JP7220274B1 - Drone, information processing method, program and logistics management system - Google Patents

Abstract

An object of the present invention is to notify a user that an article such as luggage has been left behind at an appropriate timing. An unmanned traveling machine (30) has a detection area in an area other than a storage section for storing packages, a detection section (40) for detecting an article located in the detection area, and a detection section (40) for a user to detect packages stored in the storage section. a state determination unit that determines whether or not the start condition of the unmanned traveling machine 30 is satisfied after completing the user operation that is the receiving operation or the operation of depositing the baggage in the storage unit; a detection determination unit that determines whether or not the detection unit 40 has detected an article located within the detection area when it is determined that the unmanned traveling machine 30 A travel control unit that prohibits or restricts starting, and a notification unit that, when the detection determination unit determines that an item has been detected, notifies the user device used by the user who has completed the receiving or depositing operation that the item has been left behind. And prepare. [Selection drawing] Fig. 1

Description

The present disclosure relates to an unmanned aircraft, an information processing method, a program, and a physical distribution management system.

Practical use of a logistics management system in which unmanned aircraft deliver packages to recipients is underway. In this physical distribution management system, when a user receives a package delivered by a drone, the user operates the drone to perform user authentication. Further, the user opens the door provided on the unmanned aircraft, takes out the luggage, and then closes the door.

By the way, as a problem that may occur when a user receives a package, it is assumed that the user leaves the package in the storage section of the unmanned aircraft. Patent Literature 1 describes that an unmanned vehicle (cart) detects whether or not any luggage remains in the container after detecting that the door of the container has been closed by the user. The box control system outputs a beep sound from the speaker when it detects that a package or the like remains in the box.

WO2018/216502

However, the user may leave luggage or the like on the upper surface of the unmanned aerial vehicle as well as on the storage section. In particular, when a user receives a package that has been delivered while carrying it, the user tends to place the package on the upper surface of the drone, increasing the possibility of misplacing the package.

In response to this problem, if a warning sound is output at the timing when the user puts the luggage on the top surface of the unmanned aircraft, the user may find the warning sound annoying. For example, the warning sound is output even when the user temporarily puts the baggage on the upper surface of the unmanned aerial vehicle instead of leaving the baggage. Therefore, it is desired to improve the usability of the unmanned aircraft by notifying the user of the misplacing of luggage or the like at an appropriate timing.

In one aspect, an unmanned aerial vehicle is provided. The unmanned aircraft has a detection area in an area other than an accommodation section that accommodates a package, a detection section that detects an article positioned in the detection area, and a detection section that allows a user to detect the package accommodated in the accommodation section. a state determination unit for determining whether or not a start condition for the unmanned vehicle is satisfied after a user operation, which is an operation for receiving or depositing the baggage in the storage unit, is completed; a detection determination unit for determining whether or not the detection unit has detected an article located within the detection area when the determination is made; and the unmanned aircraft when the detection determination unit determines that the article is detected and when the detection determination unit determines that the article has been detected, the article is left behind in the user device used by the user who has completed the receipt operation or the deposit operation. and a notification unit for notifying that there is.

In another aspect, an information processing method is provided. In the information processing method, one or more computers have a detection area in an area of the unmanned aircraft other than an accommodation section for accommodating packages, and acquire detection information from a detection section that detects an article located in the detection area. and after the user completes a user operation, which is an operation of receiving the luggage stored in the storage unit or an operation of depositing the luggage in the storage unit, determining whether or not a start condition of the unmanned aerial vehicle is satisfied. determining whether or not the detection unit has detected an article located within the detection area when it is determined that the start condition of the unmanned aerial vehicle is satisfied; and determining whether the detection determination unit has detected the article. a step of prohibiting or restricting the start of the unmanned aerial vehicle when it is determined that the item has been detected; and notifying a user device to be used that the item has been misplaced.

In another aspect, a program is provided. The program has a detection area in one or more computers in an area other than an accommodation section for accommodating packages in the unmanned aircraft, and acquires detection information from a detection section that detects an article located in the detection area. and determining whether or not a start condition of the unmanned aerial vehicle is satisfied after the user completes a user operation, which is an operation of receiving the luggage stored in the storage unit or an operation of depositing the luggage in the storage unit. a step of determining whether or not the detection unit has detected an article located within the detection area when it is determined that a start condition of the unmanned aerial vehicle is satisfied; and a step of prohibiting or restricting the start of the unmanned aerial vehicle when it is determined that the article is detected; and C. notifying the device that the item has been misplaced.

Advantageous Effects of Invention According to the present disclosure, it is possible to notify a user that an article such as luggage has been left behind at an appropriate timing.

It is a figure showing the outline of the physical distribution management system of one embodiment. It is a figure which shows the data structure of user information, delivery request information, and delivery plan information of the same embodiment. It is a figure which shows the structure of the unmanned traveling machine of the same embodiment. It is a figure which shows the detection area of the unmanned traveling machine of the same embodiment. It is a block diagram which shows the function of the unmanned traveling machine of the same embodiment. It is a flowchart which shows the notification process with respect to misplacement of the goods in the same embodiment. It is a flow chart which shows start judging processing of the embodiment. It is a flow chart which shows standby processing of the embodiment. It is a flow chart which shows misplacement judging processing of the embodiment. It is a diagram showing the details of misplacement determination processing of the same embodiment. It is a diagram showing the details of misplacement determination processing of the same embodiment. It is a diagram showing the details of misplacement determination processing of the same embodiment. It is a diagram showing the details of misplacement determination processing of the same embodiment. It is a notification screen displayed on the user assistance device of the same embodiment. FIG. 11 is a diagram showing details of misplacement determination processing according to a modification; FIG. It is a flowchart which shows the notification process with respect to the misplacement of the goods of a modification. It is a flow chart which shows misplacement judging processing of a modification. FIG. 11 is a diagram showing details of misplacement determination processing according to a modification; FIG.

An embodiment of an unmanned aircraft, an information processing method, and a program will be described below. In this embodiment, a physical distribution management system that delivers packages using unmanned vehicles that travel on roads will be described.

<Logistics system>
As shown in FIG. 1 , the physical distribution management system 1 includes a server 10 , a user device 20 , an unmanned mobile device 30 and a notification device 45 .

<server>
The server 10 is managed by a distribution manager and includes one or more information processing devices. The server 10 includes a control section 11 , a storage section 12 and a communication section 13 . The control unit 11 includes an arithmetic device and a memory (storage medium). The arithmetic device loads an operating system and various programs such as a logistics management program from the storage unit 12 or other storage into the memory, and executes commands retrieved from the memory. The computing device may consist of:

(1) one or more processors operating according to a computer program (software);
(2) one or more dedicated hardware circuits that perform at least part of the various types of processing, or
(3) any combination thereof;

The computing device includes a CPU and memory, such as RAM and ROM, which stores program code or instructions configured to cause the CPU to perform processes. Memory, or non-transitory computer-readable media, includes any available media that can be accessed by a general purpose or special purpose computer. Alternatively, the arithmetic device may include a dedicated hardware circuit (for example, an application specific integrated circuit: ASIC) that performs hardware processing for at least part of the processing executed by itself instead of or in addition to the CPU.

The storage unit 12 is an auxiliary storage device (storage medium) and stores various information for managing physical distribution. The communication unit 13 is implemented as hardware, software, or a combination thereof, and transmits and receives data to and from the user device 20 and the unmanned mobile device 30 via the network 14 . Note that the server 10 may include an operation unit and a display unit for input operations by a distribution manager or the like.

