JP7280174B2 - Control method and goods delivery system - Google Patents

Description

The present invention relates to fields such as systems capable of delivering goods between an unmanned aerial vehicle and an unmanned ground aircraft.

In recent years, an unmanned delivery system using an unmanned aircraft or an unmanned ground plane has been studied (for example, Patent Document 1). Unmanned aerial vehicles can fly without being affected by road conditions on the ground, but the places where they can land are limited. Therefore, it is often difficult to transport the goods to the final delivery destination (for example, each household) or to receive the goods to be transported from the consignor. On the other hand, unmanned ground planes are easily affected by road conditions on the ground, but they are capable of transporting goods closer to the delivery destination or consignor.

Japanese Patent Application Publication No. 2018-514478

In view of the above circumstances, in the future unmanned delivery systems, etc., the unmanned aerial vehicle and the unmanned ground aircraft will each move to a predetermined delivery location, and deliver the goods from the unmanned aerial vehicle to the unmanned ground aircraft at the delivery location. Alternatively, it is conceivable to deliver an article from an unmanned ground plane to an unmanned aerial vehicle. However, when delivering goods between an unmanned aerial vehicle and an unmanned ground plane (hereinafter referred to as "delivery of goods"), it may be difficult to deliver goods depending on the surrounding environment, such as when there are people nearby. be. Also, when an unmanned aerial vehicle lands on an unmanned ground plane to deliver goods or supply power from the unmanned ground plane to the unmanned aerial vehicle, depending on the surrounding environment as described above, the unmanned aerial vehicle may land on the unmanned ground plane. can be difficult to do. It is also possible to consider preparing a dedicated delivery facility for goods delivery (for example, land with a fence to prevent people from entering) and a dedicated landing facility for unmanned aerial vehicles to land on unmanned ground aircraft. be done. However, if such a dedicated facility does not exist near the unmanned ground plane, it becomes difficult to transfer goods between the unmanned ground plane and the unmanned ground plane, or to land the unmanned ground plane on the unmanned ground plane.

Therefore, the present invention provides a control method and an article transfer system that enable article transfer between an unmanned aircraft and an unmanned ground plane even if there is no dedicated transfer facility. The challenge is to

In order to solve the above problems, the invention according to claim 1 is a control method executed by a system including a control unit for controlling an unmanned ground plane, the control method being executed between the unmanned ground plane and the unmanned ground plane. a selection step of selecting a candidate for an article delivery location to be determined; a control step of executing movement control of the unmanned ground aircraft based on information on the candidate; a step of transmitting a preparation completion notification to a server when the aircraft determines that preparations for delivery of the goods are completed; sending a notification to the server; and sending an article delivery instruction to each of the unmanned aerial vehicle and the unmanned ground vehicle when the server receives the ready notification from each of the unmanned aerial vehicle and the unmanned ground vehicle. and said unmanned aerial vehicle and said unmanned ground vehicle perform delivery of an article between said unmanned aerial vehicle and said unmanned ground plane in accordance with said article delivery instruction from said server. and a delivery step performed using a linear member of a hoist mounted on the unmanned aerial vehicle while flying over the ground aircraft.

The invention according to claim 2 is the control method according to claim 1, wherein in the delivery step, the linear member is moved to the unmanned aircraft while the unmanned aircraft is flying over the unmanned ground aircraft. An article held at the tip of the linear member is lowered by extending it in the direction of the ground plane, and then the article is separated .

The invention according to claim 3 is the control method according to claim 1 , wherein in the delivery step, the linear member is moved to the unmanned ground plane while the unmanned aircraft is flying over the unmanned ground plane. The article holding member at the tip of the linear member is lowered by extending it in the direction of the ground plane, and after the article is held by the article holding member, the linear member is wound up by the hoist. and

The invention according to claim 4 is the control method according to any one of claims 1 to 3 , wherein in the delivery step, the unmanned ground plane stops at the article delivery location determined based on the candidate. It is characterized in that the article is delivered in a state where the article is held .

The invention according to claim 5 is an article delivery system including an unmanned aerial vehicle and an unmanned ground plane, comprising: and a control unit that executes movement control of the unmanned ground aircraft based on the candidate information, and the unmanned aerial vehicle determines that the unmanned aerial vehicle is ready to deliver the article at the article delivery location determined based on the candidate. a first transmission unit that transmits a notification of completion of preparation to the server when the unmanned ground plane determines that preparations for delivery of the article have been completed at the article delivery location; a second transmission section that transmits a notification of completion of preparation to the server if a transmission unit, and a third transmission unit configured to transmit an article delivery instruction to each of the unmanned aerial vehicle and the unmanned ground vehicle when the server receives the preparation completion notification from each of the unmanned aerial vehicle and the unmanned ground vehicle. , the unmanned aerial vehicle and the unmanned ground plane perform delivery of the article between the unmanned aerial vehicle and the unmanned ground plane in accordance with the article delivery instruction from the server; and a delivery unit that uses a linear member of a hoist mounted on the unmanned aerial vehicle while flying in the sky.

According to the present invention, it is possible to transfer articles between an unmanned aircraft and an unmanned ground plane even if there is no dedicated transfer facility .

1 is a diagram showing a schematic configuration example of an article delivery system S; FIG. It is a figure which shows the schematic structural example of UAV1. FIG. 10 is a diagram showing an example of a schematic configuration of UGV2; 3 is a diagram showing an example of a schematic configuration of a server 3; FIG. 3 is a diagram showing an example of functional blocks in an information processing unit 33; FIG. FIG. 10 is a conceptual diagram showing Example 1 in which an item delivery location is determined based on item delivery candidates; FIG. 11 is a conceptual diagram showing Example 2 in which an item delivery location is determined based on item delivery candidates; FIG. 11 is a conceptual diagram showing Example 3 in which an item delivery location is determined based on item delivery candidates; FIG. 10 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; FIG. 10 is a sequence diagram showing an example of the operation of the article delivery system S from determination of an article delivery location to delivery of the article; FIG. 4 is a conceptual diagram showing the situation in the article delivery area Ar; FIG. 10 is a diagram showing a state in which UAV 1 lands on UGV 2 at an article delivery location;

An article delivery system according to an embodiment of the present invention and an article delivery place determination method executed by the article delivery system will be described below with reference to the drawings.

