JP6827399B2 - Unmanned aerial vehicle control system, logistics system, unmanned aerial vehicle control method, luggage transportation method, and program - Google Patents

Description

The present invention relates to a physical distribution system, a cargo carrying method, and a program.

Conventionally, there are known techniques for enhancing convenience when collecting or delivering packages. For example, in Patent Document 1, in order to prevent a third party from deceiving a baggage by impersonating the right holder who has the right to receive the baggage, a password or an image is used to authenticate that the right holder is a legitimate right holder. The system is described.

JP-A-2006-92507

In recent years, technology for having unmanned aerial vehicles collect and deliver packages on behalf of human delivery companies has been studied. However, for example, when an unmanned aerial vehicle arrives at a pickup or delivery destination, a third party may mistakenly deposit or receive the package. Unmanned aerial vehicles are unmanned, and unlike humans at delivery companies, it is not possible to confirm whether the right holder is at the collection destination or delivery destination, so it is required that the right holder reliably deposits and receives luggage. ..

The present invention has been made in view of the above problems, and an object of the present invention is to ensure that the right holder can deposit and receive luggage when the unmanned aerial vehicle collects or delivers the luggage. Is.

In order to solve the above problems, the distribution system according to the present invention includes an association means for recording authentication information regarding a right holder for depositing or receiving a package in a storage means in association with the package, and a collection destination or a delivery destination for the package. Based on the location information regarding the location of the unmanned aerial vehicle, the unmanned aerial vehicle is instructed to move to the location, and the unmanned aerial vehicle uses the location information and the location information regarding the position of the unmanned aerial vehicle. An arrival determination means for determining whether or not the aircraft has arrived, the authentication information associated with the baggage when it is determined to have arrived by the arrival determination means, and the state or terminal of the location detected by the unmanned aerial vehicle. Based on the content of communication with, the confirmation means for confirming whether the right holder is at the place, and when confirmed by the confirmation means, the unmanned aerial vehicle is moved toward the right holder at the place. It is characterized by including a movement control means.

The baggage transport method according to the present invention is based on an association step of recording authentication information about a right holder who deposits or receives a baggage in a storage means in association with the baggage, and location information regarding a place of collection or delivery of the baggage. Then, based on the instruction step for instructing the unmanned aerial vehicle carrying the luggage to move to the place, the position information regarding the position of the unmanned aerial vehicle, and the place information, it is determined whether the unmanned aerial vehicle has arrived at the place. The arrival determination step to be performed, the authentication information associated with the baggage when it is determined to have arrived by the arrival determination step, the state of the location detected by the unmanned aerial vehicle, or the communication content with the terminal. Based on this, it includes a confirmation step for confirming whether the right holder is at the right holder, and a movement control step for moving the unmanned aerial vehicle toward the right holder at the place when confirmed by the confirmation means. It is characterized by that.

The program according to the present invention is based on the association means for recording the authentication information regarding the right holder who deposits or receives the package in the storage means in association with the package, and the location information regarding the location of the collection destination or the delivery destination of the package. An instruction means for instructing an unmanned aerial vehicle carrying a load to move to the place, an arrival determination means for determining whether the unmanned aerial vehicle has arrived at the place based on the position information regarding the position of the unmanned aerial vehicle and the place information. , The right based on the authentication information associated with the baggage and the state of the place detected by the unmanned aerial vehicle or the communication content with the terminal when it is determined that the aircraft has arrived by the arrival determination means. The computer functions as a confirmation means for confirming whether or not the person is in the place, and a movement control means for moving the unmanned aerial vehicle toward the right holder at the place when confirmed by the confirmation means.

Further, the information storage medium according to the present invention is a computer-readable information storage medium in which the above program is stored.

Further, in one aspect of the present invention, the distribution system further includes a notification means for notifying the right holder of the authentication information associated with the package by the association means, and the confirmation means notifies by the notification means. It is characterized in that confirmation is performed based on the above-mentioned authentication information.

Further, in one aspect of the present invention, the unmanned aircraft includes a camera, the authentication information is confirmation image data relating to a confirmation image, and the notification means is the confirmation image data to the terminal of the right holder. Is transmitted, and the confirmation means confirms by determining whether or not the confirmation image displayed on the terminal is captured in the captured image obtained by the camera capturing the state of the location. And.

Further, in one aspect of the present invention, the unmanned aerial vehicle includes a camera, the authentication information is appearance information regarding the appearance of the right holder, and the confirmation means is a photographing in which the camera photographs the state of the place. The image is confirmed by determining whether or not the right holder has been photographed.

Further, in one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the confirmation means captures a change in a predetermined pattern in a captured image obtained by the camera continuously or repeatedly capturing the state of the location. It is characterized in that confirmation is performed by determining whether or not.

Further, in one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the confirmation means determines whether or not the first state is captured in the captured image obtained by the camera capturing the state of the place. The distribution system further includes a distance information acquisition means for acquiring distance information regarding the distance between the unmanned aerial vehicle and the right holder, and the confirmation means means when the distance information becomes less than a predetermined distance. The photographed image is characterized in that a stepwise confirmation according to the distance information is performed by determining whether or not a second state different from the first state is photographed.

Further, in one aspect of the present invention, the unmanned aircraft includes a camera, and the confirmation means includes a state of the place taken in a photographed image of the state of the place taken by the camera, a predetermined state, and the like. Confirmation is performed by determining whether or not the similarity between the two is equal to or higher than the threshold value, and the distribution system further includes a 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 becomes 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.

Further, in one aspect of the present invention, the unmanned aerial vehicle and the terminal are capable of short-range wireless communication, respectively, and in the distribution system, the unmanned aerial vehicle and the terminal are connected by the short-range wireless communication. Further, the authentication information acquisition means for acquiring the authentication information from the terminal is further included, and the confirmation means performs confirmation based on the authentication information.

Further, in one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the distribution system estimates the position where the right holder is located based on a photographed image taken by the camera of the place. Further including means, the movement control means is characterized in that the unmanned aerial vehicle is moved based on the position estimated by the position estimation means.

Further, in one aspect of the present invention, when the unmanned aerial vehicle is determined to have arrived by the arrival determination means, electromagnetic waves or sound waves having directivity are generated in a plurality of directions, and the distribution system is the terminal. Further includes a timing information acquisition means for acquiring timing information regarding the timing at which the electromagnetic wave or the sound wave is detected, and a position estimation means for estimating the position where the right holder is based on the timing information, and the movement control The means is characterized in that the unmanned aerial vehicle is moved based on the position estimated by the position estimating means.

Further, in one aspect of the present invention, the terminal accepts a positional relationship instruction operation for instructing the positional relationship with the unmanned aerial vehicle, and the distribution system receives the positional relationship instruction operation of the right holder based on the positional relationship instruction operation. The movement control means further includes a position estimation means for estimating the position, and the movement control means moves the unmanned aerial vehicle based on the position estimated by the position estimation means.

Further, in one aspect of the present invention, the terminal receives a direction instruction operation for instructing the movement direction of the unmanned aerial vehicle, and the movement control means moves the unmanned aerial vehicle based on the direction instruction operation. , Characterized by.

Further, in one aspect of the present invention, the unmanned aerial vehicle and the terminal are capable of short-range wireless communication, respectively, and in the distribution system, the unmanned aerial vehicle and the terminal are connected by the short-range wireless communication. The movement control means further includes a position estimation means for estimating the position of the right holder based on the communication state of the above, and the movement control means moves the unmanned aerial vehicle based on the position estimated by the position estimation means. And.

Further, in one aspect of the present invention, the unmanned aerial vehicle waits at an altitude equal to or higher than a predetermined level after arriving at the place, and the movement control means is said to be unmanned at the place when confirmed by the confirmation means. It is characterized in that the unmanned aerial vehicle is moved toward the right holder by lowering the aircraft to an altitude lower than the predetermined value.

Further, in one aspect of the present invention, the distribution system further includes a place information acquisition means for acquiring terminal position information regarding the position of the terminal of the right holder as the place information.

Further, in one aspect of the present invention, the unmanned aerial vehicle includes a camera, and the distribution system is an image storage means for storing an image taken by the camera of the right holder depositing or receiving the luggage in a storage means. , Is further included.

According to the present invention, when an unmanned aerial vehicle collects or delivers a package, it is possible to ensure that the right holder can deposit and receive the package.

It is a figure which shows the hardware composition of the distribution system. It is a figure which shows the outline of the processing of the distribution system. It is a figure which shows an example of the confirmation image. It is a functional block diagram which shows an example of a function realized by a physical distribution system. It is a figure which shows the data storage example of a delivery database. It is a figure which shows the state which an unmanned aerial vehicle takes a picture. This is an example of a captured image. It is a flow chart which shows an example of the processing executed in the distribution system. It is a flow chart which shows an example of the processing executed in the distribution system. It is a functional block diagram of a modification. It is a figure which shows the mode that the confirmation image is switched in a terminal. It is a figure for demonstrating the processing content of the confirmation part of the modification (3). It is a figure which shows the outline of the processing of the distribution system in the modification (5). It is a figure which shows a state that an unmanned aerial vehicle irradiates infrared rays at a delivery destination. It is a figure which shows how the right holder instructs the positional relationship with an unmanned aerial vehicle.

