JP7343666B1 - Delivery management system, delivery management method, program and unmanned mobile vehicle - Google Patents

Abstract

[Problem] It is possible to place delivered cargo in an appropriate position.
A delivery management system (1) includes a server (10) and an unmanned aircraft (30). The server 10 includes an estimator that estimates an area in the delivery area where the shade continues for a predetermined period of time, and a delivery position where the unmanned aerial vehicle 30 places the package within the delivery area, based on the area estimated by the estimator. and a delivery position determining section. The server 10 specifies the type of package, and depending on the specified type, determines which area the delivery position should be in, either a first area that is a shaded area or a second area other than the first area. select.
[Selection diagram] Figure 1

Description

The present invention relates to a delivery management system, a delivery management method, a program, and an unmanned mobile object.

The practical application of package delivery using unmanned vehicles is progressing. In delivery using unmanned vehicles, one of the issues is how to receive and receive packages. As an example of a baggage delivery method, a method is known in which an unmanned aircraft suspends a main wire and lands the baggage at its destination. The unmanned aircraft separates the cargo once it has landed at its destination. The user goes to the location where the package is placed and receives the package (see Patent Document 1).

JP2017-87898A

However, if the baggage is left in a location where it is likely to get hot due to sunlight, the quality of the baggage may deteriorate depending on the type of baggage. Therefore, in order to maintain the quality of the baggage, it is required to place the baggage in an appropriate position.

In one aspect, a delivery management system is provided. The delivery management system includes an estimating unit that estimates an area where shade continues for a predetermined period of time in the delivery area, and a delivery position, which is a position where an unmanned mobile object places a package within the delivery area, based on the area estimated by the estimating unit. a delivery position determination unit that determines the delivery position based on the delivery position determination unit.

In one aspect, a delivery management method is provided. The delivery management method includes an estimation process in which one or more computers estimate an area where shade continues for a predetermined time in a delivery area, and a delivery position where an unmanned mobile object places a package within the delivery area. A delivery position determination process is performed in which the delivery position is determined based on the determined area.

In one aspect, a program is provided. The program causes one or more computers to include an estimator that estimates an area where shade continues for a predetermined time in a delivery area, and a delivery position that is a position where an unmanned mobile object places a package within the delivery area. It functions as a delivery position determination unit that determines the delivery position based on the estimated area.

In one aspect, an unmanned vehicle is provided. The unmanned mobile object includes an estimating unit that estimates an area where shade continues for a predetermined time in the delivery area, and a delivery position that is a position where the package is placed within the delivery area, based on the area estimated by the estimating unit. and a delivery position determination unit.

According to the present invention, delivered cargo can be placed in an appropriate position.

FIG. 1 is a diagram showing a schematic configuration of an information processing system according to a first embodiment. It is a schematic diagram of the data structure of the user information database of the same embodiment. It is a schematic diagram of the data structure of the delivery management database of the same embodiment. It is a schematic diagram of the data structure of the type database of the same embodiment. It is a sequence chart which shows the processing procedure of the server and unmanned aircraft of the same embodiment. It is a schematic diagram which shows the process of estimating a 1st area|region of the same embodiment. It is a schematic diagram which shows the process of estimating a 1st area|region of the same embodiment. FIG. 2 is a schematic diagram showing a state in which the unmanned aircraft according to the embodiment places luggage. 12 is a flowchart showing a procedure for determining a delivery location according to a second embodiment. It is a flowchart which shows the procedure of determining a delivery position of the same embodiment. FIG. 7 is a schematic diagram showing an example of a screen of a user device according to a modified example.

(First embodiment)
Hereinafter, a first embodiment of a delivery management system, a delivery management method, a program, and an unmanned mobile object will be described.

<Configuration of information processing system>
As shown in FIG. 1, the delivery management system 1 includes a server 10, a user device 20, and an unmanned aircraft 30. The delivery management system 1 is a system for delivering packages to a user's delivery address. The unmanned aircraft 30 corresponds to an unmanned moving object in the claims.

<Server>
The server 10 is managed by a delivery service administrator. The server 10 is composed of 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 a calculation device and a memory (storage medium). The arithmetic device loads various programs such as an operating system and a program for delivery management into memory from the storage unit 12 or other storage, and executes instructions retrieved from the memory. A computing device is one or more circuits. The circuit is a CPU, GPU (Graphic Processing Unit), NPU (Neural network Processing Unit), or the like. The storage unit 12 is an auxiliary storage device (storage medium) and stores various information for managing delivery of packages.

The communication unit 13 is implemented as hardware, software, or a combination thereof, and transmits and receives data between the user device 20 and the unmanned aircraft 30 via the network 15. Note that the server 10 may include an operation unit and a display unit for an administrator or the like to perform input operations.

<User device>
The user device 20 is an information processing device used by a user who receives delivered packages. The user device 20 is a smartphone (multifunctional telephone terminal), a tablet terminal, a personal computer, a wearable computer, or an information processing device other than these devices capable of displaying images.

The user device 20 includes a control section 21, a storage section 22, a communication section 23, an input section 24, a display 25, and a speaker 26. The control unit 21 includes an arithmetic unit and a memory. The arithmetic device loads various programs such as an operating system and a program related to package delivery into memory from the storage unit 22 or other storage, and executes instructions retrieved from the memory. A computing device is one or more circuits. The circuit is a CPU, GPU, NPU, or the like. The storage unit 22 is an auxiliary storage device (storage medium) and stores various information regarding the user. Furthermore, the storage unit 22 may implement a program that can receive notifications regarding delivery. This program may be a dedicated program for receiving delivery services, or may be a program that utilizes social networking services. Alternatively, it may be e-mail software that can receive notification e-mails. 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 15. The input unit 24 is a touch panel integrated with the display 25, an operation button provided on the casing of the user device 20, or a pointing device such as a keyboard, mouse, or controller. The display 25 outputs various images in response to output instructions from the control unit 21. The speaker 26 may output a voice or the like notifying completion of delivery.

