Patent Publication Number: US-2021192451-A1

Title: Transport system, control device, and method

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of Japanese Patent Application No. 2019-232968, filed on Dec. 24, 2019, the entire disclosure of which is incorporated by reference herein. 
     FIELD 
     The present disclosure relates generally to a transport system, a control device, and a method. 
     BACKGROUND 
     A transfer device that collects and transports packages to storage containers is known in the art (for example, Unexamined Japanese Patent Application Publication (Translation of PCT Application) No. 2017-521781). 
     However, the transfer device disclosed in Unexamined Japanese Patent Application Publication (Translation of PCT Application) No. 2017-521781 moves to a collection location of a first package to be collected without transporting a second package that is a different package than the first package and that is to be delivered to the collection location of the first package. As such, there is an issue in that package transport efficiency is not improved. 
     The present disclosure is made with the view of the above situation, and an objective of the present disclosure is to provide a transport system, a control device, and a method whereby package transport efficiency can be improved. 
     SUMMARY 
     A transport system according to a first aspect of the present disclosure that achieves the objective described above includes: 
     at least one memory configured to store a program code; and 
     at least one processor configured to access the program code and operate as instructed by the program code; wherein 
     the program code includes
         a detection code configured to cause the at least one processor to detect a first package to be collected at a specified collection location,   an identification code configured to cause the at least one processor to identify a second package to be delivered to the collection location,   a generation code configured to, when a first date and time that is a collection deadline of the first package and a second date and time that is a scheduled delivery date and time of the second package satisfy a predetermined condition, cause the at least one processor to generate a movement plan for a vehicle in which the vehicle transports the second package to the collection location and, then, the vehicle collects the first package from the collection location, and   a control code configured to cause the at least one processor to carry out control for causing the vehicle to move in accordance with the generated movement plan.       

     According to the transport system, the control device, and the method according to the present disclosure, package transport efficiency can be improved. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A more complete understanding of this application can be obtained when the following detailed description is considered in conjunction with the following drawings, in which: 
         FIG. 1  is a system configuration drawing illustrating a configuration example of a transport system according to an embodiment of the present disclosure; 
         FIG. 2  is a hardware configuration drawing illustrating a configuration example of a mobile terminal; 
         FIG. 3  is an appearance configuration drawing illustrating an example of the appearance of a storage device; 
         FIG. 4  is a hardware configuration drawing illustrating a configuration example of a control device of the storage device; 
         FIG. 5  is a flowchart illustrating an example of storage receiving processing executed by the storage device; 
         FIG. 6  is a drawing illustrating an example of a box management table stored in the storage device according to the embodiment; 
         FIG. 7  is a hardware configuration drawing illustrating a configuration example of a control device of the transport system; 
         FIG. 8  is a drawing illustrating an example of a delivery information table stored in the control device of the transport system; 
         FIG. 9  is a flowchart illustrating an example of movement plan generation processing executed by the control device of the transport system; 
         FIG. 10  is a drawing illustrating an example of a movement plan table stored in the control device of the transport system; 
         FIG. 11A  is a flowchart illustrating an example of a part of collection condition determination processing executed by the control device of the transport system; 
         FIG. 11B  is a flowchart illustrating an example of the rest of collection condition determination processing executed by the control device of the transport system; 
         FIG. 12  is an appearance configuration drawing illustrating an example of the appearance of a first vehicle; 
         FIG. 13  is a hardware configuration drawing illustrating a configuration example of a control device of the first vehicle; 
         FIG. 14  is a flowchart illustrating an example of flight control processing executed by the control device of the first vehicle; 
         FIG. 15  is a flowchart illustrating an example of package exchange processing executed by the control device of the storage device; 
         FIG. 16A  is a drawing illustrating an example of the relationship between a collection deadline and a scheduled delivery date and time according to the embodiment; 
         FIG. 16B  is a drawing illustrating an example of the relationship between the collection deadline and the scheduled delivery date and time according to Modified Example 1 of the embodiment; 
         FIG. 16C  is a drawing illustrating an example of the relationship between the collection deadline and the scheduled delivery date and time according to Modified Example 2 of the embodiment; 
         FIG. 17  is a drawing illustrating an example of the box management table stored in the storage device according to Modified Example 1 of the embodiment; 
         FIG. 18  is an appearance configuration drawing illustrating an example of the appearance of the first vehicle according to Modified Example 3 of the embodiment; and 
         FIG. 19  is an appearance configuration drawing illustrating an example of the appearance of the first vehicle according to Modified Example 4 of the embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments 
     Hereinafter, embodiments of the present disclosure are described while referencing the attached drawings. 
     A transport system  1  according to an embodiment of the present disclosure is installed within a jurisdictional area administrated by a first office of a delivery company that delivers packages. The transport system  1  transports, within the jurisdictional area of the first office, a first package that is collected within the jurisdictional area of the first office and then delivered within the jurisdictional area of a second office different from the first office, and a second package that is collected within the jurisdictional area of the second office and then delivered within the jurisdictional area of the first office. 
     The transport system  1  includes a mobile terminal  10  carried by a requester that requests the collection of the first package, a mobile terminal  20  carried by a recipient that receives the delivered second package, and a storage device  100  that stores the first package to be collected and the delivered second package. Additionally, the transport system  1  includes a control device  500  that controls the transportation of the first package and the second package, and a first vehicle  800  and a second vehicle  900  that move while carrying the first package and the second package to transport the first package and the second package. 
     In one example, the mobile terminal  10  is implemented as a smartphone, or a tablet-type personal computer. As illustrated in  FIG. 2 , the mobile terminal  10  includes a central processing unit (CPU)  11 , a random access memory (RAM)  12 , a read only memory (ROM)  13   a , a flash memory  13   b , a data communication circuit  14   a , a voice communication circuit  14   b , a touch panel  15 , a global positioning system (GPS) circuit  16 , a speaker  17   a , and a microphone  17   b.    
     The CPU  11  carries out total control of the mobile terminal  10  by executing programs stored in the ROM  13   a  or the flash memory  13   b . The RAM  12  temporarily stores data to be processed at the time of execution of the programs by the CPU  11 . Various types of programs are stored in the ROM  13   a  and the flash memory  13   b . The flash memory  13   b  is implemented as semiconductor memory and also stores various types of data and tables in which data is stored. 
     In one example, the data communication circuit  14   a  carries out, in accordance with a communication standard such as 5th Generation (5G), data communication using radio waves with a non-illustrated base station that is connected to an internet IN. As a result, the data communication circuit  14   a  carries out data communication with the control device  500  that connects to the data communication circuit  14   a  via the internet IN. The voice communication circuit  14   b  carries out voice communication using radio waves with the non-illustrated base station. 
     The touch panel  15  includes a video card  15   a , a display device  15   b , and an input device  15   c . The video card  15   a  renders images on the basis of digital signals output from the CPU  11 , and outputs image signals that represent the rendered images. The display device  15   b  is implemented as a liquid crystal display (LCD), and displays images in accordance with the image signals output from the video card  15   a . The mobile terminal  10  may include a plasma display panel (PDP) or electroluminescence (EL) display instead of the LCD. The input device  15   c  is implemented as a touchpad, and inputs signals corresponding to user operations. When viewed from the display direction of the display device  15   b , the display device  15   b  and the input device  15   c  are arranged so that the display surface and the input surface overlap each other. 
     The GPS circuit  16  receives a GPS signal emitted from a GPS satellite, measures the latitude and longitude of the mobile terminal  10  on the basis of the received GPS signal, and outputs a signal expressing the measured latitude and longitude. The speaker  17   a  outputs sound in accordance with signals output by the CPU  11 , and the microphone  17   b  inputs signals expressing ambient sound. 
     When the requester of the first package operates the touch panel  15  of the mobile terminal  10 , the CPU  11  of the mobile terminal  10  acquires, on the basis of a signal output from the touch panel  15 , a user identification (user ID) that identifies the requester. 
     Likewise, the CPU  11  of the mobile terminal  10  acquires a port identification (ID) that identifies a port specified by the requester as the collection location of the first package. The port is specified from among a plurality of ports that are locations at which the first vehicle  800  or the second vehicle  900 , which are flying vehicles, land and take off. Next, the CPU  11  further acquires a first date and time specified as a deadline for collecting the first package at the collection location. 
     In the present embodiment, the port may be any location at which the first vehicle  800  or the second vehicle  900  lands or takes off. Examples of the port include the doorstep, the front yard, the roof, the veranda, or the driveway of the home of the requester or the recipient. Additionally, since the transport system  1  collects packages within the jurisdictional area of the first office, the port specified as the collection location may be any port within the jurisdictional area of the first office. 
     Likewise, the CPU  11  of the mobile terminal  10  acquires the port ID of a port specified by the requester as a delivery location of the first package from among a plurality of ports within the jurisdictional area of the second office, a delivery time block specified as a time block in which the first package is to be delivered to the delivery location, and the user ID of a user specified as the recipient of the first package. 
     Hereinafter, to simplify the description, an example is given of a case in which the CPU  11  of the mobile terminal  10  acquires, as the port ID of the collection location, a port ID “PT 1 ” that identifies a port PT 1  such as illustrated in  FIG. 1 , acquires a first date and time “Jan. 1, 2020 08:30” that is the collection deadline, and acquires a user ID “RQ 1 ” of the requester. Additionally, to simplify the description, “Jan. 1, 2020” is referred to simply as “Jan. 1.” 
     Next, the CPU  11  of the mobile terminal  10  associates the user ID “RQ 1 ” of the requester, the port ID “PT 1 ” of the collection location, the collection deadline “Jan. 1 08:30”, the port ID of the delivery location, information expressing the delivery time block, and the user ID of the recipient to generate delivery information about the delivery of the first package. Then, the CPU  11  generates a delivery request that includes the generated delivery information and that is for requesting collection and delivery of the first package, and outputs the generated delivery request to the data communication circuit  14   a  with the control device  500  as the destination. 
     The data communication circuit  14   a  of the mobile terminal  10  sends the delivery request to the control device  500  and, then, receives a receipt number of the delivery request determined by the control device  500 , and a storage start deadline at which storage, in a storage device  100  installed at the collection location, of the first package is to be started. 
     In the present embodiment, it is described that the storage start deadline is determined as a date and time that is a predetermined time margin earlier than the collection deadline. Additionally, while not limited hereto, the time margin is predetermined as an amount of time that is longer than a sum time of a movement time and a preparation time. The movement time is an amount of time required for the first vehicle  800  or the second vehicle  900  to depart from the first office and arrive at the collection location, and the preparation time is an amount of time required for the first vehicle  800  or the second vehicle  900  to prepare to start the movement. A person skilled in the art can determine, by experiment, optimal values for the time margin and the preparation time. 
     Then, the CPU  11  of the mobile terminal  10  acquires the storage start deadline from the data communication circuit  14   a , and displays the acquired storage start deadline on the touch panel  15 . Thereafter, the requester that has viewed the storage start deadline transports, by the storage start deadline, the first package to the port PT 1  specified as the collection location. The requester transports the first package by, for example, walking, riding a bicycle, or driving a motorcycle or private vehicle. 
     The configuration of the mobile terminal  20  is the same as the configuration of the mobile terminal  10 . 
     The storage device  100  is installed at the port PT 1  specified as the collection location of the first package, and includes a plurality of storage boxes  110  such as illustrated in  FIG. 3 . The plurality of storage boxes  110  is used to store packages. 
     Additionally, the storage device  100  includes, on an upper surface thereof, a robot arm  121  for removing stored packages from the storage boxes  110 , and a package stand  131  on which a package removed from the storage boxes  110  is placed by the robot arm  121 . The package placed on the package stand  131  is collected by the first vehicle  800  or the second vehicle  900 . 
     Furthermore, the storage device  100  includes, on the upper surface thereof, a package stand  132  on which a package delivered by the first vehicle  800  or the second vehicle  900  is placed. The robot arm  121  stores the package placed on the package stand  132  in an empty storage box  110  in which a package is not being stored. 
     Additionally, the storage device  100  includes a control device  140  that controls locking and unlocking of the storage boxes  110  and movements of the robot arm  121 . 
     Each storage box  110  is provided with a non-illustrated box body that forms a space that has a front that is open. Specifically, the space is formed by a non-illustrated back plate, bottom plate, ceiling plate, and right side plate and left side plate extending from a back plate side to an opened side on the right and on the left, respectively, of the back plate. 
     A door  111  and a door frame  112  that receives the door  111  are installed in the opening of the box body. A deadbolt  113  that is a bolt is installed on a back surface of the door  111 , and a strike plate  114  that is a seat for the deadbolt  113  is installed on the door frame  112 . 
     The storage boxes  110  each further include a non-illustrated motor which, in accordance with signals output from the control device  140 , locks the door  111  by inserting the deadbolt  113  into the strike plate  114  and unlocks the door  111  by pulling the deadbolt  113  out of the strike plate  114 . 
     In one example, a non-illustrated light emitter that is a laser diode and that emits a laser in the space, and a non-illustrated light emitting circuit that causes the light emitter to emit light are installed on one of the two side plates of each of the storage boxes  110 . In one example, a non-illustrated light receiver that is a photodiode and a non-illustrated detection circuit are installed on the other side plate. The light receiver receives the laser emitted from the light emitter and outputs an electrical signal. When the light receiver stops outputting the electrical signal, the detection circuit outputs a detection signal to the control device  140  indicating that an object placed in the storage box  110  is detected. The non-illustrated light emitter and light emitting circuit may be installed on one of the bottom plate and the ceiling plate of the storage box  110 , and the non-illustrated light receiver and detection circuit may be installed on the other of the bottom plate and the ceiling plate of the storage box  110 . 
     The robot arm  121  is implemented as a vertical articulated robot. The robot arm  121  includes a drive circuit that drives a non-illustrated motor in accordance with signals output from the control device  140 , and a two-claw-type gripper that is opened and closed in parallel by the motor. The robot arm  121  also includes an imaging device  122  that is mounted on the gripper and that has an optical axis and an angle of view that are adjusted such that the tips of the claws are included in the imaging range, a plurality of joint structures that is moved by motors, and a plurality of arms that move around the joint structures. The gripper is not limited to two-claw-type grippers and may have three or more claws, or may include a plurality of fingers instead of the two claws. 
     The imaging device  122  of the robot arm  121  is implemented as a digital stereo camera. The imaging device  122  performs imaging in accordance with signals output from the control device  140 , and outputs, to the control device  140 , a signal expressing two captured images that have parallax with each other. Such a signal is output because the control device  140  identifies, on the basis of the parallax, the positional coordinates in three-dimensional space, the size, and the like of the object to be gripped by the gripper. 
     As illustrated in  FIG. 4 , the control device  140  of the storage device  100  includes a CPU  141 , a RAM  142 , a ROM  143   a , a flash memory  143   b , a data communication circuit  144   a , a touch panel  145 , an input/output port  148 , and a drive circuit  149 . 
     The configurations and functions of the CPU  141 , the RAM  142 , the ROM  143   a , the flash memory  143   b , the data communication circuit  144   a , and the touch panel  145  of the control device  140  are the same as the configurations and functions of the CPU  11 , the RAM  12 , the ROM  13   a , the flash memory  13   b , the data communication circuit  14   a , and touch panel  15  of the mobile terminal  10  illustrated in  FIG. 2 . 
