JP6637209B1 - Control method, article delivery system, landing system, and information processing device - Google Patents

Abstract

A control method and an article delivery system capable of securing a delivery place at which articles can be delivered between an unmanned aircraft and an unmanned ground plane even when a dedicated delivery facility does not exist. And an information processing apparatus. An article delivery system (S) selects a candidate for an article delivery location performed between an unmanned aerial vehicle and the unmanned ground machine, and executes movement control of the unmanned ground machine based on the candidate information. . [Selection diagram] Fig. 1

Description

  The present invention relates to the field of systems and the like capable of transferring articles between an unmanned aerial vehicle and an unmanned ground aircraft.

  In recent years, an unmanned delivery system using an unmanned aerial vehicle or an unmanned ground plane has been studied (for example, Patent Document 1). An unmanned aerial vehicle can fly without being affected by road conditions on the ground or the like, but the place where it can land is limited. Therefore, it is often difficult to transport the goods to the final delivery destination (for example, each home) or to receive the goods to be transported from the sender. On the other hand, unmanned ground planes are susceptible to the influence of road conditions on the ground and the like, but are capable of transporting goods closer to the delivery destination and the shipper.

JP, 2018-514478, A

  In view of the above circumstances, in the future unmanned delivery system, etc., the unmanned aerial vehicle and the unmanned ground plane will each move to a predetermined delivery place, and at the delivery place, deliver the goods from the unmanned aerial vehicle to the unmanned ground plane, Alternatively, it is conceivable to transfer an article from an unmanned ground plane to an unmanned aircraft. However, when delivering goods between an unmanned aerial vehicle and an unmanned ground plane (hereinafter referred to as “goods delivery”), it may be difficult to deliver goods depending on the surrounding environment such as when there are people around. is there. Also, when an unmanned aerial vehicle lands on an unmanned aerial vehicle and wants to deliver goods, or when it is desired to supply power from an unmanned aerial vehicle to the unmanned aerial vehicle, the unmanned aerial vehicle may land on the unmanned aerial vehicle depending on the surrounding environment as described above. Can be difficult to do. It is also conceivable to prepare a dedicated delivery facility for the delivery of goods (for example, land with a fence to prevent human intrusion) and a dedicated landing facility for unmanned aircraft to land on unmanned ground planes. Can be However, if such a dedicated facility does not exist near the unmanned ground plane, it becomes difficult to transfer goods between the unmanned aircraft and the unmanned ground plane and land on the unmanned ground plane.

  Therefore, the present invention provides a control method and an article that can secure a delivery place where articles can be delivered between an unmanned aerial vehicle and an unmanned ground plane even when a dedicated delivery facility does not exist. It is an object to provide a delivery system and an information processing device. It is another object of the present invention to provide a control method that can secure a landing place where an unmanned aerial vehicle can land on an unmanned ground plane even when a dedicated landing facility does not exist.

In order to solve the above-mentioned problem, an invention according to claim 1 is a control method executed by a system including a control unit that controls an unmanned ground plane, wherein the control method is performed between an unmanned aircraft and the unmanned ground plane. A selection step of selecting a candidate for an article delivery place to be performed, a control step of executing movement control of the unmanned ground machine based on the information of the candidate, and the unmanned ground machine stops for a predetermined time or more based on the candidate. Determining a possible space and determining the searched space or a point in the space as the article delivery location .

The invention according to claim 2 is a control method that is executed by a system including a control unit that controls an unmanned ground plane, and selects a candidate of an article delivery place performed between the unmanned aircraft and the unmanned ground plane. A selection step, based on the information of the candidates, a control step of executing the movement control of the unmanned ground plane, and a space in which obstacles that obstruct the article delivery do not exist on the ground and in the sky based on the candidates. And determining a searched space or a point in the space as the article delivery location .

According to a third aspect of the present invention, there is provided a control method executed by a system including a control unit for controlling an unmanned ground machine, wherein a candidate for an article delivery place performed between the unmanned aircraft and the unmanned ground machine is selected. Selecting step, a control step of executing movement control of the unmanned ground machine based on the information of the candidate, and determining the article delivery location based on the candidate based on a past delivery history. And a determining step. According to a fourth aspect of the present invention, in the control method according to any one of the first to third aspects, the method further includes a step of flying the unmanned aerial vehicle to the determined article delivery location. According to a fifth aspect of the present invention, in the control method according to any one of the first to fourth aspects, articles are delivered between the unmanned aerial vehicle and the unmanned ground plane at the determined article delivery location. The method further comprises the step of: According to a sixth aspect of the present invention, in the control method according to any one of the first to fifth aspects, an alarm is output when an approach of a moving object to the determined article delivery location is detected. The method further includes a step.

The invention according to claim 7 is a control method executed by a system including a control unit for controlling an unmanned ground machine, based on information obtained by a third sensing performed by a sensor installed on the ground. A selection step of selecting a candidate of an article delivery place performed between the unmanned aerial vehicle and the unmanned ground plane, and a control step of executing movement control of the unmanned ground plane based on the information of the candidate. It is characterized by the following.

The invention according to claim 8 is a control method executed by a system including a control unit that controls an unmanned ground machine, based on a transfer history performed in the past, the unmanned aircraft and the unmanned ground machine being connected to each other. A selection step of selecting a candidate of an article delivery place to be performed between the two, and a control step of executing movement control of the unmanned ground machine based on the information of the candidate.

The invention according to claim 9 is a control method executed by a system including a control unit that controls an unmanned ground machine, wherein a plurality of candidates for an article transfer place performed between the unmanned aircraft and the unmanned ground machine are provided. A selecting step of selecting, and a control step of moving the unmanned ground plane in the order of the candidates according to a predetermined criterion based on the information of the candidates. According to a tenth aspect of the present invention, in the control method according to the ninth aspect , the unmanned ground plane is moved in the order of the candidates close to the delivery destination of the article. According to an eleventh aspect of the present invention, in the control method according to the ninth aspect , the unmanned ground plane is moved in the order of the candidates near the current position of the unmanned ground plane. According to a twelfth aspect of the present invention, in the control method according to the ninth aspect , the unmanned ground plane is moved in a moving order according to a density of the plurality of candidates.

According to a thirteenth aspect of the present invention, in the control method according to any one of the first to twelfth aspects, the candidate is selected based on information obtained by a first sensing performed while the unmanned aerial vehicle is flying. It is characterized by doing.

According to a fourteenth aspect of the present invention, in the control method according to any one of the first to thirteenth aspects, the unmanned ground plane searches for a space that can be stopped for a predetermined time or more, and the searched space or the space within the space is searched. A point is selected as the candidate.

According to a fifteenth aspect of the present invention, in the control method according to any one of the first to thirteenth aspects, a search is made for a space in which an obstacle to the article delivery does not exist on the ground or in the sky, and the search is performed. A space or a point in the space is selected as the candidate.

The invention according to claim 16 is a control method executed by a system including a control unit for controlling an unmanned ground plane, wherein a candidate of a landing place for an unmanned aircraft to land on the unmanned ground plane is selected. The selecting step, a control step of executing the movement control of the unmanned ground machine based on the information of the candidate, and searching for a space where the unmanned ground machine can stop for a predetermined time or more based on the candidate, the search is performed. Determining a space or a point within the space as the landing site.

The invention according to claim 17 is a control method executed by a system including a control unit that controls an unmanned ground plane, wherein a candidate of a landing place for an unmanned aircraft to land on the unmanned ground plane is selected. A selection step, a control step of executing movement control of the unmanned ground plane based on the information of the candidate, and searching for a space where the obstacle to the landing does not exist on the ground or in the sky based on the candidate. And determining a searched space or a point in the space as the landing place.

An invention according to claim 18 is a control method executed by a system including a control unit for controlling an unmanned ground plane, wherein a candidate of a landing place for an unmanned aircraft to land on the unmanned ground plane is selected. A selection step, a control step of executing movement control of the unmanned ground plane based on the information of the candidate, and a determining step of determining the landing place based on the candidate based on a past landing history. And characterized in that:

An invention according to claim 19 is a control method executed by a system including a control unit for controlling an unmanned ground machine, based on information obtained by a third sensing performed by a sensor installed on the ground. A selection step of selecting a candidate for a landing place for an unmanned aerial vehicle to land on the unmanned ground plane, and a control step of executing movement control of the unmanned ground plane based on the information of the candidate. It is characterized by.

The invention according to claim 20 is a control method executed by a system including a control unit that controls an unmanned ground plane, wherein the unmanned aircraft is mounted on the unmanned ground plane based on a landing history performed in the past. The method includes a selection step of selecting a candidate for a landing place for landing, and a control step of executing movement control of the unmanned ground plane based on the information of the candidate.