[1. Logistics system hardware configuration]
Hereinafter, examples of embodiments of the distribution system according to the present invention will be described. In the present embodiment, a case where an unmanned aerial vehicle delivers a load will be described as an example, and a case where the load is collected will be described in a modified example described later.

FIG. 1 is a diagram showing a hardware configuration of a physical distribution system. As shown in FIG. 1, the logistics system 1 includes a server 10, an unmanned aerial vehicle 20, and a terminal 30. The server 10, the unmanned aerial vehicle 20, and the terminal 30 are connected to each other via a network so that data can be transmitted and received. Although FIG. 1 shows one server 10, one unmanned aerial vehicle 20, and one terminal 30, 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 more microprocessors. The control unit 11 executes processing according to the 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 RAM, and the auxiliary storage unit is a non-volatile memory such as a hard disk or flash memory. The communication unit 13 includes a network card for wired communication or wireless communication. The communication unit 13 performs data communication via the network.

The unmanned aerial vehicle 20 is an aircraft on which no one is on board, for example, an unmanned aerial vehicle driven by a battery (so-called drone) or an unmanned aerial vehicle driven by an engine. For example, the unmanned aerial vehicle 20 is arranged at a collection and delivery center of the operator of the distribution system 1. The unmanned aerial vehicle 20 includes a control unit 21, a storage unit 22, a communication unit 23, and a sensor unit 24. The unmanned aerial vehicle 20 also includes general hardware such as a propeller, a motor, and a battery, but is omitted here. Further, since 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, the description thereof will be omitted.

In this embodiment, the unmanned aerial vehicle 20 has a storage unit for storing luggage. The storage unit may be integrated with or separate from the housing of the unmanned aerial vehicle 20 as long as it has a space for storing luggage. When the storage unit is integrated with the housing of the unmanned aerial vehicle 20, for example, the luggage compartment (trunk) provided inside the housing of the unmanned aerial vehicle 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 from the unmanned aerial vehicle 20 by a string, a wire, a chain, a hanging tool, or the like may correspond to the storage unit, or an adhesive. A container connected to the housing of the unmanned aerial vehicle 20 by a magnet or the like may correspond to a storage portion. Further, the storage unit may be any storage member, and may be, for example, a box, a bag, a net, a bag, or a container (case) in addition to the luggage compartment or container as described above.

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) taken 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 a 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 is a voice sensor (mic), 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 mobile 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, for example, a recipient designated by the requester of delivery or an agent thereof.

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. Since the hardware configurations of the control unit 31, the storage unit 32, the communication unit 33, and the GPS sensor 36 are the same as those of the control unit 11, the storage unit 12, the communication unit 13, and the GPS sensor 24C, the description thereof will be omitted.

The operation unit 34 is an input device for the player to operate, 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 the operation content by the player to the control unit 31. The display unit 35 is, for example, a liquid crystal display unit, an organic EL display unit, or the like. The display unit 35 displays the screen according to the instruction of the control unit 31.

The programs and data described as being stored in the storage units 12, 22 and 32 may be supplied to them via the network. Further, the hardware configurations of the server 10, the unmanned aerial vehicle 20, and the terminal 30 are not limited to the above examples, and various hardware can be applied. For example, each of the server 10, the unmanned aerial vehicle 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 or 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 a distribution system. As shown in FIG. 2, when the delivery date and time of the package approaches, the server 10 sends a delivery instruction to the unmanned aerial vehicle 20 so as to load the package and fly to the delivery destination. The delivery destination may be an address specified in advance, but in the present embodiment, the position of the terminal 30 is the delivery destination. Therefore, when the unmanned aerial vehicle 20 receives a delivery instruction, it carries a load and flies to the terminal 30. The delivery date and time will be notified to the right holder in advance by e-mail or the like. The right holder holds the terminal 30 and waits for the arrival of the unmanned aerial vehicle 20 when the delivery date and time approaches. When the unmanned aerial vehicle 20 arrives near the terminal 30, it is confirmed that a legitimate right holder is at the delivery destination in order to deliver the luggage. In the present embodiment, this confirmation is performed using a confirmation image.

FIG. 3 is a diagram showing an example of a confirmation image. The confirmation image shall be transmitted to the unmanned aerial vehicle 20 and the terminal 30 in advance. When the unmanned aerial vehicle 20 arrives near the terminal 30, it hovering in the sky and stands by. Meanwhile, the right holder causes the display unit 35 to display the confirmation image 40 and turns the screen toward the unmanned aerial vehicle 20. The unmanned aerial vehicle 20 photographs the surroundings with the camera 24A, and if a confirmation image 40 is captured in the captured image, it determines that a legitimate 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, approaches the right holder, and delivers the luggage. In this way, the distribution system 1 prevents the package from being accidentally handed over to a third party at the delivery destination, so that the right holder can reliably receive the package at the delivery destination. Hereinafter, the details of the technique will be described. When it is not necessary to refer to the drawings, the reference numerals of the confirmation images are omitted.

[3. Functions realized in the logistics system]
FIG. 4 is a functional block diagram showing an example of the functions realized by the distribution system 1. As shown in FIG. 4, in the present embodiment, the data storage unit 50, the association unit 51, the notification unit 52, the location information acquisition unit 53, and the instruction unit 54 are realized by the server 10, and the arrival determination unit 55 and the confirmation unit 56 are realized. 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]
The data storage unit 50 is mainly realized by the storage unit 12. The data storage unit 50 stores data for the unmanned aerial vehicle 20 to deliver a package. Here, the delivery database will be described as the data stored by the data storage unit 50.

FIG. 5 is a diagram showing an example of data storage in the delivery database. As shown in FIG. 5, the delivery database stores data on packages to be delivered. As shown in FIG. 5, for example, in the delivery database, a delivery ID that uniquely identifies the delivery, client information regarding the client who requested the delivery, location information regarding the location of the delivery destination of the package, and right holder information regarding the right holder , Confirmation image data regarding the confirmation image, delivery date and time information regarding the delivery date and time, and an unmanned aerial vehicle ID that uniquely identifies the unmanned aerial vehicle are stored.

The client information includes the client's name and contact information. The name of the client is the company name or name of the client. Contact information includes the client's address, telephone number, email address, and the like.

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

The right holder information includes the name of the right holder, terminal information regarding 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, such as a terminal ID, individual identification information, and an IP address. Contact information includes the address, telephone number, and email address of the right holder. For example, the terminal information and the contact information may be used as a destination when a confirmation image or a message is sent to the right holder.

The confirmation image data is the image data of the confirmation image. As described above, the confirmation image corresponds to the authentication information for authenticating the right holder. In the present embodiment, the case where the confirmation image is generated for each delivery will be described, but 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 the delivery date and the delivery time. The delivery date and time may be a date and time specified by the requester or the right holder, or may be a date and time specified by the delivery company. If the delivery date and time of the package is not specified, the data is not stored in the delivery date and time information.

The unmanned aerial vehicle ID is the unmanned aerial vehicle ID of the unmanned aerial vehicle 20 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 aerial vehicles 20 may be randomly determined, or the unmanned aerial vehicle 20 that can be delivered may be selected based on the weight of the package. Alternatively, for example, the remaining amount information of the battery or fuel may be acquired from each unmanned aerial vehicle 20 and determined based on the remaining amount information. Further, for example, the operator of the delivery company may specify the unmanned aerial vehicle 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 aerial vehicle database that stores basic information of the unmanned aerial vehicle 20. The unmanned aerial vehicle database may store destination information (for example, e-mail address, individual identification information, IP address, etc.) for transmitting an instruction to the unmanned aerial vehicle 20 in association with the unmanned aerial vehicle ID. Further, for example, the data storage unit 50 may store data or map data indicating the relationship between the address information and the latitude / longitude information.

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

The authentication information may be information that proves the right to receive the package, but in the present embodiment, the case where the authentication information is confirmation image data related to the confirmation image will be described. When the server 10 receives the package delivery request, the association unit 51 generates the package delivery ID and confirmation image data and stores the package in the delivery database. Note that the confirmation image data may be selected from those prepared in advance, instead of being generated when the delivery request is received. 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 mainly realized 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 have the terminal 30 download and display the confirmation image data.

[3-4. Location information acquisition department]
The location information acquisition unit 53 is mainly realized by the control unit 11. The place information acquisition unit 53 acquires the place 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 the terminal position information regarding the position of the right holder's terminal 30 as the location information. .. The terminal position information may be any information that can specify the position of the terminal 30. In the present embodiment, the case where the latitude / longitude information detected by the GPS sensor 36 of the terminal 30 is used as the terminal position information will be described, but the base station information (for example, wireless LAN access point information) through which the terminal 30 wirelessly communicates will be described. May be used as terminal position information. The location information acquisition unit 53 may receive the terminal position information directly from the terminal 30 or may receive it via the server 10.

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

The method of flying the unmanned aerial vehicle 20 to the designated place may be performed by a known autopilot method. For example, the unmanned aerial vehicle 20 may automatically fly 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. Then, 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 by using the direction obtained from the geomagnetic sensor of the sensor unit 24. Further, the server 10 may instruct the unmanned aerial vehicle 20 to provide flight route information regarding the flight route to the destination (delivery destination in the present embodiment). The flight route information is information indicating a flight route to reach the destination, and may be, for example, information in which latitude and longitude information to the destination is sequentially connected so as to indicate a flight route. The server 10 may generate flight route information based on a predetermined route search algorithm. The flight route information may be included in the delivery instruction. The unmanned aerial vehicle 20 will execute autopilot control to the destination based on the flight route information received from the server 10.

