JP2019121178A - Monitoring device, monitoring target tracking control device for moving object, monitoring target tracking control program - Google Patents

Abstract

To reduce a tracking difficulty and a tracking delay in a tracking control of a monitoring target, and continue monitoring of the monitoring target by a moving object.SOLUTION: In tracking of a moving object 10 after a target position is determined by a control law 1 and a control law 2, especially, a movement control of the moving object 10 that executes the following control rule based on a dynamic risk potential 28 is constructed. More specifically, in the risk potential monitoring control, for setting to follow the target position determined by a target position calculation for movement control according to the control law 1 or a target position calculation for movement control according to the control law 2, in a tracking control law, a position from a current time (k) to several steps ahead (k + N, N is a positive integer) based on a state space model of the moving object 10 is calculated, and based on a difference between the calculation result and the target position, an instruction value (control input) for moving the moving body 10 is obtained.SELECTED DRAWING: Figure 14

Description

  The present invention relates to a monitoring device that moves a moving object to monitor a monitoring area, a monitoring object tracking control device of a moving object that causes the moving object to follow movement of the monitoring object, and a monitoring object tracking control program.

  Patent Document 1 describes a monitoring system that moves and controls a flight device to a position suitable for handling a monitoring target.

  More specifically, the monitoring system at least includes a flight device that monitors the ground from above and a center device. When the center apparatus stores a storage unit that stores the elevation angle with respect to the monitoring target for each control type, and the control signal including the control type is input, the storage unit refers to the target position corresponding to the elevation angle corresponding to the control type And a flight device control unit for moving the flight device to the target position.

  However, in this patent document 1, it is not the logic which assumed a plurality of mobiles. In addition, it is necessary to make a detailed trajectory plan for the moving object.

  Furthermore, in Patent Document 1, since the processing is performed centrally by the center apparatus, the calculation load is high, and when the scale becomes large, it is not possible to obtain a solution in a realistic time.

  Here, as a technology for controlling a plurality of mobile units without centralized management, there is a distributed management technology for defining a Voronoi region.

  For example, when moving a plurality of mobile bodies equipped with a camera to a risk potential (monitoring target area) set in a predetermined area and monitoring the risk potential, the predetermined area is divided into Voronoi areas. By setting each of the divided areas as the area in charge of each mobile unit, collision between the mobile units can be avoided.

  The technology that defines the Voronoi region can provide optimal logic that assumes multiple mobiles. In addition, it is not necessary to perform detailed trajectory planning for each moving object, and each moving object can make decisions in an autonomous distributed manner while communicating with the neighborhood.

  Furthermore, since the processing is not centralized processing but distributed processing, the computational load is small, and it is possible to obtain a solution in a realistic time without depending on the size of the scale.

  Note that the moving body repeatedly moves to the barycentric position of the risk potential in the Voronoi region surrounded by the vertical bisector between the moving bodies. Also, the definition of the Voronoi region can change from moment to moment.

  Furthermore, in the present specification, the ratio of the monitoring area that the mobile can monitor to the risk potential is referred to as "coverage". The coverage may be a ratio as it is (“area of monitoring area / area of risk potential”) or may be expressed as a percentage (“area of monitoring area / area of risk potential” × 100%). Here, the capture area of the sensor is taken as a monitoring area.

  In addition, as a reference, Non-Patent Document 1 performs area division by Voronoi diagram defined by a perpendicular bisector with a movement sensor (moving body) with a movement sensor nearby, and autonomously disperses to the center of gravity of its own area. A basic operation that repeatedly moves is disclosed.

  The outline of the specific operation of Non-Patent Document 1 will be described later as a reference example to be compared with the present embodiment (see FIG. 12).

JP, 2016-118996, A

J. Cortes, S. Martinez, T. Karatas, and F. Bullo, Coverage Control for Mobile Sensing Networks, IEEE Transactions on Robotics and Automation, 20 (2), pp. 242-255, (2004)

  However, in the conventional autonomous decentralized control in which the Voronoi region is defined, the moving speed of the moving object monitoring the risk potential in each area in charge may be faster than the moving speed of the risk potential, but the reverse relationship, namely When the moving speed of the risk potential is faster than the moving speed of the moving object, it may be difficult to follow the moving object.

  In addition, when the risk potential exits from the Voronoi region or the risk potential newly enters the Voronoi region, the moving object follows the risk potential from that point, and the following may be delayed.