An invention according to claim 21 is a control method executed by a system including a control unit that controls an unmanned ground plane, wherein a plurality of landing site candidates for an unmanned aircraft to land on the unmanned ground plane are selected. And a control step of moving the unmanned ground plane in the order of the candidates according to a predetermined criterion based on the information of the candidates.

The invention according to claim 22 is an article delivery system including an unmanned aerial vehicle and an unmanned ground plane, and a selection unit that selects a candidate of an article delivery place performed between the unmanned aerial vehicle and the unmanned ground plane. A movement control unit that executes movement control of the unmanned ground machine based on the information of the candidate, and a space in which the unmanned ground machine can be stopped for a predetermined time or more based on the candidate, and the searched space Or a determination unit that determines a point in a space as the article delivery location.

The invention according to claim 23 is a landing system including an unmanned aerial vehicle and an unmanned ground plane, wherein the selection unit selects a candidate of a landing place for the unmanned aerial vehicle to land on the unmanned ground plane, Based on the information of the candidate, a control unit that executes the movement control of the unmanned ground machine, and, based on the candidate, searches for a space in which the unmanned ground machine can stop for a predetermined time or more, and searches the searched space or space. And a determination unit that determines the point of the landing as the landing place.

According to a twenty-fourth aspect of the present invention, a selection unit that selects a candidate for an article delivery place performed between an unmanned aerial vehicle and an unmanned ground plane, and executes movement control of the unmanned ground plane based on the candidate information. A movement control unit that performs a search for a space that can be stopped by the unmanned ground plane for a predetermined time or more based on the candidate, and a determination unit that determines a searched space or a point in the space as the article delivery location. It is characterized by having.

According to a twenty-fifth aspect of the present invention, a selection unit that selects a candidate for a landing place for an unmanned aerial vehicle to land on the unmanned ground aircraft, and executes movement control of the unmanned ground aircraft based on the information of the candidate. A control unit and a determining unit that searches for a space where the unmanned ground machine can stop for a predetermined time or more based on the candidate, and determines a searched space or a point in the space as the landing place. Features.

  ADVANTAGE OF THE INVENTION According to this invention, even if there is no exclusive delivery facility, a delivery place where goods can be delivered between an unmanned aerial vehicle and an unmanned ground plane can be secured. Further, according to the present invention, it is possible to secure a landing place where an unmanned aerial vehicle can land on an unmanned ground plane even if there is no dedicated landing facility.

It is a figure showing the example of outline composition of article delivery system S. It is a figure showing the example of outline composition of UAV1. It is a figure showing the example of outline composition of UGV2. FIG. 2 is a diagram illustrating a schematic configuration example of a server 3. FIG. 3 is a diagram illustrating an example of a functional block in an information processing unit 33. It is a key map showing example 1 in which an article delivery place is determined based on an article delivery candidate. It is a key map showing example 2 in which an article delivery place is determined based on an article delivery candidate. It is a key map showing example 3 in which an article delivery place is determined based on an article delivery candidate. It is a sequence diagram showing an example of the operation of the article delivery system S from when the UAV 1 approaches the article delivery area Ar until the article delivery location is determined. It is a sequence diagram showing an example of the operation of the article delivery system S from the determination of the article delivery location to the delivery of the article. It is a conceptual diagram showing the situation in article transfer area Ar. It is a figure showing the state where UAV1 has landed on UGV2 in an article delivery place.

  Hereinafter, with reference to the drawings, an embodiment of an article delivery system according to an embodiment of the present invention and a method of determining an article delivery location executed by the article delivery system will be described.

[ 1. Outline of Configuration of Article Delivery System S and Method of Determining Location of Article Delivery ]
First, the configuration of an article delivery system S according to the present embodiment and an outline of a method for determining an article delivery location will be described with reference to FIG. FIG. 1 is a diagram illustrating a schematic configuration example of an article delivery system S. As shown in FIG. 1, an article delivery system S includes an unmanned aerial vehicle (hereinafter, referred to as “UAV (Unmanned Aerial Vehicle)”) 1 that flies in the atmosphere (air), and an unmanned ground vehicle (hereinafter, “UAV”) that moves on the ground. UGV (Unmanned Ground Vehicle) 2), and a server 3 that supports article delivery. The UAV 1 and the UGV 2 can communicate with the server 3 via the communication network NW. Here, "moving on the ground" means that at least a part of the UGV2 body moves while touching the ground (including a case where the UGV 2 is temporarily separated from the ground and floats in the air). The communication network NW includes, for example, a mobile communication network and its wireless base station. Wireless communication is performed between the wireless base station and UAV1, and between the wireless base station and UGV2.

  The UAV 1 shown in FIG. 1 is also called a drone or a multicopter. Although the UGV 2 shown in FIG. 1 illustrates an unmanned ground vehicle having a plurality of wheels, the UGV 2 may be a robot without wheels (for example, a bipedal walking robot). The server 3 is an example of an information processing device. In the example of FIG. 1, it is assumed that the server 3 is fixedly installed independently of the UAV1 and the UGV2, but all or a part of the functions of the server 3 are both or one of the UAV1 and the UGV2. It may be provided on one side. In this case, all or a part of the processing performed by the server 3 (each step in the method of determining the article delivery location) is performed by the UAV1 and / or the UGV2.

  In the article delivery system S, the UAV 1 and the UGV 2 move to the article delivery location, and the article is delivered from the UAV 1 to the UGV 2 at the article delivery location, or the article is delivered from the UGV 2 to the UAV 1. The goods delivered in this way are, for example, freight delivered by UAV1 and UGV2. For example, the UGV 2 delivers the article to the delivery destination by autonomously moving on the ground based on the delivery destination information of the article received from the UAV 1 at the article delivery location. Alternatively, the UAV 1 delivers the article to the delivery destination by autonomously flying in the air based on the delivery destination information of the article received from the UGV 2 at the article delivery location. In some cases, the UAV 1 transports the article received from the UGV 2 to another article delivery location at the article delivery location. In this case, the article is delivered from the UAV 1 to another UGV 2 at the other article delivery location, and the article is delivered to the delivery destination by the other UGV 2. The article delivered from the UGV 2 to the UAV 1 may be an article necessary for the UAV 1 to fly (for example, a supplementary battery for supplying power to the UAV 1).

  The method for determining an article delivery location performed by the article delivery system S includes a selection step, a control step, and a determination step. In the selection step, based on information obtained by the first sensing performed by the UAV 1 during the flight (hereinafter, referred to as “first sensing information”), the location of the article delivery place performed between the UAV 1 and the UGV 2 is determined. Candidates (hereinafter referred to as “article delivery candidates”) are selected. Here, the first sensing refers to observing (observing) the state of the atmosphere and the ground (including an object that is in contact with the ground, and the like; the same applies hereinafter) in the ground direction from the viewpoint of UAV1. According to the first sensing, the blind spot of the UAV 1 is likely to occur, and it is difficult to observe the ground condition in detail, but it is possible to observe the ground condition from above in a bird's-eye view. For this reason, the first sensing is suitable for selecting an article delivery candidate.

  In the control step, the movement control of the UGV 2 is executed based on the information (for example, position information) of the selected article delivery candidate. In the determining step, based on information obtained by the second sensing performed by the UGV 2 (hereinafter, referred to as “second sensing information”), an article delivery location is determined based on the selected article delivery candidate. Is done. Here, the second sensing refers to observing the state of the atmosphere and the ground in all directions (excluding the lower direction of the UGV2) or the traveling direction from the viewpoint of the UGV2. According to the second sensing, the situation around UGV2 itself can be observed in detail (it is easy to observe the situation on the ground regardless of the blind spot of UAV1), and the UGV2 can perform sensing while moving. . Therefore, the second sensing is suitable for determining the final article delivery location.

  In the selection step, in addition to the first sensing information, the information is obtained by a third sensing performed by a sensor (hereinafter, referred to as an “outdoor sensor”) such as a camera installed on the ground and connected to the communication network NW. The configuration may be such that an article delivery candidate is selected based on the information (hereinafter, referred to as “third sensing information”). Similarly, in the determining step, the article delivery location may be determined based on the third sensing information obtained by the third sensing performed by the outdoor sensor, in addition to the second sensing information. Good. Here, the third sensing refers to, for example, observing the state of the atmosphere and the ground in all directions from the viewpoint of an outdoor sensor. Although the sensing range of the outdoor sensor is limited, it has the advantage that it is easier to observe the ground condition than the first sensing, and it covers the situation in the range that cannot be observed with the second sensing (eg blind spot of UGV2). There is also the advantage that you can. Therefore, in any of the selection of the article delivery candidate and the final determination of the article delivery location, the accuracy of sensing can be improved by utilizing the third sensing information. As a result, a more suitable article delivery candidate can be selected, and a more suitable article delivery location can be determined.