     The input/output port  148  is connected, via non-illustrated communication cables, to the detection circuit of each of the plurality of storage boxes  110 , and to the non-illustrated drive circuit and the imaging device  122  of the robot arm  121 . The input/output port  148  inputs, to the CPU  141 , the detection signals output from the detection circuits of the storage boxes  110 . Additionally, the input/output port  148  outputs, to the drive circuit or the imaging device  122  of the robot arm  121 , command signals output from the CPU  141 , and inputs, to the CPU  141 , signals output from the imaging device  122 . 
     The drive circuit  149  is connected, via a non-illustrated plurality of cables, to the non-illustrated motor of each of the plurality of doors  111 , and drives each of the motors in accordance with signals output by the CPU  141 . 
     The requester of the first package transports the first package to the port PT 1  specified as the collection location, and places the first package in an empty storage box  110 . Then, the requester performs, on the mobile terminal  10 , an operation for displaying the receipt number of the delivery request. Hereinafter, to simplify the description, an example is given of a case in which a box number of the storage box  110  in which the first package is placed is “BX 1 ”, and the receipt number displayed by the mobile terminal  10  is “N 1 .” 
     Then, the requester performs, on the touch panel  145  of the storage device  100 , an input operation for inputting the receipt number “N 1 ” and the box number “BX 1 ”, and the touch panel  145  outputs a signal in response to the input operation. When the signal is output from the touch panel  145 , the CPU  141  of the storage device  100  illustrated in  FIG. 4  executes storage receiving processing such as illustrated in  FIG. 5  for receiving a storage request for the first package. 
     As a result, the CPU  141  of the storage device  100  functions as an acquirer  151  such as illustrated in  FIG. 1  that acquires the receipt number “N 1 ” and the box number “BX 1 ”, and as a detector  152  that detects the first package that is placed in the storage box  110  identified by the box number “BX 1 .” Furthermore, the CPU  141  functions as a controller  153  that performs, on the data communication circuit  144   a  illustrated in  FIG. 4 , control for causing a storage start report to be sent to the control device  500  that determined the receipt number “N 1 .” Here, the storage start report informs that storage of the detected first package has started. 
     The flash memory  143   b  of the storage device  100  functions as an information storage  159  such as illustrated in  FIG. 1  in which a box management table is stored in advance. Information used to manage the storage boxes  110  is stored in the box management table. 
     As illustrated in  FIG. 6 , the box management table includes a plurality of records in which the box number of the storage box  110 , state information expressing whether or not the storage box  110  is in an empty state in which a package is not stored in the storage box  110 , a package ID identifying the package stored in the storage box  110 , and a password used to authenticate the recipient of the package are associated and saved. 
     When the execution of the storage receiving processing of  FIG. 5  starts, the acquirer  151  of the storage device  100  acquires, on the basis of the signal output from the touch panel  145 , the receipt number “N 1 ” of the delivery request as the package ID “N 1 ” of the first package (step S 01 ). The receipt number “N 1 ” is acquired as the package ID “N 1 ” because, if the received delivery request is identified by the receipt number “N 1 ”, the package requested for delivery will also be identified by the delivery request. 
     Next, the acquirer  151  of the storage device  100  acquires, on the basis of the signal output from the touch panel  145 , the box number “BX 1 ” of the storage box  110  in which the first package is placed (step S 02 ). Then, the detector  152  acquires, from the box management table illustrated in  FIG. 6 , the state information associated with the acquired box ID “BX 1 .” 
     Next, the detector  152  of the storage device  100  determines whether or not the acquired state information expresses an empty state (step S 03 ). At this time, when the detector  152  determines that the state information does not express an empty state (step S 03 ; No), a determination is made that the requester has performed an incorrect operation on the touch panel  145 . Then, the controller  153  causes the touch panel  145  to display a message prompting for the input operation to be performed again and, thereafter, the processing is repeated from step S 02 . 
     In step S 02 , when the detector  152  of the storage device  100  determines that the acquired state information expresses an empty state (step S 03 ; Yes), a determination is made as to whether or not the acquirer  151  has acquired a detection signal output from the storage box  110  identified by the acquired box ID “BX 1 ” (step S 04 ). At this time, when a determination is made that a detection signal is not acquired (step S 04 ; No), the detector  152  detects that the first package is not placed in the storage box  110  identified by the box ID “BX 1 .” Then, the controller  153  causes the touch panel  145  to display a message prompting for the first package to be placed and, thereafter, the processing is repeated from step S 04 . 
     In step S 04 , when a determination is made that a detection signal is acquired (step S 04 ; Yes), the detector  152  of the storage device  100  detects the first package placed in the storage box  110  identified by the box ID “BX 1 ” (step S 05 ). 
     Then, the controller  153  of the storage device  100  outputs, to the drive circuit  149 , the box ID “BX 1 ” and a close signal commanding the closing and locking of the door  111  to lock the storage box  110  in which the detected first package is placed (step S 06 ). 
     Next, the controller  153  of the storage device  100  generates a password to be used to authenticate the recipient of the first package (step S 07 ). Then, the controller  153  updates the state information, the package ID, and the password associated with the box ID “BX 1 ” in the box management table illustrated in  FIG. 6  to state information expressing a non-empty state (that is, an in-use state), the package ID “N 1 ” acquired in step S 01 , and the generated password. 
     Next, the controller  153  of the storage device  100  outputs, to the data communication circuit  114   a  illustrated in  FIG. 4  with the control device  500  as the destination, a storage start report that includes the package ID “N 1 ” and the password, and that informs that the storage of the first package is started (step S 08 ). 
     Then, the data communication circuit  114   a  of the storage device  100  sends the storage start report to the control device  500  and, thereafter, the controller  153  ends the execution of the storage receiving processing. 
     The control device  500  is a server device that is installed at the first office and, as illustrated in  FIG. 7 , includes a CPU  501 , a RAM  502 , a ROM  503   a , a hard disk  503   b , a data communication circuit  504   a , a video card  505   a , a display device  505   b , and an input device  505   c.    
     The configurations and functions of the CPU  501 , the RAM  502 , the ROM  503   a , the data communication circuit  504   a , the video card  505   a , and the display device  505   b  of the control device  500  are the same as the configurations and the functions of the CPU  11 , the RAM  12 , the ROM  13   a , the data communication circuit  14   a , the video card  15   a , and the display device  15   b  of the mobile device  10  illustrated in  FIG. 2 . 
     Various types of programs are stored in the hard disk  503   b  of the control device  500 . The control device  500  may include flash memory instead of the hard disk  503   b.    
     The input device  505   c  of the control device  500  is implemented as one or more of a keyboard, a mouse, a touchpad, and a button, and inputs signals corresponding to operations of a worker that works at the first office. 
     When the communication circuit  504   a  of the control device  500  receives a delivery request from the mobile terminal  10 , the CPU  501  of the control device  500  executes non-illustrated delivery receiving processing for receiving the delivery request. As a result, the CPU  501  functions as an acquirer  510  such as illustrated in  FIG. 1  that acquires the delivery request, a storer  520  that stores the delivery information included in the delivery request, and a controller  530  that causes the data communication circuit  504   a  of  FIG. 7  to return the receipt number of the delivery request. 
     The hard disk  503   b  functions as an information storage  590  in which a delivery information table such as illustrated in  FIG. 8  is stored in advance. The delivery information is stored in the delivery information table. One or a plurality of records in which the package ID of a package for which delivery is requested, state information expressing the state of the package, the delivery information of the package, and the password used in the authentication of the recipient of the package are associated is added to the delivery information table. 
     Among the state information stored in the delivery information table, the state information about the first package to be collected expresses one of: a storage stand-by state in which the first package is waiting to be stored in the storage device  100 , a collection schedule stand-by state in which a collection schedule of the first package is waiting to be generated, and a collection stand-by state in which the first package is waiting to be collected by the first vehicle  800  or the second vehicle  900  in accordance with the schedule. Additionally, the state information about the second package to be delivered expresses one of: a delivery schedule stand-by state in which a delivery schedule of the second package is waiting to be generated, and a delivery stand-by state in which the second package is waiting to be delivered in accordance with the schedule. 
     When the execution of the delivery receiving processing starts, the acquirer  510  of the control device  500  acquires the delivery request from the data communication circuit  504   a , and acquires the delivery information included in the delivery request. 
     Next, the storer  520  generates the package ID “N 1 ” that identifies the first package for which delivery is requested by the delivery request. Then, the storer  520  generates one record to be added to the delivery information table of  FIG. 8 , and associates and stores, in the generated record, the package ID “N 1 ” of the first package, state information expressing that the first package is in the storage stand-by state and is waiting to be stored in the storage device  100 , and string “NULL” indicating that a password is not set. Additionally, the storer  520  further associates, with the package ID “N 1 ”, the delivery information of the first package that includes the user ID “RQ 1 ” of the requester, the port ID “PT 1 ” of the collection location, and information expressing the collection deadline “Jan. 1 08:30”, and stores this associated information in the record. Then, the storer  520  adds the record in which the delivery information is stored to the delivery information table. 
     Next, the controller  530  acquires the time margin stored in advance in the information storage  590 , and subtracts the acquired time margin from the collection deadline “Jan. 1 08:30” to calculate the storage start deadline of the first package. 
     Next, the controller  530  sets the package ID “N 1 ” of the first package as the receipt number “N 1 ” of the delivery request of the first package. Then, the controller  530  outputs, with the mobile terminal  10  as the destination, the receipt number “N 1 ” together with the storage start deadline and, then, ends the execution of the delivery receiving processing. 
     Thereafter, when the data communication circuit  504   a  of the control device  500  receives, from the storage device  100  at the specified collection location, the storage start report informing that storage of the first package has started, the acquirer  510  of the control device  500  acquires the storage start report from the data communication circuit  504   a . Next, the acquirer  510  acquires the package ID “N 1 ” of the first package and the password included in the storage start report, and the storer  520  updates the string “NULL” associated with the acquired package ID “N 1 ” in the delivery information table of  FIG. 8  to the acquired password. Additionally, the storer  520  changes the state information associated with the package ID “N 1 ” of the first package from the state information expressing the storage stand-by state to information expressing the collection schedule stand-by state in which the collection schedule of the first package is waiting to be generated. 
     When the second package is brought in to the first office, the worker of the first office reads a slip affixed to the second package, and confirms the package ID of the second package. Then, the worker performs, on the input device  505   c  of the control device  500 , an operation for inputting an office ID identifying the second office where the second package is collected, and the package ID of the second package. Hereinafter, to simplify the description, an example is given of a case in which two second packages are brought in to the first office, and the package IDs of these two second packages are “N 21 ” and “N 22 .” 
     When the input device  505   c  of the control device  500  inputs a signal corresponding to the operation of the worker, the CPU  501  of the control device  500  executes non-illustrated delivery information acquisition processing for acquiring, on the basis of the inputted signal, the delivery information of the second package. 
     When the execution of the non-illustrated delivery information acquisition processing starts, the acquirer  510  acquires, on the basis of the signal input from the input device  505   c , the package IDs “N 21 ” and “N 22 ” of the second packages, and the office ID of the second office. Next, the acquirer  510  acquires a uniform resource locater (URL) of a non-illustrated control-device installed at the second office. The URL is stored in advance in the information storage  590  in association with the acquired office ID of the second office. 
     Next the controller  530  generates a send request that includes the acquired URL and the package IDs “N 21 ” and “N 22 ” of the second packages, and that is for requesting sending of the delivery information of the second packages, and outputs the generated send request to the data communication circuit  504   a  of  FIG. 7  with the control device of the second office as the destination. 
     The data communication circuit  504   a  of the control device  500  sends the send request and, thereafter, receives delivery information of the second package identified by the package ID “N 21 ” and delivery information of the second package identified by the package ID “N 22 .” 
     Hereinafter, to simplify the description, an example is given of a case in which the delivery information of the second package identified by the package ID “N 21 ” includes the port ID “PT 1 ” of the port PT 1  specified as the delivery location of the second package, information expressing a delivery time block “8:00 to 10:00” of the second package, a user ID “RC 21 ” of the recipient of the second package, and a password “PW 21 ” used in the authentication of the recipient. Additionally, an example is given of a case in which the delivery information of the second package identified by the package ID “N 22 ” includes information expressing the port ID “PT 1 ” of the delivery location and the delivery time block “18:00 to 20:00.” 
     The acquirer  510  of the control device  500  acquires these pieces of delivery information from the data communication circuit  504   a , and the storer  520  generates one record to be added to the delivery information table of  FIG. 8 . Next, the storer  520  associates the package ID “N 21 ” and state information indicating that the second package identified by the package ID “N 21 ” is in the delivery schedule stand-by state in which the delivery schedule of the second package is waiting to be generated, and stores the associated information in the generated record. Additionally, the storer  520  further associates, with the package ID “N 21 ”, delivery information including the port ID “PT 1 ” of the acquired delivery location, information expressing the delivery time block “08:00 to 10:00”, the user ID “RC 21 ” of the recipient, and the password “PW 21 ”, and stores the associated information. Then, the storer  520  adds the record to the delivery information table. 
     Additionally, the storer  520  adds, to the delivery information table, a record in which the package ID “N 22 ”, state information indicating the delivery schedule stand-by state, and delivery information including the port ID “PT 1 ” of the delivery location and the information expressing the delivery time block “18:00 to 20:00” are associated and stored. Then, the storer  520  ends the execution of the delivery information acquisition processing. 
     When the delivery information table of  FIG. 8  is updated, the CPU  501  of the control device  500  illustrated in  FIG. 7  executes movement plan generation processing such as illustrated in  FIG. 9 . The movement plan generation processing is for generating, on the basis of the delivery information stored in the delivery information table, movement plans of the first vehicle  800  and the second vehicle  900  that transport the first package and the second package. 
     Thus, the CPU  501  of the control device  500  further functions as an identifier  540  such as illustrated in  FIG. 1  that identifies the second package that is to be delivered to the port PT 1  specified as the collection location of the first package. Additionally, the CPU  501  functions as a generator  550  that generates movement plans for the first vehicle  800  and the second vehicle  900  so that the first vehicle  800  or the second vehicle  900  transports the identified second package to the port PT 1  and, thereafter, the first vehicle  800  or the second vehicle  900  collects the first package from the port PT 1 . 
     The information storage  590  stores, in advance, a movement plan table such as illustrated in  FIG. 10 . One or a plurality of records in which a movement plan for the first vehicle  800  or the second vehicle  900  is stored is added to the movement plan table. A vehicle ID that identifies the first vehicle  800  or the second vehicle  900 , and the package ID of the package to be transported by the first vehicle  800  or the second vehicle  900  are associated and stored in each of the one or plurality of records. 
     Additionally, the vehicle ID of the first vehicle  800  or the second vehicle  900 , the port ID of the port that is a movement start location at which the movement of the first vehicle  800  or the second vehicle  900  starts, and information expressing a movement start date and time that is a date and time at which the movement of the first vehicle  800  or the second vehicle  900  is scheduled to start are associated and stored in each of the one or plurality of records. 