<Unmanned aircraft>
The unmanned aircraft 30 is an aircraft that is not manned by humans and is a device that is managed by a delivery service manager or other owner of the unmanned aircraft 30. The unmanned aerial vehicle 30 is also referred to as an unmanned flying vehicle or a drone. The unmanned aircraft 30 includes a control device 31, a drive unit 32, a battery 33 as an energy source, a sensor unit 38, and an imaging device 39.

A control device 31 controls a drive section 32 . The drive unit 32 includes a drive source driven by electric power supplied from the battery 33, a rotor blade operated by the power obtained from the drive source, and the like. The drive source is an electric motor in this embodiment. Note that the drive unit 32 may be an engine that consumes fuel to drive. In this case, a fuel supply section that supplies fuel to the drive section 32 is provided in place of the battery 33. Further, the unmanned aircraft 30 may include a hybrid drive section 32 equipped with a plurality of types of drive sources. The battery 33 is a rechargeable secondary battery.

The sensor unit 38 includes a GPS sensor that detects the current position. Further, the sensor unit 38 includes a distance measuring sensor. The ranging sensor may be a ToF sensor that measures and detects time of flight. The ranging sensor is LiDAR, radar, or ultrasonic sensor. The LiDAR distance measurement sensor irradiates a target object with laser light in a pulsed manner and measures the time difference until it hits the target object and bounces back. Then, the distance to the object, the position of the object, or the shape of the object is measured based on the time difference. Radar emits radio waves, such as millimeter waves, onto an object and measures the time difference between when they hit the object and bounce back. The ultrasonic sensor irradiates an object with ultrasonic waves. The sensor unit 38 may include at least one of a wind direction and speed sensor, an acceleration sensor, a gyro sensor, an infrared sensor, a geomagnetic sensor, an altitude sensor, a displacement sensor, and a temperature sensor. The control device 31 acquires information detected by the sensor unit 38 and specifies the position of the unmanned aircraft 30.

The unmanned aircraft 30 includes one or more imaging devices 39. An example of the imaging device 39 is a visible light camera. Further, an example of the imaging device 39 is an omnidirectional camera. The control device 31 performs image processing on the image data acquired from the image capturing device 39 to recognize obstacles, the delivery position of the package, and the like.

Furthermore, the unmanned aircraft 30 includes a luggage holding section 34. The baggage holding section 34 holds the baggage up to the delivery position, releases the baggage at the delivery position, and places the baggage at the delivery position. The baggage holding section 34 may be driven by the power of the battery 33. For example, the luggage holding section 34 includes a reel or a winch, a cable (wire), and the like. There is a hook at the end of the cable that allows you to detach the luggage. The hook separates the load when the tension is reduced by loosening the cable. Alternatively, the hook may have a structure that allows the baggage to be separated by energization or de-energization. Alternatively, the baggage holding section 34 may be a support arm that supports the baggage and a drive mechanism for the support arm.

The control device 31 includes a control section 35, a storage section 36, and a communication section 37. The control unit 35 includes an arithmetic unit and a memory (storage medium). The arithmetic device loads various programs such as an operating system and a delivery program into memory from the storage unit 36 or other storage, and executes instructions retrieved from the memory. A computing device is one or more circuits. The circuit is, for example, a CPU, GPU, NPU, or the like. The storage unit 36 is an auxiliary storage device (storage medium) and stores various information for delivering packages.

<Database used for delivery management>
Next, the database stored in the storage unit 12 of the server 10 will be explained with reference to FIGS. 2 to 4.

FIG. 2 shows an outline of data stored in the user information database 40. The user information database 40 has user information 40A for each user. The user is, for example, a user of an EC site that is a store on the Internet. This store uses a delivery service to deliver the products purchased by the user. Alternatively, the user is a service user who requests delivery of a package from a delivery service provider. The provider and the delivery service administrator may or may not be the same. The user information 40A includes a user ID, address, and notification destination. The user ID is a user identifier. The address is the user's address. When a user delivers a package to an address other than his or her own address, the user information 40A may store the address of the package delivery destination in addition to the user's own address. The notification destination is, for example, the user's email address or a device token associated with the user device 20.

FIG. 3 shows the delivery management database 41. The delivery management database 41 has delivery management information 41A for each delivery number. The delivery number is an identifier assigned to each package or delivery request. The delivery management information 41A includes a delivery number, user ID, delivery date, scheduled delivery time, type, and delivery status. The user ID is an identifier of a user who directly or indirectly uses the delivery service. The delivery date is the date when the package is delivered. The scheduled delivery time is the time when the package is scheduled to be delivered. The scheduled delivery time is expressed in a time zone, for example, "9 a.m. to 11 a.m.". Type indicates the type of luggage. For example, the types include "fresh foods," "beverages," "stationery," and the like. The scheduled delivery time is the scheduled time at which the package will be placed at the delivery location. The delivery status indicates the delivery status of the package. The delivery status is, for example, one of "delivery completed", "before delivery", "delivery in progress", etc.

FIG. 4 shows the type database 42. The type database 42 has type information 42A for each type of luggage. The type information associates the type of baggage with an area suitable for that type. The area indicates an area where luggage can be placed. It is set that the area can be placed in a first area in the shade, a second area in the sun, or both the first area and the second area. For example, it is preferable to place cargo such as frozen products or refrigerated products in the first area. Furthermore, even if the package is not frozen or refrigerated, there are some packages that tend to crack, deform, or melt when exposed to high temperatures. Preferably, such luggage is placed in the first area. Additionally, some types of luggage are sensitive to low temperatures. Preferably, such luggage is placed in the second area. In this embodiment, a shade refers to an area where at least a portion of sunlight is blocked by a shielding object during clear weather.