  However, since the outdoor camera is usually fixedly installed on the ground, the blind spot is likely to occur, and the final sensing point for the article is also determined based on the second sensing information. It is more desirable to use. The outdoor sensor may be, for example, an infrared sensor, a laser sensor, a heat sensor, a microphone, an ultrasonic sensor, a LiDAR (Light Detection and Ranging), a human sensor, a wind speed sensor, or the like, other than the camera. Further, in the determining step, the article delivery location may be determined using not only the second sensing information but also the first sensing information. Thereby, the situation of the article delivery candidate can be observed from both the sky side and the ground side, so that the accuracy of sensing can be improved, and as a result, a more suitable article delivery location can be determined.

[ 1-1. Overview of UAV1 Configuration and Functions ]
Next, an outline of the configuration and functions of the UAV 1 will be described with reference to FIG. FIG. 2 is a diagram illustrating a schematic configuration example of the UAV 1. As shown in FIG. 2, the UAV 1 includes a driving unit 11, a positioning unit 12, a wireless communication unit 13, an imaging unit 14, a control unit 15, and the like. Although not shown, the UAV 1 includes a rotor (propeller) that is a horizontal rotor, various sensors, an article holding mechanism, a battery that supplies power to each unit of the UAV 1, and the like. Various sensors used for the flight control of the UAV 1 include a barometric pressure sensor, a three-axis acceleration sensor, a geomagnetic sensor, and the like. The detection information detected by the various sensors is output to the control unit 15.

  The drive unit 11 includes a motor, a rotating shaft, and the like. The driving unit 11 rotates a plurality of rotors by a motor, a rotating shaft, and the like that are driven according to a control signal output from the control unit 15. The positioning unit 12 includes a radio receiver, an altitude sensor, and the like. The positioning unit 12 receives, for example, a radio wave transmitted from a satellite of GNSS (Global Navigation Satellite System) by a radio wave receiver, and detects the current position (latitude and longitude) of the UAV 1 in the horizontal direction based on the radio wave. The current position of UAV1 is the flight position of UAV1 in flight. Note that the current position of the UAV 1 in the horizontal direction may be corrected based on an image captured by the imaging unit 14 or a radio wave transmitted from the wireless base station. Further, the positioning unit 12 may detect the current position (altitude) of the UAV 1 in the vertical direction using the altitude sensor. Position information indicating the current position detected by the positioning unit 12 is output to the control unit 15.

  The wireless communication unit 13 controls communication performed via the communication network NW. The imaging unit 14 includes a camera and the like. The camera is used for the first sensing as a sensor in addition to the flight control of the UAV1. The imaging unit 14 continuously captures an image of a real space within a range that falls within the angle of view of the camera. Image information captured by the imaging unit 14 is output to the control unit 15. For the first sensing, for example, at least one of an infrared sensor, a laser sensor, a heat sensor, a microphone, an ultrasonic sensor, a LiDAR, a human sensor, and a wind speed sensor is a UAV1 sensor. May be provided.

  The control unit 15 includes a CPU (Central Processing Unit) as a processor, a ROM (Read Only Memory), a RAM (Random Access Memory), a nonvolatile memory, and the like. The control unit 15 performs the first sensing during the flight of the UAV 1 using the camera or the like of the imaging unit 14 according to a sensing program (program code group) stored in a ROM or a non-volatile memory, for example. The control unit 15 transmits the first sensing information obtained by the first sensing to the server 3 at predetermined time intervals via the wireless communication unit 13 together with the machine ID (identification information) of the UAV 1. The first sensing information transmitted at this time may be raw data output from the sensor used for the first sensing, or an analysis process performed based on the output raw data (for example, , Object detection processing, etc.). For example, when the camera of the imaging unit 14 is used for the first sensing, as the first sensing information, image information or information indicating a result of an analysis process performed based on the image information (for example, a detected obstacle) Is transmitted. The analysis process in this case is executed by the control unit 15. However, when a sensor having an analysis processing function (for example, a human sensor) is mounted on the UAV 1, the analysis processing may be executed by the sensor. During the flight of the UAV 1, the control unit 15 may periodically transmit the UAV 1's position information to the server 3 via the wireless communication unit 23 together with the UAV 1's body ID.

  The control unit 15 executes various controls of the UAV 1 according to a control program stored in, for example, a ROM or a nonvolatile memory. The various controls include takeoff control, flight control, landing control, and article delivery control. In the flight control and the landing control, the position information obtained from the positioning unit 12, the image information obtained from the imaging unit 14, the detection information obtained from various sensors, the position information of the article delivery location determined in the above-described determination step The control of the number of rotations of the rotor and the control of the position, attitude and traveling direction of the UAV 1 are performed using the delivery destination information of the article, and the flight plan information (for example, including the planned flight route) registered in advance. Here, the position information of the article delivery location is acquired from the server 3, for example. The control unit 15 can cause the UAV 1 to fly to the article delivery location based on the location information of the article delivery location. In addition, the autonomous flight of the UAV 1 is not limited to the autonomous flight by the control unit 15 provided in the UAV 1 performing flight control. The autonomous flight of the UAV 1 includes, for example, an article delivery system S. Autonomous flight by performing autonomous control as a whole is also included.

  The location information of the article delivery location may be obtained from a GCS (Ground Control Station) that manages the UAV 1 and can be remotely operated from the ground. In this case, the GCS acquires the position information of the article delivery location from the server 3. The GCS may be mounted on a control terminal that can be connected to the communication network NW as an application, or may be systemized by a server or the like. The control unit 15 can also perform flight control according to an instruction signal from a control terminal operated by the operator. On the other hand, in the article delivery control, control for providing the article held by the article holding mechanism to the UGV 2 is performed. As a result, the article is delivered from UAV1 to UGV2. Alternatively, in the article delivery control, control for holding the article provided from the UGV 2 by the article holding mechanism is performed. As a result, the goods are transferred from UGV2 to UAV1.

[ 1-2. UGV2 Configuration and Function Overview ]
Next, an outline of the configuration and functions of the UGV 2 will be described with reference to FIG. FIG. 3 is a diagram showing a schematic configuration example of UGV2. As shown in FIG. 3, the UGV 2 includes a driving unit 21, a positioning unit 22, a wireless communication unit 23, an imaging unit 24, a control unit 25, and the like. Although not shown, the UGV 2 includes wheels, an article holding mechanism, a speaker, a battery that supplies power to each unit of the UGV 2, and the like. The UGV 2 may be capable of loading a plurality of articles.

  The drive unit 21 includes a motor, a rotating shaft, and the like. The drive unit 21 rotates a plurality of wheels by a motor, a rotation shaft, and the like that are driven according to a control signal output from the control unit 25. The drive unit 21 may be provided with an engine driven by fuel together with or instead of the motor. The positioning unit 22 includes a radio wave receiver and the like. The positioning unit 22 receives, for example, a radio wave transmitted from a GNSS satellite by a radio wave receiver, and detects the current position (latitude and longitude) of the UGV 2 based on the radio wave. Note that the current position of the UGV 2 may be corrected based on an image captured by the imaging unit 24. Position information indicating the current position detected by the positioning unit 22 is output to the control unit 25.

  The wireless communication unit 23 controls communication performed via the communication network NW. The imaging unit 24 includes a camera and the like. The camera is used for the second sensing as a sensor in addition to the movement control of the UGV2. The imaging unit 24 continuously captures an image of the real space within the range of the angle of view of the camera. Image information captured by the imaging unit 24 is output to the control unit 25. Note that for the second sensing, for example, at least one of an infrared sensor, a laser sensor, a heat sensor, a microphone, an ultrasonic sensor, a LiDAR, a human sensor, and a wind speed sensor is a UGV2 May be provided.

  The control unit 25 includes a CPU, which is a processor, a ROM, a RAM, a nonvolatile memory, and the like. The control unit 25 performs the second sensing using the camera or the like of the imaging unit 24 according to a sensing program stored in a ROM or a non-volatile memory, for example. The control unit 25 transmits the second sensing information obtained by the second sensing to the server 3 at predetermined time intervals via the wireless communication unit 23 together with the device ID of the UGV 2. The second sensing information transmitted at this time may be raw data output from the sensor used for the second sensing, or an analysis process performed based on the output raw data (for example, , Object detection processing, etc.). For example, when the camera of the imaging unit 24 is used for the second sensing, as the second sensing information, image information or information indicating a result of an analysis process performed based on the image information (for example, a detected obstacle) Is transmitted. The analysis process in this case is executed by the control unit 25. However, when a sensor having an analysis processing function (for example, a human sensor) is mounted on the UGV 2, the analysis processing may be executed by the sensor. In addition, the control unit 25 may transmit the position information of the UGV 2 to the server 3 via the wireless communication unit 23 together with the second sensing information.

