JP2016003972A - Mobile body operation management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce an operational cost in the physical distribution and also to provide a mobile body operation management system having high robust property at the time of disaster.SOLUTION: Based on meteorological information, disaster prevention information, etc., and positional information on each mobile body 31, an operation path 21 is formed in a space. A mobile body operation management system includes: a mobile body operation path management center 51 which manages an arrangement position of each of the formed operation paths 21; and a plurality of mobile bodies 31 which perform moving control by setting a passage route connecting between a start point and an end point in the operation path, performing centimeter class positioning, and following the operation path 21 on the basis of deviation from the operation route of the positioned position.

Description

  The present invention relates to a moving body operation management system that assigns a moving path of a moving body to a space and manages the operation of a plurality of moving bodies that pass through the allocated traveling path.

  The world has changed drastically in the era when Information Technology (IT) is heavily used. Information data from all over the world has been digitized, and the integration of information technology and communication technology has progressed, realizing faster and more efficient work related to information processing.

  However, with regard to commodities and products (products) that cannot be digitized or are not suitable for duplication, such as foodstuffs, living things, and electrical equipment, a third party intervenes between the producer and the consumer, The current situation is that people and things are moved by this method. Further, the cost of goods and products has a problem that the intermediate cost due to the labor costs related to distribution occupies a considerable proportion as compared with the cost required for production or manufacture.

  In the future, we will make full use of existing technologies in the transportation of goods and products, that is, logistics, and conduct a revolution in Commodity Transportation (hereinafter referred to as CT) or Logistics Technology (hereinafter referred to as LT) (hereinafter referred to as the LT Revolution). It is considered extremely important to keep the cost of goods close to the cost of production or manufacturing itself in order to maintain a sustainable society in an era of declining birthrate and aging.

  What is indispensable for the realization of the LT revolution is the realization of automation and unmanned logistics systems by utilizing robot technology and IT technology for CT or LT.

  By the way, in recent years, in connection with automation and unmanned logistics systems, technological development for automatic driving or autonomous driving has been proceeding at a rapid pace. In the United States, which is preceded by this type of technology, “Parliamentary approval of Google ’s self-driving car driving permit bill”, “Amason ’s application for legislation on small unmanned aircraft delivery services”, “FBI” ) Investigation activities using unmanned aircraft (UAV).

  On the other hand, in Japan recently, “Establishment of Autonomous Driving Technology Early” (Industry Competitiveness Conference 2013.4.17), “Promotion of Demonstration Experiment of Autonomous Driving on Public Roads” (Prime Speech on Growth Strategy 2013.5.17), “Robot "Initiatives for a New Industrial Revolution" (OECD Ministerial Council Prime Minister's Keynote Address, 2014.5.6) was announced. In promoting this industrial policy, technology development for autonomous driving or autonomous driving is considered to be extremely useful, and various technological developments are being carried out.

  For example, Patent Document 1 discloses a row running support system that supports row running of a plurality of vehicles. In this row running support system, the vehicle ahead is based on a comparison between the sensor unit that acquires road alignment data of the features on the road surface, the road alignment data acquired by the sensor unit, and reference data that is owned in advance. A processor unit for obtaining travel control data and an inter-vehicle communication device for wirelessly transmitting the travel control data obtained by the processor unit to the following vehicle are mounted, and the travel control data is transmitted to the subsequent vehicle. The succeeding vehicle includes data for controlling the traveling of the preceding vehicle and a sensor unit mounted on the succeeding vehicle that measures the positional deviation amount of the own vehicle with respect to the preceding vehicle. Based on the measured positional deviation amount, The vehicle travels automatically to obtain the travel control data. By mounting this platoon traveling support device on a truck and automatically driving a plurality of trucks in the platoon, an automatic traveling system with higher fuel efficiency can be configured.

WO2010 / 004911

  In the conventional distribution system, the cost of the intermediate route occupies a considerable proportion of the final price of the product along the route from the producer to the consumer through the wholesale wholesaler, the dealer, and the like. For this reason, a logistics system that can reduce the cost of the intermediate route is desired.