[ 1. Configuration of Goods Delivery System S and Outline of Method for Determining Goods Delivery Location ]
First, with reference to FIG. 1, an overview of the configuration of an article delivery system S according to the present embodiment and a method for determining an article delivery location will be described. FIG. 1 is a diagram showing a schematic configuration example of an article delivery system S. As shown in FIG. As shown in FIG. 1, the goods delivery system S includes an unmanned aerial vehicle (hereinafter referred to as "UAV (Unmanned Aerial Vehicle)") that flies in the atmosphere (air) 1, an unmanned ground aircraft that moves on the ground (hereinafter referred to as " UGV (Unmanned Ground Vehicle) 2, and a server 3 that supports delivery of goods. UAV 1 and UGV 2 are each capable of communicating with server 3 via communication network NW. Here, "moving on the ground" means moving while at least part of the UGV2 body is in contact with the ground (however, it also includes cases where it momentarily leaves the ground and floats in the air). The communication network NW is composed of, for example, a mobile communication network and its radio base stations. Wireless communication is performed between the radio base station and the UAV1 and between the radio base station and the UGV2.

Note that the UAV 1 shown in FIG. 1 is also called a drone or a multicopter. Although the UGV 2 shown in FIG. 1 depicts an unmanned ground vehicle with multiple wheels, the UGV 2 may also be a robot without wheels (eg, a bipedal robot). The server 3 is an example of an information processing device. In the example of FIG. 1, the server 3 is assumed to be fixedly installed independently of the UAV 1 and UGV 2, but all or part of the functions of the server 3 can It may be provided on one side. In this case, all or part of the processing performed by the server 3 (each step in the method for determining the item delivery location) is performed by either or both of the UAV 1 and the UGV 2 .

In the article delivery system S, UAV1 and UGV2 each move to an article delivery location, and the article is delivered from UAV1 to UGV2 at the article delivery location, or from UGV2 to UAV1. Goods delivered in this manner are, for example, cargo delivered by UAV1 and UGV2. For example, the UGV 2 delivers the item to the delivery destination by autonomously moving on the ground based on the delivery destination information of the item received from the UAV 1 at the item delivery location. Alternatively, the UAV 1 delivers the item to the delivery destination by flying autonomously in the atmosphere based on the delivery destination information of the item received from the UGV 2 at the item delivery location. Also, the UAV 1 may transport an article received from the UGV 2 at an article delivery location to another article delivery location. In this case, the goods are delivered from the UAV 1 to the other UGV 2 at the other goods delivery place, and the goods are 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, etc.).

The method for determining an item delivery location performed by the item delivery system S includes a selection step, a control step, and a determination step. In the selection step, based on the information obtained by the first sensing performed by UAV 1 during flight (hereinafter referred to as "first sensing information"), the location of the article delivery performed between UAV 1 and UGV 2 Candidates (hereinafter referred to as "item delivery candidates") are selected. Here, the first sensing means observing (observing) the situation in the atmosphere and the ground (including objects that are in contact with the ground, the same applies hereinafter) in the direction of the ground from the viewpoint of the UAV 1 . According to the first sensing, blind spots of the UAV 1 are likely to occur and it may be difficult to observe the ground conditions in detail, but it is possible to observe the ground conditions in a bird's-eye view from the sky. Therefore, the first sensing is suitable for selecting candidates for delivery of goods.

In the control step, movement control of the UGV 2 is executed based on the information (for example, position information) of the selected item delivery candidate. Then, in the determination step, based on the information obtained by the second sensing performed by the UGV 2 (hereinafter referred to as "second sensing information"), the item delivery location is determined based on the selected item delivery candidate. be done. Here, the second sensing refers to observing the conditions of the atmosphere and the ground in all directions (excluding the downward direction of the UGV 2) or in the traveling direction with the UGV 2 as a viewpoint. According to the second sensing, it is possible to observe the situation around the UGV2 itself in detail (it is easy to observe the situation on the ground regardless of the blind spot of the UAV1), and it is possible to perform sensing while the UGV2 is moving. . Therefore, the second sensing is suitable for determining the final item delivery location.

In the above selection step, in addition to the first sensing information, a sensor such as a camera installed on the ground and connected to the communication network NW (hereinafter referred to as an "outdoor sensor") performs third sensing. An article delivery candidate may be selected based on the information obtained (hereinafter referred to as "third sensing information"). Similarly, in the determination step, the location of delivery of the article 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 observing conditions in the atmosphere and on the ground in all directions, for example, using an outdoor sensor as a viewpoint. Although the sensing range of the outdoor sensor is limited, it has the advantage of being easier to observe the ground conditions than the first sensing, and also covers the range that cannot be observed by the second sensing (such as UGV2's blind spots). There is also the advantage of being able to Therefore, it is possible to improve the accuracy of sensing by utilizing the third sensing information in both the selection of candidates for delivery of goods and the determination of the final place of delivery of goods. As a result, a more suitable article delivery candidate can be selected, and a more suitable article delivery place can be determined.

However, since the outdoor camera is usually fixedly installed on the ground, it is likely to have blind spots. It is more desirable to use The outdoor sensor may be an infrared sensor, a laser sensor, a heat sensor, a microphone, an ultrasonic sensor, a LiDAR (Light Detection and Ranging), a human sensor, or a wind speed sensor other than the camera. Furthermore, in the determining step, the first sensing information as well as the second sensing information may be used to determine the article delivery location. As a result, it is possible to observe the situation of the item delivery candidate from both the sky side and the ground side, so that it is possible to improve the sensing accuracy, and as a result, it is possible to determine a more suitable item delivery place.

[ 1-1. Configuration and function overview of UAV1 ]
Next, the configuration and functional overview of the UAV 1 will be described with reference to FIG. FIG. 2 is a diagram showing a schematic configuration example of the UAV1. As shown in FIG. 2, the UAV 1 includes a driving section 11, a positioning section 12, a wireless communication section 13, an imaging section 14, a control section 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 electric power to each part of the UAV 1, and the like. Various sensors used for flight control of the UAV 1 include an atmospheric pressure sensor, a three-axis acceleration sensor, a geomagnetic sensor, and the like. Detection information detected by various sensors is output to the control unit 15 .