  The control unit 25 executes various controls of the UGV 2 according to a control program stored in, for example, a ROM or a nonvolatile memory. The various controls include movement control and article delivery control. In the movement control, the position information acquired from the positioning unit 22, the image information acquired from the imaging unit 24, the position information of the article delivery candidate selected in the selection step, and the delivery destination information of the article are used. Control of the number of rotations of the wheels, and control of the position and the traveling direction of the UGV 2 are performed. Here, the position information of the article delivery candidate is acquired from, for example, the server 3. The control unit 25 functions as a movement control unit, and can move the UGV 2 to the article delivery candidate based on the position information of the article delivery candidate. While the UGV 2 is moving toward the article delivery candidate according to the movement control of the UGV 2, the server 3 determines the article delivery location, for example. Thereby, it is possible to more efficiently determine the article delivery location. However, the movement amount of UGV2 by the movement control of UGV2 may be 0. As an example of such a case, there is a case where the UGV 2 is on the article delivery candidate, so that the article delivery candidate is determined as the article delivery location. Further, the autonomous movement of the UGV 2 is not limited to the autonomous movement by the movement control performed by the control unit 25 provided in the UGV 2. The autonomous movement of the UGV 2 includes, for example, an article delivery system. Autonomous movement by performing autonomous control as a whole S is also included.

  Note that the determination of the article delivery location based on the second sensing information may be performed by the control unit 25. In this case, the control unit 25 transmits the position information of the determined article delivery location to the server 3 via the wireless communication unit 23. Further, when the approach of the moving object to the article delivery location determined based on the second sensing is detected, the control unit 25 outputs a warning sound (warning) from the speaker. Examples of the moving object include a person, an animal, a bicycle, a car, and the like. Thereby, it is possible to call attention to a person or the like approaching the article delivery location, and it is possible to enhance the safety of the determined article delivery location. The approach of the moving object can be detected by the second sensing that is continuously performed even after the determination of the article delivery location. The alarm output may be performed by means other than sound (for example, light). On the other hand, in the article delivery control, control for holding the article provided from the UAV 1 by the article holding mechanism is performed. Alternatively, in the article delivery control, control for providing the article held by the article holding mechanism to the UAV 1 is performed.

[ 1-3. Outline of Configuration and Function of Server 3 ]
Next, a configuration and an outline of functions of the server 3 will be described with reference to FIGS. FIG. 4 is a diagram illustrating a schematic configuration example of the server 3. As shown in FIG. 4, the server 3 includes a communication unit 31, a storage unit 32, an information processing unit 33, and the like. The communication unit 31 controls communication performed via the communication network NW. The storage unit 32 includes, for example, a hard disk drive and the like. In the storage unit 32, delivery management information for managing the delivery of articles is stored separately for each article. The delivery management information includes, for example, the article ID of the article to be delivered, the machine IDs of the UAV1 and UGV2 that deliver the article, the location information of the article delivery candidate, and the location information of the article delivery location. Is associated. The pair of UAV1 and UGV2 for delivering goods is determined before delivering goods. When the article is a delivery target, the delivery management information may include delivery destination information of the article. The delivery destination information of the article may include, for example, the latitude and longitude of the delivery destination or the location of the delivery destination. When the delivery destination is one room (one house) in a building such as an apartment house or an apartment office, the delivery destination information may include the name of the building and the room number of the room to be delivered.

  In addition, the storage unit 32 stores information on past delivery history. The delivery history information includes, for example, the article ID of the delivered article, the location information of the article delivery candidate, the location information of the article delivery location, the determination time of the article delivery location, and the like. Note that the storage unit 32 may store map data of the article delivery area. The article delivery area is an area including article delivery candidates to be selected. Such map data is used for selecting an article delivery candidate and determining an article delivery location.

  The information processing unit 33 includes a CPU as a processor, a ROM, a RAM, a nonvolatile memory, and the like. FIG. 5 is a diagram illustrating an example of a functional block in the information processing unit 33. As shown in FIG. 5, the information processing unit 33, according to a program stored in a ROM or a non-volatile memory, for example, a sensing instruction unit 33a, a movement control instruction unit 33b, a sensing information acquisition unit 33c, a delivery candidate selection unit 33d, It functions as a place determining unit 33e and a delivery instructing unit 33f. The movement control instruction unit 33b is an example of a movement control unit. The delivery candidate selection unit 33d is an example of a selection unit. The delivery place determining unit 33e is an example of a determining unit.

  For example, when the UAV 1 approaches the article delivery area, the sensing instruction unit 33a transmits a first sensing instruction to the UAV 1 via the communication unit 31. The first sensing instruction is an instruction message for causing the UAV 1 to execute the first sensing in the article delivery area. In addition, the sensing instruction unit 33a may transmit the first sensing instruction to the UAV 1 and may transmit the third sensing instruction to the outdoor sensor via the communication unit 31. The third sensing instruction is an instruction message for causing the outdoor sensor to perform the third sensing in the article delivery area. Further, for example, when an article delivery candidate is selected, the sensing instruction unit 33a transmits the second sensing instruction to the UGV 2 that performs article delivery via the communication unit 31. The second sensing instruction is an instruction message for causing the UGV 2 to execute the second sensing in the article delivery area. Note that the sensing instruction unit 33a may transmit the second sensing instruction to the UGV2 and may transmit the third sensing instruction to the outdoor sensor via the communication unit 31.

  For example, when an article delivery candidate is selected, the movement control instruction unit 33b transmits a movement control instruction to the UGV 2 that performs article delivery via the communication unit 31 together with the position information of the selected article delivery candidate. The movement control instruction is an instruction message for causing the UGV 2 to execute the movement control based on the position information of the article delivery candidate. When a plurality of article delivery candidates are selected, the movement control instruction includes an instruction to move the UGV 2 in the order of the article delivery candidates according to a predetermined criterion. As an example of the order of the article delivery candidates according to the predetermined criteria, the order of the article delivery candidates near the delivery destination of the article, the order of the article delivery candidates near the current position of the UGV2, and the density of the plurality of article delivery candidates And the like in accordance with the moving order. Also, for example, when the article delivery location is determined, the movement control instruction unit 33b transmits the movement control instruction together with the position information of the determined article delivery location to the UAV 1 that performs article delivery via the communication unit 31. . The movement control instruction is an instruction message for causing the UAV 1 to execute movement control based on the position information of the article delivery location (that is, to fly the UAV 1 to the article delivery location).

  The sensing information acquisition unit 33c acquires the first sensing information obtained by the first sensing performed by the UAV1 in response to the first sensing instruction, together with the UAV1's body ID, from the UAV1 at, for example, a predetermined time interval. In addition, the sensing information acquisition unit 33c acquires the second sensing information obtained by the second sensing performed by the UGV2 in response to the second sensing instruction, together with the UGV2 body ID, from the UGV2 at a predetermined time interval, for example. I do. Furthermore, the sensing information acquisition unit 33c may acquire third sensing information obtained by the third sensing performed by the outdoor sensor in response to the third sensing instruction from the outdoor sensor at, for example, a predetermined time interval. .

  The delivery candidate selection unit 33d selects one or a plurality of article delivery candidates based on the first sensing information acquired by the sensing information acquisition unit 33c. For example, the delivery candidate selecting unit 33d generates a plurality of pieces of mapping image data representing a situation (in other words, an amount observed by sensing) extracted from the first sensing information in a time-series manner. The mapping image data corresponds to the article delivery area, and each point (pixel) of the mapping image data is associated with a latitude and a latitude. Based on the generated mapping image data, the delivery candidate selection unit 33d searches for a space (in other words, a small area) in which an obstacle that is an obstacle to article delivery does not exist on the ground or in the sky. Then, the delivery candidate selection unit 33d selects the searched space or a point in the space as an article delivery candidate. As a result, safer article delivery candidates can be selected. Note that the delivery candidate selection unit 33d acquires the position information of the selected article delivery candidate.

