal device, a smart phone, a tablet computer, and other devices capable of wireless communication can be considered. The consignee who brought the portable terminal device can input the personal identification code without touching the luggage, the unmanned air vehicle or its parts. This facilitates authentication before the package is lowered.

The delivery method by the unmanned air vehicle of the present invention is as follows.
After the reel is rotated and the load is lowered, the rope is separated from the reel and delivered only when the consignee pulls the rope.

  Since the package is lowered after authentication, there is a possibility that there is no consignee for some reason when the package reaches the ground. It is preferable to confirm the presence of the consignee before separating the rope from the reel. The pulling force of the rope can be detected through the reel, and the presence of the consignee can be confirmed without the need for manual intervention.

The delivery method by the unmanned air vehicle of the present invention is as follows.
The designation of the alternative delivery destination is performed by displaying a map on a portable terminal device possessed by the consignee and instructing the location on the map by the consignee.

  By tapping or mouse clicking on one point on the map, an alternative delivery destination can be specified, and the consignee's operation is easy.

  According to the delivery method using an unmanned air vehicle of the present invention, it is possible to reliably deliver a package to a customer and obtain a proof of delivery.

FIG. 1 is a diagram showing a configuration for executing delivery by an unmanned air vehicle. FIG. 2 is a diagram showing an outline of delivery by an unmanned air vehicle. FIG. 3 is a flowchart showing the setting process. FIG. 4 is a flowchart showing a delivery location change process. FIG. 5 is a flowchart showing the package delivery process.

  An embodiment of the present invention will be described below.

  FIG. 1 is a diagram showing a configuration for executing delivery by an unmanned air vehicle. The cargo 3 is moored to the unmanned air vehicle 2 and delivered to the customer (consignee) 4. The customer 4 owns the portable terminal device 5 and is at the delivery destination.

  A delivery service provider system 1 which is a computer system is wirelessly connected to the unmanned air vehicle 2 and the mobile terminal device 5. The delivery service provider system 1 includes delivery management means 12 that communicates with the mobile terminal device 5 and unmanned air vehicle control means 11 that communicates with the unmanned air vehicle 2. The unmanned air vehicle 2 communicates with the delivery service provider system 1 via the antenna 22. The mobile terminal device 5 is a terminal device having Internet access, such as a smart phone or a tablet computer, and communicates with the delivery service provider system 1 via a wireless Internet connection. However, if the customer has a wired Internet connection environment depending on processing related to delivery by an unmanned air vehicle, a wired Internet connection may be used, in which case a desktop computer may be used. Is possible.

  The unmanned aerial vehicle 2 includes a propeller 21, an acceleration sensor (not shown), an antenna 22, a control unit 23, a speaker 24, a camera 25, a reel 26, a rope 27, and a cutting tool 28.

  The control unit 23 acquires GPS information from the antenna 22 and acceleration from the acceleration sensor, and controls the propeller 21 to move the unmanned air vehicle 2 to the delivery destination. This control may be based on existing technology.

  The speaker 24 transmits a message to the customer 4 below the unmanned air vehicle 2. The camera 25 captures an image below the unmanned air vehicle 2. It is also possible to record (record the captured image). The captured image is transmitted from the antenna 22 toward the delivery service provider system 1.

  The reel 26, the rope 27, and the cutting tool 28 are used for moving the luggage 3 up and down and delivering it. A rope 27 is wound around the reel 26, and the luggage 3 is tied to the rope 27. The reel 26 rotates in one direction and in the opposite direction under the control of the control unit 23, and unwinds the rope 27 and lowers the load 3, or winds the rope 27 and raises the load 3. The rope 27 only needs to be able to support the load of the load 3, and may be as thin as a kite line or a fishing line. The cutting tool 28 separates the rope 27 (the load side) from the reel 26 under the control of the control unit 23. As long as the rope 27 is thin, it may be an eaves-operating rod, and there is a magnet provided on the rope 27 so as to be magnetically attached to the iron reel 26. The magnet is energized by energizing the solenoid in the reel 26. It is also possible to generate a magnetic field having the same polarity as that of the magnetic pole to separate the magnetic attachment.

  FIG. 2 is a diagram showing an outline of delivery by an unmanned air vehicle. Hereinafter, an outline of the delivery procedure by the unmanned air vehicle will be described with reference to FIG.