  On the other hand, when a disaster occurs, logistics are stagnant, and goods are often not delivered to users such as general consumers and disaster victims, causing problems to users' lives and panicking users when logistics temporarily stops. There is a problem that causes.

  By using an automatic traveling system as shown in Patent Document 1 for a physical distribution system, it is possible to reduce labor costs, fuel costs, and the like in the operation of intermediate routes. However, when a disaster occurs, the road on which the truck travels is restricted or closed, and a situation in which a plurality of trucks cannot be traveled occurs.

  Therefore, there is a need for a highly robust mobile operation management system that can reduce operation costs in logistics and can be used even in the event of a disaster.

  This invention was made in order to solve the subject which concerns, Comprising: While reducing the operating cost in physical distribution, it aims at obtaining a robust mobile operation system at the time of a disaster.

  The mobile operation management system according to the present invention is a mobile operation that forms operation routes in a space based on weather information, disaster prevention information, and the like, and position information of each mobile device, and manages the arrangement positions of the formed operation routes. Set a route to connect between the route management center and the starting point and end point in the above route, perform centimeter-level positioning, and follow the above route based on the deviation of the measured position from the route. And a plurality of moving bodies that perform control to move.

  According to the present invention, automation and labor saving in the operation route of the physical distribution system can be achieved, and the operation cost can be reduced.

It is a figure which shows the structure of the mobile body operation management system by Embodiment 1. FIG. It is a figure which illustrates the service route network by Embodiment 1. FIG. It is a figure which illustrates the operation route by Embodiment 1, Comprising: (a) shows the situation where cumulonimbus is generated in the lower area and is not suitable for the flight of the moving body, and (b) is generated in the central area. However, it shows a situation that is not suitable for flying mobile objects. It is a figure which shows the service route network with the height difference by Embodiment 1. FIG. It is a figure which shows the method of sending the self-location information of the moving body by Embodiment 1 to an operation route network management center, Comprising: (a) shows the method of sending via an information provision satellite, (b) is via a ground station. Shows how to send. It is a figure which shows the example of the movement route which each moving body set according to the service by Embodiment 1. FIG. 6 is a diagram illustrating an example of a moving locus of a moving object according to Embodiment 1. FIG. 3 is a diagram illustrating a configuration of a moving object according to Embodiment 1. FIG.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a mobile operation management system according to Embodiment 1 of the present invention. FIG. 2 is a diagram illustrating a route network according to the first embodiment. In FIG. 1, the mobile operation management system according to the first embodiment includes an operation path 21, a plurality of mobile bodies 31 that pass through the operation path 21, and a movement that manages the operation path 21, the mobile body 31, and the monitoring mobile body 41. It comprises a body operation route management center 51, an external organization 101 as an information management center, an information providing satellite 11, an earth observation satellite 12, and a ground radio base station (hereinafter referred to as a ground station) 13. The moving body operation route management center 51 and the external organization 101 are connected by an information network. The moving body route management center 51 and the ground station 13 are connected by an information network (not shown). The mobile body 31 and the monitoring mobile body 41 are connected to the information providing satellite 11 by a satellite communication line. The moving body route management center 51 may be connected to some service center (not shown) or a user terminal.

  The operation route 21 is formed as an air route above the ground, a land route on the ground, or a sea route on the sea. The moving body 31 and the monitoring moving body 41 move by automatically supporting unattended automatic driving or manned driving. The mobile body 31 holds and transports goods or goods. The mobile body 31 that operates on an air route is composed of an aircraft, a helicopter, or the like, and flies in a low air space in the air, suspends goods or commodities downward and transports them by air. The mobile body 31 that travels by land is composed of an automobile, a motorcycle, and the like, travels on land, and loads and transports articles or goods. The mobile body 31 that operates by sea is composed of a ship or the like, sails on the sea, loads goods or commodities, and transports the sea. The mobile body 31 may be capable of passing any two or all three of an air route, a land route, and a sea route. Similarly to the mobile body 31, the monitoring mobile body 41 may be capable of passing any one, two, or all three of an air route, a land route, and a sea route. The monitoring mobile body 41 is equipped with a sensor 70 (described later with reference to FIG. 8) such as a camera, and acquires image information such as the traffic situation of the operation route 21 and the weather environment.