  In addition, the delivery candidate selection unit 33d, based on the third sensing information acquired by the sensing information acquisition unit 33c, in addition to the first sensing information acquired by the sensing information acquisition unit 33c, transmits one or more article delivery candidates. Should be selected. In this case, the delivery candidate selecting unit 33d generates a plurality of pieces of mapping image data representing the situation extracted from the first sensing information and the situation extracted from the third sensing information in time series. Then, similarly to the above, the delivery candidate selection unit 33d searches for a space where the obstacle does not exist on the ground and the sky based on the generated mapping image data, and uses the searched space or a point in the space as an article delivery candidate. Select and acquire the position information of the selected article delivery candidate.

  The obstacle includes a person, an animal, a building, and other objects. The determination as to whether or not the obstacle is an obstacle is made, for example, by referring to data of an obstacle candidate registered in advance. A road on which a vehicle runs, a sidewalk on which a person walks, and the like may also be registered as obstacles. In addition, the transfer candidate selection unit 33d excludes buildings, roads, sidewalks, and the like from the search target by referring to the map data corresponding to the latitude and longitude with respect to the generated mapping image data. You may. Further, the delivery candidate selection unit 33d may search for a space that has at least an area where the UGV 2 can be stopped and that can stop the UGV 2 for a predetermined time (for example, a time until the completion of article delivery). As a result, safer article delivery candidates can be selected.

  Further, the delivery candidate selection unit 33d, based on the delivery history performed in the past, in addition to the first sensing information (or the first sensing information and the third sensing information) acquired by the sensing information acquisition unit 33c, An article delivery candidate may be selected. This makes it possible to select an optimum article delivery candidate based on past selection results. In this case, for example, the delivery candidate selection unit 33d refers to the history information stored in the storage unit 32 and excludes the article delivery candidates that have not been determined as the article delivery location from the previously selected article delivery candidates. (I.e., excluded from the search target) and selects an article delivery candidate. The article delivery candidates excluded at this time may be article delivery candidates whose frequency not determined as the article delivery location is equal to or higher than a threshold. Also, the history information referred to by the delivery candidate selection unit 33d indicates that the location of the article delivery within a predetermined time period (for example, 9:00 to 12:00) including the time (current time) at which the delivery candidate is selected. The determined history information may be used. This takes into account, for example, that situations such as traffic vary depending on the time zone.

  It is preferable that the first sensing information and the third sensing information used for selecting the article delivery candidate mainly include image information captured by a camera. For example, the first sensing information and the third sensing information include an infrared sensor, a laser sensor, and a heat sensor. If it is configured to include detection information detected by a microphone, an ultrasonic sensor, a LiDAR, or a human sensor, it is possible to particularly improve the detection accuracy of a person or an animal, and as a result, a more suitable article Delivery candidates can be selected. It is preferable that the third sensing information used for selecting an article delivery candidate mainly includes image information captured by a camera. For example, the third sensing information is configured to include detection information detected by a wind speed sensor. Then, the wind speed of a portion close to the ground (for example, a portion within several meters from the ground) can be set as a condition for selecting the article delivery candidate. Thereby, a space where the wind speed is equal to or higher than the threshold (for example, a space with a strong building wind) can be excluded from the search target, so that a more suitable article delivery candidate can be selected.

  The delivery place determination unit 33e determines one article delivery place based on the article delivery candidate selected by the delivery candidate selection unit 33d based on the second sensing information acquired by the sensing information acquisition unit 33c. 6 to 8 are conceptual diagrams illustrating examples 1 to 3 in which the article delivery location is determined based on the article delivery candidates. In the example of FIG. 6, one article delivery place De is determined from a plurality of article delivery candidates Cx. Note that a plurality of article delivery candidates Cx may partially overlap each other. On the other hand, in the example of FIG. 7, an article delivery location De of a narrower area (area) than the article delivery candidate Cx is determined from one article delivery candidate Cx. On the other hand, in the example of FIG. 8, an article delivery location De that is located αm away from one article delivery candidate Cx is determined.

  Here, a specific example of the method of determining the article delivery location will be described. For example, the transfer location determining unit 33e generates a plurality of mapping image data representing a situation extracted from the second sensing information in a time-series manner. Each point of the mapping image data is associated with a latitude and a latitude. Then, based on the generated mapping image data, as illustrated in FIG. 6, the delivery location determination unit 33e determines that the obstacle is on the ground and within a range equivalent to the article delivery candidate Cx from among the plurality of article delivery candidates Cx. Search for a space that does not exist in the sky. Alternatively, based on the generated mapping image data, the delivery location determining unit 33e searches for a space in which no obstacle exists on the ground or in the sky in a range narrower than one article delivery candidate Cx, as shown in FIG. Alternatively, as shown in FIG. 8, the delivery place determination unit 33e searches for a space in which no obstacle exists on the ground and in the sky within a range αm away from one article delivery candidate Cx, based on the generated mapping image data. I do. Then, as shown in FIGS. 6 to 8, the delivery place determining unit 33 e determines the searched space or a point in the space as the article delivery place De. Thereby, a safer article delivery place can be determined. Note that the delivery location determining unit 33e acquires the position information of the determined article delivery location De.

  In addition, the delivery location determining unit 33e determines the article delivery candidate Cx based on the third sensing information acquired by the sensing information acquisition unit 33c in addition to the second sensing information acquired by the sensing information acquisition unit 33c. It is good to determine one article delivery place De. In this case, the delivery place determining unit 33e generates a plurality of pieces of mapping image data representing the situation extracted from the second sensing information and the situation extracted from the third sensing information in time series. Then, based on the generated mapping image data, the delivery place determining unit 33e searches for a space where no obstacle exists on the ground and in the sky based on the article delivery candidate Cx as shown in FIGS. The determined space or a point in the space is determined as the article delivery location De, and the position information of the determined article delivery location De is acquired.

  In addition, the transfer place determining unit 33e includes the first sensing information acquired by the sensing information acquiring unit 33c in addition to the second sensing information (or the second sensing information and the third sensing information) acquired by the sensing information acquiring unit 33c. One article delivery location De may be determined based on the sensing information based on the article delivery candidate Cx. In this case, the delivery place determining unit 33e generates a plurality of pieces of mapping image data representing the situation extracted from the second sensing information and the situation extracted from the first sensing information in a time series. Then, based on the generated mapping image data, the delivery place determination unit 33e searches for a space where no obstacle exists on the ground and in the sky based on the article delivery candidate Cx as shown in FIGS. The searched space or a point in the space is determined as the article delivery location De, and the position information of the determined article delivery location De is acquired. Since the situation may change while the UGV 2 is moving, the delivery location determining unit 33e performs the first sensing again after the UGV 2 moves and uses the first sensing information. It may be configured so that the accuracy is improved by deciding the article delivery place.

  The transfer place determining unit 33e, like the transfer candidate selecting unit 33d, refers to the map data corresponding to the latitude and the longitude with respect to the generated mapping image data, so that the building, the road, the sidewalk, and the off-limits are restricted. A section or the like may be excluded from the search target. In addition, the delivery location determining unit 33e may search for a space that has at least an area where the UGV 2 can be stopped and that can stop the UGV 2 for a predetermined time (for example, a time until the completion of article delivery). Thereby, a safer article delivery place can be determined.

  Further, the transfer place determining unit 33e performs the past operation in addition to the second sensing information (or at least one of the first sensing information and the third sensing information) acquired by the sensing information acquiring unit 33c. The article delivery location may be determined based on the delivery history. In this case, for example, the delivery location determining unit 33e refers to the history information stored in the storage unit 32 and excludes the article delivery candidates not determined as the article delivery location from the previously selected article delivery candidates. To determine where the goods will be delivered. The article delivery candidates excluded at this time may be article delivery candidates whose frequency not determined as the article delivery location is equal to or higher than a threshold. Further, the history information referred to by the delivery location determining unit 33e indicates that the article delivery location is within a predetermined time zone (for example, 9:00 to 12:00) including the time (current time) at which the article delivery location is determined. The determined history information may be used.

  It is desirable that the second sensing information and the third sensing information (or the first sensing information) used for determining the article delivery location mainly include image information captured by a camera. If it is configured to include detection information detected by infrared sensors, laser sensors, heat sensors, microphones, ultrasonic sensors, LiDARs, or human sensors, it is possible to increase the detection accuracy of humans and animals in particular. As a result, a more suitable article delivery place can be determined. Further, it is desirable that the second sensing information and the third sensing information used for determining the article delivery location mainly include image information captured by a camera. For example, detection information detected by a wind speed sensor includes If included, the wind speed of a portion close to the ground (for example, a portion within a few meters from the ground) can be set as a condition for determining the article delivery location. Thereby, a space where the wind speed is equal to or higher than the threshold (for example, a space with a strong building wind) can be excluded from the search target, so that a more suitable article delivery location can be determined.