  First, a “setting process” for receiving an order for a product and preparing for delivery is performed. Orders for merchandise can be made by telephone or face-to-face, but it is preferable for the customer 4 to access the delivery service provider system 1 from the customer terminal 5 because of high convenience as will be described later. For example, if the delivery management means 12 of the delivery service provider system 1 is an Internet home page, access is easy. At this time, the customer terminal 5 only needs to be able to access the Internet home page, and may be a desktop computer or the like instead of the portable terminal device. In the setting process, a product to be delivered and a delivery destination are determined.

  Next, the “packing process” is performed, and the delivery is moored as the luggage 3 on the unmanned air vehicle 2. This mooring cannot be performed only by telecommunications, but is a manual or mechanical work in a facility where the unmanned air vehicle 2 is parked. In the figure, the alternate long and short dash line connecting the product order processing and the package mooring indicates a non-electrical connection. (The figure is drawn as a manual operation. If the operation is a machine, it will be a solid line instead of an alternate long and short dash line.) A delivery item is accommodated in a container, and the container is tied as a luggage 3 to a rope 27. If possible, the delivery item may be directly tied to the rope 27 without using a container to form the luggage 3. Here, the container may be a lightweight container such as a cardboard box.

  Next, “flight processing” for flying the unmanned air vehicle 2 to the delivery destination is performed. The delivery service provider system 1 issues a flight instruction. A product name and a delivery destination (for example, latitude and longitude values) are transmitted, received by the unmanned air vehicle 2 via the antenna 22, stored in a storage device (not shown), and can be referenced by the control unit 23.

  The product name is displayed on the unmanned air vehicle or on the equipment provided in the facility where the unmanned air vehicle is parked. Pack the displayed product. Specifically, the product is put in a container, the container is tied to one end of the rope 27, and the other end of the rope 27 is wound around the reel 26. The reel 26 performs a winding operation (rotation) by operating a switch, and the switch may be operated.

  When both the reception of the flight instruction and the packing are completed, the control unit 23 drives the propeller 21 to start the flight. Here, packing may be performed before the flight instruction is received. For example, this is a case where a well-sold product is packed in advance and is on standby. In this case, the flight can be started immediately from the flight instruction.

  The control unit 23 controls the propeller 21 to move the unmanned air vehicle 2 to the delivery destination. This control may be based on an existing technology such as using GPS.

  When it arrives at the delivery destination, “photographing processing” is performed. The control unit 23 controls the propeller 21 to hover the unmanned air vehicle 2 at an altitude of about 3 m, captures the lower part with the camera 25, and transmits the image to the delivery service provider system 1.

  Finally, “appropriateness determination / package delivery processing” is performed. Based on the transmitted image, it is determined whether or not the package can be delivered safely at the delivery destination. This determination is preferably made by an operator of the delivery service provider system 1 viewing the image. It is possible to accurately determine the presence or absence of obstacles. Other methods are possible as described below.

  If it is determined that it is not safe, “delivery destination change processing” is performed. The “delivery destination change process” is a sub process performed in the “appropriateness determination / package delivery process”. Various processes can be considered when it is determined that it is not safe, but in this embodiment, the delivery destination is changed.

  The customer is notified that it is not safe, and the customer who receives the notification instructs the response. It is assumed that the instructed response is designation of an alternative delivery destination. The delivery service provider system 1 that has received the designation of the alternative delivery destination transmits a flight instruction again, and moves the unmanned air vehicle 2 to the alternative delivery destination.

  After the unmanned air vehicle 2 moves to the alternative delivery destination, the imaging process is performed again.

  If it is determined to be safe, “package delivery processing” is performed. The “package delivery process” is a sub process performed in the “eligibility determination / package delivery process”. The delivery service provider system 1 authenticates the customer and instructs the unmanned air vehicle 2 to deliver the package only when the authentication is “appropriate”. The key input for authentication can be determined by other methods such as transmitting to the customer in the “setting process”, pre-registering for each member as a member-based delivery service.

  The unmanned air vehicle 2 lowers and delivers the luggage 3 only after receiving the luggage delivery instruction. That is, unless the authentication is “appropriate”, neither the luggage 3 nor the rope 27 is lowered, and there is no fraud by a malicious person.

  The outline of the delivery procedure by the unmanned air vehicle has been described above. Hereinafter, processing characteristic of the present invention will be described in detail.

  FIG. 3 is a flowchart showing the setting process. For example, the customer accesses the home page of the delivery management means 12 and places an order for a product. The delivery service provider system 1 (delivery management means 12) requests designation of a delivery destination. For example, when the ordered product is confirmed and can be delivered, navigation to a sub-homepage for specifying the delivery destination is performed.