This type database 42 may be changed depending on the delivery area and season. Specifically, the type database 42 corresponding to cold regions and the type database 42 corresponding to warm regions may have different contents. For example, in the type database 42 corresponding to the winter season in a cold region, the second area is associated with the type "fresh food," while in the type database 42 corresponding to the warm region, the first area is associated with the type "fresh food." It's okay to be hit. Further, the type database 42 may be prepared for each temperature range of the delivery address. The server 10 may store a type database 42 in which the temperature at the delivery address is below zero, and a type database 42 in which the temperature at the delivery address is "0° C. or higher and 20° C. or lower."

The server 10 acquires information necessary for the unmanned aircraft 30 for delivery from the user information database 40, the delivery management database 41, and the type database 42, and transmits the information to the unmanned aircraft 30. The unmanned aircraft 30 performs delivery based on the information received from the server 10.

<Overview of each process executed by the server>
Next, an overview of the processing executed by the server 10 will be explained.
The server 10 determines the delivery position of the package and transmits the determined delivery position to the unmanned aircraft 30. The server 10 estimates a first area in the shade and a second area other than the first area. Then, the delivery position of the package is determined to be the first area according to the type of package.

The server 10 functions as an estimating unit and a delivery position determining unit by executing a program stored in the storage unit 12.
The estimation unit estimates an area in the delivery area where the shade continues for a predetermined period of time. The delivery area is an area including the delivery address or an area near the delivery address. The delivery area is an area where packages can be placed. The location of the delivery area may be stored in advance by the server 10. Alternatively, the unmanned aerial vehicle 30 may specify the delivery area through image processing based on image data obtained by imaging the vicinity of the delivery address using the imaging device 39.

The delivery position determining unit determines a delivery position, which is a position where the unmanned aircraft 30 places the package within the delivery area, based on the first area estimated by the estimating unit.
Further, the delivery position determining unit specifies the type of package, and depending on the specified type, determines the delivery position in any of the first area, which is a shaded area, and the second area other than the first area. Choose whether to Note that if the type of package can be placed in both the first area and the second area, the package can be placed at any position within the delivery area.

Furthermore, the delivery position determination unit obtains the height of buildings within or near the delivery area, and obtains the position of the sun that changes within a predetermined time. Then, based on the height of the building and the position of the sun, the position of a shade that will be formed in the delivery area is predicted, and the delivery position is determined based on the predicted position of the shade.

By the way, as a measure to prevent the quality of luggage from deteriorating due to sunlight, it is possible to improve the cooling function or light blocking function of the packaging material for luggage. However, packaging materials with improved cooling or light-blocking functions are expensive and increase shipping costs. Additionally, such packaging materials tend to be heavy. Since the maximum weight that can be carried by the unmanned aircraft 30 is specified, if the weight of the packaging material increases, the maximum weight that can be carried by the cargo excluding the packaging material may decrease. On the other hand, the server 10 estimates the first area, which is a shaded area, and determines the delivery position within the first area according to the type of package. Therefore, deterioration in the quality of the package can be suppressed without using a packaging material with enhanced cold insulation function or light blocking function. As a result, it is possible to suppress the cost of packaging materials and to suppress a decrease in the maximum weight of the package.

In addition to the method of estimating the position of a shaded area, a method has also been proposed that measures the ground surface temperature and places luggage in a place where the ground surface temperature is low. Although this method is very effective when the user receives the package within a short time from delivery, the user is not always able to receive the package in a short time. For example, after the unmanned aircraft 30 places the cargo on the ground, sunlight may cause the ground surface temperature to be higher than an appropriate temperature for the cargo. Conversely, after the unmanned aircraft 30 deposits the cargo, the ground surface temperature may become lower than the temperature appropriate for the cargo. If the package cannot be received and the quality of the package is expected to deteriorate, it may be redelivered. In the method of this embodiment, by setting the delivery position in the first area where the shade continues for a predetermined period of time or the second area other than that, delivery efficiency is improved and the quality is improved while the package is being placed. It becomes possible to suppress the decrease more reliably.

<Procedure for determining delivery location>
Next, referring to FIG. 5, a procedure in which the server 10 determines the delivery location will be described. Note that it is assumed that the type of baggage is to be placed in either the first area or the second area. Furthermore, the type of package may be determined before the process of determining the delivery location. If the package can be delivered to either the first area or the second area, the process of estimating the first area may be omitted.

When the unmanned aircraft 30 arrives at the delivery address, it measures the height of buildings in a predetermined area including the delivery address using a ranging sensor. The unmanned aerial vehicle 30 may measure the height of an object such as a tree as long as it is higher than the delivery address. The unmanned aerial vehicle 30 transmits the measured height information to the server 10 (step S1). At this time, the unmanned aircraft 30 may transmit its current location or delivery number along with the height information. Moreover, the unmanned aerial vehicle 30 may measure the height of a building using imaging data generated by the imaging device 39 in addition to the distance measurement sensor. At this time, the altitude measured by the altitude sensor included in the unmanned aircraft 30 may also be used.

The control unit 11 estimates the position of the first area (step S2). Specifically, the control unit 11 acquires the position of the sun from the time the unmanned aircraft 30 arrives at the delivery address until sunset. The position of the sun may be displayed every 15 minutes. The control unit 11 may predict the position of the sun using the information stored in the storage unit 12, or may acquire the position of the sun from an external server. The position of the sun is, for example, the altitude and azimuth of the sun. The control unit 11 estimates the position of the first area around the delivery address based on the sun position and height information.

The control unit 11 determines the delivery position based on the position of the first area (step S3). At this time, the control unit 11 specifies delivery management information 41A corresponding to the package being delivered by the unmanned aircraft 30 based on the current location or delivery number transmitted from the unmanned aircraft 30. Then, the control unit 11 determines whether to place the package in the first area or the second area based on the type and type information 42A included in the delivery management information 41A. The control unit 11 then selects a first area where the shade continues from the time the unmanned aircraft 30 arrives until sunset (predetermined time), or a second area where the sun continues from the time the unmanned aircraft 30 arrives until sunset. The delivery position of the package is determined at a predetermined position within the area.

The control unit 11 transmits the determined delivery position to the unmanned aircraft 30 (step S4). The unmanned aerial vehicle 30 moves above the received delivery location and separates the package.
<First region estimation process>
Next, with reference to FIG. 6, the process by which the server 10 estimates the first area will be described in detail.