The drive unit 11 includes a motor, a rotating shaft, and the like. The drive unit 11 rotates a plurality of rotors using a motor, a rotating shaft, and the like that are driven according to control signals output from the control unit 15 . The positioning unit 12 includes a radio wave receiver, an altitude sensor, and the like. The positioning unit 12 receives, for example, radio waves transmitted from satellites of a GNSS (Global Navigation Satellite System) using a radio wave receiver, and detects the current horizontal position (latitude and longitude) of the UAV 1 based on the radio waves. The current position of UAV1 is the flight position of UAV1 during flight. Note that the current position of the UAV 1 in the horizontal direction may be corrected based on the image captured by the imaging unit 14 or the radio waves transmitted from the wireless base station. Furthermore, the positioning unit 12 may detect the current position (altitude) of the UAV 1 in the vertical direction using an 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 is responsible for controlling communication performed via the communication network NW. The imaging unit 14 includes a camera and the like. The camera is used not only for flight control of UAV1 but also for the first sensing as a sensor. The image capturing unit 14 continuously captures images of the real space 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 sensor (sensor device) among an infrared sensor, a laser sensor, a heat sensor, a microphone, an ultrasonic sensor, a LiDAR, a human sensor, a wind speed sensor, etc. may be provided for.

The control unit 15 includes a CPU (Central Processing Unit) which is a processor, a ROM (Read Only Memory), a RAM (Random Access Memory), a nonvolatile memory, and the like. The control unit 15 performs first sensing using the camera of the imaging unit 14 or the like while the UAV 1 is in flight, according to a sensing program (program code group) stored in, for example, a ROM or nonvolatile memory. The control unit 15 transmits the first sensing information obtained by the first sensing together with the body ID (identification information) of the UAV 1 to the server 3 via the wireless communication unit 13 at predetermined time intervals. The first sensing information transmitted at this time may be raw data output from the sensor used for the first sensing, or analysis processing executed 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, the first sensing information is image information or information indicating the result of analysis processing executed based on the image information (for example, detected obstacle location information) is sent. Analysis processing 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 flight of the UAV 1 , the control unit 15 may periodically transmit the position information of the UAV 1 to the server 3 via the wireless communication unit 23 together with the body ID of the UAV 1 .

Also, the control unit 15 executes various controls of the UAV 1 according to a control program stored in, for example, ROM or nonvolatile memory. Various controls include takeoff control, flight control, landing control, and item delivery control. In flight control and landing control, positional information obtained from the positioning unit 12, image information obtained from the imaging unit 14, detection information obtained from various sensors, and positional information of the item delivery location determined in the determination step. , delivery destination information of the goods, and pre-registered flight plan information (including, for example, the planned flight route) are used to control the rotation speed of the rotor and the position, attitude, and direction of movement of the UAV 1. Here, the position information of the article delivery place is obtained from the server 3, for example. The control unit 15 can fly the UAV 1 to the article delivery place based on the position information of the article delivery place. Further, the autonomous flight of the UAV 1 is not limited to autonomous flight by the control unit 15 provided in the UAV 1 performing flight control. Autonomous flight by performing autonomous control as a whole is also included.

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

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

The drive unit 21 includes a motor, a rotating shaft, and the like. The driving unit 21 rotates a plurality of wheels by a motor, a rotating shaft, etc. driven according to the 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, radio waves transmitted from GNSS satellites with a radio wave receiver, and detects the current position (latitude and longitude) of the UGV 2 based on the radio waves. In addition, the current position of the UGV 2 may be corrected based on the 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 is responsible for controlling communication performed via the communication network NW. The imaging unit 24 includes a camera and the like. In addition to controlling the movement of UGV2, the camera is also used as a sensor for second sensing. The image capturing unit 24 continuously captures images of the real space within the angle of view of the camera. Image information captured by the imaging unit 24 is output to the control unit 25 . For the second sensing, for example, at least one sensor (sensor device) among 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 UGV2. may be provided for.

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 second sensing using the camera or the like of the imaging unit 24 according to a sensing program stored in, for example, a ROM or nonvolatile memory. The control unit 25 transmits the second sensing information obtained by the second sensing together with the device ID of the UGV 2 to the server 3 via the wireless communication unit 23 at predetermined time intervals. The second sensing information transmitted at this time may be raw data output from the sensor used for the second sensing, or analysis processing executed 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 the result of analysis processing executed based on the image information (for example, detected obstacle location information) is sent. Analysis processing 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 installed in 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.

Also, the control unit 25 executes various controls of the UGV 2 according to control programs stored in, for example, ROM or nonvolatile memory. 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 item delivery candidate selected in the selection step, and the delivery destination information of the item are used. Control of the number of revolutions of the wheels, and control of the position and traveling direction of the UGV 2 are performed. Here, the position information of the item delivery candidate is obtained from the server 3, for example. The control unit 25 functions as a movement control unit, and can move the UGV 2 to the item delivery candidate based on the position information of the item delivery candidate. While the UGV 2 is moving toward the item delivery candidate according to the movement control of the UGV 2, the server 3 determines the item delivery location. This makes it possible to more efficiently determine the article delivery location. However, the amount of movement of the UGV2 due to movement control of the UGV2 may be zero. An example of such a case is a case where the UGV 2 is located on an item delivery candidate and the item delivery candidate is determined as the item delivery location. In addition, the autonomous movement of the UGV 2 is not limited to autonomous movement by the control unit 25 provided in the UGV 2 performing movement control. Autonomous movement by performing autonomous control of S as a whole is also included.

Note that the control unit 25 may determine the article delivery location based on the second sensing information. 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, the control unit 25 outputs an alarm sound (alert) from the speaker when it is detected that a moving object is approaching the article delivery location determined based on the second sensing. Examples of moving objects include people, animals, bicycles, and automobiles. As a result, it is possible to call attention to persons approaching the article delivery location, and to enhance the safety of the determined article delivery location. The approach of a moving object can be detected by second sensing that continues even after the article delivery location is determined. Note that the warning output may be performed by means other than sound (for example, light). On the other hand, in the article delivery control, control is performed to hold an article provided from the UAV 1 by the article holding mechanism. Alternatively, in the article delivery control, control is performed to provide the UAV 1 with the article held by the article holding mechanism.