  The delivery instruction unit 33f performs an article delivery instruction via the communication unit 31 when the UAV1 and the UGV2 arrive at the article delivery location determined by the delivery location determination unit 33e and preparation for the article delivery is completed. Send to UAV1. The article delivery instruction is an instruction message for causing an article to be delivered between the UAV 1 and the UGV 2 at the determined article delivery location.

[ 2. Operation of article delivery system S ]
Next, an example of the operation of the article delivery system S according to the present embodiment will be described with reference to FIGS. FIG. 9 is a sequence diagram illustrating an example of the operation of the article delivery system S from when the UAV 1 approaches the article delivery area Ar to when the article delivery location is determined. FIG. 10 is a sequence diagram illustrating an example of the operation of the article delivery system S from when the article delivery location is determined to when the article is delivered. FIG. 11 is a conceptual diagram illustrating a situation in the article delivery area Ar. In the following operation example, it is assumed that after an article is delivered from UAV1 to UGV2, the article is delivered to a delivery destination by UGV2.

  In FIG. 9, when the UAV 1 approaches within, for example, several tens of meters of the article delivery area Ar, the UAV 1 transmits an approach notification to the server 3 (step S1). This approach notification is approach information indicating that the UAV 1 has approached the article transfer area Ar. The position information of the article transfer area Ar is indicated, for example, in the planned flight route in the flight plan information.

  Next, upon receiving the approach notification from the UAV 1, the server 3 selects an available UGV 2 from a plurality of UGVs 2 provided in a delivery machine yard near, for example, the article delivery area Ar (Step S2). As a result, the pair of UAV1 and UGV2 that deliver the goods is determined, and the machine ID of UAV1 and the machine ID of UGV2 are linked. Next, the server 3 transmits a movement control instruction to move the UGV 2 to the article delivery area Ar to the UGV 2 selected in Step S2 together with the position information of the article delivery area Ar (Step S3).

  Next, when receiving the movement control instruction from the server 3, the UGV 2 moves from the delivery machine yard to the article delivery area Ar according to the position information of the article delivery area Ar (Step S4). If the UGV 2 is already in the article delivery area Ar, the UGV 2 waits on the spot.

  Next, the server 3 transmits a first sensing instruction to the UAV 1 (Step S5). Further, the server 3 transmits the third sensing instruction to the outdoor sensor (Step S6). When a plurality of outdoor sensors are installed in the article transfer area Ar, the server 3 may transmit a third sensing instruction to each outdoor sensor.

  Next, upon receiving the first sensing instruction from the server 3, the UAV 1 starts the first sensing in the article delivery area Ar (Step S7). The first sensing is continued until, for example, the delivery of the article is completed. Note that the first sensing may be performed while moving over the article delivery area Ar, or may be performed while hovering. Next, the UAV 1 transmits the first sensing information obtained by the first sensing to the server 3 together with the machine ID of the UAV 1 (Step S8).

  On the other hand, when receiving the third sensing instruction from the server 3, the outdoor sensor starts the third sensing in the article delivery area Ar (Step S9). The third sensing is continued, for example, until the article delivery is completed. Next, the outdoor sensor transmits the third sensing information obtained by the third sensing to the server 3 (Step S10).

  Next, when the server 3 receives the first sensing information from the UAV 1 and receives the first sensing information from the outdoor sensor, for example, the first sensing information and the third sensing information in a predetermined time range are acquired. Based on the acquired first sensing information and third sensing information, as described above, an article delivery candidate is selected (step S11).

  FIG. 11 shows an example in which a plurality of article delivery candidates C1 to C17 are selected. In the example of FIG. 11, the buildings B1 to B3, the person H, the tree T, the road R, the bench B, the pond P, the off-limits section L, and the like are determined as obstacles, and the space where the obstacle exists (that is, the obstacle) (The location where the object is located and the area in the vicinity) are not selected as the candidate for goods delivery. In the example of FIG. 11, the area of the article delivery candidates C1 to C17 is uniform, but the area of the article delivery candidates C1 to C17 may be different.

  Next, the server 3 determines whether a plurality of article delivery candidates have been selected (Step S12). When it is determined that a plurality of article delivery candidates are not selected (step S12: NO), the server 3 moves the UGV 2 to the article delivery candidates together with the position information of the article delivery candidates selected in step S11, and A second sensing instruction is transmitted to UGV2 (step S13).

  On the other hand, when it is determined that a plurality of article delivery candidates have been selected (step S12: YES), the server 3 determines a moving order of the article delivery candidates according to a predetermined criterion (step S14). Then, the server 3 moves the UGV 2 to the article delivery candidate in the movement order determined in step S14 together with the position information of each of the plurality of article delivery candidates selected in step S11, and the second sensing instruction. Is transmitted to UGV2 (step S15).

  Next, upon receiving the movement control instruction and the second sensing instruction from the server 3, the UGV 2 moves to the article delivery candidate selected in step S11 in accordance with the position information of the article delivery candidate, and in the article delivery area Ar. The second sensing is started (Step S16). That is, the periphery (including the sky) of the UGV 2 is sensed. The second sensing is continued, for example, until the article delivery is completed. Next, the UGV 2 transmits the second sensing information obtained by the second sensing to the server 3 together with the device ID of the UGV 2 (Step S17).

  In the case where the movement order is indicated in the received movement control instruction, the UGV 2 performs the second sensing while moving the article delivery candidates in the movement order. Thereby, it is possible to more efficiently determine the article delivery location. For example, in FIG. 11, when the delivery destination of the article is in the building B1 and the determined moving order is the order of the article delivery candidates near the delivery destination, the UGV2 performs the order of the article delivery candidates near the delivery destination of the article. Moving. In this case, the UGV 2 first moves to the article delivery candidate C1 or C2 in FIG. This makes it possible to deliver the article to the delivery destination more quickly. Also, when the determined moving order is the order of the article delivery candidates near the current position of the UGV 2, the UGV 2 moves in the order of the article delivery candidates near its own current position. In this case, the UGV 2 first moves to the article delivery candidate C12 in FIG. As a result, it is possible to more quickly determine the article delivery location.

  If the determined moving order is a moving order according to the density of the article delivery candidates, the UGV 2 moves in a moving order according to the density of the article passing candidates. Here, the moving order according to the density means that, for example, an area having a higher density is prioritized. For example, in FIG. 11, the area including the article delivery candidates C6 to C17 has a higher density than the area including the article delivery candidates C1 and C2 and the area including the article delivery candidates C3 to C5. Therefore, in this case, the UGV 2 first moves to the area including the article delivery candidates C6 to C17. Therefore, it is possible to determine an article delivery location that is estimated to be more secure.

  Next, when the server 3 receives the second sensing information from the UGV 2 and obtains, for example, the second sensing information in a predetermined time range, the server 3 transfers the article based on the obtained second sensing information as described above. The location is determined (step S18). In addition, the server 3 may acquire the third sensing information from the outdoor sensor, and may determine the article delivery location based on the acquired second sensing information and the third sensing information.

  Next, in FIG. 10, the server 3 transmits to the UAV 1 a movement control instruction to move the UAV 1 to the article delivery location together with the location information of the article delivery location determined in step S18 (step S19). Further, the server 3 transmits to the UGV 2 a movement control instruction for moving the UGV 2 to the article delivery location together with the position information of the article delivery location determined in step S18 (step S20).

  Next, upon receiving the movement control instruction from the server 3, the UAV 1 moves to the article delivery location according to the location information of the article delivery location (step S21). Next, when the UAV 1 arrives above the article delivery location, it transmits an arrival notification to the server 3 (step S22). This arrival notification is arrival information indicating that the vehicle has arrived at the article delivery location.

  On the other hand, upon receiving the movement control instruction from the server 3, the UGV 2 moves to the article delivery location according to the location information of the article delivery location (step S23). If the UGV2 is already at the goods delivery location, the UGV2 stays there. Then, when the UGV 2 arrives at the article delivery location, it sends an arrival notification to the server 3 (step S24).

  Next, upon receiving the arrival notification from the UAV1 and the UGV2, the server 3 transmits an article delivery preparation instruction to the UAV1 (step S25) and transmits an article delivery preparation instruction to the UGV2 (step S26).

  Next, upon receiving the article delivery preparation instruction from the server 3, the UAV 1 performs article delivery preparation (step S27). For example, in preparation for article delivery, UAV1 makes a landing on UGV2. Then, the UAV 1 determines whether or not the preparation for delivering the article is completed (Step S28). For example, when the landing on the UGV 2 is completed, it is determined that the preparation for delivering the goods is completed.