  In view of the above facts, the monitoring apparatus according to the present invention is a monitoring device capable of continuing monitoring of a monitoring target by a moving object by reducing difficulty in following and delay of following in tracking control of the monitoring object, monitoring target following control device of moving object The purpose is to obtain a monitoring target tracking control program.

  The monitoring apparatus according to the present invention includes a sensor unit for detecting information on a monitoring target to be moved, a moving mechanism unit for moving the sensor unit, and a target position for moving the sensor unit, every predetermined cycle from the present. Calculation means for calculating up to, prediction means for predicting the predicted position of the sensor unit at a predetermined step ahead in each predetermined period from the present by the state space model of the sensor unit, target position of each step calculated by the calculation means An evaluation unit that evaluates an error from the predicted position of each step predicted by the prediction unit; and a generation unit that generates a control input value for controlling the moving mechanism unit based on the evaluation result of the evaluation unit. And controlling the movement mechanism unit based on the control input value generated by the generation unit, and monitoring while moving the sensor unit so as to follow the movement of the monitoring target. It is characterized in that it comprises a control means.

  According to the present invention, the control means controls the moving mechanism unit to monitor the sensor unit while moving so as to follow the movement of the monitoring target.

  At this time, the calculation means calculates a target position to which the sensor unit is moved up to a predetermined step ahead of the present position every predetermined period.

  Further, the prediction means predicts the predicted position of the sensor unit at a predetermined step ahead in a predetermined cycle from the current time by the state space model of the sensor unit.

  The evaluation means evaluates an error between the target position of each step calculated by the calculation means and the predicted position of each step predicted by the prediction means. Based on the evaluation result, a control input value for controlling the moving mechanism unit is generated, and based on the generated control input value, the moving mechanism unit is controlled to move the sensor unit as the monitoring target. Monitoring while moving so as to follow (generation means, control means).

  Thereby, in the follow-up control of the monitoring target, for example, even if the movement of the sensor unit can not catch up with the movement of the monitoring target, it is possible to go ahead.

  In the present invention, the target position calculated by the calculation means is changed including leaving from the monitoring area of the monitoring target being followed and entering the monitoring area of the monitoring target to be newly followed. There is.

  While it was necessary to reset and execute tracking control by autonomous distribution at the time of exit or entry of the monitoring target, prediction to a predetermined step ahead using the state space model as in the present invention By doing this, it is possible to predict in advance the exit and approach of the monitoring target and to advance ahead. Therefore, it is possible to increase the coverage rate of follow-up control rather than resetting at every exit and entry of the monitoring target and executing follow-up control.

  The present invention further includes history recording means for recording a history of monitoring performance by calculating a coverage rate indicated by a ratio of the number of targets to be monitored by the sensor to the number of targets to be monitored in the monitoring area. It is characterized in that the history of monitoring performance is reflected on the prediction by the state space model of the sensor unit.

  For example, it can be used as teacher data at the time of prediction by a state space model, and the error between the target position and the predicted position can be reduced.

  The monitoring target tracking control device for a mobile according to the present invention is used in a plurality of mobiles each having a sensor unit for detecting information related to the monitoring target and a moving mechanism unit, while being disposed in a responsible area not interfering with each other. The monitoring target tracking control device for a mobile unit, which moves the mobile unit so as to change the assigned area while avoiding collisions, by transmitting and receiving position information to each other, the target position for moving the mobile unit Calculation means for calculating up to a predetermined step ahead every predetermined cycle from the present, prediction means for predicting the predicted position of a moving body ahead of a predetermined step every predetermined cycle from the present by the state space model of the mobile body Evaluation means for evaluating an error between the target position of each step calculated in step and the predicted position of each step predicted by the prediction means, and based on the evaluation result of the evaluation means A generation unit configured to generate a control input value for controlling the movement mechanism unit; and a movement control unit configured to control movement of the movable body based on the control input value generated by the generation unit. ing.

  According to the present invention, the plurality of mobile bodies are used in a plurality of mobile bodies that are respectively disposed in the handling areas that do not interfere with each other and that have the sensor unit and the moving mechanism unit that detect information related to the monitoring target. By transmitting and receiving the position information, basic control is made to move so as to change the assigned area while avoiding a collision.