     Furthermore, the vehicle ID of the first vehicle  800  or the second vehicle  900 , the port ID of the port that is a movement end location at which the movement of the first vehicle  800  or the second vehicle  900  ends, and information expressing a movement end date and time that is a date and time at which the movement of the first vehicle  800  or the second vehicle  900  is scheduled to end and that also is a scheduled delivery date and time of the second package are associated and stored in each of the one or plurality of records. 
     When the execution of the movement plan generation processing starts, the acquirer  510  of the control device  500  acquires, from among the one or plurality of records stored in the delivery information table of  FIG. 8 , one or a plurality of records in which state information expressing the delivery schedule stand-by state is stored. Such records are acquired in order to generate the delivery schedule of the second package. 
     Next, the generator  550  of the control device  500  uses known scheduling technology on the acquired one or plurality of records to execute delivery schedule generation processing for generating the delivery schedule of the second package by the first vehicle  800  and the second vehicle  900  (step S 11 ). Next, the storer  520  updates the state information stored in the acquired one or plurality of records to information expressing the delivery stand-by state. 
     In the delivery schedule generation processing, the generator  550  of the control device  500  acquires the system date and time from the operating system (OS), for example, and determines a second date and time that is the scheduled delivery date and time of the second package on the basis of the acquired system date and time and the delivery time block “8:00 to 10:00” of the second package identified by the package ID “N 21 .” Next, the generator  550  generates a movement plan for the first vehicle  800  such that the second package is delivered at the determined second date and time. 
     In the following, to simplify the description, an example is given of a case in which a movement plan is generated in which the second package identified by the package ID “N 21 ” is loaded on the first vehicle  800 , and the first vehicle  800  departs from the port PT 0  where the first office is located at the movement start date and time “Jan. 1 08:00” and arrives at the port PT 1  of the delivery location at the scheduled delivery date and time “08:10.” 
     Additionally, an example is given of a case in which a movement plan is generated in which the first vehicle  800  delivers the second package identified by the package ID “N 21 ” and, then, departs from the port PT 1  at “08:20” without a package and returns to the port PT 0 . 
     To generate this movement plan, the storer  520  of the control device  500  generates one record to be added to the movement plan table of  FIG. 10 , associates the vehicle ID “ 800 ” of the first vehicle  800 , the package ID “N 21 ” of the second package, the port ID “PT 0 ” of the movement start location, and information expressing the movement start date and time “Jan. 1 08:00”, and stores the associated information in the generated record. Furthermore, the storer  520  associates the port ID “PT 1 ” of the movement end location and the movement end date and time “Jan. 1 08:10” with the vehicle ID “ 800 ” and saves the associated information in the record. Then, the storer  520  adds the record to the movement plan table. 
     Additionally, the storer  520  of the control device  500  generates another record to be added to the movement plan table. Next, the storer  520  associates the vehicle ID “ 800 ”, the string “NULL” indicating that there is no package for the first vehicle  800  to transport, the port ID “PT 1 ” of the movement start location, information expressing the movement start date and time “Jan. 1 08:20”, the port ID “PT 0 ” of the movement end location, and the movement end date and time and stores the associated information in the generated record. Then, the storer  520  adds the record to the movement plan table. 
     Likewise, the generator  550  of the control device  500  determines the scheduled delivery date and time of the second package identified by the package ID “N 22 ”, and generates a movement plan for the second vehicle  900  such that the second package is delivered at the determined scheduled delivery date and time. 
     In the following, to simplify the description, an example is given of a case in which a movement plan is generated in which the second vehicle  900  arrives at the port PT 1  at the scheduled delivery date and time “18:10” with the second package identified by the package ID “N 22 .” 
     To generate this movement plan, the storer  520  of the control device  500  generates one record, associates the vehicle ID “ 900 ”, the package ID “N 22 ”, the port ID “PT 1 ”, and the movement end date and time “Jan. 1 18:10”, stores the associated information in the generated record and, then, adds the record to the movement plan table. 
     Next, the acquirer  510  of the control device  500  acquires, from among the one or plurality of records stored in the delivery information table of  FIG. 8 , one or a plurality of records in which state information expressing the collection schedule stand-by state is stored. Such records are acquired in order to generate the collection schedule of the first package. 
     Thereafter, the generator  550  of the control device  500  determines, on the basis of the number of acquired records, whether or not there is a first package for which the collection schedule has not been generated (step S 12 ). Here, when a determination is made that the number of acquired records is greater than “0”, the generator  550  determines that there is a first package for which a collection schedule has not been generated (step S 12 ; Yes). 
     Next, the generator  550  of the control device  500  targets one first package without a collection schedule, that is identified by the package ID stored in the acquired record (step S 13 ). To simplify the description, an example is given of a case in which the first package identified by the package ID “N 1 ” is targeted. 
     In order to identify the collection location of the targeted first package (hereinafter referred to as the “target first package”), the identifier  540  of the control device  500  acquires the port ID “PT 1 ” of the collection location that is associated, in the delivery information table of  FIG. 8 , with the package ID “N 1 ” of the target first package (step S 14 ). 
     Next, the identifier  540  of the control device  500  acquires, from the movement plan table illustrated in  FIG. 10 , the records in which the port ID “PT 1 ” is stored as the port ID of the movement end location, and acquires the package IDs “N 21 ” and “N 22 ” that are stored in the acquired records. Then, the identifier  540  identifies the two second packages, identified respectively by the acquired package IDs “N 21 ” and “N 22 ”, as second packages to be delivered to the collection location of the target first package (step S 15 ). 
     Next, the generator  550  of the control device  500  acquires, from the movement plan table of  FIG. 10 , the movement end date and time “Jan. 1 08:10” associated with the package ID “N 21 ”, and the movement end date and time “Jan. 1 18:10” associated with the package ID “N 22 .” Since the movement end date and time is also the scheduled delivery date and time, the generator  550  determines that, of the scheduled delivery date and times of the second packages respectively identified by the package IDs “N 21 ” and “N 22 ”, the scheduled delivery date and time of the second package identified by the package ID “N 21 ” is the earliest. Then, the generator  550  targets the second package to be delivered at the scheduled delivery date and time determined to be the earliest (step S 16 ). 
     Next, the generator  550  acquires the first date and time “Jan. 1 08:30” that is the collection deadline associated, in the delivery information table of  FIG. 8 , with the package ID “N 1 ” of the target first package (step S 17 ). 
     Next, the generator  550  executes collection condition determination processing such as illustrated in  FIGS. 11A and 11B  in which a determination is made whether or not the collection deadline of the target first package and the scheduled delivery date and time of a targeted second package (hereinafter referred to as “target second package”) satisfy a predetermined collection condition that is a condition for causing the first vehicle  800 , which is to deliver the target second package, to collect the target first package (step S 18 ). 
     When the execution of the collection condition determination processing of  FIGS. 11A and 11B  starts, the generator  550  determines whether or not a late condition is satisfied (step S 31 ). Here, the late condition is that the second date and time that is the scheduled delivery date and time of the target second package is later than the first date and time that is the collection deadline of the target first package. In this case, since the second date and time “Jan. 1 08:10” that is the scheduled delivery date and time is earlier than the first date and time “Jan. 1 08:30” that is the collection deadline, the generator  550  determines that the late condition is not satisfied (step S 31 ; No). 
     Next, the generator  550  determines that the collection condition is satisfied (step S 32 ) and, then, ends the execution of the collection condition determination processing. The reason for such determination is because the delivery location of the target second package and the collection location of the target first package are the same and, also, the scheduled delivery date and time is earlier than the collection deadline. Specifically, this determination is made because, if the first vehicle  800  can be caused to transport the target second package to the delivery location of the target second package by the scheduled delivery date and time of the target second package, the first vehicle  800  can be caused to collect the target first package by the collection deadline of the target first package. 
     When a determination is made that the collection condition is satisfied (step S 19 ; Yes), the generator  550  maintains the movement plan generated in step S 11  in which the target second package identified by the package ID “N 21 ” is loaded on the first vehicle  800 , and the first vehicle  800  departs from the port PT 0  of the first office and arrives at the port PT 1  that is the delivery location of the target second package at the second date and time “Jan. 1 08:10.” 
     Additionally, the generator  550  changes the movement plan generated in step S 11  in which, after the first vehicle  800  delivers the target second package identified by the package ID “N 21 ”, the first vehicle  800  departs, without a package, from the port PT 1  that is the delivery location of the target second package at “Jan. 1 08:20” and returns to the port PT 0  of the first office, to a movement plan in which the first vehicle  800  returns with the target first package identified by the package ID “N 1 ” (step S 20 ). 
     Then, the storer  520  updates, in the delivery information table of  FIG. 8 , the state information associated with the package ID “N 1 ” of the target first package from information expressing the collection schedule stand-by state to information expressing the collection stand-by state (step S 21 ) and, then, repeats the processing from step S 12 . 
     When a determination is made in step S 12  that the number of records in which state information expressing the collection schedule stand-by state is stored is “0”, the generator  550  determines that there is not a first package for which a collection schedule has not been generated (step S 12 ; No), and ends the execution of the movement plan generation processing. 
     After the movement plan generation processing is executed, the controller  530  of the control device  500  illustrated in  FIG. 1  acquires, from the movement plan table of  FIG. 10 , the package ID “N 21 ” associated with the vehicle ID “ 800 ” of the first vehicle  800  and the port ID “PT 0 ” of the movement start position. Then, the controller  530  causes the display device  505   b  of  FIG. 7  to display the package ID “N 21 ” and a message prompting the second package identified by the package ID “N 21 ” to be loaded on the first vehicle  800 . The controller  530  similarly causes the package ID “N 22 ” and a message prompting the loading thereof to be displayed. 
     After causing the package ID “N 21 ” and the message to be displayed, the controller  530  acquires, from the movement plan table, one or a plurality of records in which the vehicle ID “ 800 ” of the first vehicle  800  is stored. Next, the controller  530  generates a control command that includes the acquired one or plurality of records and that commands movement in accordance with the movement plan expressed in these records. Then, the controller  530  outputs the generated control command to the data communication circuit  504   a  of  FIG. 7  with the first vehicle  800  as the destination, thereby performing control for causing the first vehicle  800  to move according to the movement plan. The controller  530  performs similar control for causing the second vehicle  900  to move according to a movement plan. 
     When a worker working at the first office views the message displayed on the display device  505   b  of the control device  500 , the worker searches for the second package identified by the package ID “N 21 ” in accordance with the message. Next, the worker places the found second package on a non-illustrated first work stand that is installed near the first vehicle  800 , and performs an operation on the first vehicle  800  for starting the delivery of the second package. Likewise, the worker places the second package identified by the package ID “N 22 ” on a non-illustrated second work stand and, then, operates the second vehicle  900 . 
     In one example, the first vehicle  800  is an unmanned aircraft such as a drone, and includes a control device  810  such as illustrated in  FIG. 12  that controls the attitude and flight of the first vehicle  800 , and propeller arms  821  to  824  that respectively protrude forward to the right and forward to the left, and backward to the left and backward to the right from the control device  810 . Additionally, the first vehicle  800  includes propellers  831  to  834  that are respectively installed on the tips of the propeller arms  821  to  824 , and non-illustrated motors that rotate the propellers  831  to  834  in accordance with the control of the control device  810 . 
     Additionally, the first vehicle  800  includes, beneath the control device  810 , a first holding frame  841   a  that surrounds and holds four sides of one of the four side faces (hereinafter referred to as “first surrounded face”) of the parallelepiped shaped package, and a second holding frame  841   b  that surrounds and holds four sides of a side face (hereinafter referred to as “second surrounded face”) opposite to the first surrounded face. Furthermore, the first vehicle  800  includes, on a bottom surface of the control device  810 , guide rails  842   a  and  842   b  that extend in a normal direction of the first surrounded face and the second surrounded face of the package, and suspend the first holding frame  841   a  and the second holding frame  841   b , and of which an extending direction is the movement direction of the first holding frame  841   a  and the second holding frame  841   b . Moreover, the first vehicle  800  includes a non-illustrated motor that causes the first holding frame  841   a  and the second holding frame  841   b  to surround and hold the package by moving, in accordance with the control of the control device  810 , the first holding frame  841   a  and the second holding frame  841   b  in directions so as to approach each other. Furthermore, the motor causes the first holding frame  841   a  and the second holding frame  841   b  to release the surrounded and held package by moving, in accordance with the control of the control device  810 , the first holding frame  841   a  and the second holding frame  841   b  in directions so as to separate from each other. 
     Furthermore, the first vehicle  800  includes an imaging device  851  that is provided on the top surface of the control device  810  and of which the optical axis and angle of view are adjusted such that space in front of the first vehicle  800  is included in the imaging range. Additionally, the first vehicle  800  includes an imaging device  852  that is provided on the bottom surface of the control device  810  and of which the optical axis and angle of view are adjusted such that, when a package is placed below the first vehicle  800 , the package, the first holding frame  841   a , and the second holding frame  841   b  are included in the imaging range. The configurations and functions of the imaging devices  851  and  852  are the same as the configuration and functions of the imaging device  122  of the storage device  100  illustrated in  FIG. 3 . 
     As illustrated in  FIG. 13 , the control device  810  includes a CPU  811 , a RAM  812 , a ROM  813   a , a flash memory  813   b , a data communication circuit  814   a , a touch panel  815 , a GPS circuit  816 , an input/output port  818 , and a drive circuit  819 . The configurations and functions of the CPU  811 , the RAM  812 , the ROM  813   a , the flash memory  813   b , the data communication circuit  814   a , the touch panel  815 , and the GPS circuit  816  of the control device  810  are the same as the configurations and functions of the CPU  11 , the RAM  12 , the ROM  13   a , the flash memory  13   b , the data communication circuit  14   a , the touch panel  15 , and the GPS circuit  16  of the mobile device  10  illustrated in  FIG. 2 . 
     The input/output port  818  is connected to non-illustrated communication cables that are respectively connected to the imaging devices  851  and  852 , outputs signals output by the CPU  811  to the imaging device  851  or  852 , and inputs signals output by the imaging device  851  or  852  into the CPU  811 . 
     The drive circuit  819  is connected to four non-illustrated cables that are connected to each of the non-illustrated motors that rotate the propellers  831  to  834  illustrated in  FIG. 12 , and a cable that is connected to the non-illustrated motor that moves the first holding frame  841   a  and the second holding frame  841   b . The drive circuit  819  drives, in accordance with the signals output by the CPU  811 , the non-illustrated motors that rotate the propellers  831  to  834  or the non-illustrated motor that moves the first holding frame  841   a  and the second holding frame  841   b.    
     When the touch panel  815  of the first vehicle  800  outputs a signal corresponding to an operation to start the delivery of the second package, the CPU  811  of the first vehicle  800  executes flight control processing such as illustrated in  FIG. 14  for carrying out flight control of the first vehicle  800 . 
     When the execution of the flight control processing is started, the CPU  811  outputs, to the drive circuit  819 , a control signal that causes the first vehicle  800  to ascend to a predetermined altitude, and the drive circuit  819  drives, in accordance with the control signal, the non-illustrated motors to rotate the propellers  831  to  834  illustrated in  FIG. 12 . 