  The delivery destination can be specified by an address or the like, but in this embodiment, a map is displayed and one point on the map is indicated (mouse click, pen touch, etc.). In the case of a map, it is easy to convert a designated point into latitude and longitude. Further, if the location of the customer terminal (mobile terminal device) 5 can be known by GPS or the like, a map around the location can be displayed, which is convenient for the customer. In many cases, the delivery destination is a detailed position that is not determined by an address (for example, a garden portion of a mansion with a certain address), and is preferably based on a map.

  The information on the delivery destination is transmitted to the delivery service provider system 1. The delivery service provider system 1 confirms whether or not the received delivery destination is appropriate, and if not, requests the customer to specify another delivery destination. Here, whether or not the delivery destination is appropriate is confirmed by a computer by checking the data of the inappropriate delivery destination, and the operator makes enough space by looking at the map information (including aircraft photographs). It can be determined by various other methods. Since final confirmation is performed using imaging processing in actual delivery, it is sufficient to exclude items that are clearly inappropriate in the setting processing.

  If the delivery destination is appropriate, the delivery service provider system 1 transmits the expected arrival time to the customer terminal 5. The customer 4 can go to the delivery destination at that time and receive the package. Since the time required for the flight of the unmanned air vehicle can be accurately predicted, it is possible to predict with high accuracy based on the presence or absence of an unmanned air vehicle that can be used, the time required for the packing process, and the like.

  Thus, the setting process is completed, and the delivery service provider system 1 proceeds to the flight process.

  The unmanned air vehicle 2 arrives at the delivery destination together with the luggage 3 by the packing process and the flight process. The subsequent processing is important for reliably delivering the package to the customer and obtaining a proof of delivery.

  FIG. 4 is a flowchart showing a delivery location change process. Based on the image photographed by the photographing process, it is ensured that the delivery destination is safe.

  The delivery service provider system 1 receives the photographed image of the delivery destination and confirms whether it is safe. Based on the transmitted image, it is determined whether or not the package can be delivered safely at the delivery destination. This determination is preferably made by an operator of the delivery service provider system 1 viewing the image. It is possible to accurately determine the presence or absence of obstacles.

  On the other hand, the presence or absence of an obstacle or the like may be determined by image recognition. For example, for a delivery destination with a history of safely delivering packages, if the images taken when the packages were delivered safely and the transmitted images are compared, the two images are safe. Judgment can be made. Further, it is possible to perform an operation in which an operator is made to make a determination when an attempt is made based on image recognition and the determination is difficult.

  If not safe, the customer terminal 5 is notified that there is a problem with the delivery destination. Since this process is performed around the expected arrival time transmitted to the customer, the customer is considered to be at the delivery destination. In order to transmit and receive information at the delivery destination, the customer terminal 5 is preferably a mobile terminal device. Although there is a possibility that the customer 4 uses a different terminal from the terminal used for the setting process, access to a password-managed Internet homepage, retention of terminal identification information (for example, IP address) for each customer, etc. This method can be used.

  The customer 4 who has received the delivery destination problem information instructs the response. As specific processing, other customers such as a customer at a delivery destination removing an obstacle and delivering a package, or returning the unmanned air vehicle 2 without delivering a package can be considered. In this embodiment, the delivery destination is changed. Here, if customer support is not obtained for a predetermined period of time, the unmanned air vehicle 2 will run before the fuel (fuel, battery capacity, and other power sources used for flight in general) runs short. Return. Returning to prevent fuel shortage can be performed at each stage of processing, and will not be described in particular.

  The customer 4 designates an alternative delivery destination. The delivery service provider system 1 that has received the designation of the alternative delivery destination transmits a flight instruction again, and moves the unmanned air vehicle 2 to the alternative delivery destination. After moving, the photographing process is performed.

  Until the safe delivery destination is found (or until the unmanned air vehicle 2 returns due to lack of fuel), the procedure for specifying the delivery destination, flying to the delivery destination of the unmanned air vehicle 2, photographing, and safety confirmation described above is performed. Repeated. Thereby, the safety of the delivery destination can be ensured.

  The package delivery process is performed at a safe delivery destination. FIG. 5 is a flowchart showing the package delivery process.

  The delivery service provider system 1 requests authentication from the customer terminal 5 before issuing an instruction to lower the package to the unmanned air vehicle 2, and only when the authentication is “appropriate”, the delivery service provider system 1 instructs the unmanned air vehicle 2 to deliver the package. do. The key input for authentication can be determined by other methods such as transmitting to the customer in the “setting process”, pre-registering for each member as a member-based delivery service.

  By authenticating before lowering the package, fraud by malicious persons is prevented.