The control unit 11 calculates the altitude and azimuth of the sun at every predetermined time according to the latitude and longitude of the delivery area and the date and time. Alternatively, the control unit 11 acquires the altitude and azimuth of the sun according to the latitude and longitude of the delivery area and the date and time from a database registered in advance. Then, the length L of the shade is calculated based on the altitude of the sun and the height H of the building 55. Additionally, the direction of the shadow is calculated from the azimuth of the sun. The control unit 11 estimates the position of the first area, which is a shaded area where sunlight is blocked by the building 55, based on the length L and direction of the shade. Thereby, the control unit 11 can estimate the change in the position of the first area every predetermined time.

<Delivery location determination process>
Next, with reference to FIG. 7, the process by which the server 10 determines the delivery location will be described. Assume that the unmanned aircraft 30 arrives at the delivery address at time T1 (for example, 15:00). The control unit 11 specifies the delivery area 53 including the delivery address.

The control unit 11 calculates changes in the first region 51 in the delivery area 53 from time T1 to sunset based on the position of the sun and the height information of the building 55 during the day. Further, in the delivery area 53, an area other than the first area 51 is defined as a second area 52. FIG. 7 shows changes in the first region 51 at time T1, time T2 (for example, 16:00), and time T3 (for example, 17:00). The first area 51 at time T2 is larger than the first area 51 at time T1. Further, the first area 51 at time T3 is larger than the first area 51 at time T1 and time T2.

The control unit 11 determines the type of luggage. When the control unit 11 determines based on the type information 42A that the type of baggage corresponds to a type that is preferable to be placed in the shade, the control unit 11 continues to store the item in the first area based on the time-series changes in the first area 51. The locations included in 51 are identified as delivery locations 100. For example, if the control unit 11 determines that the type of luggage corresponds to the type to be placed in the first area 51, it specifies the range included in the first area 51 continuously from the arrival time of the unmanned aircraft 30 until sunset. Then, the delivery position 100 is set within that range.

When determining the delivery position, the control unit 11 sets the delivery position 100 to be a position where there are no obstacles around. Further, when determining the delivery position within the first area 51 or the second area 52, the control unit 11 may set a position that is a blind spot when viewed from a passerby as the delivery position. Specifically, the control unit 11 determines the position of a blind spot when viewed from the passable area based on the passable area through which passersby can pass and the position of obstacles such as walls and buildings that obstruct the view. judge. The passable area and the position of the obstruction may be determined based on image data captured by the imaging device 39 from above the delivery address.

As shown in FIG. 8, when the unmanned aircraft 30 receives position information indicating the delivery position 100 from the server 10, it moves above the delivery position 100. When the baggage holding section 34 of the unmanned aircraft 30 has a reel and a cable 34A, the unmanned aircraft 30 stops while hovering above the delivery position. In addition, the cable 34A is extended to lower the cargo 56. Then, the unmanned aircraft 30 separates the baggage 56 when the baggage 56 lands. After separating the package 56, the unmanned aircraft 30 transmits a delivery completion notification to the user device 20.

The effects of the first embodiment will be explained.
(1-1) The delivery position where the unmanned aircraft 30 places the package can be determined based on the position of the area where the shade continues for a predetermined period of time. Therefore, it is possible to prevent the quality of the package from deteriorating while the package is placed at the delivery position.

(1-2) In the first embodiment, the server 10 selects the first area 51 as the delivery location depending on the type of package. Further, the server 10 selects the second area 52 as the delivery position depending on the type of package. Therefore, it is possible to select a delivery location suitable for the type of package. Therefore, it is possible to suppress the quality of the package from deteriorating during the period from when the package is placed at the delivery position until when the package is received by the user. Alternatively, for example, by placing the baggage in the second area, the baggage can be brought to an appropriate temperature before the user receives the baggage.

(1-3) According to the first embodiment, the server 10 predicts the position of the first area based on the height of the building. Therefore, the accuracy of the position of the first region 51 can be improved.
(Second embodiment)
A second embodiment of the delivery management system, delivery management method, program, and unmanned mobile object will be described. In the first embodiment, the server 10 estimated changes in the first area 51 from the time when the unmanned aircraft 30 arrived until sunset. The second embodiment differs from the first embodiment in that the server 10 estimates changes in the first area 51 from the time when the unmanned aircraft 30 arrives at or near the delivery address to the time when the user is expected to receive the package. Different from the form.

When the unmanned aircraft 30 arrives at the delivery address, it transmits the arrival time to the server 10. When acquiring the position of the sun, the control unit 11 of the server 10 predicts the time when the user will receive the package based on the received arrival time. At this time, the control unit 11 predicts the time when the package will be received as a time range. Hereinafter, this time range will be referred to as the receiving time range.

The procedure of this embodiment will be explained with reference to FIG. The unmanned aerial vehicle 30 transmits height information to the server 10 (step S1). The server 10 acquires the position of the sun corresponding to the reception time range and estimates the position of the first area 51 corresponding to the reception time range (step S2). In other words, the first area 51 can be an area that is continuously shaded only within the receiving time range. Therefore, compared to the case where the first area 51 is an area that is continuously shaded from the time of arrival until sunset, there are more places that can be the first area 51.

Furthermore, the control unit 11 determines the delivery position based on the position of the first area 51 (step S3). Then, the determined delivery position is transmitted to the unmanned aircraft 30 (step S4).
The method for specifying the receiving time range will be explained. The control unit 11 may specify the receiving time range based on the user's location. For example, the user's location is the location of the user device 20 transmitted from the user device 20. If the user's location is at or near the delivery address, the receiving time range is from the arrival time to the time when a predetermined period of time (for example, 30 minutes) has elapsed.

Alternatively, the control unit 11 may set the predicted delivery time included in the delivery management information 41A corresponding to the package to be delivered as the receiving time range.
Alternatively, the control unit 11 may set the reception time range to the time when a predetermined time (for example, 60 minutes) has elapsed from the arrival time.