  The external organization 101 is an organization that provides information such as weather information, disaster prevention information, and emergency messages. Specifically, the external organization 101 is a meteorological agency, a meteorological company, a government agency, a local government, or the like. The external organization 101 may provide information from a private weather organization. The moving body route management center 51 includes a satellite communication antenna and a data server. The mobile route management center 51 receives information distributed from the earth observation satellite 12, the external organization 101, etc., and accumulates the information received in the data server. Based on the information accumulated in the data server and the positional information of each mobile 31 sent via the relay station such as the information providing satellite 11 or the ground station 13, the mobile operating route management center 51 Data such as traffic information, weather information, disaster prevention information, and emergency message information is created, and these data are uplinked to the information providing satellite 11. The information providing satellite 11 is a communication satellite orbiting a geostationary earth orbit (GEO), an inclined geosynchronous satellite orbit (IGSO), or the like. The information providing satellite 11 may be composed of a plurality of satellites, and may include a quasi-zenith satellite that distributes positioning reinforcement information.

  The earth observation satellite 12 is an orbiting satellite or geostationary satellite equipped with a radio wave sensor (synthetic aperture radar, microwave radiometer, microwave sounder), an optical sensor (visible, infrared), and the observation acquired by the mounted sensor. Data is distributed to the external organization 101 on the ground. The earth observation satellite 12 observes weather information such as clouds and temperature as observation data.

  In FIG. 2A, the moving body route management center 51 virtually forms the route 21 in a three-dimensional space. Specifically, a finite number of points (waypoint data) 27 are designated on the operation route 21 using three-dimensional spatial coordinates including latitude, longitude, and altitude, and the points 27 are shown in FIG. As shown in the figure, the virtual operation path 21 is formed by continuously connecting the cross section 28 with an elliptical or rectangular virtual tube-shaped passage 29. The point 27 and the tube-shaped passage 29 are discretely defined with coordinates representing the shape by the WGS 84 (World Geodetic System). In addition, the operation path 21 is formed so as not to interfere with surrounding terrain and buildings.

  The mobile body route management center 51 operates in consideration of the information accumulated in the data server and the position information of each mobile body 31 sent via the relay station such as the information providing satellite 11 or the ground station 13. An optimal route network for the road 21 is generated. For example, in FIG. 3, (a) shows a situation where cumulonimbus 25 is generated in the lower area and is not suitable for the flight of mobile body 31, and (b) shows a situation where cumulonimbus 25 is generated in the central area and flight of mobile body 31. Indicates a situation that is not suitable for In the case as shown in FIG. 3A, the operation path 21 is arranged so as to pass through the central portion of the figure while avoiding the cumulonimbus cloud 25. In the case as shown in FIG. 3B, the operation path 21 is arranged so as to pass the lower part of the figure while avoiding the cumulonimbus cloud 25.

  Since the optimal operation route of the mobile body 31 is calculated using the minimum fuel, the shortest time, etc. as evaluation criteria, it is generally an operation route network that is bent and has a height difference. For example, in FIG. 4, operation paths 21 are formed above and below the figure, respectively. The upper operation route 211 is a operation route from the left to the right in the drawing, and the lower operation route 212 is a operation route from the right to the left in the drawing. In this way, the operation paths 21 having a difference in altitude depending on the moving direction can be formed hierarchically in the height direction. For example, by superimposing the four operation routes 21 in the height direction, the pair of operation routes 21 including the forward route and the return route can be crossed in a three-dimensional manner (for example, a cross shape).

  The moving body route management center 51 designates a finite number of points (waypoint data) on the route 21 to generate an optimum route network, and describes the generated optimum route network as route information. The mobile travel route management center 51 uplinks the traffic route information of the travel route 21 to the information providing satellite 11 as described above. The information providing satellite 11 downlinks the operation route information uplinked from the mobile operation route management center 51 to a wide area so as to cover the entire operation route 21, and distributes it to each mobile object 31 and the monitoring mobile object 41. To do.