Further, the unmanned aerial vehicle 20 determines the timing of departure from the waiting place such as the warehouse of the delivery company in time for 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. You may. Since the signal from the satellite includes time information based on the atomic clock mounted on the satellite, the unmanned aerial vehicle 20 acquires the current time information based on the signal detected by the GPS sensor 24C. May be good.

[3-6. Arrival judgment unit]
The arrival determination unit 55 is mainly realized by the control unit 21. The arrival determination unit 55 determines whether the unmanned aerial vehicle 20 has arrived at the delivery destination based on the aircraft position information and the location information regarding the position of the unmanned aerial vehicle 20. The aircraft position information may be any information that can identify the position of the unmanned aerial vehicle 20 as well as the terminal position information. In the present embodiment, the case where the latitude and longitude information detected by the GPS sensor 24C of the unmanned aircraft 20 is used as the aircraft position information will be 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. The approach here means that the distance between these positions is less than the threshold value.

[3-7. Confirmation part]
The confirmation unit 56 is mainly realized by the control unit 21. When the arrival determination unit 55 determines that the arrival has arrived, the confirmation unit 56 includes authentication information (for example, confirmation image data) associated with the package, a state of the delivery destination detected by the unmanned aerial vehicle 20, or a terminal 30. Check if the right holder is at the delivery destination based on the communication content of. In the present embodiment, the notification unit 52 notifies the right holder of the authentication information, so that the confirmation unit 56 performs confirmation based on the authentication information notified by the notification unit 52. The confirmation unit 56 confirms whether or not the right holder is a legitimate right holder and whether or not the right holder is at the delivery destination.

The state of the delivery destination is information that can be visually or audibly obtained at the delivery destination, and may be information that can be optically or electrically detected by the sensor unit 24 at the delivery destination. For example, the image (still image or moving image) taken by the camera 24A or the sound detected by the 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 determining whether the state of the delivery destination satisfies a predetermined determination criterion.

The content of communication with the terminal 30 is data transmitted and received by direct or indirect communication between the unmanned aerial vehicle 20 and the terminal 30. Indirect communication means that the unmanned aerial vehicle 20 and the terminal 30 communicate with each other 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 confirms based on a captured image taken by the camera 24A of the delivery destination. The confirmation unit 56 confirms by determining whether or not a predetermined object is captured in the captured image. The object is an object or an image that proves that the person is the right holder, and in the present embodiment, the case where the object is a confirmation image displayed on the terminal 30 will be described.

FIG. 6 is a diagram showing a state in which the unmanned aerial vehicle 20 takes a picture. As shown in FIG. 6, when the unmanned aerial vehicle 20 arrives at the delivery destination, it hover in the sky and photograph the surrounding state with the camera 24A. If the unmanned aerial vehicle 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 may photograph one or more points of the delivery destination, but here, it will be described as taking a picture in all directions while rotating in the horizontal direction U on the spot. The letters N, E, S, and W in FIG. 6 indicate the directions of north, east, south, and west, respectively. The unmanned aerial vehicle 20 generates captured images for each shooting direction V (here, each direction of north, south, east, and west) and records them in the storage unit 22. The shooting direction V may be specified by the gyro sensor or the geomagnetic sensor of the sensor unit 24.

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

[3-8. Position estimation unit]
The position estimation unit 57 is mainly realized 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 closer to the right holder to some extent by using the GPS sensor 24C, but since the accuracy of the position that can be detected by the GPS sensor 24C is limited, the position estimation unit 57 may be able to move more. Estimate the detailed position of the right holder. The position of the right holder estimated by the position estimation unit 57 may be an absolute position on the earth, or may be a relative position between the unmanned aerial vehicle 20 and the right holder. In the present embodiment, the position estimation unit 57 estimates the positional relationship between the unmanned aerial vehicle 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 based on the captured image taken by the camera 24A of the delivery destination. 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. Estimate the location of the right holder. In the example of FIG. 7, since the confirmation image is taken in the photographed image taken facing east in each direction, the estimation unit estimates that the right holder is in the east when viewed from the unmanned aerial vehicle 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 deviates from the center point of the captured image in which the confirmation image was captured and the capture position of the confirmation image. , The position of the right holder is estimated so as to correspond to the difference between the gazing point of the camera 24A and the position of the right holder. For example, the position estimation 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 captured position of the confirmation image as the position of the right holder. The gazing point of the camera 24A may be estimated based on the setting at the time of shooting. For example, the position estimation unit 57 sets the gazing point at a position separated from the camera 24A by a distance corresponding to the focus at the time of shooting with respect to the shooting direction. 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 mainly realized by the control unit 21. The movement control unit 58 moves the unmanned aerial vehicle 20 toward the right holder at the delivery destination when confirmed by the confirmation unit 56. The right holder is in the direction in which the distance between the unmanned aerial vehicle 20 and the right holder is shorter than before the movement (for example, when the unmanned aerial vehicle 20 takes a picture with the camera 24A). In the present embodiment, the movement control unit 58 moves the unmanned aerial vehicle 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 toward the position estimated by the position estimation unit 57. The movement control unit 58 identifies the direction toward the position estimated by the position estimation unit 57 based on the detection signals of the geomagnetic sensor and the gyro sensor, and moves the unmanned aerial vehicle 20 by a predetermined distance in that direction. Good.

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

As shown in FIG. 8, first, in the server 10, the control unit 11 determines whether or not the request for delivery of the package by the client has been received (S1). The delivery request may be made in a predetermined data format. For example, an employee of the delivery company who visits the delivery company sends the contents entered in the slip when the client deposits the package to the delivery company to the computer. It is done by inputting. The delivery request shall include the client 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. It is also possible to prepare a plurality of patterns of confirmation images in advance and store them in the storage unit 22, and randomly select the confirmation images so as not to overlap with other deliveries.

The control unit 11 determines the unmanned aerial vehicle 20 in charge of delivery and updates the delivery database (S3). In S3, the control unit 11 newly issues a delivery ID, and delivers the client information, the location information, the right holder information, the delivery date and time information received in S1, the confirmation image data generated in S2, and the delivery. The unmanned aerial vehicle ID of the unmanned aerial vehicle 20 in charge of the above is associated with and registered in the delivery database.

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 destination of the right holder based on the right holder information, and transmits confirmation image data to this destination. For example, when using e-mail, the control unit 11 may send the confirmation image data as an attached file together with a message such as the delivery date and time, or on the server 10 in which the confirmation image data is registered. URL may be included in the e-mail and sent.

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 response to a user operation or the like.

The control unit 11 refers to the delivery database and determines whether or not the timing for issuing the delivery instruction has arrived (S6). The timing for giving a delivery instruction may be a predetermined timing, and may be determined according to the business of the delivery company. For example, it may be a predetermined time before the delivery date and time, or whether the package has arrived at the collection and delivery center closest to the right holder.

When it is determined that the timing for giving the delivery instruction has arrived (S6; Y), the control unit 11 refers to the delivery database and requests the terminal position information of the right holder's terminal 30 (S7). A delivery instruction is transmitted to the unmanned aerial vehicle 20 in charge of delivery (S8). In S7, 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 aerial vehicle 20. The terminal position information may be transmitted from the terminal 30 to the unmanned aerial vehicle 20 via the server 10, but here, the case where the terminal position information is directly transmitted from the terminal 30 to the unmanned aerial vehicle 20 will be described. Therefore, the request to the terminal 30 includes the destination information (for example, e-mail address, individual identification information, IP address, etc.) of the unmanned aerial vehicle 20. In S8, 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 aerial vehicle 20 having an unmanned aerial vehicle 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 aerial vehicle 20 (S9). It is assumed that the terminal 30 is set in advance to allow the provision of the terminal position information. After that, the terminal 30 periodically transmits the terminal position information to the unmanned aerial vehicle 20. The control unit 31 causes the display unit 35 to display the confirmation image 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 according to the operation of the right holder.

In the unmanned aerial vehicle 20, when the delivery instruction and the terminal position information are received, the control unit 21 starts flying to the delivery destination (S11). The method of flying the unmanned aerial vehicle 20 to the designated place may be performed by a known autopilot method. For example, the unmanned aerial vehicle 20 may set the aircraft position information detected by the GPS sensor 24C as the current location, set the terminal position information received from the terminal 30 as the destination, and perform automatic flight. Then, 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 direction of travel may be determined by 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 aerial vehicle 20 has arrived at the delivery destination (S12). In S12, the control unit 21 determines whether the aircraft position information and the terminal position information match. When it is determined that the product has arrived at the delivery destination (S12; Y), the control unit 21 performs hovering control so as to maintain a constant altitude, and photographs the surroundings with the camera 24A (S13). After confirming that the unmanned aerial vehicle 20 has arrived, the right holder points the terminal 30 at the unmanned aerial vehicle 20 with the confirmation image displayed. In S13, the control unit 21 records the photographed direction detected by the sensor unit 24 and the photographed image in the storage unit 22 in association with each other.