Alternatively, the control unit 11 may set the time specified by the user as the receiving time range. The user inputs into the user device 20 a time range for receiving the package. The user device 20 transmits the time range input by the user to the server 10. The control unit 11 registers the received time range in the delivery management information 41A as a receiving time range.

In the second embodiment, in addition to the effects described in (1-1) to (1-3) of the first embodiment, the following effects can be obtained.
(2-1) In the second embodiment, the first area 51 that continues to be shaded within the user's receiving time range is estimated. Therefore, it is possible to prevent the quality of the package from deteriorating before the user receives the package. Furthermore, the area that can be used as the first area 51 can be expanded compared to a configuration in which the first area 51 is an area that is shaded from the time luggage is placed until sunset. This makes it easier for the server 10 to determine the delivery location.

(Third embodiment)
A third embodiment of a delivery management system, a delivery management method, a program, and an unmanned mobile object will be described. The third embodiment differs from the first embodiment in that the position of the first region 51 is estimated using image data captured by the unmanned aerial vehicle 30 in addition to height information.

<Delivery location determination process>
With reference to FIGS. 9 and 10, a procedure in which the server 10 determines a delivery location will be described.
As shown in FIG. 9, the control unit 11 of the server 10 acquires height information from the unmanned aircraft 30 (step S10). Furthermore, the control unit 11 estimates the position of the first area 51 based on the height information (step S11). The processing in these steps S10 and S11 is similar to the processing in steps S1 and S2 of the first embodiment.

The server 10 also acquires imaging data from the unmanned aircraft 30 (step S12). The imaging data is data obtained by imaging the delivery address from above by the imaging device 39 of the unmanned aerial vehicle 30. Furthermore, the control unit 11 estimates the position of the first region 51 based on the imaging data (step S13). At this time, the control unit 11 may estimate the position of the first region 51 that is in the shade based on at least one of brightness, saturation, hue, and color temperature of the image data. For example, since the blue component is stronger in the shade than in the sun, the position of the first area may be specified based on color temperature information of the imaging data. Note that when the first region 51 can be identified, the estimation result includes the position of the first region 51; however, when the first region 51 cannot be identified, the estimation result does not include the position of the first region 51.

The control unit 11 compares the position of the first area 51 estimated in step S11 with the position of the first area 51 estimated in step S13 (step S14). Then, the control unit 11 determines whether the positions of the first regions 51 match (step S15). At this time, it may be determined that the first regions 51 match if the area where the first regions 51 overlap is equal to or greater than a predetermined ratio. Alternatively, it may be determined that the first regions 51 do not match when the area where the first regions 51 overlap is less than a predetermined ratio. It is also possible that there is actually no shade in the delivery area. In this case, the control unit 11 cannot identify the first area 51 in both cases where the first area 51 is estimated based on the height information and when the first area 51 is estimated based on the imaging data. It is presumed that the judgment will be made as follows. In this case, it is determined that the positions of the first areas 51 do not match.

When the control unit 11 determines that the first areas 51 match (step S15: YES), the control unit 11 determines the delivery position in the first area 51 or the second area 52 depending on the type of package (step S16).

On the other hand, when the control unit 11 determines that the first regions 51 do not match (step S15: NO), the following states A to D are assumed.
(State A): The position of the first area 51 specified based on the height information and the position of the first area 51 specified based on the imaging data are shifted.

(State B): The first region 51 is specified in the estimation based on the imaging data, and the first region 51 is not specified in the estimation based on the height information.
(State C): The first region 51 is specified in the estimation based on the height information, and the first region 51 is not specified in the estimation based on the imaging data.

(State D): The first region 51 is not specified in both the estimation based on height information and the estimation based on imaging data.
When the control unit 11 determines that the first regions 51 do not match (step S15: NO), the control unit 11 performs a delivery position determination process (step S17).

With reference to FIG. 10, the delivery position determination process (step S17) when the positions of the first areas 51 do not match will be described.
In steps S20 to S27, the delivery position is determined according to the states A to D.

The control unit 11 determines whether the first region 51 has been identified in both the estimation methods of step S11 and step S13 (step S20). If the first regions 51 are identified in steps S11 and S13 and they do not match, this is a case where the first regions 51 are misaligned (state A).

When the control unit 11 determines that the position of each first area 51 has been specified, that is, that each first area 51 is shifted (step S20: YES), the control unit 11 changes the position of one first area 51 to the other first area 51. Correction is made based on the position of one area 51 (step S21). Specifically, the control unit 11 corrects the first area 51 based on the height information based on the first area 51 based on the imaging data. For example, if the first region 51 based on the height information is shifted by a predetermined amount in a predetermined direction (for example, eastward) compared to the first region 51 based on the imaging data, the former first region 51 is Shift in a predetermined direction based on. Then, the control unit 11 determines the delivery position within the corrected first area 51 or within the corrected second area 52 other than the first area (step S22).

If the control unit 11 determines that the position of the first region 51 is not specified in both of the estimation methods (step S20: NO), it determines whether the first region 51 has been specified based on the imaging data. (Step S23). That is, the control unit 11 determines whether the estimated state of each first region 51 corresponds to state B. When the control unit 11 determines that the first area 51 has been identified based on the imaging data (step S23: YES), the control unit 11 determines a delivery position within the first area 51 based on the imaging data (step S24).

On the other hand, if the control unit 11 determines that the first area 51 is not specified based on the imaging data (step S23: NO), it determines whether the user is near the delivery address (step S25). If it is determined in step S23 that the first region 51 is not specified based on the imaging data, the state corresponds to state C or state D.

The control unit 11 acquires the position of the user device 20. Then, the control unit 11 determines whether the user exists within a predetermined distance around the delivery address. When the control unit 11 determines that the user is near the delivery address (step S25: YES), the control unit 11 determines the delivery position regardless of the position of the first area 51 (step S26). At this time, the control unit 11 may set a position where there are no obstacles and a blind spot of a building as the delivery position.