     Next, the CPU  811  outputs a signal commanding imaging to be performed to the imaging device  852  provided below the first vehicle  800 . The signal is output via the input/output port  818 . Thereafter, when a signal expressing a captured image is input from the imaging device  852  via the input/output port  818 , the CPU  811  image analyzes the captured image. Thus, the CPU  811  detects, from the captured image, a package area that is an image area that corresponds to the second package when viewed from above. Next, the CPU  811  outputs, to the drive circuit  819 , a control signal that causes the first vehicle  800  to move to directly above the second package on the basis of the position in the captured image of the detected package area. 
     Thereafter, the CPU  811  outputs, to the drive circuit  819 , a control signal that causes the first holding frame  841   a  and the second holding frame  841   b  illustrated in  FIG. 12  to sufficiently separate, and the drive circuit  819  drives, in accordance with the control signal, the non-illustrated motor that moves the first holding frame  841   a  and the second holding frame  841   b.    
     Next, the CPU  811  again outputs, to the imaging device  852 , a signal that commands imaging be performed, and analyzes the captured image again to detect the package area and a first frame area and a second frame area that are image areas that respectively correspond to the first holding frame  841   a  and the second holding frame  841   b . Thereafter, the CPU  811  outputs, to the drive circuit  819 , a control signal that causes, on the basis of the positions of the package area, the first frame area, and the second frame area in the captured image that is acquired again, the first vehicle  800  to land or sufficiently descend while straddling the second package between the first holding frame  841   a  and the second holding frame  841   b.    
     Thereafter, the CPU  811  outputs, to the drive circuit  819 , a control signal that causes the first holding frame  841   a  and the second holding frame  841   b  to sufficiently move toward each other. As a result, the first vehicle  800  surrounds and holds the second package by the first holding frame  841   a  and the second holding frame  841   b . Thus, the loading of the second package by the first vehicle  800  is completed (step S 51 ). 
     Next, when the data communication circuit  814   a  of the first vehicle  800  receives, from the control device  500 , the control command commanding movement according to the movement plan, the CPU  811  of the first vehicle  800  acquires that control command from the data communication circuit  814   a  (step S 52 ), and acquires, from the acquired control command, one or a plurality of records that expresses a movement plan. 
     Next, the CPU  811  of the first vehicle  800  identifies, on the basis of the latitude and longitude expressed by a signal output from the GPS circuit  816  illustrated in  FIG. 13  and the latitude and longitude of the port PT 0  expressed in the information stored in advance in the flash memory  813   b , that the first vehicle  800  has landed at the port PT 0  of the first office. Next, the CPU  811 , acquires, from among the one or plurality of records acquired from the control command, a record in which the port ID “PT 0 ” of the port PT 0  is stored as the port ID of the movement start location. Such a record is acquired to acquire a record that expresses a movement plan in which the port PT 0  is the movement start location. 
     Thereafter, the CPU  811  acquires information expressing the movement start date and time “Jan. 1 08:00”, the port ID “PT 1 ” of the movement end location, and the information expressing the movement end date and time “Jan. 1 08:10” that are stored in the acquired record. 
     Then, the CPU  811  of the first vehicle  800  uses known route searching technology to determine a first route on which the first vehicle  800  departs from the port PT 0  at the movement start date and time “Jan. 1 08:00” and arrives at the port PT 1  at the movement end date and time “Jan. 1 08:10” (step S 53 ). 
     Note that, the generator  550  of the control device  500  may carry out the determination of the first route by executing the delivery schedule generation processing of step S 11  illustrated in  FIG. 9 . The controller  530  of the control device  500  may output a control command that includes the determined first route. 
     Next, the CPU  811  of the first vehicle  800  acquires the system date and time managed by the OS, for example, and determines whether or not the movement start date and time has arrived on the basis of whether or not the acquired system date and time is later than the movement start date and time (step S 54 ). Here, when the system date and time is earlier than the movement start date and time and, as such, the CPU  811  determines that the movement start date and time has not arrived (step S 54 ; No), the CPU  811  sleeps for a predetermined amount of time and, then, repeats the processing of step S 54 . 
     In contrast, when the system date and time is the same as or later than the movement start date and time and, as such, the CPU  811  of the first vehicle  800  determines that the movement start date and time has arrived (step S 54 ; Yes), the CPU  811  outputs, to the drive circuit  819  illustrated in  FIG. 13 , a control signal that controls the propellers  831  to  834  illustrated in  FIG. 12  so as to fly on an outbound route that is the first route determined in step S 53  (step S 55 ). 
     Then, the CPU  811  of the first vehicle  800  acquires the information expressing the latitude and longitude of the port PT 1  stored in advance in the flash memory  813   b  illustrated in  FIG. 13  in association with the port ID “PT 1 ” of the movement end location. Next, the CPU  811  calculates, on the basis of the signal output from the GPS circuit  816  and the acquired information, the difference between the latitude and longitude of the port PT 1  of the movement end location and the latitude and longitude of the first vehicle  800 . Then, the CPU  811  determines, on the basis of whether or not the difference between the latitude and longitude of the port PT 1  and the latitude and longitude of the first vehicle  800  is less than or equal to a predetermined value, whether or not the first vehicle  800  has arrived at the port PT 1  (step S 56 ). 
     In the present embodiment, the phrase “the first vehicle  800  arrives at the port PT 1 ” does not necessarily mean that the first vehicle  800  has landed at the port PT 1 , but also includes the meanings of, for example, the first vehicle  800  is hovering in the air above or in the vicinity of the port PT 1  without landing, the first vehicle  800  lands, takes off, and is hovering, and the first vehicle  800  is circling or moving back and forth above or in the vicinity of the port PT 1 . 
     In step S 56 , when the CPU  811  of the first vehicle  800  determines that the difference is greater than the predetermined value, a determination is made that the first vehicle  800  has not arrived at the port PT 1  (step S 56 ; No), and the steps described above are repeated from step S 55 . 
     In contrast, when the CPU  811  of the first vehicle  800  determines that the difference is less than or equal to the predetermined value, a determination is made that the first vehicle  800  has arrived at the port PT 1  (step S 56 ; Yes). Next, the CPU  811  determines that the transport of the second package to the delivery location is completed, and outputs, to the data communication circuit  814   a  of  FIG. 13  with the control device  500  as the destination, a transport completion report that includes the vehicle ID “ 800 ” of the first vehicle  800  and the package ID “N 21 ” of the second package (step S 57 ). 
     The determination is made that the transport of the second package is completed when the second package arrives at the delivery location because, in the present embodiment, a package being transported to the delivery location means that the package arrives at the delivery location. That is, in the present embodiment, in order for a determination to be made that the transport of the second package is completed, it is not necessary for the package to be placed on the storage device  100  installed at the delivery location and it is not necessary for the package to be stored in the storage device  100 , for example. 
     As such, provided that the first vehicle  800  transports the second package and arrives at the delivery location and, thereafter, collects the first package at that delivery location, regardless of whether the placement and storage of the second package is before or after the collection of the first package, the first vehicle  800  transports the second package to the delivery location and, thereafter, collects the first package at that delivery location. 
     After the data communication circuit  814   a  of the first vehicle  800  sends the transport completion report, the CPU  811  of the first vehicle  800  outputs a control signal that causes the first vehicle  800  to move to directly above the package stand  132  of the storage device  100  illustrated in  FIG. 3 . Then, the CPU  811  outputs a control signal that causes the first vehicle  800  to land on the package stand  132  or descend sufficiently (step S 58 ). Next, the CPU  811  outputs a control signal that causes the second package to be released from the first holding frame  841   a  and the second holding frame  841   b  illustrated in  FIG. 12 , thereby placing the second package on the package stand  132  and completing the delivery (step S 59 ). 
     In the present embodiment, the phrase “the package is delivered to the delivery location” means that the package is placed at the delivery location. That is, in the present embodiment, in order for a determination to be made that the delivery of the second package is completed, it is not necessary for the package to be stored in the storage device  100  installed at the delivery location, for example. 
     Then, the robot arm  121  of the storage device  100  stores the second package that is placed on the package stand  132  in a storage box  110 . 
     Next, the CPU  811  of the first vehicle  800  outputs a control signal that causes the first vehicle  800  to move to directly above the package stand  131  on which the first package, which is taken out of the storage box  110  by the robot arm  121 , is placed and, then, outputs a control signal that causes the first vehicle  800  to land on the package stand  131  or sufficiently descend. Next, the CPU  811  of the first vehicle  800  outputs a control signal that causes the first holding frame  841   a  and the second holding frame  841   b  to sufficiently move toward each other. Thus, the first vehicle  800  loads the first package by causing the first holding frame  841   a  and the second holding frame  841   b  to surround and hold the first package (step S 60 ). 
     Next, since the first package is loaded, the CPU  811  of the first vehicle  800  determines that the collection of the first package is completed, and outputs a collection report to the data communication circuit  814   a  of  FIG. 13  with the control device  500  as the destination (step S 61 ). 
     The reason that the collection of the first package by the first vehicle  800  is determined to be completed when the first package is loaded on the first vehicle  800  is because, in the present embodiment, “a package being collected” means that the package is loaded on the first vehicle  800  or the second vehicle  900 . That is, in the present embodiment, in order for a determination to be made that the collection of the first package is completed, it is not necessary for the first vehicle  800  or the second vehicle  900  to transport the first package to the first office, for example. 
     Then, CPU  811  of the first vehicle  800  acquires, from among the one or plurality of records expressing a movement plan acquired from the control command, a record in which the port ID “PT 1 ” of the port PT 1  is stored as the port ID of the movement start location. The CPU  811  acquires such a record to acquire a record that expresses a movement plan for an inbound route in which the port PT 1  is the movement start location. 
     Then, the CPU  811  of the first vehicle  800  executes processing similar to the processing of step S 53  to determine, as an inbound flight route, a second route traveling back on the outbound first route (step S 62 ). Next, the CPU  811  executes processing similar to steps S 54  to S 56 , and S 58  and S 59  to depart from the port PT 1 , fly on the second route, arrive and land at the port PT 0  of the first office, and release the first package (steps S 63  to S 67 ). Then, the CPU  811  ends the execution of the flight control processing. 
     The configuration and the functions of the second vehicle  900  are the same as the configuration and the functions of the first vehicle  800 . 
     When the data communication circuit  504   a  of the control device  500  receives, from the first vehicle  800 , the transport completion report of the second package output in step S 57  of  FIG. 14 , the acquirer  510  of the control device  500  acquires the transport completion report, and acquires the vehicle ID “ 800 ” of the first vehicle  800  and the package ID “N 21 ” of the second package included in the transport completion report. Then, the acquirer  510  acquires the port ID “PT 1 ” of the movement end location associated with the vehicle ID “ 800 ” and the package ID “N 21 ” in the movement plan table of  FIG. 10 . Next, the acquirer  510  acquires the package ID “N 1 ” of the first package associated with the vehicle ID “ 800 ” and the port ID “PT 1 ” of the movement start position. Thus, the acquirer  510  acquires the package ID “N 1 ” of the first package that the first vehicle  800  is to be caused to collect at the port PT 1 . 
     Next, the controller  530  of the control device  500  outputs, to the data communication circuit  504   a  with the storage device  100  as the destination, a removal command that includes the package ID “N 1 ” and that commands that the first package be removed from the storage box  110  and placed on the package stand  131 . 
     The removal command, which commands that the first package to be collected is removed from the storage box  110 , is output when the transport completion report of the second package is received in order to empty the storage box  110  that the first package was stored in, thereby making it possible to store the transported second package in that storage box  110 . 
     Then, when the data communication circuit  504   a  of the control device  500  receives the collection report of the first package output in step S 61 , the controller  530  of the control device  500  determines that the storage box  110  in which the first package was stored has become empty, and that the delivered second package can be stored. Next, the controller  530  acquires, from the delivery information table of  FIG. 8 , the password “PW 21 ” associated with the package ID “N 21 ” of the delivered second package. Then, the controller  530  outputs, to the data communication circuit  504   a  with the storage device  100  as the destination, a storage command that includes the package ID “N 21 ” and the password “PW 21 ”, and that commands that the second package identified by the package ID “N 21 ” be stored in the storage box  110  and that the second package be handed over to the recipient that successfully authenticates using the password “PW 21 .” 
     Next, the controller  530  acquires, from the delivery information table of  FIG. 8 , the user ID “RC 21 ” of the recipient associated with the package ID “N 21 ”, and acquires an electronic mail address that is stored in advance in the information storage  590  in association with the user ID “RC 21 .” Then, the controller  530  generates an electronic mail that has the acquired electronic mail address as the destination. Next, the controller  530  adds, to the generated electronic mail, a message informing that the second package identified by the package ID “N 21 ” is delivered to the storage device  100  of the port PT 1  identified by the port ID “PT 1 ”, and a message prompting for the input of the password “PW 21 ” into the storage device  100  to retrieve the second package. Then, the controller  530  outputs the electronic mail, to which the messages are added, to the data communication circuit  504   a , thereby causing the electronic mail to be sent. 
     When the data communication circuit  144   a  of the storage device  100  illustrated in  FIG. 4  receives the removal command and the storage command from the control device  500 , the CPU  141  of the storage device  100  executes package exchange processing such as illustrated in  FIG. 15  for exchanging the package stored in the storage box  110 , namely the first package, with the second package. 
     When the execution of the package exchange processing starts, the acquirer  151  of the storage device  100  acquires the removal command from the data communication circuit  144   a  (step S 71 ), and acquires the package ID “N 1 ” of the first package included in the removal command. Next, the acquirer  151  acquires, from the box management table illustrated in  FIG. 6 , the box number “BX 1 ” associated with the package ID “N 1 ”, and identifies that the first package is stored in the storage box  110  identified by the acquired box number “BX 1 ” (step S 72 ). 
     Then, the controller  153  of the storage device  100  outputs, to the robot arm  121 , a control signal that causes the robot arm  121  to remove the first package from the storage box  110  identified by the box number “BX 1 ”, and place the removed first package on the package stand  131  illustrated in  FIG. 3  (step S 73 ). 
     Then, the acquirer  151  of the storage device  100  acquires the storage command from the data communication circuit  144   a  (step S 74 ), and acquires the package ID “N 21 ” and the password “PW 21 ” of the second package that are included in the storage command. Next, the controller  153  of the storage device  100  outputs, to the robot arm  121 , a control signal that causes the robot arm  121  to store the second package, which is placed by the first vehicle  800  on the package stand  132  illustrated in  FIG. 3 , in the empty storage box  110  in which the first package had been stored (step S 75 ). 
     Then, the controller  153  of the storage device  100  updates the package ID and the password associated with the box number “BX 1 ” in the box management table of  FIG. 6  from the package ID “N 1 ” and the password of the collected first package to the package ID “N 21 ” and the password “PW 21 ” of the newly stored second package, and ends the execution of the package exchange processing. 
     When the recipient identified by the user ID “RC 21 ” performs an operation on the mobile terminal  20  for displaying the electronic mail, the mobile terminal  20  receives the electronic mail from a non-illustrated mail server, and displays the received electronic mail. The recipient that has viewed the displayed electronic mail moves to the port PT 1  and performs, on the touch panel  145  of the storage device  100  illustrated in  FIG. 4 , an operation for inputting the package ID “N 21 ” and the password “PW 21 ” included in the electronic mail. 