<User device>
The user device 20 is an information processing device used by a user who uses the physical distribution management system 1 . The user device 20 is a multifunctional telephone terminal such as a smart phone, a tablet terminal, a personal computer, a wearable computer, or an information processing device other than these devices.

The user device 20 includes a control section 21 , a storage section 22 , a communication section 23 , an operation section 24 and a display section 25 . The control unit 21 includes an arithmetic device and a memory (storage medium). The hardware configuration of the arithmetic unit and memory is the same as that of the server 10, and includes the above (1) to (3). The arithmetic unit loads various programs such as an operating system and a program for executing processing related to delivery from the storage unit 22 or other storage into the memory, and executes instructions retrieved from the memory.

The hardware configuration of the storage unit 12 is similar to that of the server 10 . The storage unit 12 may store a program for executing processing related to delivery. This program may be an application program used to receive the delivery service, or a program to receive the delivery service through a social networking service. Alternatively, it may be an application program capable of receiving a notification mail regarding delivery. Alternatively, the storage unit 12 may store a web browser program that interprets markup languages such as HTML (Hyper Text Markup Language) and JavaScript (registered trademark). The web browser program displays a web page related to delivery acquired from the web servers that make up the physical distribution management system 1 . The communication unit 23 is implemented as hardware, software, or a combination thereof, and transmits and receives data to and from the server 10 via the network 14 . The operation unit 24 includes a touch panel integrated with the display unit 25 such as a display, operation buttons provided on the case of the user device 20, keyboard, mouse, controller, and the like. The display unit 25 outputs various images according to output instructions from the control unit 21 .

<Notification device>
The notification device 45 is a device capable of receiving a notification transmitted by the unmanned mobile device 30 . The unmanned traveling machine 30 may transmit the notification to the notification device 45 via the server 10 or transmit the notification to the notification device 45 via the network 14 without the server 10 . The notification device 45 is, specifically, an intercom (housing information board) or the like installed in the user's home or at the common entrance of an apartment building.

<Unmanned vehicle>
The unmanned traveling machine 30 is a moving object on which no person boardes, and is also called a UGV (Unmanned Ground Vehicle). The unmanned traveling machine 30 is managed by a logistics manager or other owner. The unmanned traveling machine 30 includes a control device 31 , a drive section 32 , a battery 33 as an energy source, a user authentication section 34 , a detection section 40 and an audio output section 41 . The control device 31 controls the drive section 32 . The drive unit 32 includes a drive source driven by electric power supplied from the battery 33, a power transmission mechanism operated by power obtained from the drive source, a control circuit for controlling the drive source and the power transmission mechanism, and the like. The power transmission mechanism transmits the power of the drive source to the wheels. The drive source is an electric motor in this embodiment. The drive source may be an engine that consumes fuel to drive. In this case, instead of the battery 33, a fuel supply unit for supplying fuel to the drive unit 32 is provided as an energy source. Further, the unmanned traveling machine 30 may include a hybrid drive unit 32 equipped with a plurality of types of drive sources.

The user authentication unit 34 is an input device that authenticates the user who receives the parcel. The user authentication unit 34 is an input device provided with a button for inputting an authentication code such as a PIN (Personal Identification Number), a touch panel, a scanner that recognizes a presented bar code or two-dimensional code, or the like.

The detection unit 40 detects sensors for autonomous traveling, sensors for detecting external environment information around the unmanned traveling machine 30, and articles placed in the unmanned traveling machine 30 or on the outer peripheral surface of the unmanned traveling machine 30. and a sensor that Articles include packages delivered by the unmanned mobile device 30 as well as belongings of the user. Sensors for autonomous travel include a GPS sensor that detects the current position. Also, the sensor may include at least one of an acceleration sensor, a gyro sensor, a geomagnetic sensor, an altitude sensor, and a displacement sensor.

Sensors that detect external environment information include human sensors that detect people (also called human body detection sensors). A known sensor can be used as the human sensor. For example, at least one of an infrared sensor, an ultrasonic sensor, an image sensor (visible light sensor), and the like can be used. As an example, an image sensor and an infrared sensor to which LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) is applied can be used in combination. The image sensor detects a person by detecting the person's face, pattern matching of the outline of the person, or the like. It is preferable that the image sensor be capable of capturing an omnidirectional (omnidirectional) image centered on the unmanned mobile device 30 . LiDAR measures the ToF (Time of Flight) of the laser light by emitting a dot-shaped irradiation pattern laser light to the surroundings and detecting the light reflected by obstacles, etc. Estimate the distance (depth) of The one or more sensors that detect environmental information may also include wind speed sensors, temperature sensors, humidity sensors, and the like.

A sensor for detecting an article detects an article when a delivered baggage or a user's baggage is placed or caught in a detection area provided on a part of the outer peripheral surface of the unmanned mobile device 30.例文帳に追加The outer peripheral surface of the unmanned traveling machine 30 includes a front surface, a rear surface, a top surface, a bottom surface, and a side surface. A sensor that detects an article is a pressure sensor, an image sensor, or the like. A pressure sensor detects gravity or a change in gravity within a detection area of the pressure sensor. The image sensor captures an image of an article placed or hooked on a detection area and performs image processing on the captured data to detect the article. In this embodiment, the article detection sensor is a planar pressure-sensitive sensor provided on the upper surface of the unmanned vehicle 30 .

A sensor for detecting articles is also provided in a storage section 62 (see FIG. 3) that stores luggage. A sensor provided in the storage section 62 detects the presence or absence of luggage in the storage section 62 . As this sensor, for example, a load sensor, an infrared sensor, an image sensor, or the like can be used. After the door 63 is closed, the control device 31 determines that the sensor detects that an article such as luggage is left in the storage section 62 with the door 63 closed. is misplaced.

The audio output unit 41 is implemented as a combination of hardware and software, and outputs audio such as operation guidance. Voice information is stored in the control device 31 . The audio output unit 41 performs audio processing using audio information output from the control device 31 . For example, the voice of the operation guidance is a voice that explains the work from the time the user takes out the package from the box provided on the unmanned mobile device 30 to the unmanned mobile device 30 that can start moving toward the next destination. , are output at multiple times. For example, the voice guidance for operation is ``Box 1 will be opened'', ``Boxes 3 and 4 will be opened'', ``Please be careful not to leave your luggage behind'', ``Please open the door after receiving your luggage. Please close", "Move will start", and the like.

The control device 31 includes a control section 35 , a storage section 36 and a communication section 37 . The control unit 35 has substantially the same configuration as the control unit 11 of the server 10 or the control unit 21 of the user device 20 . The storage unit 36 has substantially the same configuration as the storage unit 12 of the server 10 or the storage unit 22 of the user device 20, and includes the above (1) to (3). In addition to programs for autonomous driving, the storage unit 36 stores various types of information necessary for autonomous driving, such as map information.

The storage unit 36 also stores voice information for operation guidance. A plurality of voice information are stored according to the language used by the user.
The communication unit 37 is implemented as hardware, software, or a combination thereof. The communication unit 37 transmits and receives data to and from the user device 20 and the server 10 via the network 14 .