  A predetermined service is assigned to each moving body 31 and the monitoring moving body 41. Generally, services are set with the producer as the starting point and the user as the end point. Each moving body 31 sets a moving route connecting the starting point and the ending point according to the service of each moving body 31. FIG. 6 is an example of a moving route set by each moving body 31 according to the service. In FIG. 6, a thick line passage 21 indicates a route in which the mobile body 31 transports the goods by air, and the goods are transported by air through the thick line passage 21.

  Information on the predetermined service of each mobile unit 31 may be set in advance in each mobile unit 31 and the monitoring mobile unit 41, and the mobile unit operation route via a relay station such as the information providing satellite 11 or the ground station 13 It may be input from the management center 51. The information on the predetermined service is used to set the starting point and the ending point of each mobile unit 31 during the period from when the article or product carried by the mobile unit is sent from the transport source to the transport destination. As described above, each mobile body 31 sets the starting point and the end point of each mobile body 31 based on the information on the predetermined service.

  The mobile body 31 and the monitoring mobile body 41 receive positioning signals (L1, L2, L5 signals, etc.) from a GNSS (Global Navigation Satellite System) 14 such as GPS, GLONASS, GALILEO, or Quasi-Zenith Satellite. The mobile body 31 and the monitoring mobile body 41 measure their own positions based on the positioning signal received from the GNSS 14. Further, the mobile body 31 and the monitoring mobile body 41 receive a positioning reinforcement information signal (L6 signal or the like) from the GNSS 14 such as the quasi-zenith satellite or the information providing satellite 11, and correct the position error based on the positioning reinforcement information signal. And high-precision positioning in the centimeter class. The mobile unit 31 transmits the self-position information measured every moment to a relay station such as the information providing satellite 11 and the ground station 13 and sends it to the mobile unit operation route management center 51 via the relay station. FIG. 5 is a diagram showing a method of sending the self-position information of the mobile body 31 and the monitoring mobile body 41 to the mobile body route management center 51, wherein (a) transmits the self-position information to the information providing satellite 11, (B) shows a method of sending self-location information to the ground station 13 and sending it to the road management center 51 via the ground station 13. Show.

  In addition, the monitoring mobile unit 41 transmits image information such as traffic conditions on a traffic route and weather environment acquired by a sensor such as a camera to a relay station such as the information providing satellite 11 or the ground station 13 and via the relay station. It is sent to the mobile route management center 51. The moving body operation route management center 51 monitors the traffic condition of the traffic route, the weather environment, and the like based on the image information sent from the monitoring moving body 41. In addition, the moving body route management center 51 detects the occurrence of traffic congestion based on the position information of each moving body 31, and generates traffic information based on the distribution of the positions of the plurality of moving bodies 31. In addition, the moving body route management center 51 manages the position of the route 21. The mobile travel route management center 51 may be connected to a plurality of information institutions through the Internet or the like.

  Based on the operation route information received from the information providing satellite 11, the mobile body 31 sets a preset departure point near its own position, and then sets a travel route that connects the departure point and the preset end point. . Each moving body 31 moves along the travel route 21 from the starting point to the ending point along the set moving route.

  Similarly, the monitoring mobile body 41 sets a preset starting point near its own position based on the operation route information received from the information providing satellite 11 and then connects the starting point and the preset end point. Set. Each monitoring mobile body 41 moves along the travel route 21 from the start point to the end point along the set travel route.

(1) Reception of traffic route information The mobile body 31 receives the operation route information distributed from the information providing satellite 11 and acquires the operation route information of the operation route 21 including the waypoint data.

(2) Setting of movement route The mobile body 31 sets the movement route of the operation route 21 connecting the starting point and the end point based on each service and the operation route information.