When the control unit 11 determines that the user is not nearby (step S25: NO), the control unit 11 returns to the base while holding the luggage (step S27). The base is a physical store or warehouse. At this time, the control unit 11 transmits a notification to the user device 20 indicating that redelivery is necessary.

In the third embodiment, in addition to the effects described in (1-1) to (1-2) of the first embodiment, the following effects can be obtained.
(3-1) In the third embodiment, even if the first area 51 cannot be specified, if the user can receive the package in a short time after delivery, the package is placed somewhere in the delivery area. put In this case, redelivery can be made unnecessary.

(3-2) In the third embodiment, the first region 51 is estimated by image processing the captured data. Therefore, it is possible to correct the position of the first area 51 based on the height information with the position of the first area 51 based on the actual sunshine state. Therefore, the accuracy of the position of the first region 51 can be improved.

Each of the above embodiments can be modified and implemented as follows. The above embodiments and the following modified examples can be implemented in combination with each other within a technically consistent range.
<Estimation of the first region considering the weather>
- The control unit 11 of the server 10 may estimate the first area 51 based on the weather at the delivery date and time. That is, in the case of cloudy weather, the entire delivery area may be considered as the first area 51. In this case, the first region 51 is not estimated. In this embodiment, the control unit 11 acquires weather information at a predetermined time on the delivery date. For example, weather information from the time when the unmanned aircraft 30 arrives at the delivery address or the time when it is scheduled to arrive until sunset is acquired from an external server. The weather information acquired at this time indicates the weather in the area including the delivery address. Alternatively, the control unit 11 of the server 10 receives illuminance information from an illuminance sensor included in the unmanned aircraft 30. At this time, the unmanned aircraft 30 is located near the delivery address, and the illuminance sensor actually measures the illuminance in the delivery area. The control unit 11 estimates the weather in the area including the delivery address based on the illuminance information.

Then, the control unit 11 determines whether or not to estimate the first area 51 based on the weather of the delivery area estimated from the weather information or the illuminance information. If the control unit 11 determines based on the information that cloudy weather or rainy weather continues in the area including the delivery address, it stops estimating the first area 51. This is because if cloudy or rainy weather continues, the entire delivery area is estimated to be the first area 51. Based on the information, if the control unit 11 determines that the weather in the area including the delivery address is sunny, or if it determines that the cloudy or rainy weather is temporary, Make an estimate. Since the first area 51 is estimated as necessary in this way, the processing load on the server 10 can be reduced. Note that the delivery area may be a place where one user can receive a package. Alternatively, the delivery area may be a location where multiple users can receive each package. In other words, the delivery area may be a place used jointly by those users.

<Acquisition of building height information>
- The server 10 may store height information of buildings in the delivery target area or may obtain it from a three-dimensional map server. In this case, the unmanned aerial vehicle 30 does not need to measure the height information of the building. When a new building is constructed for which the server 10 has not acquired height information, the unmanned aerial vehicle 30 measures the height information of the building and transmits it to the server 10. The server 10 stores the received height information in the storage unit 12.

<Estimating the first region using imaging data>
- In the third embodiment, the first area 51 was estimated using image data captured by the unmanned aerial vehicle 30 located near the delivery address. After the unmanned aircraft 30 places the package at the delivery position, it may be configured to observe changes in the first region 51 in the sky above the delivery position. The unmanned aerial vehicle 30 uses an imaging device 39 to image the vicinity of the delivery location from above for a predetermined period of time. The server 10 acquires imaging data from the unmanned aircraft 30. The control unit 11 compares the change in the position of the first region 51 estimated using the height information with the change in the position of the first region 51 determined from the imaging data. If a shift is detected in each first region 51, the comparison result is reflected in the estimation method using height information.

<Estimation of the first region considering other conditions>
- In each embodiment, the first area 51 is an area where the shade continues for a predetermined period of time. In addition to this, the first region 51 may be determined by considering at least one of environmental factors such as ground surface temperature, illuminance, air temperature, and wind speed. For example, the first area 51 may include an area where the illuminance is less than or equal to a predetermined value even if the area is not in the shadow of a building. Alternatively, if there is a region where the ground surface temperature is higher than a predetermined temperature (for example, 30° C.) even in the shade, that region may not be included in the first region 51. Ground surface temperature can be measured using a temperature sensor such as infrared thermography.

<Obtaining data indicating the position of the first area>
- In each of the above embodiments, the server 10 estimates the position of the first area 51. Alternatively, the server 10 may acquire the position of the first area 51 from an external server. This external server estimates the position of the first area 51 based on at least one of the solar altitude and azimuth according to the calendar date, and the three-dimensional shape of the building.

- In each of the above embodiments, the server 10 estimates the position of the first area 51. In addition to this, the server 10 may store the estimated position of the first area 51 in the database. When the unmanned aircraft 30 requests the position of the first area 51 corresponding to the delivery area, the database may be searched to obtain the position data of the corresponding first area 51. In this embodiment, the server 10 can collect positional data of the first area 51 using a large number of unmanned aerial vehicles 30 as probes, and can also store it as probe data. The accumulated position data can then be provided to the unmanned aircraft 30 scheduled to deliver the package. Furthermore, if there is a discrepancy between the position data of the first area 51 and the imaged data transmitted to the unmanned aircraft 30, the position data stored in the database can be updated.

In addition to detecting shade from photographic data when the unmanned aerial vehicle 30 that delivers the package arrives at the delivery area, it is also possible to detect one or more Shade may be detected from information transmitted from other unmanned aerial vehicles 30. Furthermore, a time-series change in shade may be detected based on the time when other unmanned aircraft 30 pass through the delivery area or its vicinity. Furthermore, the server 10, another unmanned aircraft 30 that generated the imaging data, or the unmanned aircraft 30 that delivers the package may correct the position, shape, or size of the shade estimated based on the imaging data.