  Even if the authentication is “appropriate”, the possibility that the customer 4 has performed authentication at a place other than the delivery destination remains. Therefore, the delivery service provider system 1 determines whether or not the customer can see the image taken by the camera 25. This determination is made by the operator.

  When the authentication is “appropriate” and the customer can see the captured image, the delivery service provider system 1 instructs the unmanned air vehicle 2 to deliver the package.

  Hereinafter, the package delivery process will be described. It is sure to deliver and leave a testimony.

  The unmanned air vehicle 2 starts recording. The photographed image is recorded as a proof.

  The unmanned air vehicle 2 informs the customer 4 that the package is to be lowered from the speaker 24 before the package is lowered. Here, the voice uttered from the speaker 24 may be any of those recorded in advance, voice by voice synthesis, the real voice of the operator of the delivery service provider system 1, and the like.

  Thereafter, the unmanned air vehicle 2 rotates the reel 26 to lower the load 3. The amount of the descent may be determined by an altimeter provided in the unmanned air vehicle 2 or the like.

  The customer 4 pulls the end of the rope 27 lowered together with the luggage 3. This is an indication of the presence of the customer (consignee) and the willingness to receive the package. The pulling of the rope 27 (applying force) can be detected by a tachometer of the reel 26 or the like. The presence and will of the consignee can be confirmed without human intervention.

  If the rope is not pulled within the predetermined time, it means that there is no consignee or no intention to receive the package, and the unmanned air vehicle 2 raises the package and returns.

  If the rope is pulled within a predetermined time, the unmanned air vehicle 2 separates the rope 27 from the reel 26. Thereby, the luggage 3 and the rope 27 are delivered to the customer 4. The unmanned air vehicle 2 guides the customer 4 to take away the luggage 3 from the speaker 24.

  The customer 4 clearly understands that the luggage 3 can be taken away, and removes the luggage. The unmanned air vehicle 2 records so far. For example, after guiding the customer 4 to take away the luggage 3 from the speaker 24, recording is performed for 30 seconds.

  Thus, the delivery of the package 3 by the unmanned air vehicle 2 is completed, and the recorded image is a proof that the package has been delivered correctly.

  In the entire process described above, the operator works only in a limited scene. That is, a large number (for example, 10) of unmanned airplanes 2 can be controlled by one operator. Delivery costs are reduced compared to land transport, which requires one driver for each delivery.

  This is a delivery method using an unmanned air vehicle that can reliably deliver packages to customers and obtain a proof of delivery, and can be used by many delivery companies.

DESCRIPTION OF SYMBOLS 1 Delivery service provider system 11 Delivery management means 12 Unmanned air vehicle control means 2 Unmanned air vehicle 21 Propeller 22 Antenna 23 Control part 24 Speaker 25 Camera 26 Reel 27 Rope 28 Cutting tool 3 Luggage 4 Customer (consignee)
5 Mobile terminal devices

Claims (4)

It is a delivery method by an unmanned air vehicle that transports a package from a delivery source to a delivery destination using an unmanned air vehicle that autonomously moves toward a destination,
A setting process to receive a destination specification from the consignee;
A packing process in which the luggage is tied to a rope, and the rope provided on the unmanned air vehicle is wound on the reel;
A flight process for moving the unmanned air vehicle to the delivery destination;
Shooting processing for causing the unmanned air vehicle to hover at the delivery destination and photographing the image of the delivery destination with a camera included in the unmanned air vehicle,
Based on the video, it is determined whether or not the delivery of the package at the delivery destination is appropriate. (1) If the suitability is “appropriate”, the consignee is authenticated; After rotating and lowering the luggage, the rope is separated from the reel and delivered, and the process of delivering the luggage is photographed by the camera. (2) When the suitability is “No” Includes notifying the consignee of “no” and receiving a response instruction from the consignee who has received the notification, including suitability determination / package delivery processing,
The correspondence instruction includes designation of an alternative delivery destination. When the designation of the alternative delivery destination is received, the unmanned air vehicle is moved to the alternative delivery destination, and the photographing process and the suitability determination / delivery process are performed. A delivery method using an unmanned air vehicle. The delivery method using an unmanned air vehicle according to claim 1, wherein the authentication is performed by inputting a personal identification code from a portable terminal device possessed by the consignee. The baggage is delivered by separating the rope from the reel only when the consignee performs an operation of pulling the rope after rotating the reel and lowering the load. 3. A delivery method using an unmanned air vehicle according to 1 or 2. The designation of the alternative delivery destination is performed by displaying a map on a portable terminal device possessed by the consignee and instructing the location on the map by the consignee. The delivery method by the unmanned air vehicle according to any one of the above.