     When a signal corresponding to this operation is output from the touch panel  145  of the storage device  100 , the acquirer  151  of the storage device  100  acquires, on the basis of this signal, the inputted package ID “N 21 ” and password “PW 21 .” Then, the controller  153  of the storage device  100  acquires the password “PW 21 ” stored in the box management table of  FIG. 6  in association with the package ID “N 21 .” Next, since the inputted password “PW 21 ” and the stored password “PW 21 ” match, the controller  153  determines that password authentication has succeeded. Then, the controller  153  outputs, to the drive circuit  149  of  FIG. 4 , the box number “BX 1 ” associated with the package ID “N 21 ”, and an open signal that commands the unlocking and opening of the door  111  of the storage box  110  identified by the box number “BX 1 .” Thus, the second package is handed over to the recipient. In contrast, when the inputted password and the stored password do not match, the controller  153  determines that password authentication has failed, and maintains the locking of the door  111  of the storage box  110 . 
     According to these configurations, the transport system  1  illustrated in  FIG. 1  includes a storage device  100  that is provided with a detector  152  that detects a first package to be collected at a specified collection location. Additionally, the transport system  1  includes a control device  500  that is provided with an identifier  540  that identifies a second package to be delivered to the collection location. Furthermore, the control device  500  of the transport system  1  includes a generator  550  that, when a first date and time “Jan. 1 08:30” that is a collection deadline of the first package and a second date and time “Jan. 1 08:10” that is a scheduled delivery date and time of the second package satisfy a predetermined collection condition (step S 19 ; Yes of  FIG. 9 ), generates a movement plan for a first vehicle  800  such that the first vehicle  800  transports the second package to the collection location of the first package and, then, the first vehicle  800  collects the first package from that collection location. As such, since the transport system  1  generates the movement plan such that the first vehicle  800  transports the second package to the collection location of the first package and, then, the first vehicle  800  collects the first package from that collection location, the package transport efficiency by the first vehicle  800  can be improved. 
     In the present embodiment, a description is given in which the package transport efficiency by the first vehicle  800  is calculated by dividing the total distance that the first vehicle  800  moves transporting packages by the total movement distance of the first vehicle  800 . However, the method of calculation of the package transport efficiency is not limited thereto, and the package transport efficiency by the first vehicle  800  may be calculated by dividing the total time that the first vehicle  800  moves transporting packages by the total movement time of the first vehicle  800 . Additionally, the package transport efficiency by the first vehicle  800  may be calculated by dividing the total number of packages transported or delivered by the first vehicle  800  by the total movement distance or the total movement time of the first vehicle  800 . 
     According to these configurations, the predetermined collection condition includes a late condition that the second date and time that is the scheduled delivery date and time of the second package is later than the first date and time that is the collection deadline of the first package. Additionally, when the late condition is not satisfied (step S 31 ; No of  FIG. 11A ), the generator  550  of the control device  500  of the transport system  1  generates a movement plan for the first vehicle  800  such that the first vehicle  800  delivers the second package to the collection location of the first package by the second date and time “Jan. 1 08:10” that is the scheduled delivery date and time and, then, the first vehicle  800  collects the first package from the collection location by the first date and time “Jan. 1 08:10” that is the collection deadline. As such, the transport system  1  can generate a plan in which the first vehicle  800  transports the second package and moves reliably to the collection location of the first package by the collection deadline of the first package. 
     According to these configurations, in a case in which a plurality of second packages to be delivered to the collection location of the first package is identified, the generator  550  of the control device  500  of the transport system  1  generates a movement plan for the first vehicle  800  when the earliest date and time “Jan. 1 08:10” of the scheduled delivery date and times of the plurality of second packages, and the first date and time “Jan. 1 08:30” that is the collection deadline satisfy a predetermined collection condition. As such, the transport system  1  can expedite package collection while improving package transport efficiency. 
     Modified Example 1 of Embodiment 
     In the present embodiment, an example is described of a case in which, as illustrated in  FIG. 16A , the collection deadline of the target first package targeted in step S 13  of  FIG. 9  is the first date and time “Jan. 1 08:30”, the scheduled delivery date and time of the target second package targeted in step S 16  is the second date and time “Jan. 1 08:10”, and a determination is made that the first date and time and the second date and time do not satisfy the late condition in step S 31  of  FIG. 11A . However, the present embodiment is not limited thereto. 
     In the present modified example, an example is described of a case in which, as illustrated in  FIG. 16B , the collection deadline of the target first package is a first date and time “Jan. 1 08:00”, the scheduled delivery date and time of the target second package is the second date and time “Jan. 1 08:10”, and a determination is made that the first date and time and the second date and time satisfy the late condition. 
     When, in step S 31  of  FIG. 11A , a determination is made that the late condition is satisfied (step S 31 ; Yes), the generator  550  of the control device  500  according to the present modified example calculates a difference of “10 minutes” between the first date and time “Jan. 1 08:00” and the second date and time “Jan. 1 08:10.” Next, the generator  550  determines, on the basis of whether or not the calculated difference of “10 minutes” is less than or equal to a predetermined amount of time, whether or not a proximity condition is satisfied (step S 33 ). Here, the proximity condition is that the first date and time is proximate to the second date and time. 
     In the present embodiment, it is described that the predetermined amount of time is preset to “30 minutes”, but the predetermined amount of time is not limited thereto. A person skilled in the art can determine, by experiment, the optimal value for the predetermined amount of time. 
     As such, the generator  550  of the control device  500  determines that the calculated difference of “10 minutes” is less than or equal to the predetermined amount of time “30 minutes”, and determines that the proximity condition is satisfied (step S 33 ; Yes). 
     Next, the generator  550  of the control device  500  calculates a third date and time that is earlier than the first date and time “Jan. 1 08:00” that is the collection deadline of the target first package (step S 34 ). 
     In the present embodiment, it is described that the collection of the target first package typically ends within a predetermined required amount of time “10 minutes” from the arrival of the first vehicle  800  at the collection location of the target first package. As such, an example is given of a case in which the generator  550  of the control device  500  calculates a third date and time “Jan. 1 07:50” that is the required amount of time “10 minutes” earlier than the first date and time “Jan. 1 08:00.” A person skilled in the art can determine, by experiment, the optimal value for the predetermined required amount of time. 
     Then, the generator  550  of the control device  500  uses the known scheduling technology described in step S 11  to calculate a latest movement start date and time (hereinafter also referred to as “latest transport start date and time”) that still allows the first vehicle  800  to transport the target second package to the port PT 1  that is the collection location of the first package by the calculated third date and time (step S 35 ). Hereinafter, to simplify the description, since “10 minutes” is required to move from the port PT 0  of the first office that is the movement start location to the port PT 1  that is the collection location of the first package, an example is given of a case in which “Jan. 1 07:40”, which is “10 minutes” earlier than the third date and time “Jan. 1 07:50”, is calculated as the latest transport start date and time. 
     Next, the generator  550  determines whether or not a preparation complete condition is satisfied (step S 36 ). Here, the preparation complete condition is that preparation for causing the first vehicle  800  to start the transportation of the target second package is completed by the calculated latest transport start date and time. 
     In the present embodiment, the preparation for causing the first vehicle  800  to start the transportation of the target second package includes, for example, the worker of the first office searching for the target second package and placing the found target second package on a non-illustrated first work stand installed near the first vehicle  800 . However, the preparation for causing the first vehicle  800  to start the transportation of the target second package is not limited thereto. 
     Additionally, in the present embodiment, it is described that this preparation typically ends within a predetermined preparation time “30 minutes.” As such, in a case in which the system date and time is acquired from the OS, and the date and time “Jan. 1 07:10”, which is the preparation time “30 minutes” earlier than the latest transport start date and time “Jan. 1 07:40”, is later than the acquired system date and time, the generator  550  determines that the preparation complete condition is satisfied (step S 36 ; Yes). A person skilled in the art can determine, by experiment, the optimal value for the predetermined preparation time. 
     When, in step S 36 , a determination is made that the preparation complete condition is satisfied (step S 36 ; Yes), the generator  550  of the control device  500  changes the scheduled delivery date and time of the target second package from the second date and time “Jan. 1 08:10” to the third date and time “Jan. 1 07:50” (step S 37 ). 
     Next, the controller  530  sets a handover start date and time at which the handover of the target second package is started to the second date and time “Jan. 1 08:10” (step S 38 ). Here, the handover start date and time is a date and time at which retrieval of the target second package by the recipient becomes possible. The handover start date and time is set in this manner so that in, for example, a case in which a sale start date and time of the product that the target second package contains is set, the target second package is prevented from being handed over at a date and time earlier than the sale start date and time due to the scheduled delivery date and time of the target second package being changed to the third date and time. To accomplish this, instead of the second date and time “Jan. 1 08:10”, the controller  530  may set the handover start date and time to a start time “08:00” of the unchanged delivery time block on the expected delivery date “Jan. 1.” 
     Then, the storer  520  of the control device  500 , associates the package ID “N 21 ” of the target second package with the set handover start date and time “Jan. 1 08:10”, and stores the associated data in a non-illustrated table that is stored in advance in the information storage  590 . 
     Next, the generator  550  determines that the collection condition is satisfied (step S 32 ) and, then, ends the execution of the collection condition determination processing. Such a determination is made because the scheduled delivery date and time of the target second package is changed to the third date and time that is earlier than the first date and time that is the collection deadline of the target first package. That is, such a determination is made because, if the first vehicle  800  can be caused to deliver the target second package to the collection location of the target first package by the changed scheduled delivery date and time, the first vehicle  800  can be caused to collect the target first package by the collection deadline of the target first package. 
     Next, the generator  550  of the control device  500  changes the movement plan in which the target second package identified by the package ID “N 21 ” is loaded on the first vehicle  800  and the first vehicle  800  arrives at the port PT 1  that is the delivery location of the target second package at the second date and time “Jan. 1 08:10” to a movement plan in which the first vehicle  800  arrives at the port PT 1  at the third date and time “Jan. 1 07:50.” 
     Additionally, the generator  550  of the control device  500  changes the movement plan in which, after the first vehicle  800  delivers the target second package identified by the package ID “N 21 ”, the first vehicle  800  departs, without a package, from the port PT 1  that is the delivery location of the target second package to a movement plan in which the first vehicle  800  departs with the target first package identified by the package ID “N 1 ” (step S 20 ). Then, the processing described above is continued from step S 21 . 
     Then, when the data communication circuit  504   a  of the control device  500  receives the collection report of the first package sent from the first vehicle  800 , the controller  530  of the control device  500  determines that the storage box  110  in which the first package had been stored has become empty, and that the second package can be stored therein. Next, the controller  530  acquires, from the delivery information table of  FIG. 8 , the password “PW 21 ” associated with the package ID “N 21 ” of the second package, and acquires, from a non-illustrated table, the second date and time “Jan. 1 08:10”, set as the handover start date and time, associated with the package ID “N 21 ” of the second package. Then, the controller  530  generates a storage command that includes the package ID “N 21 ”, the password “PW 21 ”, and the handover start date and time “Jan. 1 08:10”, and that commands the following three matters. A first matter commanded by the storage command is the storing of the second package identified by the package ID “N 21 ” in the storage box  110 ; and a second matter is the restriction of handover earlier than the handover start date and time “Jan. 1 08:10.” A third matter is the handing over of the second package to the recipient that was successfully authenticated using the password “PW 21 ” at the handover start date and time or later. Then, the controller  530  outputs the generated storage command to the data communication circuit  504   a  with the storage device  100  as the destination. 
     Then, the controller  530  of the control device  500  generates an electronic mail that has the electronic mail address of the recipient of the second package as the destination. Next, the controller  530  adds, to the generated electronic mail, a message informing that the second package identified by the package ID “N 21 ” has been delivered to the storage device  100 , and a message informing that the second package can be retrieved by inputting the password “PW 21 ” into the storage device  100  at the handover start date and time “Jan. 1 08:10” or later. Then, the controller  530  outputs the electronic mail, to which the messages are added, to the data communication circuit  504   a , thereby causing the electronic mail to be sent. 
     A box management table such as illustrated in  FIG. 17  is stored in the information storage  159  of the storage device  100  according to the present modified example. The box management table according to the present modified example includes a plurality of records in which a box number of a storage box  110 , state information, a package ID, a password, and information expressing the handover start date and time, which is a date and time at which handover of the package identified by the package ID starts, are associated and stored. 
     When the data communication circuit  144   a  of the storage device  100  receives the storage command, the acquirer  151  of the storage device  100  acquires the storage command from the data communication circuit  144   a  (step S 74  of  FIG. 15 ), and acquires the package ID “N 21 ”, the password “PW 21 ”, and the handover start date and time “Jan. 1 08:10” of the second package that are included in the storage command. Then, in accordance with the storage command, the controller  153  of the storage device  100  carries out control to cause the robot arm  121  to store the second package identified by the package ID “N 21 ” in the storage box  110  having the box number “BX 1 .” Next, the controller  153  updates the product ID, the password, and the handover start date and time associated with the box number “BX 1 ” in the box management table illustrated in  FIG. 17  to the package ID “N 21 ”, the password “PW 21 ”, and the handover start date and time “Jan. 1 08:10.” 
     When the recipient of the second package identified by the package ID “N 21 ” performs, on the storage device  100 , an operation of inputting the package ID “N 21 ” and the password “PW 21 ”, the acquirer  151  of the storage device  100  acquires the package ID “N 21 ” and the password “PW 21 .” Then, the controller  153  of the storage device  100  acquires the password “PW 21 ” and the handover start date and time “Jan. 1 08:10” stored in the box management table of  FIG. 17  in association with the package ID “N 21 .” Next, the controller  153  acquires the system date and time from the OS, for example, and, when a determination is made that the acquired system date and time is earlier than the handover start date and time “Jan. 1 08:10”, the controller  153  determines that the handover of the second package is restricted, and the locking of the door  111  of the storage box  110  in which the second package identified by the package ID “N 21 ” is stored is maintained, thereby making it impossible to hand over the second package. 
     In contrast, when a determination is made that the system date and time is the handover start date and time “Jan. 1 08:10” or later, the controller  153  of the storage device  100  determines that the handover of the second package is not restricted. Next, since the input password “PW 21 ” and the stored password “PW 21 ” match, the controller  153  determines that password authentication has succeeded, and unlocks and opens the door  111  of the storage box  110  in which the second package identified by the package ID “N 21 ” is stored, thereby making it possible to hand over the second package. 
     According to these configurations, the predetermined collection condition includes a late condition that the second date and time that is the scheduled delivery date and time of the second package is later than the first date and time that is the collection deadline of the first package, and a proximity condition that the first date and time and the second date and time are proximate to each other. When the late condition and the proximity condition are satisfied (step S 31 ; Yes, and step S 33 ; Yes of  FIG. 11A ), the generator  550  of the control device  500  of the transport system  1  changes the scheduled delivery date and time from the second date and time “Jan. 1 08:10” to the third date and time “Jan. 1 07:50” that is earlier than the first date and time “Jan. 1 08:00” that is the collection deadline of the first package. As such, even if the scheduled delivery date and time of the second package is later than the collection deadline, since the transport system  1  changes the scheduled delivery date and time to a date and time earlier than the collection deadline, the transport system  1  can generate a movement plan whereby the first vehicle  800  that transports the second package can collect the first package by the collection deadline of the first package. 