<Luggage type>
In each of the embodiments described above, the server 10 determines the delivery position according to the type of package. Alternatively, the delivery position may be set within the first area 51 without considering the type of package. Further, the type database 42 does not specify the types of luggage that can be placed in either the first area or the second area, but rather determines the type of luggage and whether the luggage can be placed in either the first area or the second area. may be associated.

- In the above embodiment, when the first region 51 is not specified based on the imaging data (step S23: NO), the control unit 11 determines whether the user is near the delivery address (step S23: NO). S25). Alternatively or additionally, the user may determine whether the user is near the delivery address when the unmanned aircraft 30 arrives at the delivery address. In other words, the control unit 11 may determine whether the user can receive the package within a short time (for example, 5 minutes after placing the package). In this embodiment, if the control unit 11 determines that the user can receive the package in a short time, the control unit 11 places the package within the delivery area regardless of the position of the first area 51. On the other hand, if the control unit 11 determines that the user cannot receive the package in a short time, the control unit 11 estimates the position of the first area 51 and places the package within the delivery area.

<Receipt time range>
- In the second embodiment, the receiving time range is from the time when the unmanned aircraft 30 arrives at or near the delivery address to the time when the user is expected to receive the package. Alternatively, the server 10 may predict the time when the unmanned aircraft 30 will arrive at the delivery address. The receiving time range may be defined as the time from the predicted time to the time when the user is expected to receive the package.

<Notification to user device>
- When the delivery is completed, the server 10 may send a notification including the URL to the user device 20. In response to the user's operation, the user device 20 outputs a screen corresponding to the URL to the display 25.

FIG. 11 is an example of the delivery notification screen 60. If the duration of the first area 51 or the second area 52 where the package 56 is placed is limited, the delivery notification screen 60 displays a display 61 indicating the time range in which the first area 51 or the second area 52 will continue. May contain. Further, the delivery notification screen 60 may include a captured image 62 that captures an area including the delivery position 100. This captured image is an image captured by the unmanned aerial vehicle 30 from above the delivery position 100 after the delivery is completed.

<Configuration of information processing system>
- The delivery management system 1 may include an administrator device in addition to the server 10, the user device 20, and the unmanned aircraft 30. The administrator device is a device used by an administrator who manages the delivery management system 1 or an administrator who manages the unmanned aircraft 30. The administrator device is a smartphone (multifunctional telephone terminal), a tablet terminal, a personal computer, a wearable computer, or an information processing device other than these devices capable of displaying an image, and has almost the same configuration as the user device 20. . The administrator may use the administrator device to monitor the work of the unmanned aircraft 30 placing the luggage.

- In each of the embodiments described above, the server 10 includes an estimation section and a delivery position determination section. Alternatively, the unmanned aircraft 30 may include at least one of these. If the unmanned aerial vehicle 30 performs a part of the above processing and the server 10 performs the remaining processing, the unmanned aerial vehicle 30 and the server 10 may send and receive the processing results to each other if it is necessary to share the processing results. do. Specifically, the unmanned aerial vehicle 30 may acquire data indicating the position of a shaded area in the delivery area from the server 10 or another server, and estimate the position of the first area 51. Alternatively, the unmanned aerial vehicle 30 may estimate the position of the first area 51 based on the position of the sun and the height information of the building 55. Further, the unmanned aircraft 30 may determine the delivery position based on the estimated position of the first area 51.

- In each of the above embodiments, the unmanned aircraft 30 is used as the unmanned moving object. Alternatively, the unmanned moving object may be an unmanned vehicle that travels on the road unmanned. The unmanned vehicle includes at least one of an electric motor and an engine as a driving source. Additionally, the unmanned vehicle is equipped with an energy source depending on the driving source. The energy source is at least one of a battery and a fuel supply. The unmanned vehicle includes a baggage holding section that places the baggage at the delivery position. When the unmanned vehicle arrives at the delivery address, it places the package at the delivery location. Alternatively, the unmanned aerial vehicle 30 and the unmanned vehicle may be used together as the unmanned moving object. The unmanned vehicle carries the unmanned aerial vehicle 30 and moves to the delivery area. The unmanned aerial vehicle 30 moves from the unmanned vehicle to the delivery location.

Next, technical ideas that can be understood from the above embodiment and other examples will be additionally described below.
[A] An estimation process in which one or more computers estimate an area where shade continues for a predetermined time in a delivery area, and the area where the estimator estimates a delivery position, which is a position where a package is placed within the delivery area. A delivery management method for an unmanned mobile object that executes a delivery position determination process based on.

[B] An estimating unit that estimates an area where the shade continues for a predetermined time in the delivery area, and the area where the estimating unit estimates the delivery position, which is the position where the package is placed within the delivery area, using one or more computers. A program for an unmanned mobile vehicle that functions as a delivery location determination unit based on the following.

[1] An estimation unit that estimates an area in the delivery area where the shade continues for a predetermined time;
A delivery management system comprising: a delivery position determining unit that determines a delivery position, which is a position where an unmanned mobile body places a package within the delivery area, based on the area estimated by the estimating unit.

[2] The delivery position determination unit:
In addition to specifying the position of the first area, which is the area where shade continues in the delivery area, and the position of the second area, which is an area other than the first area,
The delivery management system according to [1], wherein the type of the package is specified, and the first area is selected according to the specified type.

[3] The estimating unit:
obtaining a receiving time range indicating a time range at which the user is expected to receive the package at the delivery location;
The delivery management system according to [1] or [2], wherein the area where shade continues in the receiving time range is estimated.

[4] The delivery position determination unit:
obtain the location of the user who receives the package;
If it is determined based on the user's location that the package placed at the delivery location can be received within a predetermined time after delivery, the package is delivered to the delivery location regardless of the location of the area. The delivery management system according to any one of [1] to [3], which is placed at any position within the delivery area.

[5] The delivery position determination unit:
Obtaining the height of a building within the delivery area or in the vicinity of the delivery area,
obtaining the position of the sun that changes within the predetermined time;
Estimating the position of the area based on the height of the building and the position of the sun,
The delivery management system according to any one of [1] to [4], wherein the delivery position is determined based on the position of the area.