The unmanned mobile device 30 transmits various notifications to the user device 20 and the notification device 45 via the network 14 . At this time, the unmanned mobile device 30 may transmit a notification to the user device 20 and the notification device 45 via the server 10 . Alternatively, the unmanned mobile device 30 may transmit the notification to the user device 20 and the notification device 45 without going through the server 10 . Also, the unmanned traveling machine 30 may be connected to a manager terminal used by a delivery manager via the network 14 . The delivery manager may monitor the state of the unmanned mobile device 30 by visually recognizing the image captured by the image sensor provided in the unmanned mobile device 30 using the administrator terminal.

The control unit 35 acquires the remaining capacity from a remaining capacity detection circuit 33A provided in the battery 33 . A remaining capacity detection circuit 33 A of the battery 33 detects the remaining capacity of the battery 33 and outputs it to the control section 35 . The control unit 35 transmits the remaining capacity information acquired from the remaining capacity detection circuit 33A to the server 10 via the communication unit 37 . The server 10 manages the state of charge of the unmanned mobile device 30 .

<Data structure>
Data stored in the storage unit 12 of the server 10 will be described with reference to FIG. The server 10 stores user information 50 , delivery request information 51 , and delivery plan information 52 in the storage unit 12 . The server 10 has a database management system (DataBase Management System) which is software for managing such information. The structure of the database is not particularly limited and may be relational type, hierarchical type, network type, or the like. The user information 50, the delivery request information 51, and the delivery plan information 52 shown in FIG. 2 are examples of data structures.

The unmanned traveling machine 30 stores delivery plan information 52 in the storage unit 36 . Of the user information 50 and the delivery request information 51, the unmanned mobile device 30 stores information necessary for delivery and notification transmission in the storage unit 36. FIG.

The user information 50 is information generated for each user. A user is a user who uses the physical distribution management system 1 . The user information 50 is obtained when user registration is performed, when an application program for using the physical distribution management system 1 is installed in the user device 20, when an Internet shopping mall or an EC (Electronic Commerce) site is used, or the like. generated.

User information 50 includes a user ID, address, notification information, and member information. A user ID is identification information assigned to each user. The address indicates the address of the user or the location of the delivery point where the parcel is received. The notification information indicates the transmission destination of the notification to the user. For example, when a user receives a notification using an application program installed on the user device 20, the notification information includes a registration ID associated with the user device 20, a device token, and the like. Or, if the user receives notifications by email, the notification information includes the user's email address. Also, the notification information may include a plurality of destinations. For example, notification information may include both a device token and an email address. Also, the notification information may include a transmission destination to the notification device 45 such as an intercom. If the notification information includes multiple destinations, the priority of those destinations can be identified. For example, the destination with the highest priority is associated with the user device 20 such as a smart phone, and the destination with the next highest priority is associated with the notification device 45 . These priorities may be assigned by an administrator or the like of the physical distribution management system 1, or may be assigned by a user. Member information is information when using an Internet shopping mall or an EC site, and includes age, gender, and the like.

The delivery request information 51 is information about a request for delivery of a package. The delivery request information 51 is generated, for example, for each package to be delivered. The delivery request information 51 includes a delivery number, user ID, address, desired time period, order number, notification status, and delivery status. A delivery number is identification information assigned to a package to be delivered. The user ID and address indicate the user who receives the parcel and the user's address, and are associated with the user ID and address of the user information 50 . The desired time period is the time period in which the user wishes to receive the parcel. An order number is identification information assigned to an order when a package to be delivered is ordered on an EC site or the like. The notification status indicates the status of notification regarding delivery. For example, when the server 10 receives a delivery request, when the unmanned traveling machine 30 departs from a base such as a warehouse, or when the unmanned traveling machine 30 arrives at the delivery point before a predetermined time before the unmanned traveling machine 30 arrives at the delivery point. The unmanned mobile device 30 or the server 10 transmits a notification to the user device 20 at least one of these timings. The notification status stores the type of the latest notification among the notifications that the unmanned mobile device 30 or the server 10 has sent to the user. The delivery status indicates the delivery status of the parcel. For example, the delivery status is one of multiple statuses such as "undelivered", "delivered", and "delivered".

The delivery plan of the unmanned traveling machine 30 includes a route from a base such as a warehouse or store to a return to the base, delivery points through which the unmanned mobile device 30 will arrive, and an estimated time of arrival at the delivery point. The delivery plan information 52 includes, for each unmanned vehicle 30, a delivery point, a delivery route to the delivery point, and an estimated time of arrival at the delivery point in association with the delivery number. Also, the delivery plan information 52 may include a box number and a delivery order. The delivery point is, for example, coordinates such as latitude and longitude of a point where the user receives the package. The delivery point may be the user's address or a point where a plurality of users gather. The box number is a number assigned to the storage unit 62 of the unmanned mobile device 30 and associated with the delivery number. The delivery order is the order of passing through the delivery points on the travel route from the departure point to the destination point.

<Configuration of Unmanned Vehicle>
3 and 4 show an example of an unmanned vehicle 30. FIG. The unmanned traveling machine 30 includes a driving section 32 and a housing 60 mounted on the driving section 32 . The housing 60 has a housing portion 62 and a door 63 . The accommodation unit 62 accommodates packages to be received by the user 100 . The door 63 opens and closes the opening of the housing portion 62 . The housing 60 includes an opening/closing portion 64 for locking and unlocking the door 63 . The opening/closing portion 64 may be provided on the door 63 as shown in FIG. 3, or may be provided on the housing portion 62 side.

The unmanned traveling machine 30 also includes a user authentication unit 34 . The user authentication unit 34 includes, as an input operation unit, a touch panel and ten keys for inputting identification information such as a PIN. In the example of FIG. 3, the user authentication unit 34 is provided on the side surface of the unmanned mobile device 30, but may be provided at another position.

The user 100 performs user authentication using the user authentication section 34 . When the user is authenticated and the user performs an unlocking operation, the opening/closing unit 64 unlocks the door 63 . The user 100 opens the door 63 , receives the package, and closes the door 63 . The opening/closing part 64 locks the door 63 when the door 63 is closed.

As shown in FIG. 4, a load sensor 40A, which is the detection unit 40, is provided on the upper surface 60A of the housing 60. As shown in FIG. The load sensor 40A is a planar pressure sensor. The load sensor 40A has a detection region 40Z that is part or all of the upper surface 60A of the housing 60. As shown in FIG. In this embodiment, the load sensor 40A detects that the article 101 is placed on the detection area 40Z by detecting the weight. The detection area 40Z on the upper surface 60A of the housing 60 is not limited to the area shown in FIG. For example, the detection area 40Z may be one as shown in FIG. 4, or may be plural. Further, the detection area 40Z on the upper surface 60A of the housing 60 may be rectangular as shown in FIG. 4, or may be of other shapes.

Further, the housing 60 is provided with a vibration detection section 40B which is the detection section 40 . The vibration detection unit 40B is a sensor that detects a state in which the user device 20 has received a notification, and may be any device that can detect vibration transmitted to the upper surface 60A of the housing 60 . A plurality of vibration detectors 40B may be provided. For example, the vibration detection section 40B can use one having a piezoelectric element. The vibration detection unit 40B can detect the vibration of the smartphone in the reception state that has received the notification when the smartphone is placed on the upper surface 60A.

Furthermore, the housing 60 is provided with a sensor (not shown) that detects the presence or absence of an article in the storage section 62 .
<Outline of notification processing for user misplacement>
With reference to FIGS. 5 and 6, the process of notifying the user of misplaced items will be described. The control device 31 of the unmanned traveling machine 30 functions as a state determination section 70 , a detection determination section 71 , a travel control section 72 and a notification section 73 . Note that the description of the notification process for the luggage left behind in the storage unit 62 is omitted.

The state determination unit 70 determines whether or not the start condition of the unmanned mobile device 30 is satisfied after the user completes the user operation, which is the receiving operation of receiving the package stored in the storage unit 62 . The starting condition is a condition under which the parked unmanned mobile device 30 is ready to start. The starting conditions in this embodiment are that all receipts at the delivery point have been completed or a time-out has occurred, that all doors 63 are closed, and that there are no people around the unmanned mobile device 30. be. The closed state of the door 63 can be detected by the opening/closing portion 64 . Whether or not there is a person around the unmanned mobile device 30 can be detected by the detection unit 40 . For example, when using a ranging sensor such as an infrared sensor, it is possible to determine whether or not there is a person within several meters from the unmanned mobile device 30 .

The detection determination unit 71 determines whether or not the detection unit 40 has detected an article positioned within the detection area 40Z when determining that the start condition of the unmanned mobile device 30 is satisfied. The detection determination unit 71 acquires a detection signal from the detection unit 40 and determines whether or not there is an article within the detection area 40Z based on the detection signal. The detection signal output from the load sensor 40A includes the weight of the article placed on the detection area 40Z.

Further, the detection determination unit 71 determines whether or not there is vibration transmitted to the upper surface 60A of the housing 60 . When the user device 20 such as a smartphone is placed on the upper surface 60A and the user device 20 vibrates, the vibration detection unit 40B detects the vibration and outputs a detection signal indicating the detection to the detection determination unit 71.

The traveling control unit 72 prohibits the unmanned traveling machine 30 from starting when the detection determination unit 71 determines that the article is detected. The running control unit 72 outputs a signal for prohibiting starting to a control circuit that controls the drive unit 32, for example.

When the detection determination unit 71 determines that the article has been detected, the notification unit 73 notifies the user device 20 used by the user who has completed the receiving operation that the article has been left behind. The notification unit 73 obtains in advance from the server 10 user notification information corresponding to the delivery number included in the delivery plan information 52 among the user information 50 stored in the server 10 . When the notification unit 73 determines that it is time to notify the user, the notification unit 73 first transmits the notification to the destination of the notification information. At this time, if the detection determination unit 71 determines that the vibration has been detected during the predetermined period after the transmission of the notification, the notification unit 73 detects that the vibrating user device 20 such as a smartphone has been left behind in the unmanned mobile device 30 . stop notification to the user device 20. Also, the notification unit 73 transmits a notification to the notification device 45 such as an intercom. Upon transmitting the notification, the notification unit 73 transmits the type of notification and the user ID or delivery number associated with the notification to the server 10 . The server 10 updates the notification status of the delivery request information 51 .

<Procedure of notification processing for user misplacement>
A process of notifying a user of a misplaced article will be described with reference to FIGS. 6 to 9. FIG. Here, a notification process for misplacement of an article placed in the detection area 40Z set on the housing 60 will be described. The notification process for the luggage left in the storage section 62 is executed separately from the processes shown in FIGS.

FIG. 6 shows the procedure of notification processing for misplacement. The misplacement notification process is executed when the unmanned mobile device 30 arrives at the delivery point.
When the unmanned traveling machine 30 arrives at the delivery point, the state determination unit 70 acquires the initial weight G0 (step S1). Specifically, the state determination unit 70 acquires the weight detected when the unmanned traveling machine 30 arrives at the delivery point or the weight detected immediately before arriving at the delivery point. Let the weight acquired at this time be the initial weight G0. Also, the unmanned mobile device 30 transmits an arrival notification to the user device 20 . The state determination unit 70 acquires the weight from the load sensor 40A at predetermined intervals, stores the acquired weight in the memory or the storage unit 36, and stores the weight when the unmanned traveling machine 30 arrives at the delivery point or when it arrives at the delivery point. The weight obtained immediately before the weight may be obtained from the memory or storage unit 36 . Alternatively, the weight detected by the load sensor 40A may be requested when the unmanned traveling machine 30 arrives at the delivery point or just before arriving at the delivery point.

Next, the state determination unit 70 acquires the weight G1 before receiving (step S2). The state determination unit 70 acquires the pre-receipt weight G1 at a timing such as when the unmanned traveling machine 30 is in a standby state waiting for a receiving operation or immediately after the unmanned traveling machine 30 transmits a notification. It should be noted that immediately after the unmanned traveling machine 30 arrives at the delivery point, there is a high possibility that the weight G1 before receipt and the initial weight G0 are the same. good.

The state determination unit 70 determines whether or not the user has started the operation of receiving the package (step S3). Specifically, the state determination unit 70 sets the operation of the user authentication unit 34 or the success of the user authentication as a condition for starting the receiving operation. Alternatively, the condition for starting the receiving operation may be that a person approaches within a predetermined distance from the unmanned mobile device 30 . The state determination unit 70 determines that the user has started receiving the package when the conditions for starting the receiving operation are satisfied. When the state determination unit 70 determines that the users have started receiving the packages, the state determination unit 70 increments the number N of users who have started the receiving operation. The initial value of the number N is "0", and when the start of the receiving operation of the first user is detected, "N=1".

After authenticating the user, the state determination unit 70 refers to the delivery plan information 52 to identify one or more storage units 62 associated with the authenticated user. Then, the state determination unit 70 outputs an unlocking signal for unlocking the door 63 of the identified accommodation unit 62 to the opening/closing unit 64 . This allows the user to open the door 63 of the storage section 62 and receive the package.

When the state determination unit 70 determines that the user has not started the receiving operation (step S3: NO), the process returns to step S2. Note that if the unmanned traveling machine 30 does not start receiving the package even after a predetermined time has passed since it arrived at the delivery point, it is assumed that the package is not received, and the unmanned traveling machine 30 moves to the next delivery point or the terminal point. process.

When the state determination unit 70 determines that the user has started the receiving operation (step S3: YES), it determines whether or not there is a user scheduled to receive the package other than the user currently receiving the package (step S3: YES). S4). For example, the state determination unit 70 compares the number of users who are scheduled to receive the package at the delivery point with "M" and the number of users who have started the receiving operation. When the number of users M who are scheduled to receive the parcel is equal to the number of users N who have started the receiving operation, the state determination unit 70 determines that there are no users who are expected to receive the parcel other than the users who are currently receiving the parcel. It judges (step S4: NO), and it progresses to step S5. When the number N of users who have started the receiving operation is less than the number M of users scheduled to receive the package, the state determination unit 70 determines that there are users scheduled to receive the package (step S4: YES), Go to step S9.

(When one user receives the package at the delivery point)
A case where there is no other user scheduled to receive the parcel (step S4: NO) will be described. The state determination unit 70 performs start determination processing (step S5). In the start determination process, it is determined whether or not the start condition of the unmanned mobile device 30 is satisfied.

The state determination unit 70 determines whether or not the vehicle can be started based on the result of the start determination process (step S5) (step S6). Specifically, the state determination unit 70 determines whether or not the start condition is satisfied. When the state determination unit 70 determines that the start condition is not satisfied (step S6: NO), the process returns to step S5. On the other hand, when the state determination unit 70 determines that the start condition is satisfied (step S6: YES), the detection determination unit 71 performs misplacement determination processing (step S7). In the misplacement determination process, the detection determination unit 71 determines whether or not an article such as luggage is placed in the detection area 40Z of the load sensor 40A. When it is determined that there is a misplacement, the misplacement flag is set to "True", and when it is determined that there is no misplacement, the misplacement flag is set to "False". Further, in the misplacement determination process, the notification unit 73 transmits a notification to the user device 20 when the misplacement flag is “True”.

The detection determination unit 71 determines whether or not there is any misplaced article based on the misplaced flag (step S8). Specifically, when the detection determination unit 71 determines that the left-behind item flag is "False" (step S8: NO), it determines that there is no left-behind item, and terminates the notification process for the left-behind item.

On the other hand, when the misplacement flag is "True" and it is determined that the article has been misplaced (step S8: YES), the detection determination unit 71 returns to step S5 and repeats the start determination process. That is, the unmanned traveling machine 30 does not start until the detection determination unit 71 determines that there is no misplacement.

(When multiple users receive parcels at the delivery point)
Next, the case where there is another user scheduled to receive the parcel (step S4: YES) will be described. For convenience of explanation, the user who receives the package for the first time is called the first user, and the user who receives the package for the second time is called the second user.

The state determination unit 70 performs standby processing (step S9). The standby process is a process of waiting for the first user to complete the package receiving operation. When the reception of the parcel is completed or a time-out occurs, the state determination unit 70 performs misplacement determination processing for determining whether or not the first user has misplaced the parcel (step S10).

After completing the misplacement determination for the first user, the detection determination unit 71 returns to step S2 and acquires the weight G1 of the second user's package before it was received. Then, it is determined whether or not the second user has started the operation of receiving the package (step S3). When the state determination unit 70 determines that the second user has started the operation to receive the package (step S3: YES), it determines whether or not there is a user scheduled to receive the package other than the second user currently receiving the package (step S4).

When the state determination unit 70 determines that the number of users N who have started the receiving operation is less than the number of users M who are scheduled to receive the item and that there are remaining users who are scheduled to receive the item (step S4: YES), steps S9, S10, and steps S2 to S2. Repeat S4. In other words, if there are any users who are scheduled to receive the package at the delivery point, these processes are repeated.

On the other hand, if the state determination unit 70 determines that there are no remaining users scheduled to receive the package (step S4: NO), steps S5 to S8 are performed in the same manner as when there is only one user receiving the package at the delivery point.

The start possible process (step S5), the standby process (steps S9 and S21), and the misplaced determination process (steps S7 and S10) will be described in detail below.
(Start possible processing)
FIG. 7 shows the start determination process. The state determination unit 70 first sets the start flag to "False" (step S20). The start flag is set to "True" when the unmanned traveling machine 30 can start, and is set to "False" when the unmanned traveling machine 30 cannot start.

Next, the state determination unit 70 performs standby processing, which will be described later (step S21). The state determination unit 70 determines whether or not all the doors 63 are closed based on the signal acquired from the opening/closing unit 64 (step S22). The state determination unit 70 detects that at least some of the doors 63 are open, and when determining that all the doors 63 are not closed (step S22: NO), outputs an alert from the voice output unit 41. (step S25) and returns to step S20. The state determination unit 70 repeats the start possible process until the start flag becomes "True".

On the other hand, when the state determination unit 70 determines that all the doors 63 are closed (step S22: YES), it determines whether or not there is a person around the unmanned mobile device 30 (step S23). Specifically, the state determination unit 70 determines the presence or absence of a person based on the detection signal acquired from the detection unit 40 .

When the state determination unit 70 determines that there are no people around (step S23: NO), the start flag is set to "True" (step S24). On the other hand, when the state determination unit 70 determines that there are people around (step S23: YES), the process returns to step S20 while maintaining the start flag at "False".

(standby processing)
FIG. 8 shows the procedure of the standby process (steps S9 and S21). The state determination unit 70 waits for completion of reception (step S30). Specifically, the state determination unit 70 determines whether or not a signal indicating that there is no baggage in the storage unit 62 has been received from the article detection sensor provided in the storage unit 62 with the door 63 unlocked. do. The state determination unit 70 determines that the reception has been completed when receiving a signal indicating that there are no packages in the storage unit 62 from the sensor provided in the storage unit 62 with the door 63 unlocked. When a plurality of storage units 62 are unlocked, it is determined that the reception has been completed when a signal indicating that the baggage is gone is received from the sensors provided in all of the storage units 62 .

The state determination unit 70 determines whether or not the user has received all the packages to be delivered to the user (step S31). When the state determination unit 70 determines that the user has received all the packages (step S31: YES), the process ends. On the other hand, when the state determination unit 70 determines that all packages have not been received (step S31: NO), it determines whether or not time-out has occurred (step S32). Specifically, the state determination unit 70 determines that the time-out has occurred when the elapsed time from the start of receiving is equal to or longer than a predetermined time. When the state determination unit 70 determines that the timeout has occurred (step S32: YES), the standby process ends. On the other hand, when the state determination unit 70 determines that the timeout has not occurred (step S32: NO), the process returns to step S30.

(Misplacement judgment processing)
FIG. 9 shows the procedure of misplacement determination processing (steps S7 and S10). The detection determination unit 71 acquires the post-receipt weight G2 detected by the load sensor 40A (step S40).

Next, the detection determination unit 71 determines whether or not the weight G1 before reception and the weight G2 after reception match (step S41). When there is only one user who receives the parcel at the delivery point, the state in which the weight G1 before the parcel and the weight G2 after the parcel are the same is assumed to be "state 1-1" below.

(State 1-1) A state in which no article is placed within the detection area 40Z before and after receipt by the user.
The state in which the weight G2 before receipt and the weight G3 after receipt do not match is assumed to be "state 1-2" below.

(State 1-2) A state in which there is no article in the detection area 40Z before being received by the user, and an article is placed in the detection area 40Z during the receiving operation by the user.
In addition, when there are a plurality of users who receive the package at the delivery point, the same misplacement determination process as in the case where there is only one user who receives the package at the delivery point is performed for the first user. When the second second user receives the parcel, the state in which the weight G1 before the parcel is the same as the weight G1 before the parcel and the weight G2 after the parcel is the following "state 2-1" or "state 2-2".

(State 2-1) A state in which no article is placed within the detection area 40Z before and after being received by the second user.
(State 2-2) A state in which articles are placed in the detection area 40Z and the number of articles does not change before and after being received by the second user.

(State 2-3) A state in which an article has been placed and removed from the detection area 40Z during the receiving operation of the second user.
When the second user receives the parcel, the states in which the weight G1 before receipt and the weight G2 after receipt do not match are the following "state 2-4", "state 2-5", and "state 2- 6".

(State 2-4) A state in which there is no article in the detection area 40Z before the second user receives it, and an article is placed in the detection area 40Z during the second user's receiving operation (same as state 1-2) .

(State 2-5) A state in which an article exists within the detection area 40Z before being received by the second user, and the article is removed during the receiving operation by the second user.
(State 2-6) There are a plurality of articles within the detection area 40Z before the second user's receipt, some of the articles are removed during the second user's receiving operation, and the articles are within the detection area 40Z after the receipt. with remaining items.

When the detection determination unit 71 determines that the weight G1 before reception and the weight G2 after reception match (step S41: NO), the misplacement flag is set to "False" (step S44). In other words, the detection determination unit 71 determines that there is no misplacement by the user. In this case, the travel control unit 72 does not prohibit the unmanned mobile device 30 from starting, and the notification unit 73 does not transmit a notification of misplacement to the user device 20 .