     According to these configurations, the predetermined collection condition further includes the preparation complete condition that preparation for starting the transportation of the second package is completed by the latest transport start date and time “Jan. 1 07:40” that still allows the first vehicle  800  to transport the second package to the collection location of the first package by the third date and time “Jan. 1 07:50.” Additionally, when the late condition, the proximity condition, and the preparation complete condition are satisfied (step S 31 ; Yes, step S 33 ; Yes, and step S 36 ; Yes of  FIG. 11A ), the generator  550  of the control device  500  of the transport system  1  changes the scheduled delivery date and time of the second package to the third date and time “Jan. 1 07:50.” As such, the transport system  1  can generate a plan whereby the first vehicle  800  reliably transports the second package by the collection deadline of the first package. 
     According to these configurations, the transport system  1  includes a storage device  100  that is installed at the collection location of the first package and that stores the transported second package. Additionally, the control device  500  of the transport system  1  includes a controller  530  that, when the scheduled delivery date and time of the second package is changed from the second date and time “Jan. 1 08:10” to the third date and time “Jan. 1 07:50” that is earlier than the second date and time, controls the storage device  100  so as to enable retrieval of the second package at the second date and time “Jan. 1 08:10” or later. As such, the transport system  1  can allow the recipient to receive the second package at the unchanged scheduled delivery date and time or later even when the scheduled delivery date and time of the second package is a date and time that is earlier than before the change. 
     Note that the storage command that the controller  530  of the control device  500  outputs with the storage device  100  as the destination need not restrict handover earlier than the handover start date and time. In such a case, the controller  530  may cause the data communication circuit  504   a  to send an electronic mail at the handover start time or later, without adding the handover start date and time to the electronic mail. As such, since the recipient views the electronic mail at the handover start date and time or later, handover earlier than the handover start date and time can be restricted without commanding the storage device  100  so as to restrict handover earlier than the handover start date and time. 
     When, in step S 36  of  FIG. 11A , the generator  550  determines that the preparation complete condition is not satisfied (step S 36 ; No), the generator  550  determines that the collection condition is not satisfied (step S 39 ) and, then, ends the execution of the collection condition determination processing. Such a determination is made because the first vehicle  800  cannot transport the target second package to the collection location of the target first package by the first date and time that is the collection deadline of the target first package. 
     Next, when a determination is made that the collection condition is not satisfied (step S 19 ; No), the generator  550  of the control device  500  generates a movement plan in which the second vehicle  900  moves, without a package, to the port PT 1  that is the collection location of the target first package by the collection deadline “Jan. 1 08:00” of the target first package, and a movement plan in which the second vehicle  900  departs from the port PT 1  with the target first package identified by the package ID “N 1 ” (step S 22 ). Then, the processing described above is continued from step S 21 . 
     According to these configurations, when a determination is made that the predetermined collection condition is not satisfied (step S 19 ; No of  FIG. 9 ), the generator  550  of the control device  500  of the transport system  1  generates a movement plan for the second vehicle  900  whereby the second vehicle  900  collects the first package from the collection location of the first package by the collection deadline of the first package (step S 22 ). As such, the transport system  1  can generate a movement plan whereby the first package can be reliably collected by the collection deadline. 
     Modified Example 2 of Embodiment 
     In Modified Example 1 of the present embodiment, an example is described of a case in which, as illustrated in  FIG. 16B , the collection deadline of the target first package is the first date and time “Jan. 1 08:00”, the unchanged scheduled delivery date and time of the target second package is the second date and time “Jan. 1 08:10”, and a determination is made that the first date and time and the second date and time satisfy the late condition and the proximity condition (step S 31 ; Yes, and step S 33 ; Yes of  FIG. 11A ). However, the present embodiment is not limited thereto. 
     In the present modified example, an example is described of a case in which, as illustrated in  FIG. 16C , the collection deadline of the target first package is a first date and time “Jan. 1 08:30”, the scheduled delivery date and time of the target second package is a second date and time “Jan. 1 09:10”, and a determination is made that the first date and time and the second date and time satisfy the late condition but do not satisfy the proximity condition. 
     When, in step S 31  of  FIG. 11A , a determination is made that the late condition is satisfied (step S 31 ; Yes), the generator  550  of the control device  500  calculates a difference “40 minutes” between the first date and time “Jan. 1 08:30” and the second date and time “Jan. 1 09:10.” Next, the generator  550  determines that the calculated difference “40 minutes” is greater than the predetermined amount of time “30 minutes”, and determines that the first date and time and the second date and time are not proximate to each other and that the proximity condition is not satisfied (step S 33 ; No). 
     Next, the generator  550  of the control device  500  calculates a fourth date and time that is later than the second date and time “Jan. 1 09:10” that is the scheduled delivery date and time of the target second package (step S 40 ). 
     In the present embodiment, an example is given of a case in which the generator  550  of the control device  500  calculates a fourth date and time “Jan. 1 09:20” that is a predetermined required amount of time “10 minutes” later than the second date and time “Jan. 1 09:10.” Here, the predetermined required amount of time is an amount of time required to collect the target first package. 
     Next, the generator  550  of the control device  500  calculates a difference “50 minutes” between the first date and time and the fourth date and time by subtracting the first date and time “Jan. 1 08:30” from the calculated fourth date and time “Jan. 1 09:20” (step S 41 ). Next, the generator  550  determines, on the basis of the difference “50 minutes” between the first date and time and the fourth date and time, an incentive obtained, due to changing the collection deadline of the target first package from the first date and time “Jan. 1 08:30” to the fourth date and time “Jan. 1 09:20”, by the requester that requested the delivery of the first package (step S 42 ). 
     In the present embodiment, it is described that the incentive is a coupon that can be exchanged for a discount or reduction of a delivery fee. However, the incentive is not limited thereto and may be a point that can be used to pay the delivery fee or the like, or may be cash back whereby a portion of the delivery fee or the like is returned as cash. 
     Additionally, in the present embodiment, it is described that the generator  550  of the control device  500  multiplies the difference “50 minutes” between the first date and time and the fourth date and time by a predetermined conversion factor and determines, as the incentive, a coupon that can be exchanged for increasingly larger discounts or larger price reductions as the difference between the first date and time and the fourth date and time increases. However, the incentive is not limited thereto. The generator  550  may determine, as the incentive, increasingly more points or larger cash backs as the difference increases. 
     Then, the controller  530  of the control device  500  acquires, from the delivery information table of  FIG. 8 , the user ID “RQ 1 ” of the requester associated with the package ID “N 1 ” of the target first package, and acquires the electronic mail address that is associated with the user ID “RQ 1 ” and stored in advance in the information storage  590 . Then, the controller  530  generates an electronic mail that has the acquired electronic mail address as the destination. Next, the controller  530  adds, to the generated electronic mail, a message informing of a proposed change of changing the collection deadline of the target first package from the first date and time “Jan. 1 08:30” to the fourth date and time “Jan. 1 09:20” and the incentive determined in step S 42 , and a button object for performing an operation of approving the proposed change. Then, the controller  530  outputs the electronic mail, to which the message and the like are added, to the data communication circuit  504   a , thereby causing the electronic mail to be sent (step S 43 ). 
     Then, when the data communication circuit  14   a  of the mobile terminal  10  illustrated in  FIG. 2  receives the electronic mail, the CPU  11  of the mobile terminal  10  causes the touch panel  15  to display that electronic mail. Then, when the requester that views the electronic mail determines to approve the proposed change, the requester performs, on the touch panel  15 , an operation of selecting the button object included in the electronic mail. When the touch panel  15  outputs a signal corresponding to the operation, the CPU  11  of the mobile terminal  10  outputs, to the data communication circuit  14   a  with the control device  500  as the destination, an approval report informing that the proposed change is approved. 
     Then, when the data communication circuit  504   a  of the control device  500  illustrated in  FIG. 7  does not receive the approval report by the time a predetermined amount of time elapses after the sending of the electronic mail that includes the proposed change, the generator  550  of the control device  500  determines that the proposed change is not approved (step S 44 ; No). Then, the generator  550  determines that the collection condition is not satisfied (step S 39 ) and, then, ends the execution of the collection condition determination processing. 
     In contrast, when the data communication circuit  504   a  of the control device  500  receives the approval report by the time a predetermined amount of time elapses after the sending of the electronic mail that includes the proposed change, the generator  550  determines that the proposed change is approved (step S 44 ; Yes). Then, the generator  550  changes the collection deadline of the target first package from the first date and time “Jan. 1 08:30” to the fourth date and time “Jan. 1 09:20” (step S 45 ). Next, the controller  530  imparts the incentive to the requester by outputting, to the data communication circuit  504   a , an electronic mail that includes the incentive determined in step S 42  and that has the email address of the requester as the destination (step S 46 ). 
     Then, the generator  550  of the control device  500  determines that the collection condition is satisfied (step S 32 ) and, then, ends the execution of the collection condition determination processing. Such a determination is made because the collection deadline of the target first package is changed to the fourth date and time that is later than the second date and time that is the scheduled delivery date and time of the target second package. That is, such a determination is made because, if the first vehicle  800  can be caused to deliver the target second package to the collection location of the target first package by the scheduled delivery date and time of the target second package, the first vehicle  800  can be caused to collect the target first package by the changed collection deadline of the target first package. 
     Next, the generator  550  of the control device  500  maintains the movement plan in which the first vehicle  800  arrives, with the target second package, at the port PT 1  that is the delivery location of the target second package at the second date and time “Jan. 1 09:10” that is the scheduled delivery date and time. Additionally, the generator  550  changes the movement plan in which the first vehicle  800  delivers the target second package and then departs, without a package, from the delivery location of the target second package to a movement plan in which the first vehicle  800  departs with the target first package identified by the package ID “N 1 ” (step S 20 ). Then, the processing described above is continued from step S 21 . 
     According to these configurations, the control device  500  of the transport system  1  includes the data communication circuit  504   a  illustrated in  FIG. 7  that, when the late condition is satisfied and the proximity condition is not satisfied (step S 31 ; Yes, and step S 33 ; No of  FIG. 11A ), sends a message informing of a proposed change for changing the collection deadline of the first package from the first date and time “Jan. 1 08:30” to the fourth date and time “Jan. 1 09:20” that is later than the second date and time “Jan. 1 09:10” that is the scheduled delivery date and time of the second package. As such, the transport system  1  can propose, to the requester, changing the collection deadline to the fourth date and time that is later than the scheduled delivery date and time of the second package. Therefore, if the requester changes the collection deadline to the fourth date and time, the first vehicle  800  is caused to transport the second package by the scheduled delivery date and time of the second package and, as such, it is possible to cause the first vehicle  800  to collect the first package by the changed collection deadline of the first package. 
     Additionally, according to these configurations, the data communication circuit  504   a  of the control device  500  sends a message informing of the incentive to be obtained, as a result of changing the collection deadline of the first package to the fourth date and time that is later than the scheduled delivery date and time of the second package, by the requester that requested the delivery of the first package. As such, the transport system  1  can impart an incentive to the requester to change the collection deadline of the first package to the fourth date and time that is later than the scheduled delivery date and time of the second package. 
     Additionally, according to these configurations, the data communication circuit  504   a  of the control device  500  sends a message informing of an incentive that corresponds to the difference between the first date and time and the fourth date and time. As such, since an incentive corresponding to the difference between the first date and time and the fourth date and time is imparted to the requester, decreases of the possibility of the requester changing the collection deadline from the first date and time to the fourth date and time can be reduced, even if the difference between the first date and time and the fourth date and time increases. 
     Modified Example 3 of Embodiment 
     In the present embodiment, it is described that the first vehicle  800  includes a first holding frame  841   a  and a second holding frame  841   b  such as illustrated in  FIG. 12 , and that one package is loaded by being surrounded and held by the first holding frame  841   a  and the second holding frame  841   b . However, the present embodiment is not limited thereto. 
     The first vehicle  800  according to the present modified example includes a plurality of storage boxes  860  such as illustrated in  FIG. 18  and stores one package in each of the plurality of storage boxes  860 . As such, a plurality of packages is loaded on this first vehicle  800 . 
     The first vehicle  800  according to the present modified example is an unmanned aircraft, and includes a control device  810 , and a storage device  870  that is fixed to a bottom surface of the control device  810 . The storage boxes  860  are arranged so as to form a two-row one-column matrix and are provided on a front surface of the storage device  870 . The configuration and functions of the storage boxes  860  are the same as the configuration and the functions of the storage boxes  110  illustrated in  FIG. 3 . 
     Modified Example 4 of Embodiment 
     In the present embodiment, it is described that the transport system  1  includes a control device  500 , and a first vehicle  800  and a second vehicle  900  that are unmanned aircraft and of which movement is controlled by the control device  500 . Additionally, it is described that the generator  550  of the control device  500  generates, as movement plans, flight plans for the first vehicle  800  and the second vehicle  900  that are aircraft. Furthermore, it is described that the collection location of the first package and the delivery location of the second package are ports at which the first vehicle  800  and the second vehicle  900  can land and take off. 
     However, the present embodiment is not limited thereto, and a configuration is possible in which the transport system  1  includes, instead of the first vehicle  800  and the second vehicle  900  that are unmanned aircraft, a first vehicle  600  such as illustrated in  FIG. 19  and a non-illustrated second vehicle that are unmanned ground vehicles and of which movement is controlled by the control device  500 . Additionally, a configuration is possible in which the generator  550  of the control device  500  generates, as movement plans, travel plans for the first vehicle  600  and the non-illustrated second vehicle that are ground vehicles. Furthermore, a configuration is possible in which the collection location of the first package and the delivery location of the second package are locations at which the first vehicle  600  and the non-illustrated second vehicle can park or stop. 
     In the present modified example, it is described that the collection location and the delivery location are areas that have a range predetermined for each collection location and delivery location, and include the entrances and lobbies of apartment complexes and office buildings, and the doorsteps of houses. However, the collection location and the delivery location are not limited thereto, and may be a road, a river beach, a park, or a schoolyard where parking and stopping is not forbidden, or a parking lot where the first vehicle  600  and the non-illustrated second vehicle are allowed to park. 
     The first vehicle  600  of  FIG. 19  includes a body  670  that is provided with a plurality of wheels including wheels  661  and  662 , a storage device  680  mounted on the body  670 , and an imaging device  690  that is installed on a front face of the body  670  and of which the optical axis and angle of view are adjusted such that space in front of the first vehicle  600  is included in the imaging range. The storage device  680  includes storage boxes  610  and a first control device  640 , and the configurations and the functions of the storage boxes  610  and the first control device  640  of the storage device  680  are the same as the configurations and the functions of the storage boxes  110  and the control device  140  of the storage device  100  illustrated in  FIG. 3 . Additionally, the configuration and the functions of the imaging device  690  of the first vehicle  600  are the same as the configuration and the functions of the imaging device  851  of the first vehicle  800  illustrated in  FIG. 12 . 