[ 1-3. Configuration and Function Overview of Server 3 ]
Next, an outline of the configuration and functions of the server 3 will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a diagram showing a schematic configuration example of the server 3. As shown in FIG. As shown in FIG. 4, the server 3 includes a communication section 31, a storage section 32, an information processing section 33, and the like. The communication unit 31 is responsible for controlling communication performed via the communication network NW. The storage unit 32 includes, for example, a hard disk drive. In the storage unit 32, delivery management information for managing the delivery of goods is stored separately for each article. The delivery management information includes, for example, the item ID of the item to be delivered, the body ID of each of the UAV 1 and UGV 2 that deliver the item, the location information of the item delivery candidate, and the location information of the item delivery place. information is associated. The pair of UAV1 and UGV2 that will deliver the goods is determined before the goods are delivered. When an item is to be delivered, the delivery management information may include delivery destination information for the item. The delivery destination information of the article may include, for example, the latitude and longitude of the delivery destination, or may include the location of the delivery destination. Also, if the delivery destination is a single room (one unit) in a building such as an apartment complex or an office complex, the delivery destination information preferably includes the name of the building and the room number of the room to be the delivery destination.

In addition, the storage unit 32 stores past delivery history information. The delivery history information includes, for example, the item ID of the item that has been delivered, the position information of the item delivery candidate, the position information of the item delivery place, and the determination time of the item delivery place. Note that the storage unit 32 may store map data of the article delivery area. The goods delivery area is an area containing goods delivery candidates to be selected. Such map data is used to select goods delivery candidates and determine goods delivery locations.

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 showing an example of functional blocks in the information processing section 33. As shown in FIG. As shown in FIG. 5, the information processing unit 33 controls a sensing instruction unit 33a, a movement control instruction unit 33b, a sensing information acquisition unit 33c, a delivery candidate selection unit 33d, a delivery candidate selection unit 33d, and a delivery It functions as a location determination unit 33e and a delivery instruction unit 33f. Note that the movement control instructing section 33b is an example of a movement control section. The delivery candidate selection unit 33d is an example of a selection unit. The delivery place determination unit 33e is an example of a determination unit.

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

For example, when an item delivery candidate is selected, the movement control instruction unit 33b transmits position information of the selected item delivery candidate and a movement control instruction to the UGV 2 that performs item delivery via the communication unit 31. This movement control instruction is an instruction message that causes the UGV 2 to execute movement control based on the position information of the item delivery candidate. Note that when a plurality of item delivery candidates are selected, the movement control instruction includes an instruction to move the UGV 2 in the order of item delivery candidates according to a predetermined criterion. Examples of the order of item delivery candidates according to predetermined criteria include the order of item delivery candidates closest to the delivery destination of the item, the order of item delivery candidates closest to the current location of UGV2, and the density of multiple item delivery candidates. and the order of movement according to . Further, when the article delivery place is determined, for example, the movement control instruction unit 33b transmits the position information of the determined article delivery place and the movement control instruction to the UAV 1 that performs the article delivery via the communication unit 31. . This movement control instruction is an instruction message that causes the UAV 1 to perform 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 UAV 1 in response to the first sensing instruction, together with the body ID of the UAV 1, from the UAV 1, for example, at predetermined time intervals. In addition, the sensing information acquisition unit 33c acquires the second sensing information obtained by the second sensing performed by the UGV 2 in response to the second sensing instruction, together with the body ID of the UGV 2, from the UGV 2, for example, at predetermined time intervals. do. Further, the sensing information acquisition unit 33c may acquire third sensing information obtained by third sensing performed by the outdoor sensor in response to the third sensing instruction, from the outdoor sensor at predetermined time intervals, for example. .

The delivery candidate selection unit 33d selects one or more article delivery candidates based on the first sensing information acquired by the sensing information acquisition unit 33c. For example, the delivery candidate selection unit 33d chronologically generates a plurality of pieces of mapping image data representing situations extracted from the first sensing information (in other words, quantities observed by sensing). The mapping image data corresponds to the article delivery area, and each point (pixel) of the mapping image data is associated with latitude and 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 there are no obstacles on the ground or in the sky that will hinder delivery of the goods. Then, the delivery candidate selection unit 33d selects the searched space or a point within the space as an item delivery candidate. As a result, it is possible to select a safer item delivery candidate. Note that the delivery candidate selection unit 33d acquires the position information of the selected article delivery candidate.

Further, the delivery candidate selection unit 33d selects one or more article delivery candidates 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. should be selected. In this case, the delivery candidate selection unit 33d chronologically 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. Then, in the same manner as described above, the delivery candidate selection unit 33d searches for a space in which no obstacle exists on the ground or in the sky based on the generated mapping image data, and selects the searched space or a point within the space as an article delivery candidate. Select and acquire the position information of the selected item delivery candidate.

The obstacles include people, animals, buildings, and other objects. Determination of whether or not there is an obstacle is made by, for example, referring to pre-registered obstacle candidate data. Roads on which vehicles travel and sidewalks on which people walk may also be registered as obstacles. In addition, the delivery candidate selection unit 33d excludes buildings, roads, sidewalks, etc. from the objects to be searched by referring to the map data corresponding to the latitude and longitude for the generated mapping image data. may In addition, the delivery candidate selection unit 33d preferably searches for a space that has at least an area where the UGV 2 can stop and where the UGV 2 can stop for a predetermined period of time (for example, the time until the delivery of the goods is completed). As a result, it is possible to select a safer item delivery candidate.

Further, the delivery candidate selection unit 33d, 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, based on the past delivery history, Goods delivery candidates may be selected. As a result, it is possible to select the most suitable item 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 item delivery candidates that have not been determined as the item delivery location from among the item delivery candidates selected in the past. (That is, they are excluded from the objects to be searched) to select candidates for delivery of goods. The item delivery candidate excluded at this time may be an item delivery candidate whose frequency of not being determined as an item delivery location is equal to or greater than a threshold. Further, the history information referred to by the delivery candidate selection unit 33d indicates that the item delivery place is within a predetermined time period (for example, 9:00 to 12:00) including the time (current time) when the item delivery candidate is selected. It may be determined history information. This is because, for example, the situation such as traffic varies depending on the time of day.