(3) Autonomous movement of moving body The moving body 31 travels along a moving route from the starting point to the ending point. For this reason, the mobile body 31 measures its own position with centimeter-class accuracy, and autonomously travels along the movement route by the tracking data such as tracking navigation and optimum navigation using the positioning data. As a result, fine-grained autonomous movement control is possible, and the moving body can arrive at a predetermined position. FIG. 6 is a diagram illustrating an example of the movement trajectory of the moving body. In FIG. 7, the dotted line indicates the movement route on the operation route 21, the solid line indicates the actual movement locus of the moving body 31, and the circle indicates the waypoint data forming the operation route 21.

FIG. 8 is a diagram illustrating a configuration of the moving body 31 or the monitoring moving body 41 according to the first embodiment.
In FIG. 8, each moving body 31 or monitoring mobile body 41 includes an antenna 60, a positioning processing unit 61, an autonomous movement control unit 62, a flight control unit 63, a steering unit 64, a propulsion unit 65, and a communication antenna. 66 and a sensor 70. The antenna 60 receives the positioning signal and the positioning reinforcement signal from the GNSS 14. In addition, the positioning processing unit 61 performs error correction on the positioning signal received by the antenna 60 based on the error information of the positioning reinforcement signal, and measures its own position. The autonomous movement control unit 62 sends a control command to the autonomous movement control unit 62 based on the self-position measured by the positioning processing unit 61 and the route information obtained from the information providing satellite 11 in advance by the communication antenna 66. The trajectory follow-up control is performed so as to pass the travel route 21. The autonomous movement control unit 62 receives information on predetermined services and sets the starting point and the ending point of the moving body 31.

  The flight control unit 63 controls the propulsive force of the propulsion unit 65 and the steering angle of the steering unit 64 according to a control command from the autonomous movement control unit 62. The sensor 70 measures speed, acceleration, angular velocity, wind speed, barometric pressure, ground image, distance to the obstacle, relative speed with the obstacle, and the like. Thereby, the autonomous movement control unit 62 can perform the trajectory tracking control with higher accuracy based on its own position, speed, angular velocity, wind speed (offshore, land, sky speed, etc.) and the like. It is also possible to take a ground image and transmit it to the ground station 13 via the communication antenna 66. Further, based on obstacle information such as the distance to the obstacle and relative speed with the obstacle, for example, autonomous control is performed so as not to collide with another moving body 31 and emergency avoidance from the collision with the other moving body 31 is performed. be able to.

Next, a transportation service to which the mobile operation management system according to Embodiment 1 is applied will be described.
First, as the moving body 31, there is air transportation using a drone that flies in a low airspace such as a small drone or a UAV (Unmanned Aerial Vehicle). In addition to home delivery services, the use of unmanned air vehicles by air transportation includes personal delivery services, spraying of agricultural chemicals on cultivated land, transport of wood, observation of volcanic eruptions, and measurement of radiation dose. A large number of small and medium-sized drones fly in low hollow areas that do not interfere with existing civil aviation routes.

  For example, by grasping the position information calculated by the positioning processing unit 61 based on the positioning signal from the GNSS 14 and automatically flying with eight propellers, a product with a weight of about 2 kg is set on the plane to avoid obstacles. After ascending very quickly, the product can be delivered unattended to the entrance (end point) of the house within a distance of a few tens of kilometers from the product warehouse (start point).

  Moreover, the mobile body operation management system using the unmanned aerial vehicle which flies in the low airspace as the mobile body 31 can be used for delivery of medicines, pizzas and the like.

  Moreover, the moving body operation management system using the unmanned aerial vehicle flying in the low airspace as the moving body 31 can be used for agriculture or fishery. For example, the harvest of the farmer or fisherman is sent directly from the farm or fishing boat to the place where the individual consumer is located through the empty operation path 21 by air transportation. In particular, when the location information of the consumer is known from the location information calculated by the positioning processing unit 61 based on the positioning signal from the GNSS 14, the consumer's current location is set as the end point, so that the consumer can be reached at a desired time. It is possible to send directly to the current position of the location timely (Location Timely).