     The first vehicle  600  further includes a non-illustrated second control device that is installed in the body  670  and that, on the basis of a signal expressing a captured image output by the imaging device  690 , drives a non-illustrated plurality of motors installed in each of the plurality of wheels so as to travel on the movement route while avoiding obstacles. The configuration and the functions of the second control device of the first vehicle  600  are the same as the configuration and the functions of the control device  810  of the first vehicle  800  illustrated in  FIG. 13 . However, the second control device of the first vehicle  600  and the control device  810  of the first vehicle  800  differ in that, the second control device of the first vehicle  600  drives the non-illustrated plurality of motors that rotate each of the plurality of wheels, and the control device  810  of the first vehicle  800  drives the non-illustrated plurality of motors that rotate each of the propellers  831  to  834 . The configuration and the functions of the non-illustrated second vehicle are the same as the configuration and the functions of the first vehicle  600 . 
     In the present modified example, it is described that the transport system  1  includes a first vehicle  600  and a non-illustrated second vehicle that are unmanned ground vehicles. However, the present modified example is not limited thereto, and a configuration is possible in which the transport system  1  includes a non-illustrated first vehicle and a non-illustrated second vehicle that are unmanned ships. 
     Modified Example 5 of Embodiment 
     In the present embodiment, it is described that the first package is collected within the jurisdictional area of a first office and, then, delivered within the jurisdictional area of a second office that differs from the first office. Additionally, in the present embodiment, it is described that the second package is collected within the jurisdictional area of the second office and, then delivered within the jurisdictional area of the first office. However, the present embodiment is not limited thereto and, in a case in which a location within the jurisdictional area of the first office is targeted, provided that the first package is a package to be collected at the targeted target location, the delivery location of the first package may be any location. Likewise, provided that the second package is a package to be delivered to the target location, the collection location of the second package may be any location. That is, the first package may be collected at a target location within the jurisdictional area of the first office and delivered to a non-target location, different from the target location, within the jurisdictional area of the first office. Likewise, the second package may be collected at the non-target location within the jurisdictional area of the first office and delivered to the target location within the jurisdictional area of the first office. 
     Modified Example 6 of Embodiment 
     In the present embodiment, it is described that a first route on which the first vehicle  800  transports the second package is a route from the port PT 0  of the first office to the port PT 1  of the delivery location of the second package, a second route on which the first vehicle  800  transports the first package is a route from the port PT 1  to the port PT 0 , and the relationship between the first route and the second route is the relationship between an outbound route and an inbound route. 
     However, the present embodiment is not limited thereto. For example, in a case in which a plurality of second packages is loaded on the first vehicle  800 , the first route may be a route from the port PT 0  of the office to the port PT 1  that is the delivery location of at least one of the loaded plurality of second packages and, also, is the collection location of the first package. In this case, the second route may be a route from the port PT 1  to the delivery location of at least one of the second packages with the exception of the second package delivered to the port PT 1 , and the relationship between the first route and the second route need not be the relationship between an outbound route and an inbound route. 
     Additionally, for example, in a case in which a plurality of second packages is loaded on the first vehicle  800 , the first route may be a route from the delivery location of at least one of the loaded plurality of second packages to the port PT 1  that is the collection location of the first package and that is the delivery location of at least one of the second packages with the exception of the second package delivered to the delivery location. In this case, the second route may be a route from the port PT 1  to the port PT 0  of the office, and the relationship between the first route and the second route need not be the relationship between an outbound route and an inbound route. 
     Modified Example 7 of Embodiment 
     In the present embodiment, it is described that only one package is loaded on the first vehicle  800 . Additionally, in the present embodiment, it is described that the first vehicle  800  places the second package on the package stand  132  of the storage device  100  illustrated in  FIG. 3  and, then, collects the first package placed on the package stand  131 . Furthermore, in the present embodiment, it is described that the storage device  100  uses the robot arm  121  to remove the first package stored in the storage box  110  and place the removed first package on the package stand  131  of the storage device  100  and, then, to store in the storage box  110  the second package placed on the package stand  132  by the first vehicle  800 . 
     However, the present embodiment is not limited thereto and, in a case in which a plurality of packages is loaded on the first vehicle  800 , the first vehicle  800  may collect the first package placed on the package stand  131  of the storage device  100  and, then, place the second package on the package stand  132 . Additionally, the storage device  100  may use the robot arm  121  to store the second package placed on the package stand  132  by the first vehicle  800  in a storage box  110  different from the storage box  110  in which the first package is stored and, then, remove the first package stored in the storage box  110  and place the removed first package on the package stand  131  of the storage device  100 . 
     Modified Example 8 of Embodiment 
     In the present embodiment, it is described that the transport system  1  includes the storage device  100 , the requester stores the first package in the storage device  100  that is installed at the collection location of the first package, and the first vehicle  800  collects the first package stored in the storage device  100 . Additionally, it is described that the storage device  100  stores the second package transported and delivered to the delivery location of the second package by the first vehicle  800 , and the recipient removes and retrieves the second package stored in the storage device  100 . 
     However, the present embodiment is not limited thereto, and a configuration is possible in which the transport system  1  is not provided with the storage device  100 , the requester places the first package at the collection location, and the first vehicle  800  collects the first package placed at the collection location. Additionally, a configuration is possible in which the first vehicle  800  places the second package at the delivery location, and the recipient retrieves the second package placed at the delivery location. 
     Modified Example 9 of Embodiment 
     In the present embodiment, it is described that the storage device  100  includes a robot arm  121  such as illustrated in  FIG. 3 , and package stands  131  and  132 . Additionally, in the present embodiment, it is described that the storage device  100  uses the robot arm  121  to remove the first package stored in the storage box  110  and place the removed first package on the package stand  131  and, then, store in the storage box  110  the second package placed on the package stand  132  by the first vehicle  800 . 
     However, the present embodiment is not limited thereto, and a configuration is possible in which the storage device  100  includes the robot arm  121  but does not include the package stands  131  and  132 . In this case, the storage device  100  may use the robot arm  121  to receive the second package loaded on the first vehicle  800  and store the received second package in a storage box  110  different from the storage box  110  in which the first package is stored. Additionally, the storage device  100  may use the robot arm  121  to remove the first package stored in the storage box  110  and load the removed first package on the first vehicle  800 , thereby causing the first vehicle  800  to collect the first package. 
     However, the present embodiment is not limited thereto, and a configuration is possible in which the storage device  100  includes a first robot arm that is the robot arm is  121 , and a non-illustrated second robot arm. In this case, the storage device  100  may use the first robot arm to remove the first package stored in the storage box  110 , and the second robot arm to receive the second package loaded on the first vehicle  800 . The removal of the first package by the first robot arm may be performed before, after, or at the same time as the receipt of the second package by the second robot arm. 
     Then, the storage device  100  may use the second robot arm to store the second package in the storage box  110  in which the first package had been stored, and the first robot arm to load the first package on the first vehicle  800 . The storing of the second package by the first robot arm may be performed before, after, or at the same time as the loading of the first package by the first robot arm. 
     Modified Example 10 of Embodiment 
     In the present embodiment, it is described that the storage device  100  includes a robot arm  121  such as illustrated in  FIG. 3 , but the present embodiment is not limited thereto and a configuration is possible in which the first vehicle  800  and the second vehicle  900  include a non-illustrated robot arm. 
     Modified Example 11 of Embodiment 
     In the present embodiment, it is described that, in steps S 15  and S 16  of  FIG. 9 , the identifier  540  of the control device  500  identifies a plurality of second packages to be delivered to the collection location of the target first package and, of the identified plurality of second packages, the second package with the earliest scheduled delivery date and time is set as the target second package. However, the present embodiment is not limited thereto. 
     In steps S 15  and S 16  of  FIG. 9 , the identifier  540  of the control device  500  according to the present modified example identifies, on the basis of the size of the target first package, a vehicle among the first vehicle  800  and the second vehicle  900  that is capable of collecting the target first package, and targets and sets the identified vehicle as a target vehicle. Next, the identifier  540  identifies the plurality of second packages to be delivered to the collection location of the target first package and, of the identified plurality of second packages, sets a second package, which is to be transported by the target vehicle that is capable of collecting the target first package, as the target second package. 
     To accomplish this, the CPU  11  of the mobile terminal  10  according to the present modified example acquires, on the basis of a signal output from the touch panel  15  operated by the requester, delivery information that further includes size information expressing the height, the width, and the depth of the first package. 
     Instead of the delivery information table of  FIG. 8 , the information storage  590  of the control device  500  according to the present modified example stores a non-illustrated delivery information table in which the package ID of a package, state information of the package, delivery information that includes the size information of the package and that is received from the mobile terminal  10 , and a password used to retrieve the package are associate and stored. 
     Additionally, the information storage  590  associates the vehicle ID “ 800 ” of the first vehicle  800  with maximum size information expressing the maximum height, width, and depth of a package that the first vehicle  800  is capable of collecting, and stores the result; and associates the vehicle ID “ 900 ” of the second vehicle  900  with maximum size information of the second vehicle  900 , and stores the result. 
     The identifier  540  of the control device  500  according to the present modified example identifies the height, the width, and the depth of the target first package by acquiring, from the non-illustrated delivery information table, the size information associated with the package ID of the target first package. Next, the identifier  540  identifies the vehicle among the first vehicle  800  and the second vehicle  900  that is capable of collecting the target first package by identifying the vehicle ID associated with maximum size information expressing a height greater than the height of the target first package, a width greater than the width of the target first package, and a depth greater than the depth of the target first package. Then, the identifier  540  sets the vehicle identified by the identified vehicle ID as the target vehicle. 
     Then, the identifier  540  of the control device  500  sets the second package, to be transported by the target vehicle that is capable of collecting the target first package, as the target second package by identifying, in the movement plan table of  FIG. 10 , a package ID, among the package IDs of the plurality of second packages to be delivered to the collection location of the target first package, associated with the vehicle ID of the target vehicle. 
     Then, the generator  550  of the control device  500  executes the collection condition determination processing (step S 18  of  FIG. 9 ) and, as a result, when a determination is made that the scheduled delivery date and time of the target second package and the collection deadline of the target first package satisfy the collection condition (step S 19 ; Yes), the generator  550  of the control device  500  generates a movement plan for the target vehicle (step S 20 ). 
     According to these configurations, when the identifier  540  of the control device  100  of the transport system  1  identifies a plurality of second packages to be delivered to the collection location, the identifier  540  identifies, on the basis of the size of the first package and from among a plurality of vehicles including the first vehicle  800 , a vehicle that is capable of collecting the first package. Additionally, when, among the scheduled delivery date and times of the plurality of second packages, the scheduled delivery date and time of the second package to be delivered by the identified and targeted target vehicle and the first date and time that is the collection deadline of the first package satisfy the predetermined collection condition, the generator  550  of the control device  100  generates a movement plan for the target vehicle. As such, the transport system  1  makes it possible to reliably collect packages without uniformizing the size of the first package, for example, by using cardboard boxes of the same size as the packaging material of the first package. 
     In the present Modified Example 11, it is described that the identifier  540  of the control device  500  identifies, from among the first vehicle  800  and the second vehicle  900  and on the basis of the size of the target first package, a vehicle that is capable of collecting the target first package. However, the present Modified Example 11 is not limited thereto. A configuration is possible in which the identifier  540  of the control device  500  identifies, from among the first vehicle  800  and the second vehicle  900  and on the basis of the weight of the target first package, a vehicle that is capable of collecting the target first package. According to such a configuration, the transport system  1  makes it possible to reliably collect packages without setting the weight of the first package to a predetermined weight or lighter, for example, by imposing a restriction on the weight of the first package. 
     Modified Example 12 of Embodiment 
     In Modified Example 1 of the present embodiment, it is described that, in steps S 15  and S 16  of  FIG. 9 , the identifier  540  of the control device  500  identifies a plurality of second packages to be delivered to the collection location of the target first package and, of the identified plurality of second packages, the second package with the earliest scheduled delivery date and time is set as the target second package. Additionally, it is described that, when the late condition and the proximity condition are satisfied (step S 31 ; Yes and step S 33 ; Yes of  FIG. 11A ), the generator  550  of the control device  500  changes the scheduled delivery date and time of the target second package to the third date and time that is earlier than the collection deadline of the target first package (step S 37 ). 
     However, Modified Example 1 of the present embodiment is not limited thereto and, in steps S 15  and S 16  of  FIG. 9 , the identifier  540  of the control device  500  according to the present modified example identifies a plurality of second packages to be delivered to the collection location of the target first package and, of the identified plurality of second packages, sets a second package for which the delivery time block is not specified as the target second package. 
     To accomplish this, the identifier  540  of the control device  500  according to the present modified example identifies, from among the identified plurality of second packages in the delivery information table of  FIG. 8 , the package ID associated with, as information expressing the delivery time block, string “NULL” that expresses that the delivery time block is not specified. Next, the identifier  540  targets the second package identified by the identified package ID, and sets the targeted second package as the target second package. 
     Then, when the late condition is satisfied (step S 31 ; Yes of  FIG. 11A ), the generator  550  of the control device  500  according to the present modified example executes steps S 34  to S 38  and S 32 , regardless of whether or not the proximity condition is satisfied (step S 33 ; Yes, and step S 33 ; No). Thus, when the late condition is satisfied, regardless of whether or not the proximity condition is satisfied, the scheduled delivery date and time of the target second package for which a delivery time block is not specified is changed to the third date and time that is earlier than the collection deadline of the target first package. 
     Modified Example 13 of Embodiment 
     In the present embodiment, it is described that each of the first vehicle  800  and the second vehicle  900  is an unmanned aircraft. However, the present embodiment is not limited thereto, and each of the first vehicle  800  and the second vehicle  900  may be an unmanned flying object. 
     In the present embodiment, it is described that the first vehicle  800  is a drone that obtains lift and thrust with propellers  831  to  834  illustrated in  FIG. 12 , and the second vehicle  900  is a drone that obtains lift and thrust with non-illustrated propellers. However, the first vehicle  800  and the second vehicle  900  are not limited thereto. One or both of the first vehicle  800  and the second vehicle  900  can include wings and obtain lift with the wings, and/or can include envelopes filled with gas that has a specific gravity less than that of air and obtain lift with the envelopes. Additionally, one or both of the first vehicle  800  and the second vehicle  900  can include jet engines or rocket engines, and obtain thrust with the jet engines or the rocket engines. Additionally, the first vehicle  800  and the second vehicle  900  need not be unmanned and, provided that, with the exception of the control by the control device  500 , the first vehicle  800  and the second vehicle  900  are autonomous flying objects, a person may ride the first vehicle  800  or the second vehicle  900 . 
     Likewise, the first vehicle  600  and the non-illustrated second vehicle that are ground vehicles according to Modified Example 4 of the embodiment need not be unmanned and, provided that, with the exception of the control by the control device  500 , the first vehicle  600  and the non-illustrated second vehicle are autonomous traveling objects, a person may ride the first vehicle  600  and the non-illustrated second vehicle. 
     Modified Example 14 of Embodiment 
     In the present embodiment, it is described that the port specified as the delivery location or the collection location is an unmanned port at which the storage device  100  that, with the exception of the control by the control device  500 , autonomously carries out operations related to the storage of packages is installed. 
     However, the present embodiment is not limited thereto, and the port specified as the delivery location or the collection location may be a manned port at which a storage device, which is not provided with functions for autonomously carrying out operations related to the storage of packages, is installed. In this case, a worker that carries out operations related to the storage of packages is present near the storage device. 