  On the other hand, upon receiving the article delivery preparation instruction from the server 3, the UGV 2 performs article delivery preparation (step S29). For example, in the article delivery preparation, the UGV 2 opens the article carry-in port provided at the upper part of the UGV 2 and sets the UGV 2 to a state in which articles can be received from the UAV 1. Then, the UGV 2 determines whether or not the preparation for delivering the article has been completed (Step S30). For example, when it is set to a state where articles can be received and the surrounding safety is confirmed, it is determined that the article delivery preparation is completed.

  If the UGV 2 detects the approach of the moving object (for example, a person) to the article delivery location (that is, is detected by the second sensing) until the article delivery preparation is completed (Step S31: YES), An alarm sound is output from the speaker (step S32). Next, when the UGV 2 detects that the moving object whose approach has been detected has entered the dangerous area (for example, within a predetermined distance from the article delivery location) (step S33: YES), the UGV 2 outputs a departure instruction voice to the moving object. Is output from the speaker (step S34), and an intrusion notification is transmitted to the server 3 (step S35). This intrusion notification is intrusion information indicating that the moving object has entered the dangerous area.

  Next, upon receiving the intrusion notification from the UGV 2, the server 3 transmits a temporary stop instruction to the UAV 1 (Step S36). When the UAV 1 receives the temporary stop instruction from the server 3 until the article delivery preparation is completed, the UAV 1 temporarily stops landing on the UGV 2 (Step S37). At this time, the UAV 1 may hover on the spot or move to a safe altitude.

  Next, when determining that the moving object has left the dangerous area (step S38: YES), the UGV 2 transmits a leaving notification to the server 3 (step S39). The leaving notification is leaving information indicating that the moving object has left the dangerous area. Next, upon receiving the departure notification from the UGV2, the server 3 transmits a temporary stop release instruction to the UAV1 (Step S40). Next, upon receiving the temporary stop release instruction from the server 3, the UAV 1 resumes landing on the UGV 2 (step S41).

  When determining that the article delivery preparation is completed (step S28: YES), the UAV 1 transmits a preparation completion notification to the server 3 (step S42). This preparation completion notification is preparation completion information indicating that the article delivery preparation has been completed. On the other hand, if the UGV 2 determines that the article delivery preparation has been completed (step S30: YES), the UGV 2 transmits a preparation completion notification to the server 3 (step S43).

  Next, upon receiving the preparation completion notification from the UAV1 and the UGV2, the server 3 transmits an article delivery instruction to the UAV1 (step S44) and transmits an article delivery instruction to the UGV2 (step S45). In addition, the server 3 may transmit the delivery destination information of the articles carried by the UAV 1 to the UGV 2 together with the article delivery instruction. Alternatively, the UGV 2 may acquire the delivery destination information from the UAV 1 that has landed or the article mounted on the UAV 1. For example, a two-dimensional code (for example, a QR code (registered trademark)) including the delivery destination information of the article may be displayed below the UAV 1 or the article, or an IC tag for storing the delivery destination information of the article may be attached. It may be attached.

  Next, upon receiving the article delivery instruction from the server 3, the UAV 1 provides the article to the UGV 2 by separating the article held by the article holding mechanism (step S46). On the other hand, the UGV 2 receives the article provided by the UAV 1 from the article entrance (step S47). Thus, the article delivery is completed between the UAV 1 and the UGV 2 at the article delivery location.

  FIG. 12 is a diagram illustrating a state in which the UAV 1 is landing on the UGV 2 at the article delivery location. In the upper part of the UGV 2 shown in FIG. 12, three article entrances Op1 to Op3 are provided, and articles can be carried in from the respective article entrances Op1 to Op3. In the example of FIG. 12, after the article carrying port Op1 of the UGV2 is opened, the articles held in the UAV1 are cut off, so that the articles are carried in and held from the article carrying port Op1.

  Next, when the article delivery is completed, the UAV 1 returns to, for example, the starting point (Step S48). On the other hand, when the delivery of the goods is completed, the UGV 2 autonomously moves on the ground based on the delivery destination information of the goods and delivers the goods to the delivery destination (step S49). Thus, the goods transported by UAV1 are delivered to the destination by UGV2. The delivery destination may be the residence of the recipient of the article or the entrance of the office, or a delivery box (for temporarily storing the article) installed at a place away from the residence of the recipient or the entrance of the office. Storage box). Alternatively, the delivery destination may be the recipient of the item itself.

  As described above, according to the above embodiment, the article delivery system S selects an article delivery candidate based on the first sensing information obtained by the first sensing performed during the flight by the UAV 1, and selects the article delivery candidate. The UGV 2 executes the movement control of the UGV 2 based on the position information of the article delivery candidate, and determines the article delivery location based on the selected article delivery candidate based on the second sensing information obtained by the second sensing performed by the UGV 2. Since it is configured to determine, even if there is no dedicated delivery facility, it is possible to secure a delivery place where goods can be safely delivered between UAV1 and UGV2, and UAV1 and UGV2. Can be performed at a safer product delivery location. Further, the cost for setting up a dedicated delivery facility can be reduced.

  Note that, in the above operation example, an example in which an article is delivered from UAV1 to UGV2 has been described, but an article may be delivered from UGV2 to UAV1. Also in this case, the operations of steps S1 to S45 in the above operation example are performed similarly. However, the UGV 2 sets the article to be conveyed by opening an article carry-in port (article carry-out port) provided at the upper part of the UGV 2 in the article delivery preparation in the above step S29. Then, the UGV 2 slides the holding table (mounting table) for holding the article upward to cause the article to protrude from the article outlet. Thereby, the article is provided. On the other hand, the UAV 1 holds the article provided on the holding table of the UGV 2 by, for example, an article holding hook. Thus, the article delivery is completed between the UAV 1 and the UGV 2 at the article delivery location. Thereafter, the UAV 1 delivers the item to the destination by autonomously flying based on the destination information of the item. On the other hand, the UGV 2 returns to, for example, a delivery machine yard.

  Further, in the above operation example, an example is shown in which the article delivery is performed by the UAV 1 landing on the UGV 2, but the article delivery may be performed by a delivery method using a reel mounted on the UAV 1, for example. When an article is delivered from the UAV1 to the UGV2, the UAV1 is held by the article holding hook at the tip of the wire by extending the wire of the reel in the direction of the UGV2 while hovering over the UGV2. Lower the article vertically. Then, UAV1 separates the article when the article reaches UGV2 (preparation for article delivery is completed). As a result, the article is carried in from the article entrance of the UGV2. On the other hand, when an article is delivered from the UGV2 to the UAV1, the UAV1 stretches the wire of the reel in the direction of the UGV2 while hovering over the UGV2, thereby vertically moving the article holding hook at the end of the wire. To descend. Then, when the article holding hook reaches the UGV 2 (the article delivery preparation is completed), the UAV 1 holds the article provided on the holding table of the UGV 2 by the article holding hook, and then winds the reel wire. take. As described above, even in the case where the article delivery is performed by the delivery method using the reel, the article delivery location where there is no obstacle that contacts the wire of the reel above the UGV 2 is determined at least through the second sensing. As a result, safe article delivery can be performed.

  Further, in the above operation example, an example has been described in which the process of selecting the article delivery candidate and the process of determining the article delivery location are executed by the server 3, but these processes are configured to be executed by the UAV1 or the UGV2. Is also good. In such a configuration, UAV1 and UGV2 exchange various information by wireless communication. Further, the process of selecting an article delivery candidate and the process of determining an article delivery location are respectively executed by separate devices (for example, the process of selecting an article delivery candidate is executed by the UAV1, and the process of determining the article delivery location is performed by the UGV2). May be executed).

  Further, the above embodiment is applied to a “method of determining an article delivery location” executed by an article delivery system (in other words, one or more computers included in the system S) according to an embodiment of the present invention. Although the above description has been made, the present invention is also applicable to a method of determining a landing place for the UAV 1 to land on the UGV 2. This method of determining a landing place is executed by a landing system (in other words, one or more computers included in the system S), and is determined by the first sensing performed by the UAV 1 during the flight. The UGV2 performs a selection step of selecting a landing site candidate for the UAV1 to land on the UGV2 based on the sensing information, a control step of performing movement control of the UGV2 based on the information of the selected candidate, and the UGV2. And determining a landing location based on the selected candidate based on the second sensing information obtained by the second sensing. According to such a configuration, even if there is no dedicated landing facility, it is possible to secure a landing place where the UAV 1 can safely land on the UGV 2 and to establish a dedicated landing facility. Costs can be reduced. Thus, for example, the UGV 2 has a large capacity battery and safely supplies power to the UAV 1 that has landed on the UGV 2 (when landing, the connector may be connected and power may be supplied, or non-contact power may be supplied. )be able to. Note that, in such a method for determining a landing place, “article delivery” and “delivery” described in the above embodiment are replaced with “landing” (for example, “article delivery candidate” is replaced with “landing candidate” The “article delivery location” is set to “landing place”, “obstacles that obstruct goods delivery” is set to “obstacles that obstruct landing”, and “past delivery history” is set to “past landings” Each of the processes performed in the above-described embodiment is applied by reading each of the “history”.