It is desirable that the first sensing information and the third sensing information used for selecting candidates for delivery of goods mainly include image information captured by a camera. , a microphone, an ultrasonic sensor, a LiDAR, or a human sensor, it is possible to improve the detection accuracy of humans and animals, and as a result, more suitable articles Delivery candidates can be selected. Further, it is desirable that the third sensing information used for selecting a candidate for delivery of an article mainly includes image information captured by a camera. Then, the wind speed at a portion close to the ground (for example, a portion within several meters from the ground) can be used as a condition for selecting an article delivery candidate. As a result, it is possible to exclude spaces where the wind speed is equal to or higher than the threshold value (for example, spaces with strong building winds) from the above-described search targets, so that more suitable goods delivery candidates can be selected.

The delivery place determination unit 33e determines one item delivery place based on the item delivery candidates 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 showing examples 1 to 3 in which the item delivery location is determined based on the item delivery candidates. In the example of FIG. 6, one item delivery place De is determined from a plurality of item delivery candidates Cx. A plurality of item delivery candidates Cx may partially overlap each other. On the other hand, in the example of FIG. 7, from one item delivery candidate Cx, an item delivery place De having a narrower range (area) than the item delivery candidate Cx is determined. On the other hand, in the example of FIG. 8, an item delivery place De is determined at a location αm away from one item delivery candidate Cx.

Here, a specific example of the method for determining the article delivery place will be described. For example, the delivery place determining unit 33e generates a plurality of pieces of mapping image data representing the situation extracted from the second sensing information in time series. Latitude and latitude are associated with each point of this mapping image data. Then, based on the generated mapping image data, the delivery place determining unit 33e determines whether the obstacles are located on the ground and in the same range as the item delivery candidates Cx from among the multiple item delivery candidates Cx, as shown in FIG. Search for spaces that don't exist above. Alternatively, based on the generated mapping image data, the delivery location determination unit 33e searches for a space in which no obstacle exists on the ground or in the sky within a range narrower than one item delivery candidate Cx, as shown in FIG. Alternatively, based on the generated mapping image data, the delivery location determination unit 33e searches for a space where no obstacle exists on the ground or in the sky within a range αm away from one item delivery candidate Cx, as shown in FIG. do. Then, as shown in FIGS. 6 to 8, the delivery place determination unit 33e determines the searched space or a point within the space as the article delivery place De. This makes it possible to determine a safer item delivery location. Note that the delivery place determination unit 33e acquires the position information of the determined article delivery place De.

In addition to the second sensing information acquired by the sensing information acquisition unit 33c, the delivery location determination unit 33e determines the item delivery candidate Cx based on the third sensing information acquired by the sensing information acquisition unit 33c. It is preferable to determine one article delivery place De as follows. 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 chronological order. 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 or in the sky with reference to the item delivery candidate Cx, as shown in FIGS. The determined space or a point within the space is determined as the goods delivery place De, and the position information of the determined goods delivery place De is acquired.

In addition to the second sensing information (or the second sensing information and the third sensing information) acquired by the sensing information acquisition unit 33c, the delivery place determination unit 33e also acquires the first sensing information acquired by the sensing information acquisition unit 33c. Based on the sensing information, one item delivery place De may be determined with reference to the item 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 time series. Then, based on the generated mapping image data, as shown in FIGS. 6 to 8, the delivery place determination unit 33e searches for a space where no obstacle exists on the ground or in the sky with the item delivery candidate Cx as a reference, The searched space or a point within the space is determined as the article delivery place De, and the position information of the determined article delivery place De is acquired. In addition, since the situation may change while the UGV 2 is moving, the delivery place determination unit 33e performs the first sensing again at the time after the UGV 2 moves, and uses the first sensing information. It may be configured to increase the accuracy by determining the article delivery place in .

As with the delivery candidate selection unit 33d, the delivery location determination unit 33e refers to the map data corresponding to the latitude and longitude for the generated mapping image data, thereby determining whether buildings, roads, sidewalks, and off-limits areas are identified. Sections and the like may be excluded from the objects to be searched. In addition, the delivery location determination unit 33e preferably searches for a space that has at least an area where the UGV 2 can stop and where the UGV 2 can stop for a predetermined time (for example, the time until the delivery of the goods is completed). This makes it possible to determine a safer item delivery location.

Furthermore, the delivery place determination unit 33e determines the second sensing information (or at least one of the first sensing information and the third sensing information) acquired by the sensing information acquisition unit 33c, The item delivery location may be determined based on the delivery history. In this case, for example, the delivery location determination unit 33e refers to the history information stored in the storage unit 32, and excludes the item delivery candidates that have not been determined as the item delivery location from the item delivery candidates selected in the past. to determine the goods delivery place. The item delivery candidate excluded at this time may be an item delivery candidate whose frequency of not being determined as an item delivery location is equal to or greater than a threshold. Further, the history information referred to by the delivery place determination unit 33e indicates that the goods delivery place is within a predetermined time period (for example, 9:00 to 12:00) including the time (current time) when the goods delivery place is decided. It may be determined history information.

The second sensing information and the third sensing information (or the first sensing information) used for determining the goods delivery place preferably mainly include image information captured by a camera. By including detection information detected by an infrared sensor, laser sensor, heat sensor, microphone, ultrasonic sensor, LiDAR, or human sensor, it is possible to particularly improve the detection accuracy of humans and animals. , and as a result, a more suitable article delivery location can be determined. In addition, it is desirable that the second sensing information and the third sensing information used to determine the article delivery place mainly include image information captured by a camera. If configured so as to be included, the wind speed in a portion near the ground (for example, a portion within several meters from the ground) can be used as a condition for determining the article delivery location. As a result, it is possible to exclude spaces where the wind speed is equal to or greater than the threshold value (for example, spaces with strong building wind) from the objects to be searched, so that it is possible to determine a more suitable article delivery place.

When the UAV 1 and UGV 2 arrive at the article delivery location determined by the delivery location determination section 33e and preparation for article delivery is completed, the delivery instruction section 33f issues an article delivery instruction and performs article delivery via the communication section 31. Send to UAV1. The article delivery instruction is an instruction message for performing article delivery between the UAV 1 and the UGV 2 at the determined article delivery location.

[ 2. Operation of Goods Delivery System S ]
Next, an example of the operation of the article delivery system S according to this embodiment will be described with reference to FIGS. 9 to 11. FIG. FIG. 9 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. FIG. 10 is a sequence diagram showing an example of the operation of the article delivery system S from determination of the article delivery location to delivery of the article. FIG. 11 is a conceptual diagram showing the situation within the article delivery area Ar. In the operation example below, it is assumed that after an article is delivered from UAV1 to UGV2, the article is delivered to the delivery destination by UGV2.

In FIG. 9, when the UAV 1 approaches, for example, within several tens of meters of the article delivery area Ar, it 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 delivery area Ar. Note that the position information of the article delivery area Ar is indicated, for example, in the planned flight route in the flight plan information.

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

Next, when the UGV 2 receives the movement control instruction from the server 3, it moves from the delivery machine location to the article delivery area Ar according to the position information of the article delivery area Ar (step S4). Note that if the UGV 2 is already in the article delivery area Ar, the UGV 2 stands by there.

The server 3 then transmits a first sensing instruction to the UAV 1 (step S5). Furthermore, the server 3 transmits a third sensing instruction to the outdoor sensor (step S6). In addition, when a plurality of outdoor sensors are installed in the article delivery area Ar, the server 3 may transmit the third sensing instruction to each outdoor sensor.

Next, when the UAV 1 receives the first sensing instruction from the server 3, it starts the first sensing within the article delivery area Ar (step S7). The first sensing is continued, for example, until delivery of the article is completed. Note that the first sensing may be performed while moving above 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 body ID of the UAV 1 (step S8).

On the other hand, when the outdoor sensor receives the third sensing instruction from the server 3, it starts the third sensing within the article delivery area Ar (step S9). The third sensing continues, for example, until the delivery of the goods 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, obtains the first sensing information and the third sensing information within a predetermined time range. , based on the first sensing information and the third sensing information that have been acquired, as described above, an article delivery candidate is selected (step S11).

FIG. 11 shows an example in which a plurality of goods delivery candidates C1 to C17 are selected. In the example of FIG. 11, buildings B1 to B3, people H, trees T, roads R, benches B, ponds P, restricted areas L, etc. are determined as obstacles, and the spaces where the obstacles exist (that is, obstacles The place where the object is located and its neighboring range) are not selected as the object delivery candidates. In the example of FIG. 11, the product delivery candidates C1 to C17 have the same area, but the product delivery candidates C1 to C17 may have different areas.

Next, the server 3 determines whether or not a plurality of item delivery candidates have been selected (step S12). When it is determined that a plurality of item delivery candidates are not selected (step S12: NO), the server 3 issues a movement control instruction to move the UGV 2 to the item delivery candidate along with the position information of the item delivery candidate selected in step S11, and A second sensing instruction is sent to the UGV 2 (step S13).

On the other hand, if it is determined that a plurality of item delivery candidates have been selected (step S12: YES), the server 3 determines the movement order of the item delivery candidates according to a predetermined criterion (step S14). Then, the server 3 sends a movement control instruction to move the UGV 2 to the item delivery candidate in the movement order determined in step S14 along with position information of each of the plurality of item delivery candidates selected in step S11, and a second sensing instruction. is sent to UGV 2 (step S15).

Next, when the UGV 2 receives the movement control instruction and the second sensing instruction from the server 3, it moves to the item delivery candidate selected in step S11 according to the position information of the item delivery candidate, and moves to the item delivery candidate within the item delivery area Ar. A second sensing is started (step S16). That is, the surroundings (including the sky) of UGV2 are sensed. The second sensing continues, for example, until the delivery of the goods 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).

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

Also, if the determined movement order is the movement order according to the density of the item delivery candidates, the UGV 2 moves in the movement order according to the density of the item delivery candidates. Here, the order of movement according to the degree of density means, for example, giving priority to an area with a higher degree of density. For example, in FIG. 11, the area including the item delivery candidates C6 to C17 has a higher density than the area including the item delivery candidates C1 and C2 and the area including the item delivery candidates C3 to C5. Therefore, in this case, the UGV 2 will first move to the area containing the goods delivery candidates C6 to C17. Therefore, it is possible to determine an article delivery location that is estimated to be safer.

Next, when the server 3 receives the second sensing information from the UGV 2, for example, when acquiring the second sensing information within a predetermined time range, based on the acquired second sensing information, as described above, the article delivery A place is determined (step S18). Note that the server 3 may also acquire the third sensing information from the outdoor sensor, and determine the article delivery location based on the acquired second sensing information and third sensing information.

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

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

On the other hand, when the UGV 2 receives the movement control instruction from the server 3, it moves to the article delivery place according to the position information of the article delivery place (step S23). Note that if the UGV2 is already at the item delivery location, the UGV2 stays there. Then, when the UGV 2 arrives at the item delivery location, it transmits an arrival notification to the server 3 (step S24).

Next, when the server 3 receives the arrival notifications from the UAV1 and the UGV2, it transmits an article delivery preparation instruction to the UAV1 (step S25) and an article delivery preparation instruction to the UGV2 (step S26).

Next, when the UAV 1 receives an article delivery preparation instruction from the server 3, it prepares for article delivery (step S27). For example, UAV1 lands on UGV2 in preparation for delivery of goods. Then, the UAV 1 determines whether or not the article delivery preparation is completed (step S28). For example, when the landing on UGV2 is completed, it is determined that the article delivery preparations are complete.

On the other hand, when the UGV 2 receives the article delivery preparation instruction from the server 3, it prepares for article delivery (step S29). For example, in preparing for delivery of an article, the UGV 2 is set in a state in which it can receive an article from the UAV 1 by opening an article loading port provided on the top of the UGV 2 . Then, the UGV 2 determines whether or not preparations for delivery of the goods have been completed (step S30). For example, it is determined that preparations for delivery of the article have been completed when the device is set in a state where the article can be received and the safety of the surroundings is confirmed.

If the UGV 2 detects (that is, detects by second sensing) the approach of a moving object (for example, a person) to the item delivery location (step S31: YES), A warning 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 item delivery location) (step S33: YES), the UGV 2 emits a voice command to leave 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 a moving object has intruded into the dangerous area.

Next, when the server 3 receives the intrusion notification from the UGV 2, it transmits a temporary stop instruction to the UAV 1 (step S36). If the UAV 1 receives a pause instruction from the server 3 before the preparation for delivery of the goods is completed, the UAV 1 pauses landing on the UGV 2 (step S37). At this time, UAV1 may hover on the spot or move to a safe altitude.

Next, when the UGV 2 determines that the moving object has left the dangerous area (step S38: YES), it sends a leaving notice to the server 3 (step S39). This leaving notice is leaving information indicating that the moving object has left the dangerous area. Next, when the server 3 receives the notice of leaving from the UGV 2, it transmits a pause cancellation instruction to the UAV 1 (step S40). Next, when the UAV 1 receives a pause cancellation instruction from the server 3, it resumes landing on the UGV 2 (step S41).

Then, when the UAV 1 determines that the article delivery preparation is completed (step S28: YES), the UAV 1 transmits a preparation completion notice to the server 3 (step S42). This preparation completion notice is preparation completion information indicating that preparations for delivery of the goods have been completed. On the other hand, when the UGV 2 determines that the article delivery preparation is completed (step S30: YES), the UGV 2 transmits a preparation completion notice to the server 3 (step S43).

Next, when the server 3 receives the preparation completion notifications from the UAV1 and the UGV2, it transmits an article delivery instruction to the UAV1 (step S44) and an article delivery instruction to the UGV2 (step S45). In addition, the server 3 may transmit the delivery destination information of the article transported by the UAV 1 to the UGV 2 together with the article delivery instruction. Alternatively, the UGV 2 may obtain the delivery address information from the landed UAV 1 or the article mounted on the UAV 1 . For example, a two-dimensional code (e.g., QR code (registered trademark)) containing the delivery address information of the article may be displayed at the bottom of the UAV 1 or the article, or an IC tag storing the delivery address information of the article may be attached. may be attached.

Next, when the UAV 1 receives the article delivery instruction from the server 3, it provides the article to the UGV 2 by separating the article held by the article holding mechanism (step S46). On the other hand, UGV2 receives the goods provided from UAV1 from the goods loading port (step S47). Thus, the delivery of the goods between the UAV 1 and the UGV 2 is completed at the goods delivery place.

FIG. 12 is a diagram showing a state in which UAV 1 lands on UGV 2 at the article delivery location. At the top of the UGV 2 shown in FIG. 12, there are provided three article carry-in openings Op1 to Op3, and articles can be carried in through the respective article carry-in openings Op1 to Op3. In the example of FIG. 12, after the article carry-in opening Op1 of the UGV 2 is opened, the article held by the UAV 1 is cut off, so that the article is brought in and held through the article carry-in opening Op1.

Next, when the delivery of the article is completed, the UAV 1 returns, for example, to the departure 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 delivery destination by UGV2. The delivery address may be the entrance of the recipient's residence or office, or a delivery box (a temporary storage box). Alternatively, the delivery address may be the recipient of the item itself.

As described above, according to the above-described embodiment, the article delivery system S selects an article delivery candidate based on the first sensing information obtained by the first sensing performed by the UAV 1 during flight, and selects an article delivery candidate. Based on the position information of the candidate for delivery of the goods, the movement control of the UGV 2 is executed, and based on the second sensing information obtained by the second sensing performed by the UGV 2, the place for delivery of the goods is determined based on the candidates for the delivery of the goods selected above. Therefore, even if there is no dedicated delivery facility, it is possible to secure a delivery place where goods can be delivered safely between UAV1 and UGV2. and can be made to take place at a safer item delivery location. Also, the cost for installing a dedicated delivery facility can be reduced.

In the above operation example, an example in which an article is transferred from the UAV1 to the UGV2 is shown, but the article may be transferred from the UGV2 to the UAV1. Also in this case, the operations of steps S1 to S45 in the above operation example are performed in the same manner. However, the UGV 2 is set in a state in which the goods to be transported can be provided by opening the goods loading port (goods unloading port) provided at the top of the UGV 2 in preparation for the delivery of the goods in step S29. Then, the UGV 2 slides upward a holding table (placing table) that holds the article, thereby causing the article to protrude from the article outlet. This provides the article. On the other hand, UAV 1 holds an article provided on the holding table of UGV 2, for example, by an article holding hook. Thus, the delivery of the goods between the UAV 1 and the UGV 2 is completed at the goods delivery place. After that, the UAV 1 delivers the article to the delivery destination by flying autonomously based on the delivery destination information of the article. On the other hand, the UGV 2 returns, for example, to the delivery machine storage area.

Also, in the above operation example, an example is shown in which the UAV 1 lands on the UGV 2 to deliver the goods. When an article is delivered from UAV1 to UGV2, UAV1, while hovering above UGV2, extends the wire on the reel in the direction of UGV2, and is held by the article holding hook at the tip of the wire. Lower the item vertically. Then, the UAV 1 cuts off the item when the item reaches the UGV 2 (preparation for delivery of the item is completed). As a result, the article is carried in through the article carry-in opening of the UGV2. On the other hand, when an article is transferred from UGV2 to UAV1, UAV1, while hovering above UGV2, stretches the wire on the reel in the direction of UGV2 to vertically move the hook for holding the article at the tip of the wire. lower to Then, when the article holding hook reaches the UGV 2 (preparation for article delivery is completed), the UAV 1 holds the article provided on the holding table of the UGV 2 with the article holding hook, and then winds the reel wire. take. In this way, even when goods are delivered by the delivery method using reels, at least through the second sensing, the article delivery place where there is no obstacle that contacts the wire of the reel above the UGV 2 is determined. Therefore, safe delivery of goods can be performed.

Further, in the above operation example, the server 3 executes the process of selecting the candidate for delivery of the goods and the process of determining the place of delivery of the goods. good too. In such a configuration, the UAV 1 and the UGV 2 exchange various information through wireless communication. In addition, the process of selecting the item delivery candidate and the process of determining the item delivery place are executed by separate devices (for example, the process of selecting the item delivery candidate is executed by the UAV 1, and the process of determining the item delivery place is executed by the UGV 2). (executed by

Further, the above embodiment is applied to the "method for determining an item delivery location" executed by an item delivery system (in other words, one or more computers included in the system S) according to an embodiment of the present invention. Although the case has been described, the present invention is also applicable to a method of determining a landing site for UAV1 to land on UGV2. This landing site determination method is executed by the landing system (in other words, one or more computers included in the system S), and the first Based on the sensing information, a selection step of selecting a landing site candidate for UAV1 to land on UGV2, a control step of performing movement control of UGV2 based on the information of the selected candidate, and UGV2 performs and a determining step of determining a landing site with reference to 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 site where UAV 1 can land safely on UGV 2, and to install a dedicated landing facility. Cost can be reduced. As a result, for example, UGV 2 is equipped with a large-capacity battery and safely supplies power to UAV 1 that has landed on the UGV 2 (power may be supplied by connecting a connector when landing, or contactless power supply )be able to. In such a method of determining a landing site, the "item delivery" and "delivery" described in the above embodiment are replaced with "landing" (for example, "item delivery candidate" is replaced with "landing candidate", " "Item delivery location" to "Landing location", "Obstacles that hinder item delivery" to "Obstacles that interfere with landing", and "Past delivery history" to "Past landings" each process performed in the above embodiment is applied.

(Appendix)
In the determination step, the UGV 2 may search for a space in which the UGV 2 can stop for a predetermined time or longer based on the landing candidate, and determine the searched space or a point within the space as the landing site. Further, in the determining step, using the landing candidate as a reference, a space in which there are no obstacles on the ground or in the sky above the landing is searched, and the searched space or a point within the space is determined as the landing site. may Moreover, in the determination step, the landing site 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 . Further, in the determination step, in addition to the second sensing information obtained by the second sensing, the third sensing information obtained by the third sensing performed by the sensor installed on the ground is used to determine the You may decide where to land. Further, in the determination step, the landing place may be determined based on a history of landings performed in the past in addition to the second sensing information obtained by the second sensing.

Further, in the selection step, a space in which the UGV 2 can stop for a predetermined time or more may be searched, and the space or a point within the space thus searched may be selected as the landing candidate. Further, in the selection step, a space in which there is no obstacle on the ground or in the sky above the aircraft may be searched, and the searched space or a point within the space may be selected as the landing candidate. Further, in the selection step, in addition to the first sensing information obtained by the first sensing, based on the third sensing information obtained by the third sensing performed by the sensor installed on the ground, the above A landing candidate may be selected. Further, in the selecting step, the landing candidate may be selected based on the landing history performed in the past in addition to the first sensing information obtained by the first sensing. Further, in the selecting step, a plurality of the landing candidates are selected based on the first sensing information obtained by the first sensing, and in the controlling step, the landing candidates are selected according to a predetermined criterion. UGV2 may be moved in the order of Examples of the order of the landing candidates according to predetermined criteria include the order of the landing candidates close to the delivery destination of the goods, the order of the landing candidates close to the current position of UGV 2, and the density of the plurality of landing candidates The movement order according to Further, when a moving object approaching the landing site is detected, an alarm may be output.

The above-described embodiment is one embodiment of the present invention, and the present invention is not limited to the above-described embodiment. may be used, and that case is also included in the technical scope of the present invention.

1 UAVs
2 UGVs
3 Servers 11, 21 Driving units 12, 22 Positioning units 13, 23 Wireless communication units 14, 24 Imaging units 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 Goods delivery system

Claims (5)

A control method executed by a system including a controller for controlling an unmanned ground vehicle, comprising:
a selection step of selecting candidate locations for delivering goods between the unmanned aerial vehicle and the unmanned ground aircraft;
a control step of performing movement control of the unmanned ground plane based on the candidate information;
a step of transmitting a preparation completion notification to a server when the unmanned aerial vehicle determines that preparation for delivery of an article is complete at the article delivery location determined based on the candidate;
a step of sending a preparation completion notification to the server when the unmanned ground plane determines that preparations for delivering an article have been completed at the article delivery location;
a step in which the server transmits an article delivery instruction to each of the unmanned aerial vehicle and the unmanned ground vehicle when receiving the notification of completion of preparation from each of the unmanned aerial vehicle and the unmanned ground vehicle;
The unmanned aerial vehicle and the unmanned ground plane perform delivery of the article between the unmanned aerial vehicle and the unmanned ground plane in response to the article delivery instruction from the server. a delivery step using a linear member of a hoist mounted on the unmanned aerial vehicle;
A control method comprising: In the delivery step, the article held at the tip of the linear member by extending the linear member in the direction of the unmanned ground aircraft while the unmanned aircraft is flying over the unmanned ground aircraft. 2. The control method according to claim 1, characterized in that the article is lowered and then the article is separated. In the delivery step, while the unmanned aerial vehicle is flying over the unmanned ground plane, the linear member is extended in the direction of the unmanned ground plane to provide an article holding device at the tip of the linear member. 2. The control method according to claim 1, further comprising the step of winding the linear member by the hoist after the member is lowered and the article is held by the article holding member. 4. The article delivery step includes delivering the article while the unmanned ground plane is stopped at the article delivery location determined based on the candidate. The control method described in . An article delivery system including an unmanned aerial vehicle and an unmanned ground vehicle,
a selection unit that selects a candidate for an article delivery location between the unmanned aerial vehicle and the unmanned ground aircraft;
a control unit that executes movement control of the unmanned ground plane based on the candidate information;
a first transmission unit configured to transmit a preparation completion notification to a server when the unmanned aerial vehicle determines that preparation for delivery of an article is completed at the article delivery location determined based on the candidates;
a second transmission unit configured to transmit a preparation completion notification to the server when the unmanned ground plane determines that preparations for the delivery of the article have been completed at the article delivery location;
a third transmission unit configured to transmit an article delivery instruction to each of the unmanned aerial vehicle and the unmanned ground aircraft when the server receives the preparation completion notification from each of the unmanned aerial vehicle and the unmanned ground aircraft;
The unmanned aerial vehicle and the unmanned ground plane perform delivery of the article between the unmanned aerial vehicle and the unmanned ground plane in response to the article delivery instruction from the server. a delivery unit using a linear member of a hoist mounted on the unmanned aerial vehicle,
An article delivery system characterized by comprising:

Images