     Additionally, the operations related to the storage of packages include, for example, removing stored first packages, placing removed first packages on the package stand  131 , receiving second packages from the first vehicle  800  or the second vehicle  900 , and storing second packages. However, the operations related to the storage of packages are not limited thereto and, for example, may include removing second packages for which a predetermined amount of time has elapsed since the start of storage. 
     Furthermore, the unmanned port need not be unmanned, and any type of port may be used provided that a storage device  100  that, with the exception of the control by the control device  500 , autonomously carries out operations related to the storage of packages is installed. For example, a worker that carries out repairs, maintenance, or cleaning of the port may be present near the storage device  100 . 
     Modified Example 15 of Embodiment 
     In Modified Example 4 of the embodiment, it is described that the first vehicle  600  that is a ground vehicle includes a plurality of wheels including wheels  661  and  662 , such as illustrated in  FIG. 19 . However, the first vehicle  600  is not limited thereto, and the first vehicle  600  may include two legs that include a plurality of joints, and may walk bipedally. Additionally, the first vehicle  600  may, for example, further include an endless track such as a caterpillar (registered trademark) that surrounds the plurality of wheels. 
     Modified Example 16 of Embodiment 
     In the present embodiment, it is described that the port may be the doorstep, the front yard, the roof, the veranda, or the driveway of the home of the requester or the recipient, but the port is not limited thereto. The port may be near the entrance/exit of, inside, on the roof of, or in the parking lot of a commercial facility such as a convenience store or a department store, or may be the check-in counter, lobby, or parking lot of a hotel. Furthermore, the port may be a park, a schoolyard, or a river beach. 
     Modified Example 17 of Embodiment 
     In the present embodiment, it is described that, when the three conditions, namely the late condition, the proximity condition, and the preparation complete condition are satisfied (step S 31 ; Yes, step S 33 ; Yes, and step S 36 ; Yes of  FIG. 11A ), the generator  550  of the control device  500  of the transport system  1  changes the scheduled delivery date and time of the second package to the third date and time (step S 37 ). 
     However, the present embodiment is not limited thereto and, when two conditions, namely the late condition and the preparation complete condition are satisfied, the generator  550  of the control device  500  may change the scheduled delivery date and time of the second package to the third date and time. 
     To accomplish this, when a determination is made in step S 31  of the collection condition determination processing of  FIG. 11A  that the late condition is satisfied (step S 31 ; Yes), the generator  550  of the control device  500  executes steps S 34  and S 35  without executing the processing of step S 33  in which a determination is made whether or not the proximity condition is satisfied. Then, when a determination is made that the preparation complete condition is satisfied (step S 36 ; Yes), the generator  550  executes the processing of step S 37  for changing the scheduled delivery date and time of the second package to the third date and time, executes the processing of steps S 38  and S 32  and, then, ends the execution of the collection condition determination processing. In contrast, when a determination is made that the preparation complete condition is not satisfied (step S 36 ; No), the generator  550  executes the processing of step S 39  and, then, ends the execution of the collection condition determination processing. 
     Modified Example 18 of Embodiment 
     It is described that, as illustrated in  FIG. 1 , the transport system  1  according to the present embodiment includes a control device  500 , a first vehicle  800 , and a second vehicle  900 . However, the transport system  1  is not limited thereto. A configuration is possible in which the transport system  1  does not include the control device  500 , and a control device  810  of the first vehicle  800  illustrated in  FIG. 13  or a non-illustrated control device of the second vehicle  900  demonstrates the functions of the control device  500  according to the present embodiment. 
     That is, the CPU  811  of the control device  810  of the first vehicle  800  may execute the movement plan generation processing illustrated in  FIG. 9  and the collection condition determination processing illustrated in  FIGS. 11A and 11B . Due to this configuration, the CPU  811  of the first vehicle  800  may function as a non-illustrated acquirer, a storer, a controller, an identifier, and a generator that respectively have the same functions as the acquirer  510 , the storer  520 , the controller  530 , the identifier  540 , and the generator  550  of the control device  500  illustrated in  FIG. 1 . Moreover, the flash memory  813   b  of the control device  810  of the first vehicle  800  may function as a non-illustrated information storage that has the same functions as the information storage unit  590  of the control device  500 . 
     Likewise, the non-illustrated CPU of the second vehicle  900  may function as a non-illustrated acquirer, a storer, a controller, an identifier, and a generator, and a non-illustrated flash memory of the second vehicle  900  may function as a non-illustrated information storage. 
     The present embodiment and Modified Examples 1 to 18 of the present embodiment can be combined with each other. It is possible to provide a control device  500  that includes configurations for realizing the functions according to any the present embodiment and Modified Examples 1 to 17 of the present embodiment, and control device  810  of the first vehicle  800  or a non-illustrated control device of the second vehicle  900  that includes configurations for realizing the functions according to Modified Example 18 of the present embodiment. In addition, it is possible to provide a system that includes a plurality of devices and that includes, as an overall system, configurations for realizing the functions according to any of the present embodiment and Modified Examples 1 to 18 of the present embodiment. 
     Additionally, by applying a program, existing control devices can each be made to function as the control device  500  according to each of the present embodiment and Modified Examples 1 to 17 of the present embodiment. That is, by applying a program for realizing the various functional configurations of the control device  500  described in each of the present embodiment and Modified Examples 1 to 17 of the present embodiment so as to be executable by a computer (CPU or the like) that controls existing control devices, each of the existing control devices can be caused to each function as the control device  500  according any of the present embodiment and Modified Examples 1 to 17 of the present embodiment. 
     Additionally, by applying a program, an existing control device can be made to function as the control device  810  of the first vehicle  800  or the non-illustrated control device of the second vehicle  900  according to Modified Example 18 of the present embodiment. That is, by applying a program for realizing the various functional configurations of the control device  810  or the non-illustrated control device described in Modified Example 18 of the present embodiment so as to be executable by a computer (CPU or the like) that controls an existing control device, that existing control device can be caused to function as the control device  810  or the non-illustrated control device according to Modified Example 18 of the present embodiment. 
     Any distribution method of such a program can be used. For example, the program can be stored and distributed on a recording medium such as a memory card, a compact disc read-only memory (CD-ROM), or a digital versatile disk read-only memory (DVD-ROM), or can be distributed via a communication medium such as the internet. Additionally, a method according to the present disclosure can be implemented using the transport system  1  according to any of the present embodiment and Modified Examples 1 to 18 of the present embodiment, the control device  500  according to any of the present embodiment and Modified Examples 1 to 17 of the present embodiment, and the control device  810  or the non-illustrated control device of the second vehicle  900  according to Modified Example 18 of the present embodiment. 
     The foregoing describes some example embodiments for explanatory purposes. Although the foregoing discussion has presented specific embodiments, persons skilled in the art will recognize that changes may be made in form and detail without departing from the broader spirit and scope of the invention. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense. This detailed description, therefore, is not to be taken in a limiting sense, and the scope of the invention is defined only by the included claims, along with the full range of equivalents to which such claims are entitled. 
     APPENDICES 
     Appendix 1 
     A transport system, including: 
     at least one memory configured to store a program code; and 
     at least one processor configured to access the program code and operate as instructed by the program code, wherein 
     the program code includes 
     a detection code configured to cause the at least one processor to detect a first package to be collected at a specified collection location, 
     an identification code configured to cause the at least one processor to identify a second package to be delivered to the collection location, 
     a generation code configured to, when a first date and time that is a collection deadline of the first package and a second date and time that is a scheduled delivery date and time of the second package satisfy a predetermined condition, cause the at least one processor to generate a movement plan for a vehicle in which the vehicle transports the second package to the collection location and, then, the vehicle collects the first package from the collection location, and 
     a control code configured to cause the at least one processor to carry out control for causing the vehicle to move in accordance with the generated movement plan. 
     Appendix 2 
     The transport system according to appendix 1, wherein 
     the predetermined condition includes a late condition that the second date and time that is the scheduled delivery date and time is a later date and time than the first date and time that is the collection deadline, and a proximity condition that the first date and time and the second date and time are proximate to each other, and 
     the generation code is configured to, when the late condition and the proximity condition are satisfied, cause the at least one processor to change the scheduled delivery date and time from the second date and time to a third date and time that is earlier than the first date and time. 
     Appendix 3 
     The transport system according to appendix 1, wherein 
     the predetermined condition includes a late condition that the second date and time that is the scheduled delivery date and time is a later date and time than the first date and time that is the collection deadline, and a preparation complete condition that preparation for starting transportation of the second package is completed by a latest transport start date and time that still allows the vehicle to transport the second package to the collection location by a third date and time that is earlier than the first date and time, and 
     the generation code is configured to, when the late condition and the preparation complete condition are satisfied, cause the at least one processor to change the scheduled delivery date and time from the second date and time to a third date and time that is earlier than the first date and time. 
     Appendix 4 
     The transport system according to appendix 2, wherein 
     the predetermined condition further includes a preparation complete condition that preparation for starting transportation of the second package is completed by a latest transport start date and time that still allows the vehicle to transport the second package to the collection location by the third date and time, and 
     the generation code is configured to cause the at least one processor to change the scheduled delivery date and time to the third date and time when the late condition, the proximity condition, and the preparation complete condition are satisfied. 
     Appendix 5 
     The transport system according to appendix 2, further including: 
     a send circuit configured to, when the late condition is satisfied and the proximity condition is not satisfied, send a message informing about a proposal to change the collection deadline of the first package from the first date and time to a fourth date and time that is later than the second date and time that is the scheduled delivery date and time of the second package. 
     Appendix 6 
     The transport system according to appendix 5, wherein the send circuit is configured to send the message informing also about an incentive to be obtained, due to changing the collection deadline to the fourth date and time, by a requester that requested delivery of the first package. 
     Appendix 7 
     The transport system according to appendix 6, wherein the send circuit is configured to send the message informing about the incentive that corresponds to a difference between the first date and time and the fourth date and time. 
     Appendix 8 
     The transport system according to appendix 1, wherein 
     the predetermined condition includes a late condition that the second date and time that is the scheduled delivery date and time is a later date and time than the first date and time that is the collection deadline, and 
     the generation code is configured to cause the at least one processor to, when the late condition is not satisfied, generate the movement plan for the vehicle so that the vehicle transports the second package to the collection location by the second date and time that is the scheduled delivery date and time and, then the vehicle collects the first package from the collection location. 
     Appendix 9 
     The transport system according to appendix 2, further including: 
     a storage device that is installed at the collection location and that is configured to store the transported second package, wherein 
     the control code is configured to, when the scheduled delivery date and time of the second package is changed from the second date and time to the third date and time that is an earlier date and time than the second date and time, cause the at least one processor to control the storage device so as to make it possible for the second package to be retrieved at the second date and time or later. 
     Appendix 10 
     The transport system according to appendix 1, wherein the generation code is configured to, when the predetermined condition is not satisfied, cause the at least one processor to generate a movement plan for a second vehicle that differs from a first vehicle that is the vehicle, so that the second vehicle collects the first package from the collection location by the collection deadline. 
     Appendix 11 
     The transport system according to appendix 1, wherein, in a case in which a plurality of second packages to be delivered to the collection location is identified, the generation code is configured to, when an earliest date and time among scheduled delivery date and times of the plurality of second packages, and the first date and time that is the collection deadline satisfy the predetermined condition, cause the at least one processor to generate a movement plan for the vehicle. 
     Appendix 12 
     The transport system according to appendix 1, wherein 
     the identification code is configured to, when a plurality of second packages to be delivered to the collection location is identified, cause the at least one processor to further identify, based on at least one of a size and a weight of the first package, a vehicle capable of collecting the first package from among a plurality of vehicles including the vehicle, and 
     the generation code is configured to cause the at least one processor to generate a movement plan for the identified vehicle when, among the scheduled delivery date and times of the plurality of second packages, the scheduled delivery date and time of the second package to be delivered by the identified vehicle, and the first date and time that is the collection deadline satisfy the predetermined condition. 
     Appendix 13 
     The transport system according to appendix 1, wherein a relationship between a first route on which the vehicle transports the second package, and a second route on which the vehicle transports the first package is a relationship between an outbound route and an inbound route. 
     Appendix 14 
     The transport system according to appendix 1, wherein 
     the vehicle is an aircraft, 
     the generation code is configured to cause the at least one processor to generate a flight plan for the aircraft as the movement plan, and 
     the collection location is a port at which the vehicle is capable of landing and taking off. 
     Appendix 15 
     A control device, including: 
     at least one memory configured to store a program code; and 
     at least one processor configured to access the program code and operate as instructed by the program code, wherein 
     the program code includes 
     an acquisition code configured to cause the at least one processor to acquire
         information identifying a specified collection location, and information expressing a first date and time that is a collection deadline of a first package to be collected at the collection location, and   information expressing a second date and time that is a scheduled delivery date and time of a second package to be delivered to the collection location identified in the acquired information,       

     a generation code configured to, when the first date and time and the second date and time expressed in the acquired information satisfy a predetermined condition, cause the at least one processor to generate a movement plan for a vehicle in which the vehicle transports the second package to the collection location and, then, the vehicle collects the first package from the collection location, and 
     a control code configured to cause the at least one processor to carry out control for causing the vehicle to move in accordance with the generated movement plan. 
     Appendix 16 
     A method, including: 
     acquiring
         information identifying a specified collection location, and information expressing a first date and time that is a collection deadline of a first package to be collected at the collection location, and   information expressing a second date and time that is a scheduled delivery date and time of a second package to be delivered to the collection location identified in the acquired information;       

     when the first date and time and the second date and time expressed in the acquired information satisfy a predetermined condition, generating a movement plan for a vehicle in which the vehicle transports the second package to the collection location and, then, the vehicle collects the first package from the collection location; and 
     carrying out control for causing the vehicle to move in accordance with the generated movement plan. 
     Appendix 17 
     The transport system according to appendix 3, further including: 
     a storage device that is installed at the collection location and that is configured to store the transported second package, wherein 
     the control code is configured to, when the scheduled delivery date and time of the second package is changed from the second date and time to the third date and time that is an earlier date and time than the second date and time, cause the at least one processor to control the storage device so as to make it possible for the second package to be retrieved at the second date and time or later. 
     Appendix 18 
     The transport system according to appendix 4, further including: 
     a storage device that is installed at the collection location and that is configured to store the transported second package, wherein 
     the control code is configured to, when the scheduled delivery date and time of the second package is changed from the second date and time to the third date and time that is an earlier date and time than the second date and time, cause the at least one processor to control the storage device so as to make it possible for the second package to be retrieved at the second date and time or later. 
     Appendix 19 
     The transport system according to appendix 5, further including: 
     a storage device that is installed at the collection location and that is configured to store the transported second package, wherein 
     the control code is configured to, when the scheduled delivery date and time of the second package is changed from the second date and time to the third date and time that is an earlier date and time than the second date and time, cause the at least one processor to control the storage device so as to make it possible for the second package to be retrieved at the second date and time or later. 
     Appendix 20 
     The transport system according to appendix 6, further including: 
     a storage device that is installed at the collection location and that is configured to store the transported second package, wherein 
     the control code is configured to, when the scheduled delivery date and time of the second package is changed from the second date and time to the third date and time that is an earlier date and time than the second date and time, cause the at least one processor to control the storage device so as to make it possible for the second package to be retrieved at the second date and time or later.