On the other hand, when the detection determination unit 71 determines that the weight G1 before starting the receiving operation and the weight G2 after receiving do not match (step S41: NO), whether the weight G2 after receiving exceeds the initial weight G0. It is determined whether or not (step S42). If the post-receipt weight G2 exceeds the initial weight G0, it is inferred that an article is placed in the detection area 40Z. The states 1-2 and 2-4 are assumed as states in which the weight G2 after reception exceeds the initial weight G0. State 2-5 is assumed as a state in which the weight G1 before reception and the weight G2 after reception do not match and the weight G2 after reception is equal to the initial weight G0.

When the detection determination unit 71 determines that the weight G2 after reception does not exceed the initial weight G0 (step S42: NO), the misplacement flag is set to "False" (step S44). In other words, the case where the weight G2 after reception does not exceed the initial weight G0 is when the weight G2 after reception and the initial weight G0 are equal, and it is estimated that the user did not leave anything behind immediately before completing the reception operation. be. In this case, since there is no need to notify this user of the misplacement, the misplacement flag is set to "False".

When the detection determination unit 71 determines that the weight G2 after receiving exceeds the initial weight G0 (step S42: YES), the detection determination unit 71 determines that the user left the product immediately before completing the receiving operation, and sets a misplacement flag. is set to "True" (step S43). The notification unit 73 refers to the notification information included in the user information 50 and sends a notification indicating that the user device 20 is misplaced to the destination with the highest priority among the destinations included in the notification information. Send (step S45). Further, the travel control unit 72 outputs a signal prohibiting the vehicle from starting to the control circuit of the drive unit 32 (step S46).

Further, after transmitting the notification, the detection determination unit 71 determines whether or not the user device 20 is the left-behind item based on whether or not a vibration detection signal is obtained from the vibration detection unit 40B (step S47). . When the detection determination unit 71 determines that the user device 20 is left behind (step S47: YES), the detection determination unit 71 stops sending the notification to the user device 20 (step S48). In other words, when the user misplaces an item, the notification is repeatedly sent unless the item is collected, so the repetition of transmission is stopped. Then, the notification unit 73 refers to the notification information of the user information 50 and notifies the notification device 45 (step S49).

Next, with reference to FIGS. 10 to 13, misplacement determination will be described by comparing the timing of the user's receipt operation and the timing of placing the article in the detection area 40Z. It is assumed that the detection determination unit 71 has acquired the initial weight G0.

FIG. 10 is a diagram showing an example in which an article 101 is placed when one user 100 receives a package at a delivery point. At a timing such as when the user 100 starts the receiving operation 110, the detection determination unit 71 acquires the weight G1 before receiving (time T1). User 100 places item 101 in detection area 40Z during receiving operation 110 . The placing state 111 of the article 101 continues even after the receiving operation 110 is completed. The detection determination unit 71 acquires the weight G2 after completing the receiving operation 110 (time T2). In this case, the weight G1 and the weight G2 are different (step S41: NO), and since the weight G2 exceeds the initial weight G0 (step S42: YES), it is determined that there is a misplacement.

FIG. 11 shows an example in which the first user 100A temporarily places the article 101 on the detection area 40Z when the first user 100A and the second user 100B receive the package at the delivery point. The period between the receiving operation 110A by the first user 100A and the receiving operation 110B by the second user 100B is a waiting period (time T2 to time T3). For example, assume that the first user 100A places the item 101 in the detection area 40Z and removes the item 101 before the receiving operation 110B of the second user 100B is started during the standby period. In this case, the weight G1 before receipt and the weight G2 after receipt when the first user 100A receives the package are equal (step S41: YES). Also, the weight G1 before reception of the second user 100B and the weight G2 after reception are equal (step S41: YES). For this reason, the detection determination unit 71 determines that neither the first user 100A nor the second user 100B has misplaced.

FIG. 12 shows another example in which the first user 100A temporarily places the article 101 on the detection area 40Z when the first user 100A and the second user 100B receive the package at the delivery point. For example, assume that the first user 100A places the article 101 in the detection area 40Z during the standby period (time T2 to time T3) and removes the article 101 during the receiving operation 110B of the second user 100B. In this case, the weight G1 before reception and the weight G2 after reception when the second user 100B receives the parcel are different (step S41: NO), but the initial weight G0 and the weight G2 are equal (step S42: NO). For this reason, the detection determination unit 71 determines that neither the first user 100A nor the second user 100B has misplaced.

FIG. 13 shows a case where first user 100A and second user 100B receive packages at a delivery point, first user 100A leaves item 101 behind, and second user 100B does not collect item 101 even after receiving operation 110B is completed. Here is an example. The first user 100A places the item 101 in the detection area 40Z and leaves the delivery point during the receiving operation 110A. In this case, the weight G1 measured before the receiving operation 110A of the first user 100A is different from the weight G2 after the receiving operation 110B is completed (step S41: NO), and the weight G2 is greater than the initial weight G0 ( Step S42: YES). Therefore, it is determined that first user 100A has misplaced, and a notification is sent to first user 100A.

When the receiving operation 110B of the second user 100B is completed while the item 101 left behind by the first user 100A continues to be placed 111, the weight G1 before receiving and the weight G2 after receiving by the second user 100B are calculated. is equal to Therefore, it is determined that there is no misplacement by the second user 100B, and no notification is sent to the second user 100B.

It should be noted that when the placement state 111 of the article 101 continues during the receiving operation 110B of the second user 100B and the article 101 is newly added by the second user 100B (not shown), the second user 100B The weight G1 before receiving and the weight G2 after receiving are different (step S41: NO), and the weight G2 is greater than the initial weight G0 (step S42: YES). Therefore, the notification unit 73 transmits the notification to both the user device 20 of the first user 100A and the user device 20 of the second user 100B.

(Notification screen)
FIG. 14 is an example of a screen displayed on the notification device 45, which is an interphone that has received the notification. When the detection determination unit 71 determines that the user's forgotten item is the user device 20 , the notification unit 73 refers to the user information 50 and extracts the destination of the notification device 45 . Then, it transmits a notification to the notification device 45 indicating that there is a misplacement. On the screen 45A of the notification device 45, it is displayed that the luggage is left behind in the unmanned mobile device 30. FIG. Screen 45A may include a confirmation button 45B. When the user selects the confirmation button 45B, the notification device 45 clears the screen 45A. Also, at this time, the notification device 45 may transmit a notification indicating that the user has confirmed to the unmanned mobile device 30 or the server 10 . The user 100 confirms this screen, returns to the delivery point where the unmanned mobile device 30 is parked, and collects the leftover package.

Effects of the above embodiment will be described.
(1) The detection determination unit 71 of the unmanned traveling machine 30 determines whether or not there is an item left behind in the detection area 40Z of the detection unit 40 when the start condition is satisfied. Then, the notification unit 73 transmits a notification to the user device 20 when determining that there is an article in the detection area 40Z. In this way, instead of outputting a warning sound every time an article is placed in the detection area 40Z of the detection unit 40, a notification is sent to the user device 20 when it is determined that the article has been left behind when the start condition is satisfied. Therefore, it is possible to prevent the user from feeling annoyed by the notification or warning sound. For this reason, it is possible to notify the user of the misplacing of luggage or the like at an appropriate timing.

(2) When a plurality of users receive packages at a delivery point, the starting condition for the unmanned mobile device 30 is satisfied when the last user finishes receiving the packages. In this case, if the misplacement notification is not transmitted until the start condition of the unmanned traveling machine 30 is satisfied, the user who is the first to receive the notification will receive the notification at the user device 20 after a considerable distance from the unmanned traveling machine 30. - 特許庁On the other hand, when the first user 100A and the second user 100B receive the package at the delivery point, the unmanned mobile device 30 determines whether or not the article is detected regardless of whether the start condition is satisfied. . Therefore, when the first user 100A misplaces an item, a notification can be sent to the user device 20 while the first user 100A is near the delivery point. It is possible to notify the user of the misplacing of luggage or the like at an appropriate timing.

(3) When it is determined that the user device 20 has been left behind in the unmanned mobile device 30, in order to stop the notification to the user device 20, suppressing the generation of the vibration sound of the user device 20 caused by the reception of the notification. can be done.

(4) When the user device 20 is left behind in the unmanned mobile device 30, a notification is sent to the notification device 45, so that the user can be notified of the user device 20 being left behind.
Each of the above embodiments can be implemented with the following modifications. Each of the above-described embodiments and the following modifications can be implemented in combination with each other within a technically consistent range.

The state determination unit 70 and the detection determination unit 71 determine whether or not there is a misplacement during the waiting period after the first user completes the receiving operation and before the second user starts the receiving operation. good too.

As shown in FIG. 15, it is assumed that the first user 100A places the article 101 in the detection area 40Z during the waiting period (T2 to T3) and continues the placement state 111 until the second user 100B completes the receiving operation 110B. do. In this case, the weight G2 after the first user 100A performs the receiving operation 110A is compared with the weight G1' before the second user 100B starts the receiving operation 110B. Misplacement is detected by determining whether or not the weight G0 is exceeded.

FIG. 16 shows the procedure of notification processing for misplacement, which differs from the procedure shown in FIG. 6 in that steps S60 and S61 are added. When the state determination unit 70 determines that the user has started the receiving operation (step S3: YES), it determines whether the user who has started the receiving operation is the second or later user (step S60). When the state determination unit 70 determines that the user who started the receiving operation is not the second or later user but the first user based on the number N of people who started the receiving operation (step S3: NO), step S4. proceed to

When the number N of users who have started the receiving operation is 2 or more, the state determination unit 70 determines that the user is the second or later user (step S60: YES), and performs misplacement determination for the immediately preceding user (step S61). ).

With reference to FIG. 17, misplacement determination processing for the immediately preceding user will be described. This misplacement determination process differs from the misplacement determination shown in FIG. 9 in steps S62 and S63. Specifically, the detection determination unit 71 determines the weight G2 in the detection area 40Z when the first user 100A completes the receiving operation 110A and the weight G2 in the detection area 40Z when the second user 100B starts the receiving operation 110B. It is determined whether or not G1' matches (step S62). When the detection determination unit 71 determines that the weight G2 and the weight G1' match (step S62: YES), it sets the misplacement flag to "False" (step S44). On the other hand, when the detection determination section 71 determines that the weight G2 and the weight G1' do not match (step S62: NO), it determines whether or not the weight G1' exceeds the initial weight G0 (step S63). When the detection determination unit 71 determines that the weight G1' exceeds the initial weight G0 (step S63: YES), it sets the misplacement flag to "True" (step S43). On the other hand, when the detection determination unit 71 determines that the weight G1' is equal to the initial weight G0 (step S63: NO), it sets the misplacement flag to "False" (step S44). When it is determined that there is a misplacement during the standby period in this way, the voice output unit 41 may output a guidance voice, or the user device 20 of the first user 100A may be notified of the possibility of misplacement.

(Detection unit)
- In the above embodiment, the load sensor 40A is used as the detection unit 40 capable of detecting an article. Although the load sensor 40A is provided on the upper surface 60A of the housing 60, it may be provided on the front, side, back, or the like of the housing 60. FIG. Further, the load sensor 40A may be provided in a protruding portion protruding from the housing 60, such as a sensor portion provided with a lamp or a sensor. In this case, even if an article such as an umbrella or a bag is hooked on the projecting portion, the article can be detected.

- In the above embodiment, the load sensor 40A is used as the detection unit 40 capable of detecting an article. Alternatively or additionally, at least one of an image sensor and an infrared sensor may be used. The image sensor detects the presence or absence of articles and the number of articles. In this case, the detection determination unit 71 detects the number of articles before receipt instead of the weight G1 before receipt. Also, instead of the weight G2 after receipt, the number of articles after receipt is detected. Note that "0" is used as the number of articles placed in the detection area 40Z instead of the initial weight G0. The load sensor has the advantage that it is difficult to distinguish between the user's hand touching the detection area 40Z and the article being placed, but there is no blind spot unlike the image sensor. The image sensor has the advantage of being able to distinguish the type of the article, although it is difficult to detect the article when there is another article behind the article placed in front, that is, when there is another article in the blind spot. be. Therefore, by using both the load sensor and the image sensor, the presence or absence of an article can be detected more reliably.

(State judgment unit)
・The state determination unit 70 determines that all receipts at the delivery point have been completed or timed out, that all doors 63 are closed, and that there are no people around the unmanned mobile device 30. When it is satisfied, it is determined that the vehicle can be started. However, when at least one of these conditions is satisfied, it may be determined that the vehicle has been left behind. Alternatively, at least one of the fact that all receipts at the sending point have been completed or timed out, that all the doors 63 are closed, and that there are no people around the unmanned traveling machine 30; It may be determined that the start condition is satisfied when other conditions are satisfied. Another condition is, for example, that the user has performed an input operation on the touch panel or the like provided on the unmanned mobile device 30 to indicate that the receipt has been completed.

(Detection determination unit)
- In the above embodiment, the detection determination unit 71 determines that the user device 20 is left behind using the vibration detection unit 40B (step S46). Instead of or in addition to this, the detection determination unit 71 may detect the user device 20 through wireless communication between the user device 20 and the unmanned mobile device 30 . For wireless communication, for example, short-range wireless communication such as NFC (Near Field Communication) or Bluetooth (registered trademark) can be used. Further, the detection determination unit 71 may determine whether or not the user device 20 is present in the detection area 40Z using image data obtained by capturing the detection area 40Z with an image sensor.

- In the above embodiment, the weight G1 of the article 101 before receiving and the weight G2 after the completion of the receiving operation are compared to determine whether or not the article 101 has been left behind. Instead of or in addition to this, the detection determination unit 71 may determine the user who placed the article at the timing when the change in the load within the detection area 40Z is detected.

As shown in FIG. 18 , load sensor 40A detects load change 112 . The load sensor 40A outputs a load detection signal when detecting an increase in the load in the detection area 40Z during the receiving operation 110A of the first user 100A (time T10). The detection determination unit 71 determines that the first user 100A has placed the article 101 such as luggage on the detection area 40Z based on the load detection signal. When the notification unit 73 determines that the receiving operation 110A of the first user 100A has been completed, the notification unit 73 transmits a notification to the user device 20 of the first user 100A.

Further, when the detection determination unit 71 determines that the load in the detection area 40Z has increased during the receiving operation 110B of the second user 100B (time T11), the second user 100B moves the article 101 such as the luggage to the detection area. It is determined that it was placed on 40Z. When the notification unit 73 determines that the receiving operation 110B of the second user 100B has been completed, the notification unit 73 transmits a notification to the user device 20 of the second user 100B.