The control unit 21 determines whether or not a confirmation image is captured in the captured image acquired in S13 (S14). In S14, 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. If 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 aerial vehicle 20 will bring the luggage 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 starting point and starts the flight.

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 (S14; Y). S15). In S15, the control unit 21 estimates the position of the right holder based on the shooting direction of the shot image and the 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 position of the right holder estimated in S16 (S16). After that, when the unmanned aerial vehicle 20 approaches a place within the reach of the recipient, the recipient receives the package stored in the storage portion of the unmanned aerial vehicle 20.

The control unit 21 determines whether the delivery of the package is completed (S17). The completion of delivery may be determined by the operation of the right holder, or the unmanned aerial vehicle 20 may determine based on the detection result of the sensor unit 24. When the operation of the right holder is used, when a predetermined operation is performed from the terminal 30, data indicating that the receipt of the package is completed is transmitted to the unmanned aerial vehicle 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 aerial vehicle 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 sends a delivery completion notification indicating that the delivery is completed to the server 10 and starts the flight to the original location (S18). , This process ends.

According to the distribution system 1 described above, the unmanned aerial vehicle 20 moves toward the right holder after confirming that the right holder is at the delivery destination, and therefore approaches a third party at the delivery destination and mistakenly carries the luggage. It is possible to prevent the goods from being handed over, and when the goods are delivered using the unmanned aerial vehicle 20, the right holder can surely receive the goods at the delivery destination. Further, for example, when the unmanned aerial vehicle 20 specifies a destination by using a paper printed with a predetermined mark regardless of the luggage, a person who does not have the right to receive the luggage may impersonate the right holder and receive the luggage. , It may happen that the package is accidentally delivered to the landmark of the next house, which may cause the theft or misdelivery of the package. However, in the distribution system 1, the authentication associated with the package is used. Since confirmation is performed based on the information, theft and misdelivery can be prevented.

In addition, the authentication information associated with the package is notified to the right holder in advance, and it is confirmed whether the right holder is at the delivery destination based on the notified authentication information, so that a third party mistakenly puts the package. It is possible to prevent it from being received.

In addition, by using the confirmation image as the authentication information, the right holder only needs to display the confirmation image on the terminal 30 in order to confirm whether the right holder is at the delivery destination, which is a complicated operation for the right holder. It is possible to confirm without having to. Furthermore, since the confirmation image is transmitted only to the right holder, it is possible to prevent the unmanned aerial vehicle 20 from erroneously recognizing the object and approaching a third party, and the right holder is likely to receive the package at the delivery destination. Can be enhanced.

In addition, since the position where the right holder is located is estimated using a photographed image capable of grasping the state of the delivery destination in detail, the position of the right holder can be estimated more accurately. Therefore, the unmanned aerial vehicle 20 carrying the luggage can be brought close to the reach of the right holder, and the labor of the right holder when receiving the luggage can be saved.

Further, since the terminal position information is used as the delivery destination, the unmanned aerial vehicle 20 carrying the luggage can be moved close to the right holder. Therefore, it is not necessary to move the right holder to the delivery destination, and the trouble of the right holder when receiving the package can be saved. In other words, the right holder can receive the parcel anywhere in principle as long as he / she is in a place where the terminal location information can be sent, so for example, it is troublesome to wait at home considering the delivery date and time. You will be able to receive your luggage without feeling it. Furthermore, if the delivery destination is a predetermined address or the like, there is a possibility that a third party will be waiting there and deceive the package, but since the unmanned aerial vehicle 20 delivers the package to the terminal 30, the package is delivered to the terminal 30. It is also possible to prevent the luggage from being deceived by a third party.

[5. Modification example]
The present invention is not limited to the embodiments described above. It can be changed 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 modified example described below, in addition to the functions of the embodiment, the distance information acquisition unit 59, the authentication information acquisition unit 60, the timing information acquisition unit 61, and the 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 aerial vehicle 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 confirmation of the right holder is a confirmation image has been described, but the object may be the right holder himself. 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 regarding the appearance of the right holder. Appearance information is information that indicates the appearance characteristics of the right holder, for example, the face, eyes, hairstyle, body shape, contour, height, clothing, or posture (pose) that the right holder should take to receive the luggage. It is information indicating such as. The appearance information may be image data or information indicating only the features of shape and color. Here, the case where the appearance information is image data obtained by photographing the face of the right holder will be described. In this case, the terminal 30 may include a camera, and the appearance information may be generated by using the camera in the terminal 30, or the appearance information may be input to the terminal 30 from the camera connected to the terminal 30. .. For example, if the right holder operates the terminal 30 or another computer to upload the appearance information to the server 10, the association 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 modification (1) determines whether or not the right holder is photographed in the photographed image based on the appearance information regarding the appearance of the right holder. 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 with the appearance information is equal to or higher than the threshold value is captured in the captured image. For example, when the face of the right holder is used as the 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 biometrics using captured images can be used.

When the appearance information is the color information of the clothes, the confirmation unit 56 prepares a template image showing the shape of the clothes in advance, and uses template matching to specify the area where the clothes are photographed in the photographed image. To do. Then, the confirmation unit 56 refers to the pixel value of the specified region and determines whether the color matches or is similar to the color indicated by the appearance information. Similar colors mean that the difference in pixel values is less than the threshold. When it is determined that the color matches or is similar to the color indicated by the appearance information, the confirmation unit 56 determines that the right holder has been photographed in the photographed image.

According to the modification (1), since the appearance information of the right holder is used to confirm whether the right holder is at the delivery destination, the accuracy of the confirmation can be improved. For example, if the confirmation image is stolen, a third party can impersonate the right holder and receive the package, but by using the appearance information, spoofing can be prevented and the security level can be increased. Can be done. As a result, it is possible to effectively increase the probability that the right holder will receive the package at the delivery destination. Furthermore, from the standpoint of the right holder, it is not necessary to prepare a confirmation image, so that the trouble of receiving the package can be saved.

(2) Further, for example, confirmation of whether or not the right holder is at the delivery destination may be performed based on the captured image of the delivery destination for a certain period of time, instead of performing only one captured image. In this case, the terminal 30 may switch a plurality of confirmation images in a given order, and the display order may also 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 particular frame rate. The camera 24A may shoot at each of a plurality of time points, may shoot in the moving image mode for a certain period of time, may shoot in the continuous shooting mode of still images, or repeatedly shoot in the still image mode. May be 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 the storage unit 22, and records the shot image in the storage unit 22. It is recorded in the storage unit 22 in the order of the sequence.

The confirmation unit 56 of the modification (2) confirms by determining whether or not a change in a predetermined pattern is captured in the captured image continuously or repeatedly captured by the camera 24A. The change of the predetermined pattern is a pattern of visual change that appears as an image in the captured image, and is a change of 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 that. It should be noted that each confirmation image may be different in shape, pattern, color, and size 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 and data relating to their display order and display switching timing (that is, data indicating a change in a predetermined pattern) are stored in the delivery database. This data may be moving image data, or may be data for reproducing still images in a predetermined order by using a slide show mode or the like. The server 10 transmits this data to the unmanned aerial vehicle 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 having the last display order, the terminal 30 may display the confirmation image having the first display order again and perform repeat reproduction.

FIG. 11 is a diagram showing how the confirmation image is switched at the terminal 30. As shown in FIG. 11, the terminal 30 switches three confirmation images 40A to 40C having different patterns in a predetermined order. For example, when the confirmation image 40A is displayed for only the first time, the terminal 30 switches to the confirmation image 40B. Then, when the confirmation image 40B is displayed for only the second time, the terminal 30 switches to the confirmation image 40C. Further, when the confirmation image 40C is displayed for only the third time, the terminal 30 switches to the confirmation image 40A again. After that, the terminal 30 may switch the display in the order of the confirmation images 40A, 40B, and 40C, and repeat reproduction of these. The first to third hours may have the same length or different lengths. Further, although the three confirmation images 40A to 40C have been described here, the two confirmation images may be switched, or the four or more confirmation images may be switched.

The confirmation unit 56 captures a state in which a plurality of confirmation images are switched in a predetermined display order at a predetermined timing based on the data received from the server 10 and the captured images continuously or repeatedly captured. Determine if. If the determination result is affirmative, the confirmation unit 56 determines that the right holder is at the delivery destination. The confirmation image and the display order do not have to be an exact match, and may be a partial match. For example, the confirmation unit 56 may consider that the plurality of confirmation images and their display moments do not match, but if they match the reference number or more, they match. Further, the timing at which the confirmation images are switched does not have to be a perfect match, and the confirmation unit 56 may determine that they match if the time lag is less than the threshold value.