(Note)
In the determining step, the space where the UGV 2 can stop for a predetermined time or more may be searched based on the landing candidate, and the searched space or a point in the space may be determined as the landing place. In the determining step, a search is made for a space in which an obstacle to landing does not exist on the ground or in the sky with reference to the landing candidate, and the searched space or a point in the space is determined as the landing location. You may. In the determining step, the landing location may be determined based on the second sensing information obtained by the second sensing while the UGV 2 is moving according to the movement control of the UGV 2. In the determining step, based on the third sensing information obtained by the third sensing performed by the sensor installed on the ground, in addition to the second sensing information obtained by the second sensing, The landing location may be determined. In the determining step, the landing location may be determined based on a past landing history in addition to the second sensing information obtained by the second sensing.

  Further, in the selection step, the UGV 2 may search for a space that can be stopped for a predetermined time or more, and select the searched space or a point in the space as the landing candidate. Further, in the selecting step, a space where an obstacle to the landing does not exist on the ground or in the sky may be searched, and the searched space or a point in the space may be selected as the landing candidate. In the selection step, based on third sensing information obtained by third sensing performed by a sensor installed on the ground, in addition to the first sensing information obtained by the first sensing, Landing candidates may be selected. In the selection step, the landing candidate may be selected based on a past landing history in addition to the first sensing information obtained by the first sensing. In the selection step, a plurality of the landing candidates are selected based on the first sensing information obtained by the first sensing, and in the control step, the landing candidates according to a predetermined criterion are selected. UGV2 may be moved in this order. As an example of the order of the landing candidates according to a predetermined criterion, the order of the landing candidates near the delivery destination of the article, the order of the landing candidates near the current position of the UGV2, and the density of the plurality of landing candidates In the order of movement according to. When the approach of the moving object to the landing place is detected, an alarm may be output.

  Note that the above embodiment is an embodiment of the present invention, and the present invention is not limited to the above embodiment, and various configurations and the like are changed from the above embodiment without departing from the gist of the present invention. And such cases are also included in the technical scope of the present invention.

1 UAV
2 UGV
3 server 11, 21 drive unit 12, 22 positioning unit 13, 23 wireless communication unit 14, 24 imaging unit 15, 25 control unit 31 communication unit 32 storage unit 33 information processing unit 33a sensing instruction unit 33b movement control instruction unit 33c sensing information Acquisition unit 33d Delivery candidate selection unit 33e Delivery place determination unit 33f Delivery instruction unit S Article delivery system

Claims (25)

A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate for an article delivery place performed between the unmanned aerial vehicle and the unmanned ground aircraft,
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
Based on the candidates, the unmanned ground machine searches for a space that can be stopped for a predetermined time or more, a determining step of determining the searched space or a point in the space as the article delivery location,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate for an article delivery place performed between the unmanned aerial vehicle and the unmanned ground aircraft,
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
Based on the candidate, a step of searching for a space in which the obstacle that is an obstacle to the article delivery does not exist above the ground and in the sky, and determining a point in the searched space or space as the article delivery location,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate for an article delivery place performed between the unmanned aerial vehicle and the unmanned ground aircraft,
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
A determination step of determining the article delivery location based on the candidate based on the delivery history performed in the past,
A control method comprising: The method according to any one of claims 1 to 3, further comprising the step of flying the unmanned aircraft to the determined article transfer location. The control method according to any one of claims 1 to 4 , further comprising the step of performing article delivery between the unmanned aerial vehicle and the unmanned ground plane at the determined article delivery location. The control method according to any one of claims 1 to 5 , further comprising a step of outputting a warning when the approach of the moving object to the determined article delivery location is detected. A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate for an article delivery place performed between the unmanned aerial vehicle and the unmanned ground aircraft based on information obtained by a third sensing performed by a sensor installed on the ground;
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate of an article delivery place performed between the unmanned aerial vehicle and the unmanned ground plane based on the delivery history performed in the past,
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a plurality of candidates for an article delivery place performed between the unmanned aerial vehicle and the unmanned ground aircraft,
Based on the information of the candidate, a control step of moving the unmanned ground machine in the order of the candidate according to a predetermined criterion,
A control method comprising: The control method according to claim 9 , wherein, in the control step, the unmanned ground plane is moved in an order of the candidates closer to a delivery destination of the article. The control method according to claim 9 , wherein, in the control step, the unmanned ground plane is moved in the order of the candidates near the current position of the unmanned ground plane. The control method according to claim 9 , wherein, in the control step, the unmanned ground plane is moved in a moving order according to a density of the plurality of candidates. The control according to any one of claims 1 to 12 , wherein, in the selecting step, the candidate is selected based on information obtained by first sensing performed while the unmanned aerial vehicle is flying. Method. In the selection step, one of the unmanned ground machine searching stoppable space more than a predetermined time, according to claim 1 to 13, wherein the selecting the location of the searched space or space as the candidate The control method according to claim 1. The method according to claim 1, wherein in the selecting step, a space in which an obstacle to the article delivery does not exist on the ground or in the sky is searched, and the searched space or a point in the space is selected as the candidate. 14. The control method according to any one of claims 13 to 13 . A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate landing site for an unmanned aerial vehicle to land on the unmanned ground plane,
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
Based on the candidates, a search step in which the unmanned ground machine searches for a space that can be stopped for a predetermined time or more, and a determined space or a point in the space is determined as the landing place,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate landing site for an unmanned aerial vehicle to land on the unmanned ground plane,
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
Based on the candidates, a step of searching for a space where the obstacle that hinders the landing does not exist on the ground and in the sky, and determining a point in the searched space or space as the landing location,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate landing site for an unmanned aerial vehicle to land on the unmanned ground plane,
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
A determining step of determining the landing place based on the candidate based on the landing history performed in the past,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate landing site for an unmanned aerial vehicle to land on the unmanned ground aircraft based on information obtained by third sensing performed by a sensor installed on the ground;
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a candidate landing site for an unmanned aerial vehicle to land on the unmanned ground plane based on a past landing history;
A control step of executing movement control of the unmanned ground plane based on the information of the candidate,
A control method comprising: A control method executed by a system including a control unit that controls an unmanned ground machine,
A selection step of selecting a plurality of candidate landing sites for an unmanned aerial vehicle to land on the unmanned ground aircraft,
Based on the information of the candidate, a control step of moving the unmanned ground machine in the order of the candidate according to a predetermined criterion,
A control method comprising: An article delivery system including an unmanned aircraft and an unmanned ground plane,
A selection unit that selects a candidate for an article delivery place performed between the unmanned aerial vehicle and the unmanned ground plane,
Based on the information of the candidate, a movement control unit that performs movement control of the unmanned ground plane,
Based on the candidates, the unmanned ground machine searches for a space that can be stopped for a predetermined time or more, and a determining unit that determines the searched space or a point in the space as the article delivery location,
An article delivery system comprising: A landing system including an unmanned aircraft and an unmanned ground plane,
A selection unit that selects a candidate for a landing place for the unmanned aerial vehicle to land on the unmanned ground aircraft,
Based on the information of the candidate, a control unit that performs movement control of the unmanned ground plane,
Based on the candidates, the unmanned ground machine searches for a space that can be stopped for a predetermined time or more, a determination unit that determines a searched space or a point in the space as the landing place,
A landing system comprising: A selection unit for selecting a candidate of a place for delivering goods between the unmanned aircraft and the unmanned ground plane;
Based on the information of the candidate, a movement control unit that performs movement control of the unmanned ground plane,
Based on the candidates, the unmanned ground machine searches for a space that can be stopped for a predetermined time or more, and a determining unit that determines the searched space or a point in the space as the article delivery location,
An information processing apparatus comprising: A selection unit for selecting a candidate landing site for an unmanned aircraft to land on an unmanned ground aircraft,
Based on the information of the candidate, a control unit that performs movement control of the unmanned ground plane,
Based on the candidates, the unmanned ground machine searches for a space that can be stopped for a predetermined time or more, a determination unit that determines a searched space or a point in the space as the landing place,
An information processing apparatus comprising: