Package delivery method, package delivery system and delivery management device

In order to reduce a burden of receiving a package for a recipient, provided is a package delivery method including: receiving, by a first unmanned delivery vehicle, authentication information input by a user; and unlocking, by a second unmanned delivery vehicle, a key of a storage of the second unmanned delivery vehicle, which stores a package addressed to the user, based on the authentication information received by the first unmanned delivery vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a National Stage of International Application No. PCT/JP2019/046007 filed on Nov. 25, 2019. The contents of the above document is incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present invention relates to a package delivery method, a package delivery system, and a package delivery device.

BACKGROUD ART

An unmanned ground vehicle (UGV) enables delivery of a package from a delivery base to a delivery destination, for example, a house. When the UGV has arrived at the delivery destination, the UGV authenticates a recipient of the package, and unlocks a key of a storage storing the package.

In Japanese Patent Application Laid-open No. 2018-58656, there is described a configuration in which a user inputs an authentication key at the time of receiving a package stored inside a side door of an unmanned delivery vehicle, and the unmanned delivery vehicle opens the door of a space storing the package addressed to the user when determining that a recorded delivery instruction and the input user authentication keymatch each other.

SUMMARY OF INVENTION

Technical Problem

When unmanned delivery of a package becomes prevalent, a plurality of UGVs may deliver packages to, for example, an apartment building, and the plurality of UGVs may wait for arrival of recipients. In this case, each recipient is required to find out a UGV storing his or her package, and then perform an authentication operation. However, it is difficult for the recipient to find out a UGV for which the recipient is to perform an authentication operation, and thus there is a fear in that the recipient bears a burden of repeatedly performing authentication operations for the plurality of UGVs, for example.

The present invention has been made in view of the above-mentioned problem, and has an object to provide a technology of reducing a burden of receiving a package for a recipient.

Solution to Problem

In order to solve the above-mentioned problem, according to one embodiment of the present invention, there is provided a package delivery method including: receiving, by a first unmanned delivery vehicle, authentication information input by a user;

and unlocking, by a second unmanned delivery vehicle, a key of a storage of the second unmanned delivery vehicle, which stores a package addressed to the user, based on the authentication information received by the first unmanned delivery vehicle.

According to one embodiment of the present invention, there is provided a package delivery system including: a first unmanned delivery vehicle including reception means for receiving authentication information input by a user; and a second unmanned delivery vehicle including unlocking means for unlocking a key of a storage of the second unmanned delivery vehicle, which stores a package addressed to the user, based on the authentication information received by the first unmanned delivery vehicle.

According to one embodiment of the present invention, there is provided a delivery management device including: authentication means for acquiring authentication information input by a user to a first unmanned delivery vehicle and authenticating the user based on the authentication information;

and unlocking instruction means for transmitting, to the second unmanned delivery vehicle, an instruction to unlock a key of a storage storing a package addressed to the user when the package addressed to the user is stored in the second unmanned delivery vehicle.

Further, according to one aspect of the present invention, the package delivery method may further include: authenticating, by a server, when receiving the authentication information from the first unmanned delivery vehicle, the user based on the received authentication information; and transmitting, by the server, to the second unmanned delivery vehicle, an instruction to unlock the key of the storage storing the package addressed to the user when the package addressed to the user is stored in the second unmanned delivery vehicle.

Further, according to one aspect of the present invention, the package delivery method may further include the step of authenticating, when the second unmanned delivery vehicle has received the authentication information from the first unmanned delivery vehicle and the package addressed to the user is stored in the second unmanned delivery vehicle, the user who has input the received authentication information, and the step of unlocking may include unlocking, by the second unmanned delivery vehicle, the key of the storage storing the package addressed to the user when the user is authenticated.

Further, according to one aspect of the present invention, the package delivery method may further include: authenticating, by the first unmanned delivery vehicle, the user based on the authentication information; and transmitting, by the first unmanned delivery vehicle, to the second unmanned delivery vehicle, an instruction to unlock the key of the storage storing the package addressed to the user when the package addressed to the user is stored in the second unmanned delivery vehicle.

Further, according to one aspect of the present invention, the package delivery method may further include: transmitting, by a server, the authentication information to the user; and transmitting, by the server, to the first unmanned delivery vehicle, determination information for determining whether the authentication information for authenticating the user is appropriate, and the step of authenticating the user may include authenticating, by the first unmanned delivery vehicle, the user based on the authentication information and the determination information.

Further, according to one aspect of the present invention, the package delivery method may further include: authenticating, by a server, when receiving the authentication information from the first unmanned delivery vehicle, the user who has input the received authentication information; and transmitting, by the first unmanned delivery vehicle, to the second unmanned delivery vehicle, an instruction to unlock the key of the storage storing the package addressed to the user when the user is authenticated and the package addressed to the user is stored in the second unmanned delivery vehicle.

Further, according to one aspect of the present invention, the package delivery method may further include the step of transmitting, by the server, the authentication information to the user.

Further, according to one aspect of the present invention, the first unmanned delivery vehicle includes a storage, a periphery of each of the first and second unmanned delivery vehicles includes a first surface on which a door of the storage is arranged, a second surface, which faces a direction different from a direction of the first surface, and on which a device for inputting the authentication information is arranged, and a third surface opposed to the second surface, and the package delivery method may further include the step of moving at least one of the first unmanned delivery vehicle or the second unmanned delivery vehicle so that the second surface of one of the first unmanned delivery vehicle and the second unmanned delivery vehicle is adjacent to the third surface of another of the first unmanned delivery vehicle and the second unmanned delivery vehicle.

Advantageous Effects of Invention

According to the present invention, it is possible to reduce the burden of receiving the package for the recipient.

DESCRIPTION OF EMBODIMENTS

Now, description is made of embodiments of the present invention with reference to the drawings. A redundant description of components denoted by the same reference symbols is omitted. In this embodiment, description is made of a package delivery system that uses a plurality of unmanned delivery vehicles to deliver packages to an apartment building in which a plurality of users live.

First Embodiment

FIG. 1is a diagram for illustrating an example of a configuration of a delivery system according to a first embodiment of the present invention. As illustrated inFIG. 1, the package delivery system includes a plurality of unmanned delivery vehicles1, a central server2, and a delivery base3.

The unmanned delivery vehicle1is a machine configured to travel on the ground to deliver a package under automatic control without accommodating a driver. The unmanned delivery vehicle1is called “unmanned ground vehicle (UGV)”. InFIG. 1, two unmanned delivery vehicles1aand1bare illustrated, but the number of unmanned delivery vehicles1maybe three or more. The unmanned delivery vehicle1is communicably connected to the central server2via wireless communication. The wireless communication may be based on a communication standard, for example, Long Term Evolution (LTE).

The central server2is configured to communicate to/from the plurality of unmanned delivery vehicles1and the delivery base3to manage those operations. The delivery base3includes a warehouse storing packages to be delivered to users, and in the delivery base3, for example, an employee of the delivery base3stores a package addressed to a user in the unmanned delivery vehicle1based on an instruction from the central server2. The plurality of unmanned delivery vehicles1are placed in the delivery base3, and the unmanned delivery vehicle1delivers a package to a delivery destination from the delivery base3.

FIG. 2is a perspective view of an example of the unmanned delivery vehicle1. As illustrated inFIG. 1andFIG. 2, the unmanned delivery vehicle1includes a processor11, a memory12, a communication unit13, an input/output unit14, a sensor15, a plurality of storages16, a key controller17, and a drive unit (not shown).

The processor11is configured to execute processing in accordance with a program or data stored in the memory12. Further, the processor11is configured to control the communication unit13, the input/output unit14, the sensor15, and the key controller17.

The memory12includes a volatile memory, for example, a RAM, and a non-volatile memory, for example, a flash memory. The memory12may further include a storage device, for example, a hard disk drive. The memory12stores the above-mentioned program. Further, the memory12stores calculation results and information, which are input from the processor11, the communication unit13, and the input/output unit14. The above-mentioned program may be provided through, for example, the Internet, or may be stored in a storage medium capable of being read by a computer, for example, a flash memory, and provided.

The communication unit13includes, for example, an integrated circuit implementing a communication interface for wireless communication. The communication unit13is configured to input, based on control by the processor11, information received from other apparatus to the processor11or the memory12, and transmit the information to the other apparatus.

The input/output unit14includes a display output device, an input device, and interfaces with those devices. Specifically, the input/output unit14is a touch panel with a display (hereinafter referred to as “input panel”), and is used for inputting a reception code for authentication. The input/output unit14may be a display and a physical button, or may be other types of the display output device and input device. The input/output unit14is configured to display, based on control by the processor11, an image on the display output device to acquire data input by the user on the input device.

The sensor15includes a lidar and a camera configured to recognize the size and position of a peripheral obstacle. The plurality of storages16are regions for storing packages. A plurality of storages16are provided on respective side surface of the unmanned delivery vehicle1. Each storage16has a door, and a key is set on the door. The key controller17is a circuit configured to electrically control locking or unlocking of the key of the door. In the storage16, as a part of the sensor15, a sensor configured to detect presence/absence of a package in the storage16is arranged.

The unmanned delivery vehicle1includes, on its periphery, aside surface on which the doors of the storages16are arranged, an end portion18bbeing a surface which faces in a direction different from that of the side surface and on which the input/output unit14is arranged, and an end portion18abeing a surface opposed to the end portion18b. The lidar is provided on a top surface of the unmanned delivery vehicle1, and a camera (not shown) is arranged on the end portion18a.

The central server2includes a processor21, a memory22, a communication unit23, and an input/output unit24. The central server2may be one physical server, or may include a plurality of physical servers like a so-called cloud computing system.

The processor21is configured to execute processing in accordance with a program or data stored in the memory22. Further, the processor21is configured to control the communication unit23and the input/output unit24.

The memory22includes a volatile memory, for example, a RAM, and a non-volatile memory, for example, a flash memory. The memory22stores the above-mentioned program. Further, the memory22stores information or calculation results, which are input from the processor21, the communication unit23, and the input/output unit24. The above-mentioned program may be provided through, for example, the Internet, or may be stored in a storage medium capable of being read by a computer, for example, a flash memory, and provided.

The communication unit23includes, for example, an integrated circuit implementing a communication interface for wired communication. The communication unit23is configured to input, based on control by the processor21, information received from other apparatus to the processor21or the memory22, and transmit the information to the other apparatus. The communication unit23may communicate to/from the unmanned delivery vehicle1via a communication network and a wireless communication device included in the communication network.

The input/output unit24includes a video controller configured to control display, and a controller configured to acquire data from an input device. The input device includes, for example, a touch panel, a keyboard, or a mouse. The input/output unit24is configured to output, based on control by the processor21, display data to the display output device, and acquire data input by the user through operation of the input device.

Next, description is made of delivery of a package by the package delivery system.FIG. 3andFIG. 4are each a sequence diagram for illustrating an operation of the delivery system.FIG. 3is mainly an illustration of an operation until the plurality of unmanned delivery vehicles1aand1bhave arrived at a standby location of the delivery destination and started to wait.FIG. 4is mainly an illustration of an operation since the user has arrived until delivery of a package has finished. Those sequence diagrams relate to a case in which a plurality of packages addressed to a plurality of users “a” and “b” are delivered to the same delivery destination (apartment building) by the plurality of unmanned delivery vehicles1aand1b, and the unmanned delivery vehicle1adelivers a package addressed to the user “a”, and the unmanned delivery vehicle1bdelivers a package addressed to the user “b”.

First, the user “a” orders a product from the central server2, and in order to deliver a package including the ordered product to the user “a”, the central server2transmits, to the unmanned delivery vehicle1a, an instruction (delivery information) to deliver the package to the delivery destination. The central server2transmits, to the delivery base3, an instruction to store the package in the unmanned delivery vehicle1a, and a staff member of the delivery base3stores the package in the storage16of the unmanned delivery vehicle1a. Next, the unmanned delivery vehicle1amoves to the delivery destination (e.g., entrance of apartment building), and when the unmanned delivery vehicle1ahas arrived at the standby location of the delivery destination, the unmanned delivery vehicle1atransmits arrival information to the central server2. The arrival information includes vehicle body information for identifying the unmanned delivery vehicle1and information indicating the standby location.

When the central server2has received the arrival information, the central server2generates a unique reception code, transmits the generated reception code to the unmanned delivery vehicle1a, and further transmits an arrival notification including the reception code to the user “a” (more strictly, device owned by user “a”). The reception code to be transmitted to the user is, for example, a PIN code or data with a larger amount of information. The PIN code may be a six-digit number or alphanumeric characters, or QR code (trademark) image data obtained by encoding the reception code may be transmitted.

The unmanned delivery vehicle1areceives the reception code, and waits at the standby location. The user “b” and the unmanned delivery vehicle1balso perform an operation from placement of an order to transmission of an arrival notification. Now, for example, it is assumed that the unmanned delivery vehicles1aand1bwait at the same standby location because, for example, the users “a” and “b” live in the same apartment building. Then, when each of the unmanned delivery vehicles1aand1bhas detected another unmanned delivery vehicle1that is close to the own unmanned delivery vehicle (unmanned delivery vehicle1bor1ain this case) and the other unmanned delivery vehicle1is detected, the unmanned delivery vehicles1aand1bcommunicate to/from each other to exchange vehicle body information for identifying the unmanned delivery vehicles1. In the following, operations of connecting to another unmanned delivery vehicle1through communication and exchanging vehicle body information with the other unmanned delivery vehicle1are referred to as “pairing”.

After that, when the user “a” has approached the unmanned delivery vehicles1aand1b, the unmanned delivery vehicle1adetects the fact that the user has approached, and displays a reception code input screen on the display. In this example, it is assumed that the user can operate only the input/output unit14of the unmanned delivery vehicle1a. When the user “b” has input a reception code to the input/output unit14of the unmanned delivery vehicle1a, the unmanned delivery vehicle1atransmits, to the central server2, the reception code and vehicle body information for identifying the own unmanned delivery vehicle1a.

The central server2, which has received the reception code and vehicle body information, confirms whether the reception code is appropriate, and authenticates the user “b”, who has input the reception code. Then, the central server2identifies the unmanned delivery vehicle1band the storage16(unlocking target), which stores a package addressed to the user “b”. When the unlocking target is identified, the central server2transmits, to the unmanned delivery vehicle1bbeing the unlocking target, an unlocking instruction to unlock the key of the door of the identified storage16, and the unmanned delivery vehicle1bunlocks the key of the storage16. Further, the central server2transmits information (unlocking target information) indicating the unlocking target to the unmanned delivery vehicle1ato which the reception code has been input, and the unmanned delivery vehicle1adisplays the unlocked unmanned delivery vehicle1bon the display.

The user “b” recognizes the fact that a package is stored in the unmanned delivery vehicle1bthrough display on the display and a behavior of the door of the storage16, and receives a package stored in the unlocked storage16. When the unmanned delivery vehicle1bhas detected the fact that the user “b” has received the package, the unmanned delivery vehicle1btransmits, to the central server2, delivery completion information indicating completion of delivery, and the central server2transmits a delivery completion notification to the user “b”. After that, the unmanned delivery vehicle1bcancels the communication connection (pairing) to the unmanned delivery vehicle1a, and returns to the delivery base3.

Now, description is made of processing of the delivery system more in detail.FIG. 5is a block diagram for illustrating functions to be implemented by the delivery system. In the first embodiment, the package delivery system includes, from the functional point of view, a delivery instruction module50, a movement control module51, an authentication information transmission module52, an association control module53, an authentication information reception module55, an authentication module56, an unlocking instruction module57, an unlocking module58, and a reception detection module59. The delivery instruction module50, the authentication information transmission module52, the authentication module56, and the unlocking instruction module57are implemented by the processor21included in the central server2executing programs stored in the memory22to control the communication unit23. Those functions may be implemented by the processors21included in the plurality of serves executing programs. The movement control module51, the association control module53, the authentication information reception module55, the unlocking module58, and the reception detection module59are implemented by the processor11included in the unmanned delivery vehicle1executing programs stored in the memory12to control the communication unit13, the input/output unit14, the sensor15, and the key controller17.

The delivery instruction module50of the central server2is configured to instruct the delivery base3and the unmanned delivery vehicle1to deliver a package addressed to the user. More specifically, when a package (package addressed to user) including a product ordered from the user is in the delivery base3, the delivery instruction module50transmits, to the delivery base3, an instruction to store the package addressed to the user in the storage16of the unmanned delivery vehicle1, and further transmits, to the unmanned delivery vehicle1, an instruction (delivery information) to deliver the package to the delivery destination of that user.

The movement control module51of the unmanned delivery vehicle1is configured to control, based on data acquired by the lidar or a GPS sensor of the unmanned delivery vehicle1, movement of the unmanned delivery vehicle1from the delivery base3to the delivery destination and movement of the unmanned delivery vehicle1from the delivery destination to the delivery base3. The movement control module51may be configured to control movement based on the data acquired by the camera. A part of functions of the movement control module51may be implemented by a server computer. Further, when there is another unmanned delivery vehicle1in an area of the delivery destination to wait for the user, the movement control module51controls at least one of the two unmanned delivery vehicles1to move so that one end portion18b(surface including input/output unit14) and the other end portion18bare adjacent to each other among the two unmanned delivery vehicles1. Details thereof are described later. When the unmanned delivery vehicle1has arrived at the standby location of the delivery destination, the movement control module51transmits arrival information to the central server2.

The authentication information transmission module52of the central server2is configured to generate a reception code when the unmanned delivery vehicle1has arrived at the standby location of the delivery destination, and the authentication information transmission module52has received the arrival information notifying of arrival from the unmanned delivery vehicle1. The reception code is authentication information to be input from the user for authentication when the user receives a package. The authentication information transmission module52transmits the generated reception code to the user (more strictly, device owned by user). Further, the authentication information transmission module52transmits the generated reception code to the unmanned delivery vehicle1.

The association control module53of the unmanned delivery vehicle1is configured to receive the reception code from the authentication information transmission module52of the central server2via the communication unit13, and store the reception code into the memory12. Further, the association control module53detects whether there is another unmanned delivery vehicle1in an area of the delivery destination at which the user is waiting, and when existence of another unmanned delivery vehicle1is detected, the association control module53connects to the unmanned delivery vehicle1through communication, and exchanges vehicle body information for identifying the unmanned delivery vehicle1. In the following, operations of connecting to another unmanned delivery vehicle1through communication and exchanging vehicle body information with the unmanned delivery vehicle1are referred to as “pairing”.

The authentication information reception module55of the unmanned delivery vehicle1is configured to receive the reception code input from the user through the input/output unit14. Further, the authentication information reception module55is configured to transmit the received reception code to the central server2.

The authentication module56of the central server2is configured to receive the reception code from the unmanned delivery vehicle1, and authenticate the user based on the reception code.

The unlocking instruction module57of the central server2is configured to transmit, to the unmanned delivery vehicle1storing a package addressed to the authenticated user, an instruction (unlocking instruction) to unlock the key (more strictly, key of door of storage16) of the storage16storing the package addressed to the user. When the unmanned delivery vehicle1(e.g., unmanned delivery vehicle1a) to which the user has input the reception code and the unmanned delivery vehicle (e.g., unmanned delivery vehicle1b) storing the package addressed to the user are different from each other, the unlocking instruction module57is configured to transmit an unlocking instruction to the unmanned delivery vehicle1(e.g., unmanned delivery vehicle1b) storing the package addressed to the user. The unlocking instruction module57may be configured to directly transmit an unlocking instruction to the unmanned delivery vehicle1bstoring the package addressed to the user, or may be configured to transmit an unlocking instruction to the unmanned delivery vehicle1bvia the unmanned delivery vehicle1ato which the user has input the reception code.

The unlocking module58of the unmanned delivery vehicle1is configured to receive the unlocking instruction, and unlock the key of the storage16storing the package addressed to the user based on the unlocking instruction.

The reception detection module59of the unmanned delivery vehicle1is configured to detect whether a package in the storage16is removed (which means whether user has received package) based on output of the sensor15. The reception detection module59may be configured to detect whether the user has received the package based on whether the door of the storage16is closed.

When the reception detection module59has detected the fact that the user has received the package, the reception detection module59transmits, to the central server2, delivery completion information indicating completion of delivery of the package to the user.

FIG. 6is a flow chart for illustrating an example of processing to be executed by the unmanned delivery vehicle1going to the delivery destination and the central server2, and the processing illustrated inFIG. 6is executed for each of the two unmanned delivery vehicles1illustrated in the sequence diagram ofFIG. 3.

First, the delivery instruction module50of the central server2transmits delivery information including the delivery destination to the unmanned delivery vehicle1(Step S201). The delivery instruction module50stores, into the memory22, a user, a package, and the unmanned delivery vehicle1storing the package in association with one another. The movement control module51of the unmanned delivery vehicle1acquires the delivery information (Step S101). Further, the movement control module51of the unmanned delivery vehicle1confirms the fact that a package indicated by the delivery instruction is stored in the storage16at the delivery base3(Step S102), and moves to a standby area (e.g., entrance of apartment building of delivery destination) of the delivery destination (Step S103). A publicly known technology, such as unmanned driving or automatic delivery, may be used for control of movement, and a detailed description of the control is omitted.

When the unmanned delivery vehicle1has approached or arrived at the standby area of the delivery destination, the movement control module51determines whether there is another unmanned delivery vehicle1in the standby area (Step S104). When there is another unmanned delivery vehicle1(Y in Step S104), the movement control module51controls movement of the unmanned delivery vehicle1such that the end portion18bof the own unmanned delivery vehicle1(surface of input/output unit14) and the end portion18a(surface on which there are no input/output unit14and doors of storage16) of another unmanned delivery vehicle1are adjacent to each other (Step S105). When there is no other unmanned delivery vehicle1(N in Step S104), the movement control module51skips Step S105, and is configured to move the unmanned delivery vehicle1to a place of the standby area at which the unmanned delivery vehicle1can wait.

FIG. 7is a diagram for illustrating an example of arrangement of the plurality of unmanned delivery vehicles1at the delivery destination, which is an illustration of arrangement of the plurality of unmanned delivery vehicles1aand1bas viewed from the above. In the example ofFIG. 7, the end portion18a(surface on which there are no input/output unit14and doors of storage16) of the unmanned delivery vehicle1ais adjacent to the end portion18b(surface of input/output unit14) of the unmanned delivery vehicle1b. The unmanned delivery vehicle1ahas arrived first at the standby area, and the unmanned delivery vehicle1bhas arrived later. The movement control module51of the unmanned delivery vehicle1bwhich has arrived later, causes the unmanned delivery vehicle1bto move so that the end portion18aof the unmanned delivery vehicle1ais adjacent to the own end portion18b. In the state illustrated inFIG. 7, the user can input information only to the input/output unit14of the unmanned delivery vehicle1aphysically. With this, the user can easily recognize the unmanned delivery vehicle1to which the reception code is to be input, and can prevent the user from having a difficulty in choosing which unmanned delivery vehicle1is to be operated when there are a plurality of unmanned delivery vehicles1in the standby area.

When the unmanned delivery vehicle1has finished movement, the movement control module51transmits, to the central server2, arrival information including the standby area of the delivery destination and the vehicle body information (Step S106). The authentication information transmission module52of the central server2receives the arrival information (Step S202), and generates a reception code that is unique in at least the standby area of the delivery destination based on the received arrival information (Step S203). The authentication information transmission module52generates a reception code that does not overlap with another reception code generated for another user in at least the standby area. The authentication information transmission module52may generate a reception code that does not overlap with reception codes issued for the unmanned delivery vehicles1waiting at all the other standby areas, or may generate a reception code that does not overlap with a reception code issued for the unmanned delivery vehicle1waiting at another nearby standby area. The reception code is information that can authenticate the user even when the reception code is used alone without being used together with information for identifying the user.

When the reception code is generated, the authentication information transmission module52transmits the reception code to the unmanned delivery vehicle1, which has transmitted arrival information (Step S204), and the association control module53of the unmanned delivery vehicle1receives the reception code (Step S107) to store the received reception code and information for identifying the storage16storing the package into the memory12in association with each other. In this case, instead of the reception code, information capable of authenticating whether the reception code is appropriate, for example, a hash value of the reception code, may be transmitted and used for subsequent authentication of the user.

Further, the authentication information transmission module52transmits an arrival notification including the reception code to the user of the delivery destination (Step S205).

FIG. 8is a flow chart for illustrating an example of processing to be executed by the unmanned delivery vehicle1and the central server2after the unmanned delivery vehicle1has started to wait at the delivery destination. InFIG. 8, processing by the unmanned delivery vehicle1aand the central server2is illustrated. The processing relates to input of the reception code by the user.FIG. 9is a flow chart for illustrating an example of processing to be executed by the unmanned delivery vehicle1and the central server2after the unmanned delivery vehicle1has started to wait at the delivery destination. InFIG. 9, processing by the unmanned delivery vehicle1band the central server2is illustrated. The processing relates to unlocking and completion of delivery.

First, the association control module53of the unmanned delivery vehicle1adetermines whether there is another unmanned delivery vehicle1in the standby area based on the result of detection by the sensor15, or a vehicle search using the communication unit13(Step S121). Then, when there is another unmanned delivery vehicle1in the standby area (Y in Step S121), the association control module53pairs with the existing another unmanned delivery vehicle1(Step S122). When the association control module53has already paired with another unmanned delivery vehicle1, the association control module53does not pair with the existing unmanned delivery vehicle1, or the processing of Step S121and Step S122may be executed by the unmanned delivery vehicle1other than the unmanned delivery vehicle1a. On the other hand, when there is no other unmanned delivery vehicle1in the standby area (N in Step S121), the association control module53skips Step S122. Next, the authentication information reception module55determines whether the user is in front of a touch panel of the input/output unit14(Step S123). The authentication information reception module55may determine whether the user is in front of the input/output unit14depending on whether the touch panel has been pressed, or based on the result of detection by an infrared sensor or lidar in the sensor15. When the user is not in front of the input/output unit14(N in Step S123), the processing of from Step S121is repeated.

When the user is in front of the input/output unit14(Y in Step S123), the authentication information reception module55displays a reception code input screen on the display of the input/output unit14(Step S124). Then, when the user who has recognized the reception code input screen has input a reception code, the authentication information reception module55acquires the reception code input on the input/output unit14(Step S125). The authentication information reception module55may acquire a PIN code input on the touch panel as the reception code, or may acquire, for example, a decoded QR code photographed by a camera included in the input/output unit14as the reception code. When the authentication information reception module55has acquired the reception code, the authentication information reception module55transmits the reception code and the vehicle body information to the central server2(Step S126). Instead of the reception code, information (e.g., hash value) obtained by processing the reception code may be transmitted.

The authentication module56of the central server2receives the reception code and the vehicle body information via the communication unit23(Step S221). The authentication module56acquires a standby area included in arrival information previously received from the unmanned delivery vehicle1indicated by the received vehicle body information, and authenticates the user based on the reception code and the standby area (Step S222). Further, when the user is authenticated, the unlocking instruction module57uses information on the user, the package, and the unmanned delivery vehicle1storing that package, which are stored in the memory22in association with one another, to identify, as an unlocking target, the unmanned delivery vehicle1and storage16storing a package addressed to the authenticated user (Step S223). Then, when the unlocking target is identified, the unlocking instruction module57transmits, to the unmanned delivery vehicle1which has transmitted the reception code, information (unlocking target information) on the unmanned delivery vehicle1being the unlocking target (Step S224). The unmanned delivery vehicle1receives the unlocking target information (Step S131), and displays, on the display of the input/output unit14, a screen indicating the unmanned delivery vehicle1from which the package can be received (Step S132). Further, the unlocking instruction module57transmits, to the unmanned delivery vehicle1being the unlocking target, an unlocking instruction to unlock the storage16being the unlocking target (Step S225). The unlocking instruction includes information (e.g., identification information on storage16or information for identifying user who is to receive package) indicating the storage16being the unlocking target.

FIG. 10is a diagram for illustrating an example of a screen representing the unmanned delivery vehicle1from which the package can be received.FIG. 10is an example of a case in which there are three or more unmanned delivery vehicles1in the standby area, and shows a delivery vehicle image31aindicating the unmanned delivery vehicle1aoperated by the user and a delivery vehicle image31bindicating the unmanned delivery vehicle1bstoring a package addressed to the user in such a manner as to distinguish the delivery vehicle image31aand the delivery vehicle image31bfrom the other unmanned delivery vehicles1. In particular, the delivery vehicle image31bindicating the unmanned delivery vehicle1bstoring the package addressed to the user is highlighted by an arrow or color, for example, to thereby enable the user who has viewed the screen to intuitively grasp a method of receiving the package.

The unlocking module58of the unmanned delivery vehicle1receives an unlocking instruction (Step S141). Then, the unlocking module58unlocks a door of the storage16indicated by the unlocking instruction (Step S142). Then, the reception detection module59waits until the user receives the package

(Step S143). More specifically, the reception detection module59may perform such detection repeatedly until a sensor mounted to the storage16has detected the fact that there is no package in the storage16, or until a sensor mounted to the door of the storage16has detected the fact that the door of the storage16is closed.

When the user has received the package, the reception detection module59transmits delivery completion information indicating completion of the delivery to the user to the central server2(Step S144). When the unlocking instruction module57of the central server2has received the delivery completion information, the unlocking instruction module57transmits a delivery completion notification to the user (Step S241). Meanwhile, the association control module53of the unmanned delivery vehicle1cancels pairing with the other unmanned delivery vehicle1(Step S145), and the movement control module51starts to return to the delivery base3, or starts to move to the next delivery destination (Step S146).

In the first embodiment, even when the unmanned delivery vehicle1to which the user inputs a reception code and the unmanned delivery vehicle1storing a package addressed to the user are different from each other, it is possible to unlock the storage16storing the package. With this, even when the user cannot identify the unmanned delivery vehicle1storing a package addressed to himself or herself from among the plurality of unmanned delivery vehicles1in the standby area, the user may input a reception code into any one of the unmanned delivery vehicles1. Thus, the user is not required to repeatedly input a reception code. Further, as illustrated inFIG. 7, the input/output units14of a part of the unmanned delivery vehicles1are hidden by other unmanned delivery vehicles1, to thereby reduce a possibility of the user having a difficulty in choosing to which input/output unit14of the unmanned delivery vehicle1the reception code is to be input. As a result, it is possible to reduce a load on the user at the time of receiving a package.

Second Embodiment

In the first embodiment, the central server2authenticates the user who has input a reception code and instructs the storage16storing a package addressed to the user to be unlocked. Such authentication and unlocking instruction may be performed by the unmanned delivery vehicle1bstoring a package. In a second embodiment of the present invention, in the following, description is made of a delivery system in which the unmanned delivery vehicle1bstoring a package performs such authentication and unlocking instruction. Now, description is mainly made of differences between the second embodiment and the first embodiment.

FIG. 11is a block diagram for illustrating functions to be implemented by a delivery system according to the second embodiment. In the second embodiment, the unmanned delivery vehicle l includes, from the functional point of view, an auxiliary authentication module61and an auxiliary unlocking instruction module62in addition to the functions illustrated inFIG. 5of the first embodiment. The auxiliary authentication module61and the auxiliary unlocking instruction module62are implemented by the processor11included in the unmanned delivery vehicle1executing programs stored in the memory12to control the communication unit13. The auxiliary authentication module61and the auxiliary unlocking instruction module62are functions similar to those of the authentication module56and the unlocking instruction module57, respectively, and when the unmanned delivery vehicle1and the central server2have a difficulty in communicating to/from each other, the processing of the auxiliary authentication module61and the auxiliary unlocking instruction module62is executed.

FIG. 12is a flow chart for illustrating an example of processing to be executed by the plurality of unmanned delivery vehicles1aand1bafter the plurality of unmanned delivery vehicles1aand1bhave started to wait at the delivery destination. The processing illustrated inFIG. 12is executed when the unmanned delivery vehicle1and the central server2are not communicably connected. When the unmanned delivery vehicle1and the central server2are communicably connected, the processing described with reference toFIG. 8in the first embodiment is executed. The processing until the unmanned delivery vehicle arrives at the delivery destination before the processing is also similar to that of the first embodiment, and thus description thereof is omitted here. In the processing ofFIG. 12, a reception code that is received by the unmanned delivery vehicle1(e.g., unmanned delivery vehicle1b) storing a package addressed to the user in Step S107ofFIG. 6and is stored in association with the storage16corresponding to the memory12is used. Now, description is made of processing in a case in which there are the unmanned delivery vehicle1ato which the user inputs a reception code and the unmanned delivery vehicle1bstoring a package to be received by the user.

Within the processing illustrated inFIG. 12, the processing of from Step S161to Step S165is similar to those of from Step S121to Step S125illustrated inFIG. 8, and thus description thereof is omitted here. When the authentication information reception module55has acquired a reception code from the user in Step S165, the authentication information reception module55transmits the reception code to the other paired unmanned delivery vehicle1(unmanned delivery vehicle1b) (Step S166). The authentication information reception module55may transmit the reception code to all the other unmanned delivery vehicles1.

The auxiliary authentication module61of the unmanned delivery vehicle1breceives the reception code via the communication unit13(Step S171). The auxiliary authentication module61authenticates the input user based on the received reception code and the reception code stored in the memory12in Step S107(Step S172). When the received reception code is not stored in the memory12and authentication has failed, the auxiliary authentication module61transmits information indicating an authentication failure to the unmanned delivery vehicle1.

When the user is authenticated by the auxiliary authentication module61, the auxiliary unlocking instruction module62uses the identification information stored in the storage16in association with the reception code of the authenticated user to identify, as the unlocking target, the storage16storing a package addressed to the user, and the unlocking module58unlocks the key of the door of the identified storage16(Step S173). Further, the auxiliary unlocking instruction module62transmits, to the unmanned delivery vehicle1having received the reception code, information (unlocking target information) which indicates that the own unmanned delivery vehicle1is unlocked (Step S174). The unmanned delivery vehicle1areceives the unlocking target information (Step S168), and displays, on the display of the input/output unit14, a screen indicating the unmanned delivery vehicle1bfrom which the package can be received (Step S169). The processing of Step S169is similar to that of Step S132ofFIG. 8. Further, the reception detection module59executes processing relating to completion of delivery after detecting reception of the package by the user (Step S175). The processing of Step S175is similar to those of from Step S143to Step S146ofFIG. 9, and thus a detailed description thereof is omitted here.

In the second embodiment, similarly to the first embodiment, even when the unmanned delivery vehicle1to which the user inputs a reception code and the unmanned delivery vehicle1storing a package addressed to the user are different from each other, the user can easily receive the package. Further, communication to/from the central server2is not indispensable when the user receives a package, and thus it is possible to receive a package even when communication between the unmanned delivery vehicle1and the central server2is unstable.

Third Embodiment

In a third embodiment of the present invention, contrary to the second embodiment, the unmanned delivery vehicle1ato which the user inputs the reception code authenticates the reception code and gives an unlocking instruction. Now, description is mainly made of a difference between the second embodiment and the first embodiment.

FIG. 13is a flow chart for illustrating an example of processing to be executed by the plurality of unmanned delivery vehicles1aand1bin the third embodiment.FIG. 13is an example of an illustration of processing to be executed after the plurality of unmanned delivery vehicles1aand1bhave started to wait at the delivery destination. The processing illustrated inFIG. 13may be executed when the unmanned delivery vehicle1and the central server2are not communicably connected to each other. It is assumed that a reception code received by the unmanned delivery vehicle1(e.g., unmanned delivery vehicle1b) storing a package addressed to the user in Step S107ofFIG. 6is stored, in advance, in the memory12in association with the corresponding storage16. Now, description is made of processing in a case in which there are the unmanned delivery vehicle1ato which the user inputs a reception code and the unmanned delivery vehicle1bstoring a package to be received by the user.

First, the association control module53of the unmanned delivery vehicle1adetermines whether there is another unmanned delivery vehicle1bin the standby area (Step S181). Then, when there is another unmanned delivery vehicle1bin the standby area (Y in Step S181), the association control module53pairs with the existing another unmanned delivery vehicle1bto receive a combination of the vehicle body information, the reception code of a package to be delivered in this standby area, and identification information on the storage16storing the package (Step S182). In response to this, the association control module53of the unmanned delivery vehicle1btransmits a combination of the vehicle body information, the reception code, and the identification information on the storage16(Step S190). The association control module53of the unmanned delivery vehicle la stores the vehicle body information, the identification information on the storage16, and the reception code into the memory12in association with one another (Step S182). On the contrary, when there is no other unmanned delivery vehicle1in the standby area (N in Step S181), the association control module53skips Step S182.

Next, when the user is not in front of the touch panel of the input/output unit14(N in Step S183), the authentication information reception module55repeats the processing from. Step S181. The processing of Step S181and Step S183is similar to that of Step S121and Step S123ofFIG. 8of the first embodiment. The subsequent processing of Step S184and Step S185is similar to the processing of Step S124and Step S125ofFIG. 8, and thus description thereof is omitted here.

In Step S185, when the reception code is acquired from the user, the auxiliary authentication module61authenticates the user who has input the reception code based on the acquired reception code and the reception code stored in the memory12in Step S182(Step S186). When the acquired reception code is not stored in the memory12, and the user cannot be authenticated, the auxiliary authentication module61displays on the screen information which indicates the reception code is not appropriate.

When the user is authenticated by the auxiliary authentication module61, the auxiliary unlocking instruction module62of the unmanned delivery vehicle1aidentifies, as the unlocking target, the unmanned delivery vehicle1band the storage16storing a package addressed to the user based on the vehicle body information and the identification information on the storage16stored in the memory12in association with the reception code of the authenticated user (Step S187), and transmits, to the identified unmanned delivery vehicle1b, an unlocking instruction to unlock the key of the door of the identified storage16(Step S188).

The unlocking module58of the unmanned delivery vehicle1breceives the unlocking instruction (Step S191). The unlocking module58unlocks the door of the storage16indicated by the unlocking instruction (Step S192). The auxiliary unlocking instruction module62may not identify the storage16. The auxiliary unlocking instruction module62may transmit the unlocking instruction including information (e.g., reception code) for identifying the user or package to the identified unmanned delivery vehicle1b, and the unlocking module58may identify the storage16to be unlocked based on the unlocking instruction.

Then, after the reception detection module59has detected reception of the package by the user, the reception detection module59executes processing relating to completion of delivery (Step S193). The processing of Step S193is similar to those of from Step S143to Step S146ofFIG. 9, and thus a detailed description thereof is omitted here.

Also in the third embodiment, even when the unmanned delivery vehicle1to which the user inputs a reception code and the unmanned delivery vehicle1storing a package addressed to the user are different from each other, the user can easily receive the package. Further, communication to/from the central server2is not indispensable when the user receives a package, and thus it is possible to receive a package even when communication between the unmanned delivery vehicle1and the central server2is unstable. The unmanned delivery vehicle1ahas acquired the reception code and the vehicle body information at the time of pairing (refer to Step S182), but the unmanned delivery vehicle1amay acquire those pieces of information from the central server2separately.

Fourth Embodiment

In a fourth embodiment of the present invention, the central server2authenticates the user based on the reception code, and the unmanned delivery vehicle1ato which the user has input a reception code gives an unlocking instruction. Now, description is mainly made of differences between the fourth embodiment and the first embodiment.

FIG. 14is a block diagram for illustrating functions to be implemented by the delivery system according to the fourth embodiment. In the fourth embodiment, the unlocking instruction module57is provided not in the central server2but in the unmanned delivery vehicle1. The unlocking instruction module57is implemented by the processor11executing a program stored in the memory12.

FIG. 15is a sequence diagram for illustrating an operation of the delivery system, which is a diagram corresponding toFIG. 4of the first embodiment. The fourth embodiment is different from the first embodiment in a period after a reception code has been input until the user has received a package. When the central server2has received a reception code and vehicle body information, the central server2confirms whether the reception code is appropriate, and authenticates the user “b”, who has input the reception code. Then, the central server2transmits the authentication result to the unmanned delivery vehicle1a. When the user is authenticated and the unmanned delivery vehicle1ahas received the authentication result, the unmanned delivery vehicle1atransmits an unlocking instruction to another unmanned delivery vehicle1bstoring a package addressed to the user, and the unmanned delivery vehicle1bunlocks the storage16storing the package. The unmanned delivery vehicle1adisplays the unlocked unmanned delivery vehicle1bon the display.

FIG. 16is a flow chart for illustrating an example of processing to be executed at the time of passing a package, which is a diagram corresponding to the processing of Step S125and its subsequent processing ofFIG. 8of the first embodiment. Processing similar to those of from Step S121to Step S124ofFIG. 8is executed also in the fourth embodiment, but description thereof is omitted here.

The authentication information reception module55of the unmanned delivery vehicle1areceives a reception code from the input/output unit14(Step S325). When the authentication information reception module55has acquired the reception code, the authentication information reception module55transmits the reception code and vehicle body information to the central server2(Step S326). Instead of a reception code, information (e.g., hash value) obtained by processing the reception code may be transmitted, or the reception code may include information for identifying the unmanned delivery vehicle1storing a package.

The authentication module56of the central server2receives the reception code and vehicle body information via the communication unit23(Step S421). The authentication module56acquires a standby area included in arrival information previously received from the unmanned delivery vehicle1indicated by the received vehicle body information, and authenticates the user based on the reception code and the standby area (Step S422). Then, the authentication module56transmits information indicating the fact that the user is authenticated to the unmanned delivery vehicle1a. The unlocking instruction module57of the unmanned delivery vehicle1areceives the information indicating the fact that the user is authenticated (Step S327), and the unlocking instruction module57transmits an unlocking instruction to the unmanned delivery vehicle1bstoring the package (Step S328). Further, the unlocking instruction module57displays, on the display of the input/output unit14, a screen indicating the unmanned delivery vehicle1from which the package can be received (Step S330). Although not shown, the unlocking module58of the unmanned delivery vehicle1bhaving received an unlocking instruction determines the storage16storing the package based on the unlocking instruction, and unlocks the key of the door of the identified storage16. The subsequent processing is similar to that of the first embodiment, and thus description thereof is omitted here.

Also in the fourth embodiment, similarly to the first embodiment, even when the unmanned delivery vehicle1to which the user inputs a reception code and the unmanned delivery vehicle1storing a package addressed to the user are different from each other, the user can easily receive the package.

Fifth Embodiment

In a fifth embodiment of the present invention, the unmanned delivery vehicle1aauthenticates the user based on the reception code, and the central server2transmits an unlocking instruction to the unmanned delivery vehicle1bstoring a package. In the fifth embodiment, contrary to the first embodiment, the authentication module56is arranged in the unmanned delivery vehicle1. In the fifth embodiment, processing until the authentication module56of the unmanned delivery vehicle1aauthenticates the user (until Step S186ofFIG. 13) is similar to that of the third embodiment. The processing of the auxiliary authentication module61is executed by the authentication module56. Further, when the user is authenticated, the authentication module56transmits an authentication result to the central server2together with information indicating the reception code. Then, the central server2identifies the unmanned delivery vehicle1bbeing an unlocking target based on the authentication result, transmits an unlocking instruction, and transmits information indicating the unlocking target to the unmanned delivery vehicle1a. Such processing is similar to those of the first embodiment. Also in the fifth embodiment, even when the unmanned delivery vehicle1to which the user inputs a reception code and the unmanned delivery vehicle1storing a package addressed to the user are different from each other, the user can easily receive the package.