  Moreover, the moving body operation management system using the unmanned aerial vehicle flying in the low airspace as the moving body 31 can be used for forestry. For example, a small thermal power plant is installed near a riverbank or a waterway where irrigation water flows, and a moving body 31 such as an unmanned helicopter or an airplane uses the operation path 21 to carry wood. The transported wood will be used as fuel for thermal power plants. As a result, a considerable amount of wood can be used in daily life without the need for infrastructure such as mountain roads and electric wires.

Moreover, the moving body operation management system using the unmanned aerial vehicle flying in the low airspace as the moving body 31 can be used for the environmental monitoring service. For example, a moving body 31 such as an unmanned helicopter or an airplane uses the operation path 21 to collect minute particulate matter (PM2.5) in the air during flight. The influence of PM2.5 can be predicted by associating the collected time and position with the collected sample. When monitoring this PM2.5, the amount and temperature of pollen, water vapor, CO ₂ gas, etc. can be monitored at the same time, so an environmental monitoring service can be provided using a mobile operation management system.

  Moreover, the moving body operation management system using the unmanned aerial vehicle flying in the low airspace as the moving body 31 can be used for the wildfire prevention service. For example, it is known that there is a causal relationship between the occurrence of wildfires and the drying of land. Therefore, a moving body 31 such as an unmanned helicopter or an airplane equipped with a radio wave sensor (microwave radiometer, synthetic aperture radar, etc.) that measures soil moisture using the operation path 21 periodically has a low amount of soil moisture. Measure. When a dry region is specified, if water is automatically transported from the river by the moving body 31, it can be used to prevent wildfires.

  In addition, by using satellite information acquired by the sensor 70 of the earth observation satellite 12, a plurality of monitoring mobile bodies 41 can be introduced intensively in regions, places, and seasons where drying is predicted. The earth observation satellite 12 can obtain information on a wide area of several tens km, information on soil moisture, etc., but cannot obtain information on an image in a narrow area of several meters to km, information on soil moisture, etc. I am good at it. However, information such as images and soil moisture can be obtained at finer intervals of several meters to km units by the surveillance mobile body 41 reciprocating within a predetermined area of several tens of km units without searching.

  Moreover, the moving body operation management system using the unmanned aerial vehicle flying in the low airspace as the moving body 31 can be used for setting the operation path 21 in its own moving body operation management system. For example, by using the operation route 21, a moving body 31 such as an unmanned helicopter or an airplane equipped with a weather observation sensor is periodically flew, and the ambient moisture amount, wind speed, wind direction, and atmospheric pressure are measured by the weather observation sensor. By measuring the meteorological information and predicting the meteorological change together with the meteorological information obtained by the earth observation satellite 12, the setting of the operation route 21 can be appropriately changed.

Next, a case where an unmanned ship that sails on the sea is used as the moving body 31 will be described. At sea, it is used for navigation of unmanned vessels in the bay and the ocean. Moreover, the fish as a product harvested by the fisherman can be transported to the land near the location of the purchaser of the fish on land using an unmanned ship. In addition, it is possible to promote more convenient transactions between fishermen and purchasers by publishing fish harvested by fishermen on the Internet.
Of course, it is possible to transport the fish as the harvested goods to the land using a drone that flies in a low airspace as the moving body 31. By using an unmanned aerial vehicle that flies in low airspace, freshly harvested fresh fish can be sent directly from the fisherman's harvest location to the current location where the purchaser is located.

  As described above, the mobile operation management system according to the first embodiment creates an optimal operation route network in consideration of weather conditions, obstacles, etc., and uses a satellite for the mobile 31 that is deployed over a wide area. The route information will be distributed at. Each moving body 31 determines a moving route from the starting point to the ending point on the operating route 21 based on the received operating route information. Each moving body determines its own position using centimeter-class positioning reinforcement information, and moves along the moving route on the operation path 21 using this.

  As a result, it is possible to achieve cost reduction by automating operation and saving manpower in the operation route of the distribution system.

  In addition, since the mobile operation management system according to the first embodiment has functions such as air transportation by a dedicated roadway, flexible road change, use of satellites, etc., logistics will not be delayed even during a disaster.