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

As the change of the predetermined pattern, any pattern that can be detected in the captured image may be used, and a change other than the confirmation image may be used. For example, when the terminal 30 includes a light emitting unit such as an LED light, the switching timing (blinking timing) of the light emitting unit on (light emitting) and off (turning off) may be used as a predetermined pattern. The data indicating this timing may be stored in the delivery database and transmitted by the server 10 to the unmanned aerial vehicle 20 and the terminal 30. The terminal 30 controls the on / off of the light emitting unit based on this data. The right holder may point the light emitting unit toward the unmanned aerial vehicle 20 at the delivery destination. In this case, the confirmation unit 56 first identifies the position of the light emitting unit captured in the captured image. For example, the confirmation unit 56 may detect a region 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, a green system, or the like. The confirmation unit 56 acquires the timing at which the pixel value at the position of the specified light emitting unit changes as the on / off timing of the light emitting unit. Then, the confirmation unit 56 may compare the acquired timing with the timing indicated by the data received from the server 10 and determine whether they match. This match is also not an exact match, and a time lag below the threshold may be allowed. 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 in advance to the right holder by 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 a predetermined pattern. In this case, the display unit 35 may be used to display a plurality of colors as a confirmation image, 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 modified example (2). For example, the similarity of only the color is determined without considering the similarity of the pattern pattern of the image. You may. On the other hand, when switching the emission color of the light emitting unit, the data indicating the emission color, the emission order, and the switching timing may be stored in the delivery database and transmitted by the server 10 to the unmanned aerial vehicle 20 and the terminal 30. The terminal 30 switches the 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, light emission order, and switching timing of the position, and the light emission color, light emission order, and light emission order indicated by the data received from the server 10. It suffices to compare with the switching timing and judge whether it matches. This match is also not an exact match, and sub-threshold colors, emission order, and time lag may be allowed. As the predetermined pattern, it is not necessary to use both the order in which the colors change and the timing thereof, and only one of them may be used.

Further, for example, the gesture of the right holder may be used as a predetermined pattern by combining the modified examples (1) and (2). In this case, it is assumed that the delivery database stores an operation pattern indicating a predetermined operation performed by a human. This motion pattern may be an animation of a human body model or the like. The server 10 transmits data indicating an operation pattern to the unmanned aerial vehicle 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 when the unmanned aerial vehicle 20 arrives at the delivery destination, the right holder makes the same gesture as the operation pattern. The unmanned aerial vehicle 20 may analyze the gesture of the right holder 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. It should be noted that this match is not an exact match, and a certain degree of deviation may be allowed.

(3) For example, if the unmanned aerial vehicle 20 is far from the right holder, the situation around the right holder is not clearly photographed and the accuracy of image analysis is low. Therefore, if these are far away, is there a right holder? Even if the detailed confirmation is performed when the unmanned aerial vehicle 20 approaches the right holder and can clearly take a picture of the situation near the right holder. 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 mainly realized by the control unit 21. The distance information acquisition unit 59 acquires distance information regarding the distance between the unmanned aerial vehicle 20 and the right holder. The distance information is an estimated value of the distance between the unmanned aerial vehicle 20 and the right holder himself or the terminal 30 held by the right holder. The distance information acquisition unit 59 periodically acquires distance information. As a method for estimating the distance between objects, various known methods can be applied, 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 reflects the infrared rays to an object in that direction (the right holder himself or an object presumed to be the terminal 30). Distance information is acquired based on the flight time until the infrared rays are returned.

When short-range wireless communication is possible between the unmanned aerial vehicle 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 the communication area may be from several centimeters to several tens of meters. The standard for short-range wireless communication may be arbitrary, for example, Bluetooth (registered trademark) or wireless LAN. The unmanned aerial vehicle 20 and the terminal 30 may establish a connection according to a procedure defined by a short-range wireless communication standard. The distance information acquisition unit 59 acquires distance information based on the strength of radio waves in 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, a terminal 30, a confirmation image, or a right holder. A predetermined subject may be identified by using pattern matching with a template image of the basic shape. The template image may be stored in the storage unit 22 in advance. The distance information acquisition unit 59 determines that the smaller the subject in the captured image, the farther the distance information is, and the larger the subject, the closer the distance information is. The relationship between the size of the subject and the distance information may be determined in a mathematical formula format or a table format and stored in the storage unit 22 in advance. Further, for example, when the camera 24A includes a distance image sensor that captures a distance image by a TOF (Time Of Flight) method, the distance information acquisition unit 59 acquires distance information based on the distance image captured by the camera 24A. You may. In this case, the camera 24A captures a distance image by measuring the reciprocating time of the projected light for each pixel by using, for example, the phase difference of the light.

The confirmation unit 56 of the modified example (3) performs stepwise confirmation based on the distance information. Here, as in the embodiment, a case where the confirmation unit 56 determines whether or not the confirmation image displayed on the terminal 30 has been captured will be described.

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, the terminal 30 changes the display mode of the confirmation image when the distance information becomes less than a predetermined distance. The terminal 30 acquires the 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 the distance, and although it is one here, 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, stretching, or blinking of the image. Here, a case will be described in which changing the confirmation image that has been displayed up to that point to another confirmation image corresponds to changing the display mode.

As shown in FIG. 12, when the distance information becomes less than a 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 displayed up to that point. The amount of information is the complexity of the confirmation image, for example, the amount of area or color in the image. The greater the amount of information in the confirmation image, the lower the probability of matching in template matching, and the higher the security level. However, since the confirmation image having a large amount of information is complicated, it is difficult to detect it from the captured image when the distance is long. Therefore, the terminal 30 has a plurality of confirmation images so that the longer the distance indicated by the distance information, the smaller the amount of information of the confirmation image, and the shorter the distance indicated by the distance information, the larger the amount of information of the confirmation image. I am trying to switch what is displayed in.

In FIG. 12, it is assumed that two confirmation images 40A and 40B are used to perform two-step confirmation, but even if three or more confirmation images are used to perform three-step confirmation. Good. The terminal 30 causes the display unit 35 to display a confirmation image associated with the current distance information. 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 aerial vehicle 20 and the terminal 30.

The confirmation unit 56 confirms by determining whether or not the first state is captured in the captured image. The first state means 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, and 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 means that the confirmation image 40A (an example of the first display mode) is displayed on the terminal 30. 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 the 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 becomes less than a 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 being photographed. 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, the on / off of the light emitting unit is the second pattern, or the color switching is the second pattern. Since the case where the confirmation image is used is described here, as shown in FIG. 12, the second state means that the confirmation image 40B (an example of the second display mode) is displayed on the terminal 30. Is. The confirmation unit 56 determines whether or not the confirmation image 40B is captured in the captured image. This determination may also be performed by template matching as in the embodiment.

When confirming three or more stages instead of the two stages as shown in FIG. 12, the confirmation unit 56 displays a confirmation image associated with the current distance information each time the distance information becomes less than the threshold value. The confirmation process will be executed based on. The confirmation unit 56 may use the confirmation image associated with the current distance information as the template image. Further, in this modification, the case where the process of determining whether the distance information is less than the predetermined distance is executed by each of the confirmation unit 56 (unmanned aerial vehicle 20) and the terminal 30 has been described, but any of these processes is performed. It may be executed only on one side and the determination result may be transmitted to the other side. Alternatively, for example, another computer such as the server 10 may execute this process, and the determination result may be transmitted to the unmanned aerial vehicle 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 the unmanned aerial vehicle 20 is far from the right holder and it is difficult to perform detailed image analysis, a rough confirmation is performed using a simple confirmation image, and the distance is such that detailed image analysis is possible. In that 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 baggage cannot be received due to the distance from the unmanned aerial vehicle 20 even though the right holder is at the delivery destination. It is possible to increase the probability that the right holder will receive the package at the delivery destination.

In addition, you may combine modification examples (1) and (3). In this case, for example, the confirmation unit 56 determines whether the right holder is in the first state when the distance information is equal to or more than the predetermined distance, and when the distance information is less than the predetermined distance, the right holder is the first. It may be determined whether it is in the state of 2. For example, the first state is an upright posture that is relatively easy to detect, and the second state is a posture in which both hands are raised, which requires detailed shape analysis. In this case, the right holder will stand by in an upright position when the unmanned aerial vehicle 20 is far away, and raise both hands when the unmanned aerial vehicle 20 approaches to send a signal. As described above, 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 short.

Further, the modified examples (2) and (3) may be combined. In this case, for example, the confirmation unit 56 determines whether a certain confirmation image is displayed when the distance information is equal to or longer than the predetermined distance, and when the distance information is less than the predetermined distance, a plurality of confirmation units 56 are displayed. It may be determined whether or not the confirmation image is switched in a predetermined pattern. Further, for example, the confirmation unit 56 determines whether the confirmation image is switched in the first pattern when the distance information is equal to or longer than the predetermined distance, and when the distance information is less than the predetermined distance, the second pattern. It may be determined whether the confirmation image is switched with. 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 in a pattern according to the distance information. As described above, the confirmation unit 56 may confirm the right holder by reducing the number of confirmation images when the distance information is far and increasing the number of confirmation images when the distance information is short.

Further, 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 longer than the 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 by the second pattern. In this case, the frequency or number of on / off switching of the second pattern may be higher than that of the first pattern. The terminal 30 or the right holder may switch the light emission on / off in a pattern according to the distance information. In this way, the confirmation unit 56 may confirm the right holder by simple on / off when the distance information is far, and may confirm the right holder by complicated on / off when the distance information is short. ..

Further, for example, the confirmation unit 56 determines whether the color switching is the first pattern when the distance information is equal to or longer than the predetermined distance, 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 2. In this case, the number of colors in the second pattern is larger than that in the first pattern. The terminal 30 may switch a number of colors according to the distance information. In this way, 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 short.

Further, for example, the confirmation unit 56 determines whether the right holder is making the first gesture when the distance information is equal to or more than the predetermined distance, and when the distance information is less than the predetermined distance, the right holder is the second. You may try to determine if you are doing the gesture. In this case, the second gesture is more complex than the first gesture. Gesture complexity means that the right holder has a lot of work to do. In this way, 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 short.

(4) Further, for example, in the modified example (3), the case where the confirmation image is switched according to the distance information has been described, but the confirmation image is not particularly switched, and the threshold value of the similarity in template matching is set according to the distance information. By changing it, a stepwise confirmation may be performed. For example, if the distance between the unmanned aerial vehicle 20 and the right holder is long, the accuracy of image analysis is low, so the threshold value is lowered to loosen the criteria for similarity, and when the unmanned aerial vehicle 20 approaches the right holder, The threshold may be raised to tighten the criteria for similarity.

The confirmation unit 56 confirms by determining whether the similarity between the delivery destination captured in the captured image and the predetermined appearance is equal to or higher than the threshold value. The predetermined state is a state for determining that the right holder is present, for example, the object is at the delivery destination or changes in a predetermined pattern. Here, a case where the confirmation unit 56 determines the similarity with the object will be described as in the embodiment and the modification (1). Therefore, the case where the similarity is the similarity in template matching will be described.

When the distance information becomes less than a predetermined distance, the confirmation unit 56 changes the threshold value and makes a determination based on the changed threshold value to perform stepwise confirmation according to the distance information. For example, when the distance information becomes less than a predetermined distance, the confirmation unit 56 increases the threshold value of similarity and executes template matching again based on the increased threshold value. 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 defined so 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), the judgment criteria can be made looser or stricter based on the distance information, so that the right holder can be confirmed by a method according to the distance information, and the modified example (3). ) And the same effect can be obtained. Further, in the modification (4), since the threshold value as the determination standard is only changed, it is not necessary to prepare a plurality of confirmation images, and the stepwise confirmation can be performed by a simpler method.

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

Further, the modified examples (3) and (4) may be combined. For example, the confirmation unit 56 may change the confirmation image used for confirmation based on the distance information, and may also change the threshold value of template matching. Further, for example, the confirmation unit 56 may change the predetermined pattern used for confirmation based on the distance information, and may also change the threshold value for determining the similarity. In this case, the farther the distance information is, the looser the conditions for confirmation, and the closer the distance information is, the stricter the conditions may be.

(5) Further, for example, the case where the photographed image is used for confirming whether the right holder is at the delivery destination has been described, but other methods may be used. For example, it may be confirmed whether the right holder is at the delivery destination by using the communication content between the unmanned aerial vehicle 20 and the terminal 30.

FIG. 13 is a diagram showing an outline of processing of the distribution system in the modified example (5). As shown in FIG. 13, in the modified example (5), the unmanned aerial vehicle 20 and the terminal 30 are capable of short-range wireless communication, respectively. When the unmanned aerial vehicle 20 arrives at the delivery destination and approaches a distance capable of short-range wireless communication with the terminal 30, a short-range wireless communication connection is established between the unmanned aerial vehicle 20 and the terminal 30 (S5 in FIG. 13). -1). Here, the short-range wireless communication connection may be established according to the procedure defined by the communication standard. In addition, 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 as in free WiFi. In this case, the authentication information described later may be used as the password for establishing the connection.

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

The authentication information is stored in the delivery database and is included in the delivery instruction sent by the server 10 to the unmanned aerial vehicle 20. Therefore, it is assumed that the unmanned aerial vehicle 20 holds the authentication information of the right holder in the storage unit 22 before arriving at the delivery destination. The authentication information may be transmitted to the terminal 30 in advance by the notification unit 52 as described in the embodiment, but when the biometric authentication information or the individual identification information of the terminal 30 is used as the authentication information, the authentication information may be transmitted to the terminal 30 in advance. In particular, the authentication information is not sent in advance. In this case, the authentication information is uploaded to the server 10 in advance from the terminal 30 or another computer operated by the right holder, and the association unit 51 may store the authentication information in the delivery database in association with the package. 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 the short-range wireless communication and the authentication information stored in the storage unit 22 match. The confirmation unit 56 determines that the right holder is at the delivery destination when these match. In addition, here as well, it may be determined that there is a match if there is a partial match rather than an exact match. When the confirmation by the confirmation unit 56 is performed, the unmanned aerial vehicle 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 can be confirmed that the terminal 30 is near the delivery destination by establishing a connection by short-range wireless communication, and the legitimacy of the right holder can be confirmed by using the authentication information. , It is possible to confirm that the right holder is at the delivery destination by 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 take a picture with the camera 24A as compared with the case of using the confirmation image. 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 of the right holder at the delivery destination has been described, but the position of the right holder may be estimated based on another method. .. For example, the position of the right holder at the delivery destination may be estimated by using electromagnetic waves or sound waves having directivity.

The unmanned aerial vehicle 20 of the modified example (6) generates directional electromagnetic waves or sound waves in a plurality of directions when it is determined by the arrival determination unit 55 that the aircraft has arrived. Those having different intensities of electromagnetic waves or sound waves depending on the direction may be used, and for example, infrared rays or ultrasonic waves may be used. The unmanned aerial vehicle 20 includes a generation unit of electromagnetic waves or sound waves, and here, a case where the infrared sensor 24B corresponds to the generation unit and uses infrared rays will be described.

FIG. 14 is a diagram showing how the unmanned aerial vehicle 20 irradiates infrared rays at the delivery destination. As shown in FIG. 14, when the unmanned aerial vehicle 20 arrives at the delivery destination, it hovered in the sky and irradiates infrared rays toward the surrounding direction while rotating in the horizontal direction U on the spot. Here, the 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 aerial vehicle 20 may specify the direction by irradiating infrared rays with a geomagnetic sensor or a gyro sensor of the sensor unit 24. The unmanned aerial vehicle 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 by using the real-time clock of the control unit 21.

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

The unmanned aerial vehicle 20 of the modified example (6) includes a timing information acquisition unit 61. The timing information acquisition unit 61 is mainly realized by the control unit 21. The timing information acquisition unit 61 acquires timing information regarding the timing at which the terminal 30 detects an electromagnetic wave or a sound wave. 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. Then, the position estimation unit 57 estimates the irradiation direction of the irradiation timing closest to the received timing information as the position where the right holder is. Here, the time between the unmanned aerial vehicle 20 and the terminal 30 matches, and the time it takes for infrared rays to reach the terminal 30 from the unmanned aerial vehicle 20 is extremely short and can be ignored. Therefore, the terminal 30 is located on the irradiation direction side specified by the position estimation unit 57. It is estimated that there is. Hereinafter, the process of moving the unmanned aerial vehicle 20 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 by using electromagnetic waves or sound waves, and the unmanned aerial vehicle 20 can be moved toward the right holder. Therefore, the right holder can use a photographed image or the like. Even in an environment where the position of the right holder cannot be estimated, it is possible to increase the probability that the right holder will receive the luggage.

(7) Further, for example, the right holder may instruct the positional relationship with the unmanned aerial vehicle 20 by himself / herself. 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 aerial vehicle 20. The positional relationship instruction operation is an operation for instructing the position of the unmanned aerial vehicle 20 as seen from the right holder, and may be an operation input from the operation unit 34, but here, the orientation and posture of the terminal 30 are determined. I will change it.

FIG. 15 is a diagram showing how the right holder instructs the positional relationship with the unmanned aerial vehicle 20. Here, the case of using the principle of triangulation will be described. For example, the unmanned aerial vehicle 20 moves in a predetermined direction by a predetermined distance L after arriving at the delivery destination and hovering in the sky. The unmanned aerial vehicle 20 may notify the right holder of the direction of travel by data communication, voice, or the like before moving. As shown in FIG. 15, the right holder stands at a position perpendicular to the traveling direction of the unmanned aerial vehicle 20 and turns the terminal 30 toward the unmanned aerial vehicle 20. Then, when the unmanned aerial vehicle 20 starts moving, the right holder changes the direction of the terminal 30 so as to face the position where the moving unmanned aerial vehicle 20 is. 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 aerial vehicle 20 moves to the right when 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, which has changed between the time when the unmanned aerial vehicle starts moving and stops, using a gyro sensor, a geomagnetic sensor, or the like, and transmits it to the unmanned aerial vehicle 20.

The position estimation unit 57 estimates the position of the right holder based on the position 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 aerial vehicle 20 and the position relationship indicated by the position relationship instruction operation. When the orientation of the terminal 30 is used as in this modification, the position estimation unit 57 estimates the position and direction of the right holder as seen from the unmanned aerial vehicle 20 from the relationship between the moving distance L and the angle θ. For example, here, since the right holder has moved to a predetermined position when the unmanned aerial vehicle 20 starts moving, the position estimation unit 57 can obtain the angle required for triangulation as long as the angle θ is acquired. You will be able to get all of them. Therefore, the position estimation unit 57 estimates the position of the right holder from the moving distance L and the angle θ. Hereinafter, the process of moving the unmanned aerial vehicle 20 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 luggage can be moved closer to the right holder, and the labor of the right holder when receiving the luggage can be reduced more effectively.

The method of estimating the position of the right holder by 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 by using the elevation angle when the terminal 30 is directed toward the unmanned aerial vehicle 20 in the sky. In this case as well, the unmanned aerial vehicle 20 may move in a predetermined direction by a predetermined distance, and the position estimation unit 57 may estimate the position of the right holder based on the change in elevation angle during that period. 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 the position of the unmanned aerial vehicle 20 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 aerial vehicle is located from the viewpoint of the right holder are displayed on the display unit 35, and the position estimation unit 57 is the position indicated by the image selected by the right holder. You may estimate the position where the right holder is based on.

(8) Further, for example, the right holder may be able to operate the unmanned aerial vehicle 20 by using the terminal 30. The terminal 30 accepts a direction instruction operation for instructing the moving direction of the unmanned aerial vehicle 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 the gyro sensor, and the tilted direction of the terminal 30 is the direction indicated by the direction instruction operation. The direction instruction operation may be the same operation as when the unmanned aerial vehicle 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 for moving the unmanned aerial vehicle 20 based on the direction instruction operation. However, here, since it is not confirmed that the right holder is 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 does not move. When the confirmation is completed, the movement based on the direction instruction operation is permitted. For example, the terminal 30 may not accept the direction instruction operation until the confirmation by the confirmation unit 56 is completed, or the direction instruction operation itself may be accepted but the unmanned aerial vehicle 20 may not be moved 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 aerial vehicle 20 carrying the luggage can be moved closer to the right holder, and when the luggage is received. The labor of the right holder can be reduced more effectively.

(9) Further, 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 aerial vehicle 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 aerial vehicle 20 and the terminal 30 acquired by using short-range wireless communication. The method of acquiring the distance information by using the short-range wireless communication is as described in the modified example (3). In this case, the position estimation unit 57 moves the unmanned aerial vehicle 20 in a predetermined direction, estimates that the right holder is in that direction when the distance information is short, and that the right holder is in the opposite direction when the distance information is far. presume. Hereinafter, the process of moving the unmanned aerial vehicle 20 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 aerial vehicle 20 carrying the luggage can be moved closer to the right holder. It is possible to more effectively reduce the trouble of the right holder when receiving the.

(10) Further, for example, the unmanned aerial vehicle 20 is moved toward the right holder by lowering the altitude of the unmanned aerial vehicle 20 when it is confirmed that the right holder is at the delivery destination without performing the estimation by the position estimation unit 57. You may let it.

For example, the unmanned aerial vehicle 20 waits at a predetermined altitude or higher after arriving at the delivery destination. As the altitude detection method, an altimeter may be used, or the distance to the ground may be detected by an infrared sensor. The altitude may be a predetermined altitude, for example, a height that is out of the reach of humans. The unmanned aerial vehicle 20 will perform hovering control at a position of a predetermined altitude or higher (for example, 5 meters).

When confirmed by the confirmation unit 56, the movement control unit 58 moves the unmanned aerial vehicle 20 toward the right holder by lowering the unmanned aerial vehicle 20 to an altitude lower than a predetermined value at the delivery destination. The movement control unit 58 may lower the altitude by reducing the parameter indicating the rotation speed of the propeller. Further, when the unmanned aerial vehicle 20 is lowered to a certain altitude, the unmanned aerial vehicle 20 may perform hovering control again. This altitude is within reach of humans (for example, 1 meter). The movement control unit 58 may land the unmanned aerial vehicle 20 on the ground.

According to the modification (10), when it is confirmed that the right holder is at the delivery destination, the unmanned aerial vehicle 20 lowers the altitude, so that the confirmation is made by waiting out of reach of humans until the confirmation is made. Since it can be lowered to an altitude at which the baggage can be received when it is performed, the probability that the right holder will receive the baggage can be increased.

(11) Further, for example, the state in which the unmanned aerial vehicle 20 delivers the luggage may be photographed by the camera 24A and stored in the server 10 or the like as proof of the delivery of the luggage. For example, when the unmanned aerial vehicle 20 detects the receipt of the baggage by the right holder, the camera 24A photographs the state in which the right holder receives the baggage and transmits the photographed image to the server 10. The timing of shooting by the camera 24A may be any timing when the unmanned aerial vehicle 20 arrives at the delivery destination, and the camera 24A is continuously taken after the arrival at the delivery destination or after the confirmation by the confirmation unit 56 is performed. You may shoot with. In addition, for example, the camera 24A may take a picture after the position estimation unit 57 estimates the position of the right holder, or takes a picture when the distance information acquired by the distance information acquisition unit 59 becomes less than the threshold value. May be good.

The server 10 of the modification (11) includes an image storage unit 62. The image storage unit 62 is mainly realized by the control unit 11. The image storage unit 62 stores an image taken by the camera 24A of the right holder receiving the package in the data storage unit 50. The image may be stored in the delivery database or in another database. The image storage unit 62 receives and stores the image data of the captured image from the unmanned aerial vehicle 20.

According to the modification (11), since the state in which the right holder receives the package is saved as an image, proof at the time of receipt can be left. Therefore, in the unlikely event that a third party illegally receives the package, the third party who illegally received the package can be identified, and the package can be prevented from being stolen.

(12) Further, for example, in the embodiments and modifications (1) to (11), the situation where the right holder receives the luggage from the unmanned aerial vehicle 20 has been described as an example, but in the distribution system 1, the right holder is an unmanned aerial vehicle. It is also applicable to the situation where luggage is deposited at 20. That is, the process according to the present invention can be applied even 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 the situation where the right holder deposits the luggage, the right holder has the right to deposit the luggage, and is, for example, the requester of delivery or an agent thereof. In addition, the location information is information on the collection destination of the package. The collection destination is the place where the right holder deposits his / her 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 the method described in the embodiment. The server 10 may send a confirmation image to the right holder based on the client information. The right holder will display a confirmation image on the terminal 30 at the collection destination and hold it toward the unmanned aerial vehicle 20. After that, when the unmanned aerial vehicle 20 confirms the right holder at the collection destination in the same manner as in the embodiment, it approaches the right holder and collects the luggage. When the unmanned aerial vehicle 20 detects that the load has been collected, the unmanned aerial vehicle 20 loads the load and returns to the departure point. The collected parcel may be delivered by a human being of the delivery company, or may be delivered by the unmanned aerial vehicle 20 in the same manner as the methods described in the embodiments and modifications (1) to (11).

Further, when the unmanned aerial vehicle 20 collects the 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), and the embodiment and the modified example (6). )-(7), and (9) may be used to estimate the position of the right holder. Further, when the unmanned aerial vehicle 20 collects the luggage, the right holder may operate the unmanned aerial vehicle 20 at the collection destination as in the modified example (8), or the unmanned aerial vehicle 20 may operate the unmanned aerial vehicle 20 as in the modified example (10). You may approach the right holder by lowering the altitude at the pickup destination. Further, when the unmanned aerial vehicle 20 collects the luggage, the camera 24A may take a picture of depositing the luggage as in the modified example (11).

(13) Further, for example, any two or more of the above modified examples (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, but when the unmanned aerial vehicle 20 is connected to the terminal 30 by short-range wireless communication, the unmanned aerial vehicle 20 to the terminal 30 A confirmation image may be sent to. 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, voice may be used to confirm whether the right holder is at the collection destination or the delivery destination. In this case, the sensor unit 24 includes a microphone. The server 10 transmits in advance a password indicating that it is the right holder to the unmanned aerial vehicle 20 and the terminal 30. The secret word may be composed of predetermined words. When the right holder confirms that the unmanned aerial vehicle 20 has arrived at the collection destination or the delivery destination, the right holder utters this word at a volume that can be detected by the microphone. The confirmation unit 56 executes a known voice analysis, compares 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, deviations within a certain range may be allowed instead of exact matching. Further, in this case as well, the above words may be output by voice or image after the unmanned aerial vehicle 20 arrives at the collection destination or the delivery destination. Further, for example, the right holder may input voice from the terminal 30. Further, the secret word may be input as text instead of voice.

Further, for example, the position estimation unit 57 may estimate the position where the right holder is located by using voice. In this case, the sensor unit 24 includes a directional microphone. The position estimation unit 57 identifies the direction in which the password 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 aerial vehicle 20 or the terminal 30. May be good. Similarly, the functions described as being realized by the unmanned aerial vehicle 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 aerial vehicle 20. Further, among the functions described above, functions other than the association unit 51, the instruction unit 54, the arrival determination unit 55, the confirmation unit 56, and the movement control unit 58 may be omitted. Further, although the case where the unmanned aerial vehicle 20 is managed by the delivery company has been described, the distribution system 1 may be used in the situation of collecting or delivering the package. For example, the unmanned aerial vehicle 20 is managed by the operator of the online shopping mall. It may be done.

Claims (16)

An association means that records authentication information for depositing or receiving a package in a storage means in association with the package.
A notification means for notifying the terminal of the authentication information and
An instruction means for instructing the unmanned aerial vehicle carrying the luggage to move to the location based on the location information regarding the predetermined location.
Connection establishment means for establishing a short-range wireless communication connection between the unmanned aerial vehicle and the terminal at the location when it is determined that the unmanned aerial vehicle has arrived at the location. When,
When the connection is established by the connection establishment means, the authentication information associated with the baggage, which is directly transmitted from the terminal to the unmanned aerial vehicle via the short-range wireless communication, is received and received. A confirmation means for confirming whether the terminal is located at the location based on the authentication information provided.
A movement control means for moving the unmanned aerial vehicle toward the terminal at the place when confirmed by the confirmation means.
An unmanned aerial vehicle control system characterized by including. The unmanned aerial vehicle control system further includes an arrival determination means for determining whether or not the unmanned aerial vehicle has arrived at the location based on the position information regarding the position of the unmanned aerial vehicle and the location information.
The unmanned aerial vehicle control system according to claim 1. An instruction means for instructing an unmanned aerial vehicle capable of generating directional electromagnetic waves or sound waves in a plurality of directions to move to the location based on location information regarding the predetermined location.
When it is determined that the unmanned aerial vehicle has arrived at the place, the authentication information transmitted from the terminal to the unmanned aerial vehicle via short-range wireless communication is received at the place, and based on the received authentication information, the authentication information is received. A confirmation means for confirming whether the terminal is in the location, and
Detected by the terminal, the timing information regarding when the terminal detects the electromagnetic wave or the acoustic wave, and the timing information acquiring means for acquiring from said terminal,
A position estimating means for estimating the position of the terminal based on the timing information,
A movement control means for moving the unmanned aerial vehicle toward the terminal at the location based on the position estimated by the position estimation means when confirmed by the confirmation means.
An unmanned aerial vehicle control system characterized by including. The terminal accepts a positional relationship instruction operation for instructing a positional relationship with the unmanned aerial vehicle.
The unmanned aerial vehicle control system further includes a position estimation means for estimating the position of the terminal based on the position relationship instruction operation.
The movement control means moves the unmanned aerial vehicle based on the position estimated by the position estimation means.
The unmanned aerial vehicle control system according to any one of claims 1 to 3. The terminal accepts a direction instruction operation for instructing the moving direction of the unmanned aerial vehicle.
The movement control means moves the unmanned aerial vehicle based on the direction instruction operation.
The unmanned aerial vehicle control system according to any one of claims 1 to 4. The unmanned aerial vehicle control system further includes a position estimation means for estimating the position of the terminal based on the communication state of the short-range wireless communication.
The movement control means moves the unmanned aerial vehicle based on the position estimated by the position estimation means.
The unmanned aerial vehicle control system according to any one of claims 1 to 5. After arriving at the location, the unmanned aerial vehicle waits at an altitude above a predetermined level.
The movement control means lowers the unmanned aerial vehicle to an altitude less than the predetermined value at the place when confirmed by the confirmation means.
The unmanned aerial vehicle control system according to any one of claims 1 to 6. The unmanned aerial vehicle control system is a location information acquisition means that acquires terminal position information regarding the position of the terminal as the location information.
The unmanned aerial vehicle control system according to any one of claims 1 to 7, further comprising. The unmanned aerial vehicle includes a camera
The unmanned aerial vehicle control system is an image storage means for storing an image taken by the camera in a storage means of the state in which the luggage is deposited or received.
The unmanned aerial vehicle control system according to claim 1, further comprising. An association means that records the authentication information about the right holder who deposits or receives the baggage in the storage means in association with the baggage.
A notification means for notifying the terminal of the authentication information and
An instruction means for instructing the unmanned aerial vehicle carrying the package to move to the location based on the location information regarding the location of the pickup or delivery destination of the package.
An arrival determination means for determining whether or not the unmanned aerial vehicle has arrived at the location based on the position information regarding the position of the unmanned aerial vehicle and the location information.
When it is determined that the aircraft has arrived by the arrival determination means, the connection establishment means for establishing a connection by short-range wireless communication for direct communication between the unmanned aerial vehicle and the terminal at the location.
When the connection by the connection establishment unit is established, associated with the authentication information associated with said package, from the terminal via the front Symbol short-range wireless communication to the luggage sent directly to the unmanned aircraft Based on the authentication information obtained, a confirmation means for confirming whether the terminal is in the location, and a confirmation means.
When confirmed by the confirmation means, a movement control means for moving the unmanned aerial vehicle toward the terminal at the place to collect or deliver the luggage.
A logistics system characterized by including. The computer
An association step in which authentication information for depositing or receiving a package is recorded in a storage means in association with the package.
A notification step for notifying the terminal of the authentication information and
An instruction step that instructs the unmanned aerial vehicle carrying the luggage to move to the location based on the location information regarding the predetermined location.
A connection establishment step for establishing a short-range wireless communication connection between the unmanned aerial vehicle and the terminal at the location when it is determined that the unmanned aerial vehicle has arrived at the location. When,
When the connection is established by the connection establishment step, the authentication information associated with the baggage, which is directly transmitted from the terminal to the unmanned aerial vehicle via the short-range wireless communication, is received and received. A confirmation step to confirm whether the terminal is in the location based on the authentication information
A movement control step for moving the unmanned aerial vehicle toward the terminal at the location when confirmed by the confirmation step.
An unmanned aerial vehicle control method characterized by performing. The computer
An instruction step that instructs an unmanned aerial vehicle capable of generating directional electromagnetic waves or sound waves in multiple directions to move to the location based on location information about the location.
When it is determined that the unmanned aerial vehicle has arrived at the place, the authentication information transmitted from the terminal to the unmanned aerial vehicle via short-range wireless communication is received at the place, and based on the received authentication information, the authentication information is received. A confirmation step to confirm that the terminal is in the location, and
Detected by the terminal, the timing information regarding when the terminal detects the electromagnetic wave or the acoustic wave, and the timing information acquisition step of acquiring from said terminal,
A position estimation step for estimating the position of the terminal based on the timing information, and
A movement control step for moving the unmanned aerial vehicle toward the terminal at the location based on the position estimated by the position estimation step when confirmed by the confirmation step.
An unmanned aerial vehicle control method characterized by performing. The computer
An association step of recording the authentication information about the right holder who deposits or receives the package in the storage means in association with the package.
A notification step for notifying the terminal of the authentication information and
An instruction step that instructs the unmanned aerial vehicle carrying the package to move to the location based on the location information regarding the location of the pickup or delivery destination of the package.
An arrival determination step for determining whether the unmanned aerial vehicle has arrived at the location based on the position information regarding the position of the unmanned aerial vehicle and the location information.
A connection establishment step for establishing a short-range wireless communication connection for direct communication between the unmanned aerial vehicle and the terminal at the location when it is determined to have arrived by the arrival determination step.
When the connection by the connection establishment step is established, associated with the authentication information associated with said package, from the terminal via the front Symbol short-range wireless communication to the luggage sent directly to the unmanned aircraft Based on the authentication information provided, a confirmation step for confirming whether the terminal is in the location, and a confirmation step.
When confirmed by the confirmation step, a movement control step of moving the unmanned aerial vehicle toward the terminal at the location to collect or deliver the package.
A method of transporting luggage characterized by performing. An association means that records authentication information for depositing or receiving a package in a storage means in association with the package.
A notification means for notifying the terminal of the authentication information,
An instruction means for instructing the unmanned aerial vehicle carrying the luggage to move to the location based on the location information regarding the predetermined location.
Connection establishment means for establishing a short-range wireless communication connection between the unmanned aerial vehicle and the terminal at the location when it is determined that the unmanned aerial vehicle has arrived at the location. ,
When the connection is established by the connection establishment means, the authentication information associated with the baggage, which is directly transmitted from the terminal to the unmanned aerial vehicle via the short-range wireless communication, is received and received. Confirmation means for confirming whether the terminal is in the location based on the authentication information provided.
A movement control means for moving the unmanned aerial vehicle toward the terminal at the place when confirmed by the confirmation means.
A program to make your computer work as. An instruction means for instructing an unmanned aerial vehicle capable of generating directional electromagnetic waves or sound waves in a plurality of directions to move to the location based on location information regarding the predetermined location.
When it is determined that the unmanned aerial vehicle has arrived at the place, the authentication information transmitted from the terminal to the unmanned aerial vehicle via short-range wireless communication is received at the place, and based on the received authentication information, the authentication information is received. A confirmation means for confirming whether the terminal is in the location,
Detected by the terminal, the timing information regarding when the terminal detects the electromagnetic wave or the acoustic wave, the timing information acquiring means for acquiring from said terminal,
A position estimating means for estimating the position of the terminal based on the timing information,
A movement control means for moving the unmanned aerial vehicle toward the terminal at the location based on the position estimated by the position estimation means when confirmed by the confirmation means.
A program to make your computer work as. An association means that records the authentication information about the right holder who deposits or receives the luggage in the storage means in association with the luggage.
A notification means for notifying the terminal of the authentication information,
An instruction means for instructing an unmanned aerial vehicle carrying the package to move to the location based on location information regarding the location of the pickup or delivery destination of the package.
An arrival determination means for determining whether or not the unmanned aerial vehicle has arrived at the location based on the position information regarding the position of the unmanned aerial vehicle and the location information.
A connection establishment means for establishing a connection by short-range wireless communication for direct communication between the unmanned aerial vehicle and the terminal at the place when it is determined by the arrival determination means.
When the connection by the connection establishment unit is established, associated with the authentication information associated with said package, from the terminal via the front Symbol short-range wireless communication to the luggage sent directly to the unmanned aircraft A confirmation means for confirming whether or not the terminal is in the location based on the authentication information provided.
A movement control means for moving the unmanned aerial vehicle toward the terminal at the place to collect or deliver the luggage when confirmed by the confirmation means.
A program to make your computer work as.

Images