[6] The unmanned mobile object is an aircraft equipped with an imaging unit,
The delivery position determining unit acquires imaging data of the delivery area from the unmanned moving object, determines the area based on the result of image processing the imaging data, and determines the delivery position based on the determined area. The delivery management system according to any one of [1] to [5], which determines.

[7] One or more computers,
Estimation processing that estimates an area in the delivery area where shade will continue for a predetermined period of time;
A delivery management method that executes a delivery position determination process of determining a delivery position, which is a position where an unmanned mobile body places a package within the delivery area, based on the estimated area.

[8] One or more computers,
an estimation unit that estimates an area in the delivery area where the shade continues for a predetermined time;
A program that functions as a delivery position determination unit that determines a delivery position where an unmanned mobile body places a package within the delivery area based on the area estimated by the estimation unit.

[9] An estimation unit that estimates an area in the delivery area where the shade continues for a predetermined time;
An unmanned mobile object, comprising: a delivery position determining unit that determines a delivery position, which is a position where a package is placed within the delivery area, based on the area estimated by the estimating unit.

DESCRIPTION OF SYMBOLS 1...Delivery management system, 10...Server, 20...User device, 30...Unmanned aircraft.

Claims (9)

an estimation unit that estimates an area in the delivery area where the shade continues for a predetermined time;
a delivery position determination unit that determines a delivery position where the unmanned mobile body places the package within the delivery area based on the area estimated by the estimation unit ;
The estimation unit is
Obtaining the height of a building within the delivery area or in the vicinity of the delivery area,
obtaining the position of the sun that changes within the predetermined time;
Estimating the position of the area based on the height of the building and the position of the sun,
Obtaining imaging data of the delivery area by an imaging unit included in the unmanned mobile object, which is an aircraft, and estimating the position of the area based on the result of image processing the imaging data;
The delivery position determination unit includes:
The area identified by estimation based on the height of the building and the position of the sun is compared with the area identified by estimation based on the imaging data, and if both areas match, the area is determined to match. A delivery management system that determines the delivery position in the area, and corrects one specified area with the other specified area if the two areas do not match. The estimation unit is
In addition to specifying the position of the first area, which is the area where shade continues in the delivery area, and the position of the second area, which is an area other than the first area,
The delivery position determination unit includes:
The delivery management system according to claim 1, wherein the type of the package is specified, and the first area is selected according to the specified type. The estimation unit is
obtaining a receiving time range indicating a time range at which the user is expected to receive the package at the delivery location;
The delivery management system according to claim 1, wherein the area where shade continues in the receiving time range is estimated. The delivery position determination unit includes:
obtain the location of the user who receives the package;
If it is determined based on the user's location that the package placed at the delivery location can be received within a predetermined time after delivery, the package is delivered to the delivery location regardless of the location of the area. The delivery management system according to claim 1, wherein the delivery management system is placed at any position within the delivery area. When the estimating unit determines that the area cannot be specified based on the height of the building and the position of the sun, and the delivery position determining unit determines that the area can be specified based on the imaging data, The delivery management system according to claim 1, wherein the delivery position is determined based on the position of the area specified based on the imaging data. The delivery management system according to claim 1, wherein the estimation unit estimates the position of the area using information on the altitude and azimuth of the sun in the delivery area as information indicating the position of the sun. one or more computers,
Estimation processing that estimates an area in the delivery area where shade will continue for a predetermined period of time;
executing a delivery position determination process of determining a delivery position, which is a position where the unmanned mobile body places the package within the delivery area, based on the estimated area;
In the estimation process,
Obtaining the height of a building within the delivery area or in the vicinity of the delivery area,
obtaining the position of the sun that changes within the predetermined time;
Estimating the position of the area based on the height of the building and the position of the sun,
Obtaining imaging data of the delivery area by an imaging unit included in the unmanned mobile object, which is an aircraft, and estimating the area based on the result of image processing the imaging data;
In the delivery position determination process,
The area identified by estimation based on the height of the building and the position of the sun is compared with the area identified by estimation based on the imaging data, and if both areas match, the area is determined to match. The delivery management method includes determining the delivery position in the area, and correcting one of the specified areas with the other specified area if the two areas do not match. one or more computers,
an estimation unit that estimates an area in the delivery area where the shade continues for a predetermined time;
functioning as a delivery position determining unit that determines a delivery position where the unmanned mobile body places the package within the delivery area based on the area estimated by the estimating unit ;
The estimation unit is
Obtaining the height of a building within the delivery area or in the vicinity of the delivery area,
obtaining the position of the sun that changes within the predetermined time;
Estimating the position of the area based on the height of the building and the position of the sun,
Obtaining imaging data of the delivery area by an imaging unit included in the unmanned mobile object, which is an aircraft, and estimating the area based on the result of image processing the imaging data;
The delivery position determination unit includes:
The area identified by estimation based on the height of the building and the position of the sun is compared with the area identified by estimation based on the imaging data, and if both areas match, the area is determined to match. A program that determines the delivery position in the area, and when both the areas do not match, corrects one of the specified areas with the other specified area. an estimation unit that estimates an area in the delivery area where the shade continues for a predetermined time;
a delivery position determining unit that determines a delivery position, which is a position where the package is placed within the delivery area, based on the area estimated by the estimating unit ;
The estimation unit is
Obtaining the height of a building within the delivery area or in the vicinity of the delivery area,
obtaining the position of the sun that changes within the predetermined time;
Estimating the position of the area based on the height of the building and the position of the sun,
Obtaining imaging data of the delivery area by an imaging unit included in an unmanned mobile object, which is an aircraft, and estimating the area based on the result of image processing the imaging data;
The delivery position determination unit includes:
The area specified by estimation based on the height of the building and the position of the sun is compared with the area specified by estimation based on the imaging data, and if both areas match, the area is determined. is determined as the delivery position, and when both the areas do not match, the unmanned moving body corrects one of the specified areas with the other specified area.

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