  Furthermore, since the mobile operation management system according to the first embodiment can be operated unmanned for 24 hours by autonomous control and can provide a service, the cost can be reduced by saving labor.

  Further, by providing the operation route in the air, it is possible to configure a dedicated route that can change the route of the operation route with relatively few obstacles and relatively freely. In addition, traffic routes can be changed flexibly, so there is no traffic jam. Therefore, the product travel time is shortened compared to using the current road, so that a stable supply of the product is realized.

  In addition, since the mobile operation management system according to the first embodiment can be used for transporting relief supplies by air transport even if a natural disaster, a mountain, a maritime accident, etc. occurs, the expansion of damage is minimized. Can do. In addition, each mobile unit 31 can cope with long-distance transportation by refueling or changing at a waypoint on the way, thereby contributing to the elimination of regional differences in living convenience and the avoidance of extreme population concentration.

  Moreover, since each mobile body 31 transmits its own position to the mobile body route management center 51 every moment, the mobile body route management center 51 can monitor the traffic situation in real time and take an appropriate action immediately. Therefore, the reliability of system operation is ensured.

  In addition, the positioning reinforcement information for performing high-precision positioning is simultaneously delivered from the information providing satellite together with the operation route information, so that the mobile body can avoid the collision with high reliability and can automatically travel.

Further, the advantage of satellite distribution by the information providing satellite 11 is as follows.
(1) All mobile bodies 31 that are developed over a wide area can be used simultaneously.
(2) Since the ground line is not used, even if the ground infrastructure falls into an unusable state at the time of a disaster, it is not affected.
(3) By using the operation route information and positioning reinforcement information for performing highly accurate positioning by satellite distribution, it is possible to realize automatic traveling of the moving body 31 and collision avoidance with high reliability.

  Thus, the mobile operation management system according to Embodiment 1 supports on-demand various needs of users such as environmental monitoring service, pesticide spraying and forest fire prevention service in addition to direct delivery service of goods, etc. Operational purposes are complex. In addition, the flight route can be changed flexibly within a predetermined range according to the weather conditions, and can be operated more flexibly than the existing system.

  11 Information-providing satellites, 12 Earth observation satellites, 13 Ground stations, 14 GNSS, 21 Routes, 31 mobiles, 41 Monitoring mobiles, 51 Mobiles route management centers, 101 External organizations.

Claims (9)

Based on weather information, disaster prevention information, etc. and the position information of each mobile body, a mobile route management center that forms a route in the space and manages the arrangement positions of the formed route,
Set a traffic route connecting the starting point and end point in the route, perform centimeter-class positioning, and control to move following the route based on the deviation of the measured position from the route. Multiple mobiles to perform,
Mobile operation management system with   The mobile operation management system according to claim 1, further comprising an information providing satellite that acquires individual position information from the mobile and provides operation route information to the mobile.   The mobile operation management system according to claim 1, further comprising an information providing satellite that designates a finite number of points on the operation route of the mobile object and provides operation route information to the mobile object.   The moving body operation management system according to claim 1, further comprising an information providing satellite that changes the operation route of the moving body according to weather information, disaster prevention information, and the like and provides the moving body with the operation route information.   The mobile operation management system according to claim 1, further comprising an information providing satellite that calculates an optimum operation route of the moving object based on evaluations such as fuel minimum and time shortest and provides the operation information to the moving object.   An information providing satellite that calculates the operation route of the moving body based on the momentary self-location information of each moving body obtained through an information providing satellite or a relay station such as a ground station, and provides the operating path information to the moving body. The mobile operation management system according to claim 1 provided.   The mobile operation management according to claim 1, wherein each mobile unit sets a travel route of a service route connecting a starting point and an end point based on each service and the mobile route information provided from the information providing satellite. system.   The mobile body operation management system according to claim 1, wherein each mobile body measures its own position, performs trajectory tracking control using the positioning data, and travels along a travel route from a starting point to an end point.   The mobile operation management system according to claim 1, wherein positioning reinforcement information for performing highly accurate positioning is simultaneously distributed from the satellite along with the operation route information.

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