Note that the detection determination unit 71 detects an increase in the load on the detection area 40Z during the standby period between the receiving operation 110A of the first user 100A and the receiving operation 110B of the second user 100B, and detects the load on the first user 100A. Alternatively, it may be determined that any of the second users 100B has placed the article 101 thereon. If the user cannot be specified, the voice output unit 41 may output a warning sound.

When the first user 100 receives a parcel, the detection determination unit 71 compares the initial weight G0 with the weight G1 before receiving the parcel, and determines whether or not the article is placed in the detection area 40Z before the parcel is received. You can judge whether

The detection determination unit 71 may output the type of voice to be output and an output command to the voice output unit 41 when determining that an article is placed in the detection area 40Z. The voice output unit 41 may output a voice such as "Be careful not to leave your luggage behind" based on the command.

(running control unit)
- The travel control unit 72 prohibits the unmanned travel machine 30 from starting when the detection determination unit 71 determines that the article 101 has been detected. Instead of or in addition to this, the start of the unmanned traveling machine 30 may be restricted. For example, if the unmanned traveling machine 30 has a structure that prevents articles placed in the detection area 40Z from falling, or has a structure that allows articles to fall, the unmanned traveling machine 30 is set to start under predetermined conditions. good too. For example, the vehicle may be started while the traveling speed is reduced.

(notification section)
When the detection determination unit 71 determines that the user who received the package is within a predetermined distance range from the unmanned mobile device 30, the notification unit 73 outputs a voice from the voice output unit 41 notifying that the package has been left behind. You may make it output. At this time, the detection determination unit 71 may perform image processing on the image data captured by the image sensor, recognize the user performing the receiving operation, and track the recognized user. Further, the detection determination unit 71 may measure the distance to the recognized user using a distance measuring sensor.

- In addition to the user device 20 , the notification unit 73 may transmit the notification to a device used by an administrator who manages the physical distribution management system or an administrator who manages the unmanned mobile device 30 .
(drone)
- The unmanned traveling machine 30 is assumed to perform autonomous traveling in which the own vehicle autonomously travels. Alternatively, the unmanned traveling machine 30 may travel following a person or other leading unmanned traveling machine 30 .

• The drone may be an unmanned aerial vehicle. Unmanned aerial vehicles are aircraft without people on board. The unmanned aerial vehicle, like the unmanned traveling machine 30, includes a control device, a drive section, a battery, and a user authentication section. The drive unit includes a drive source driven by electric power supplied from a battery, a rotor blade operated by power obtained from the drive source, and the like. In addition to programs for autonomous flight, the storage unit of the control device stores various types of information such as map information and transportation plan information. Similarly to the unmanned traveling aircraft 30 , the unmanned aircraft also includes a state determination section 70 , a detection determination section 71 , a travel control section 72 and a notification section 73 .

(Configuration of logistics management system)
- In each of the above embodiments, the unmanned traveling machine 30 delivers packages. Instead of or in addition to this, the unmanned traveling machine 30 may pick up packages. After completing the user's operation of depositing the luggage in the storage unit 62, the state determination unit 70 determines whether or not the starting condition of the unmanned mobile device 30 is satisfied.

- In each of the above-described embodiments, the unmanned traveling machine 30 functions as a state determination unit, a detection determination unit, a travel control unit, and a notification unit. Alternatively, server 10 may perform at least one of these functions. When the server 10 performs part of the above processing and the unmanned traveling device 30 performs the rest of the processing, the server 10 and the unmanned traveling device 30 share the processing result when it is necessary to share the processing result. Send and receive each other.

Reference Signs List 1... Logistics management system, 10... Server, 20... User device, 30... Unmanned traveling machine.

Claims (7)

a storage unit for storing luggage;
a detection unit having a detection area in an area other than the storage unit of the unmanned aircraft and detecting an article located in the detection area;
a state determination unit that determines whether or not a start condition of the unmanned aerial vehicle is satisfied after a user completes a user operation, which is an operation of receiving a package stored in the storage unit or an operation of depositing the package into the storage unit; ,
a detection determination unit that determines whether or not the detection unit has detected an article positioned within the detection area when it is determined that a start condition for the unmanned aerial vehicle is satisfied;
a traveling control unit that prohibits or restricts the start of the unmanned aerial vehicle when the detection determination unit determines that the article has been detected;
a notification unit that notifies a user device used by the user who has completed the user operation that the item has been left behind when the detection determination unit determines that the item has been detected. When the state determination unit determines that the first user and the second user perform the operation at the same point, the first user has completed the user operation and the second user has started the user operation. determine whether or not
When the detection determination unit determines that the second user has started the user operation, the detection unit is positioned within the detection area regardless of whether the start condition of the unmanned aerial vehicle is satisfied. It is determined whether or not an article has been detected,
The unmanned device according to claim 1, wherein the notification unit notifies the user device used by the first user that the item has been left behind when the detection unit determines that the item has been detected. the detection unit includes a sensor that detects a state in which the user device has received the notification;
The unmanned device according to claim 1 or 2, wherein the notification unit stops transmission of the notification to the user device when the sensor detects the reception state of the notification of the user device. The unmanned device according to claim 3, wherein, when the sensor detects the reception state of the notification of the user device, the notification unit transmits the notification to a notification device different from the user device. one or more computers
a step of acquiring detection information from a detection unit provided in an unmanned aerial vehicle having a storage unit for storing a package, the detection unit having a detection area in an area other than the storage unit of the unmanned aerial vehicle;
a step of determining whether or not a start condition of the unmanned aerial vehicle is satisfied after the user completes a user operation, which is an operation of receiving the baggage stored in the storage unit or an operation of depositing the baggage into the storage unit;
a step of determining whether or not the detection unit has detected an article located within the detection area when it is determined that the start condition of the unmanned aerial vehicle is satisfied;
prohibiting or restricting the launch of the unmanned aerial vehicle when it is determined that the article has been detected;
an information processing method comprising, when determining that the article has been detected, notifying a user device used by the user who has completed the user operation that the article has been left behind. on one or more computers,
a step of acquiring detection information from a detection unit provided in an unmanned aerial vehicle having a storage unit for storing a package, the detection unit having a detection area in an area other than the storage unit of the unmanned aerial vehicle;
a step of determining whether or not a start condition of the unmanned aerial vehicle is satisfied after the user completes a user operation, which is an operation of receiving the baggage stored in the storage unit or an operation of depositing the baggage into the storage unit;
a step of determining whether or not the detection unit has detected an article located within the detection area when it is determined that the start condition of the unmanned aerial vehicle is satisfied;
prohibiting or restricting the launch of the unmanned aerial vehicle when it is determined that the article has been detected;
a step of notifying a user device used by the user who has completed the user operation that the article has been left behind when it is determined that the article has been detected. A detection unit that has a detection area in an area other than the storage area of the unmanned aerial vehicle provided with an storage area that stores baggage , and that detects an article located in the detection area;
a state determination unit that determines whether or not a start condition of the unmanned aerial vehicle is satisfied after a user completes a user operation, which is an operation of receiving a package stored in the storage unit or an operation of depositing the package into the storage unit; ,
a detection determination unit that determines whether or not the detection unit has detected an article positioned within the detection area when it is determined that a start condition for the unmanned aerial vehicle is satisfied;
a traveling control unit that prohibits or restricts the start of the unmanned aerial vehicle when the detection determination unit determines that the article has been detected;
A distribution management system, comprising: a notification unit that, when determining that the article is detected, notifies a user device used by the user who has completed the user operation that the article has been left behind.

Images