  Under this basic control, the calculation means calculates a target position for moving the moving body up to a predetermined step ahead of the current position every predetermined period.

  Further, the prediction means predicts the predicted position of the moving object ahead of the present by a predetermined step every predetermined period from the current state according to the state space model of the moving object.

  The evaluation means evaluates an error between the target position of each step calculated by the calculation means and the predicted position of each step predicted by the prediction means. Based on the evaluation result, a control input value for controlling the moving mechanism unit is generated, and the moving mechanism unit is controlled based on the generated control input value to move the movable body as the monitoring target Monitoring while moving so as to follow (generation means, control means).

  Thereby, in the follow-up control of the monitoring target, for example, even if the movement of the moving object can not catch up with the movement of the monitoring target, it can forward.

  In the present invention, the target position calculated by the calculation means is changed including leaving from the monitoring area of the monitoring target being followed and entering the monitoring area of the monitoring target to be newly followed. There is.

  While it was necessary to reset and execute tracking control by autonomous distribution at the time of exit or entry of the monitoring target, prediction to a predetermined step ahead using the state space model as in the present invention By doing this, it is possible to predict in advance the exit and approach of the monitoring target and to advance ahead. Therefore, it is possible to increase the coverage rate of follow-up control rather than resetting at every exit and entry of the monitoring target and executing follow-up control.

  In the present invention, the present invention further comprises history recording means for recording a history of monitoring performance by calculating a coverage rate indicated by a ratio of the number of targets to be monitored by the mobile object to the number of targets to be monitored in the monitoring area. It is characterized in that the history of monitoring performance is reflected on the prediction by the state space model of the moving object.

  For example, it can be used as teacher data at the time of prediction by a state space model, and the error between the target position and the predicted position can be reduced.

  A monitoring target tracking control program of the present invention is characterized in that the computer is operated as a monitoring target tracking control device of a mobile object.

  As described above, the present invention has an excellent effect of being able to reduce tracking difficulty and tracking delay in tracking control of the monitoring target and to continue monitoring of the monitoring target by the moving object.

The distributed control system of the mobile body which concerns on this Embodiment is shown, (A) is a block diagram of the control system for operating the mobile body applied to this Embodiment, (B) is the area | region where a mobile body moves. FIG. It is a top view of the area | region divided into Voronoi which concerns on this Embodiment, (A) shows after movement of the mobile based on the control law 1 at the time of risk potential designation. FIG. 6 is a plan view showing the correlation between the mobile body according to the present embodiment and the risk potential, where (A) is for coverage = 1, (B) for no coverage, and (C) is 1 <coverage In the case of (D) in the case of 0 <coverage <1, (E) indicates a movable body which can move out of the Voronoi region in the region. FIG. 7 is a coverage transition diagram showing a change in coverage according to the degree of priority when importance is set to the risk potential. It is a top view of the area | region divided into Voronoi which concerns on this Embodiment, and shows the after the movement of the mobile body based on the control law 2 from the state of FIG. 2 (B). It is a top view of the surveillance field for explaining the execution situation of procedure 1 in the follow-up control rule concerning this embodiment. It is a top view of the surveillance field for explaining the execution situation of procedure 4 in the follow-up control rule concerning this embodiment. It is a flowchart which shows the risk potential monitoring control routine which concerns on this Embodiment. FIG. 9 is a flowchart showing a tracking form selection control routine which is control of an input calculation subroutine according to control rule 1 of step 104 of FIG. 8 and an input calculation subroutine according to control rule 1 of step 108. FIG. It is a top view of the surveillance field which shows the transition situation of the follow of risk potential by a mobile based on the follow-up control law of this embodiment. It is a top view of the surveillance field which shows the transition situation of pursuit of risk potential by a mobile based on a comparative example. It is a top view of the surveillance field which shows the transition situation of tracking of risk potential by a mobile based on a reference example. It is a characteristic view showing the coverage when a mobile of this embodiment, a reference example, and a comparative example follows risk potential. It is the top view of the monitoring area | region which showed in detail the process which follows early on the risk potential which exited early from the prediction behavior of risk potential, and stops tracking of the risk potential which came out earlier.

  FIG. 1 shows a mobile unit 10 applied to the distributed control system of mobile units according to the present embodiment and an area 12 in which the mobile unit 10 moves. FIG. 1A is a block diagram of a control system for operating the moving body 10 (see FIG. 1B) applied to the present embodiment. Moreover, FIG. 1 (B) is a top view of the area | region 12 which the mobile body 10 moves. A plurality of mobile bodies 10 exist in the area 12 and can be moved independently.

  As shown in FIG. 1 (A), the mobile unit 10 can move unmannedly within the range of the area 12, and a control device 14 equipped with a microcomputer that executes control including the movement is mounted.

  The microcomputer of the control device 14 has a CPU 16A, a RAM 16B, a ROM 16C, an input / output port (I / O) 16D, and a bus 16E such as a data bus or control bus connecting these. The monitoring module 18, the movement module 20, the position recognition module 22, and the communication module 24 are connected to the I / O 16D.

  For example, the control device 14 causes the CPU 16A to start the distributed control program of the moving object stored in advance in the ROM 16C, and controls the operations of the monitoring module 18, the moving module 20, the position recognition module 22, and the communication module 24.

  (Monitoring module 18)

  The device applied to the monitoring module 18 is, for example, a camera, and images a specific monitoring range (field of view) from the position of the moving object 10.

  The monitoring module 18 is not limited to imaging by a camera, but may be detection of a geographical feature (land mark) by radio wave (radar, laser, ultrasonic wave, etc.) irradiation, etc.

  (Moving module 20)

  The mobile unit 10 according to the present embodiment is a flying object (as an example, a drone), and includes a plurality of propellers driven by independent drive sources (motors) as devices applied to the mobile module 20. By controlling the driving of the head, it is possible to fly in the direction of the target and to stop (hover) in the target position space.

  The moving body 10 is not limited to a flying body, and may be a moving module 20 moving on the ground or on the water, and a plurality of devices may be used in combination. Furthermore, in a broad concept, the swinging motion mechanism of the fixedly arranged surveillance camera may be defined as the moving module 20.

  That is, it is sufficient if the monitoring range of the monitoring module 18 can be changed.

  (Position recognition module 22)

  The position recognition module 22 is a function to recognize the position of the mobile unit 10 of its own aircraft, and as a device, GPS, laser, radar, ultrasound, motion capture, camera, wireless communication, wireless strength as a device to obtain position information At least one sensor of (distance information) is provided.

  The position recognition module 22 recognizes the position of the mobile object 10 of the own machine by coordinates or the like in a three-dimensional space based on the detection result (detection signal) by the sensor.

  In addition to the recognition of the position of the mobile object 10 of the own device, the position recognition module 22 acquires the position information of the mobile object 10 of another device via the communication module 24 described later, calculates the mutual distance, The relative positional relationship of the mobile unit 10 is recognized.

  (Communication module 24)

  The communication module 24 includes a wireless communication device as a device. The wireless communication is a function of communicating between the mobile units 10, including a position information transmitting / receiving unit for transmitting / receiving position information and a monitoring degree ("coverage") of a designated monitoring target area (sometimes referred to as "risk potential"). A coverage ratio transmission / reception unit that transmits / receives information (coverage information) related to details, which will be described later, and an arbitration information transmission / reception unit that transmits / receives arbitration information on sharing of the monitoring target area.

  The arbitration information is information for determining whether or not the mobile unit 10 moves to the risk potential, and is used properly depending on the sign (positive or negative) of the risk potential. For example, a risk potential defined as "positive" requires monitoring, and a risk potential defined as "negative" indicates that monitoring is not required.

  In addition, the wireless communication of the communication module 24 includes a monitoring information transmission unit that transmits the result (for example, imaging information in the case of a camera) monitored by the monitoring module 18 to a base station that centrally manages monitoring.

  The control device 14 of each mobile unit 10 divides the area 12 shown in FIG. 1 (B) into Voronoi based on the position information from the position recognition module 22.

  Voronoi division analyzes the sphere of influence of each point (here, the position of the mobile object 10), and when a set of points with the shortest distance to the mobile object 10 is represented by one polygon, Is called the Voronoi region. For example, in FIG. 1 (B), in Voronoi division in a two-dimensional plane, the boundary line of Voronoi division becomes a perpendicular bisector (line 26 of FIG. 1 (B)) of the line connecting moving body 10, In each of the Voronoi regions (1) to (n) partitioned by 26, there is always one mobile unit 10. The variable n is the Voronoi division number, and n = 17 in FIG.

  In the present embodiment, the mobile object 10 freely moves relative to each other in the range of the region 12, and the Voronoi region changes each time. FIG. 1B shows a Voronoi region when each moving object 10 moves from the position of the dotted line to the position of the solid line.

  Further, in the present embodiment, in the area 12 shown in FIG. 1 (B), the monitoring target area (risk potential) 28 is designated as shown in FIG. 2 (A).

  In the present embodiment, the area of the risk potential 28 of one unit is equal to the area of the monitoring range that can be monitored by the monitoring module 18 of one mobile unit 10. That is, when the center of one mobile object 10 overlaps the center of the risk potential 28 illustrated in a rectangular mesh, the entire area of one risk potential 28 becomes a monitoring range.

  The area of the risk potential 28 and the area of the monitoring range do not necessarily have to be 1: 1.

  The position of each mobile unit 10 in FIG. 2 (A) is the same as the position in FIG. 1 (B), and each mobile unit 10 transmits and receives position information to each other, while the Voronoi region of its own mobile unit 10 It will move towards the risk potential 28 within.

  FIG. 2 (B) shows the result of movement of each mobile object 10 with respect to FIG. 2 (A), which is control of the prior art for moving toward the risk potential 28 while maintaining the Voronoi region (Control Law 1 ).

  Here, in the control rule 1, a situation occurs in which all the risk potentials 28 can not be set as the monitoring range of the moving object 10.

  That is, the degree of monitoring of the designated risk potential 28 can be expressed by coverage. The coverage is the area of the monitoring area of the mobile object 10 / the area of the risk potential 28. It may be expressed as a percentage (“area of monitoring area of mobile object 10 / area of risk potential 28” × 100%).

  In FIG. 2 (B) based on Control Rule 1, it can be seen that there is a risk potential 28 with a coverage of less than 1 (less than 100%). On the other hand, in the Voronoi region where the risk potential 28 does not exist, the moving body 10 does not function at all.

  That is, even if the area of the monitoring area of all the mobile objects 10 is larger than the total area of the designated risk potential 28, the control bound to the control law 1 can not monitor all the risk potential 28.

  Therefore, in the present embodiment, the coverage is deviated from the Voronoi region of the mobile unit 10 of the own machine based on the positional relationship between (the monitoring range of) the mobile unit 10 and the risk potential 28 in addition to Control Law 1. The control (control law 2) was established to move to the risk potential 28 in which there is a shortage (0 <coverage <1).

  FIG. 3 shows a situation that can be considered as a positional relationship between (the monitoring range of) the mobile object 10 and the risk potential 28.

  FIG. 3A shows a situation in which one mobile unit 10 corresponds to the risk potential 28 of one section in a single Voronoi region, and the area of the monitoring range of one mobile unit 10 is a risk potential 28. The coverage is 1 and is an ideal relationship.

  FIG. 3B shows the case where the risk potential 28 does not exist in the Voronoi region which the mobile object 10 is in charge of, and the relationship is the least efficient (Situation 1).

  FIG. 3C shows the case where two mobiles 10 in charge of respective Voronoi regions correspond to the risk potential 28 of one section designated across the two Voronoi regions, and two mobiles The area of the monitoring range of 10 is wider than the area of the risk potential 28, the coverage is larger than 1 (2 “= 200%”), and the monitoring range of the mobile object 10 is redundant (condition 2) .

  On the other hand, FIG. 3D shows a situation in which one mobile unit 10 corresponds to the risk potential 28 of three sections in a single Voronoi region, and the coverage is less than 1 (0.333...) It is an insufficient relationship as a risk potential 28 monitor.

  In the relationship of FIG. 3A, it is preferable that the mobile unit 10 maintain the current situation.

  In the relationship shown in FIG. 3B (Situation 1), the monitoring range of one mobile unit 10 is useless. In other words, the mobile unit 10 in FIG. 3B has another risk potential. It is a situation that can be assigned to 28.

  In the relationship shown in FIG. 3C (Situation 2), two mobile units 10 waste a monitoring range of 1/2, respectively. In other words, if there is no binding in the Voronoi region, FIG. One mobile unit 10 out of the two mobile units 10 in C) is in a situation where it can be assigned to another risk potential 28.

  On the other hand, in the relationship shown in FIG. 3D, the risk potential 28 of the two sections can not be monitored.

  In the present embodiment, the situations shown in FIGS. 3B and 3C (Situations 1 and 2 where the monitoring range of the mobile is surplus) and the situations shown in FIG. 3D (mobile 10) 3), and set control law 2 that allows moving the mobile unit 10 out of the control of maintenance (control law 1) of the Voronoi region (see FIG. 3). See (E)).

  Further, in the present embodiment, when there is a difference in the degree of importance in the risk potential 28, the movement of the mobile object 10 is controlled in accordance with the degree of importance.

  FIG. 4 shows movement control of the mobile unit 10 based on the degree of importance.

  The importance is expressed, for example, as a numerical value greater than 0 and 1 or less, with 1 being the most important, and in FIG. 4 a risk potential 28A of importance 1 and a risk potential of 0.5 It is assumed that 28B is present.

  For example, as shown in FIG. 4A, when there is a risk potential 28B of importance 0.5 in the first section and the mobile unit 10 is in coverage (monitoring), in terms of importance, the risk Since the monitored area uses only 50% of the capacity, the coverage is 1 / 0.5 = 2. Also, when there are two risk potentials 28A of importance 1 in the second section and one risk potential 28A is covered (monitored) by the mobile unit 10, the monitoring area of the mobile unit 10 when viewed from the importance level Since the 100% capacity is used, the coverage is 1 / (1 + 1) = 0.5.

  Here, it is expressed by an evaluation index as a comprehensive evaluation of the coverage in consideration of the importance. As the evaluation index is higher, the coverage is improved.

  The evaluation index of 2 sections in FIG. 4A is 0.5 + 1 = 1.5.

  On the other hand, as shown in FIG. 4B, the risk potential 28B of importance 0.5 and the risk potential 28A of importance 1 exist in the first section, and the mobile object 10 covers the risk potential 28A (monitoring) In this case, the coverage is 1 / (0.5 + 1) = 0.67. Further, when the risk potential 28A of importance 1 exists in the second section, and the mobile object 10 is covered (monitored), the coverage is 1/1 = 1.

  The evaluation index of two sections in FIG. 4B is 1 + 1 = 2.

  That is, if the risk potential 28 having high importance is preferentially covered, the overall coverage can be improved.

  In the movement control of the mobile unit 10 according to the control rule 2, the following conditions are set, and the mobile unit 10 to be moved is selected by arbitration between the mobile units 10.

  (Condition 1) The moving object 10 of another device does not exist on the movement trajectory in which each moving object 10 moves to the risk potential 28 (defined as “positive”) where the monitoring range is insufficient.

  (Condition 2) The mobile unit 10 satisfying the condition 1 declares the movement of the mobile unit 10 of another machine.

  In the declaration of movement, the risk potential 28 defined as "positive" is rewritten as "negative". In addition, the movement locus is also rewritten as "negative". As a result, movement is permitted only to the moving body 10 that has first declared movement, and the plurality of moving bodies 10 can be directed to the single risk potential 28 to avoid occurrence of a collision or the like.

  FIG. 5 shows the result of the movement of the mobile body 10 from the state of FIG. 2 (B) by the control of the control rule 2 and the movement of the mobile body 10 in a 1: 1 relationship with all the risk potentials 28. It can be seen that the range is supported.

  By the way, FIG. 5 presupposes that the risk potential 28 does not change the position (it has not moved) before movement (refer FIG. 2 (B)) of the mobile body 10. As shown in FIG. Hereinafter, the risk potential 28 not moving is referred to as a static risk potential 28.

  On the other hand, the risk potential 28 may move. For example, when a person, a motorbike, a vehicle or the like is set as the risk potential 28, the position changes momentarily at each moving speed. Such a movable risk potential 28 is defined as "dynamic risk potential 28" with respect to the static risk potential. In the present embodiment, the static risk potential 28 and the dynamic risk potential 28 have the same sign from the viewpoint of being the same monitoring target area, and if necessary, “static” and “dynamic” To distinguish.

  The dynamic risk potential 28 can be classified into the following two types.

  (Class 1) The dynamic risk potential 28 has a maximum moving velocity that is lower than the moving velocity of the moving object 10.

  (Class 2) The dynamic risk potential 28 has a maximum moving velocity faster than the moving velocity of the moving object 10.

  In the case of classification 1, the moving body 10 can always follow the movement of the dynamic risk potential 28 (the coverage rate described later is 100% of theoretical).

  On the other hand, in the case of classification 2, a situation where the mobile unit 10 can not follow the movement of the dynamic risk potential 28 may occur ("0 to 100%" in which the coverage rate described later changes).

  Therefore, in the present embodiment, in the following of the moving object 10 after the target position is determined by the control law 1 and the control law 2 described above, especially, the following based on the following control law in which the dynamic risk potential 28 is considered. The movement control of the mobile unit 10 to be executed was constructed. In other words, in the present embodiment, the tracking control rule is executed for all the risk potentials regardless of the speed difference between the dynamic risk potential 28 and the moving object 10 without distinguishing between Class 1 and Class 2 Do.

  More specifically, in risk potential monitoring control, it is determined by target position calculation for movement control according to control law 1 or target position calculation for movement control according to control law 2 (details will be described later with reference to FIG. 8) In accordance with the tracking control law of the present embodiment, the tracking control rule of the present embodiment is based on the state space model of the moving object 10 from the current time (k) to several steps ahead (k + N, N is a positive integer). The position of the vehicle is calculated, and an instruction value (control input) for moving the moving body 10 is obtained based on the difference between the calculation result and the target position.

  The detailed processing of the follow-up control rule will be described below in accordance with its execution procedure.

  (Step 1) Calculation of the target position of the mobile unit 10

From target position of mobile object 10 several steps ahead of risk potential (whether static or dynamic) 28 and current time, target position x of each mobile object 10 using control law 1 or control law 2 Calculate ^* to several steps ahead.

  As an example, in the region 12 shown in FIG. 6, the boundary line (see the dashed line 26 in FIG. 6) is divided into two Voronoi regions A and B.

In each of the Voronoi regions A and B, in order to distinguish the risk potentials 28 moving in time series as shown by the arrow C in FIG. 3) is attached. When the risk potential 28 moves as shown by 28 (1) → 28 (2) → 28 (3), the mobile object 10 moves to the risk potentials 28 (1), 28 (2), and 28 (3). Calculate each target position x ^* to follow. In FIG. 6, the target position x ^* is indicated by a cross symbol.

  (Step 2) Calculation of the position of the mobile object 10

  Several steps ahead (here, k + N) from the current time (here, k) based on the control input up to several steps ahead obtained in the following (Procedure 3) and the state space model of the moving object 10 Let N be a position that is a positive integer) (see equation (1)).

  When the equation (2) is expressed in matrix for subsequent calculation, the following equation (3) is obtained.

  (Step 3) Calculation of control input

  A term obtained by integrating several steps ahead of the difference between the target position obtained in (Procedure 1) described above and the position of the moving object 10 obtained in (Procedure 2) described above, and the control input The term obtained by integrating the squares up to several steps ahead is weighted to be an evaluation function J. If the first term of the evaluation function J is “0”, the error is “0”, which means that the mobile object 10 accurately follows the risk potential 28. The second term of the evaluation function J is a term that minimizes the energy of the control input, and minimizing the evaluation function J corresponds to performing the deviation from the target trajectory with the minimum energy.

  The control input up to several steps ahead is calculated by correcting the control input up to several steps ahead obtained so as to minimize the evaluation function J.

  (Step 4) Calculation of monitoring performance

  As the monitoring performance of the plurality of moving bodies 10, the coverage Pc is obtained by equation (6).

  The monitoring performance is not essential for the follow-up control itself based on the follow-up control rule, but is a result, for example, because it can be reflected in the calculation of the state space model of the moving object 10 later. It is preferred to carry out the calculation.

  Taking the monitored area 12 shown in FIG. 7 as an example, since the total number of risk potentials 28 in the area 12 is 5 and the total number of risk potentials 28 being captured by the mobile object 10 is 3, , (3/5) × 100 = 60%.

  As one of the features of the follow-up control based on the follow-up control rule in the present embodiment, the correspondence of emergence (ingress and exit to the monitoring area) of the dynamic risk potential 28 can be mentioned.

  That is, although the movement trajectory of the moving body 10 may deviate from the movement trajectory of the dynamic risk potential 28, for example, the predicted position (for example, the dynamic risk potential 28 entering a new monitoring area) is If it is important, even if the movement trajectory (dynamic risk potential 28 leaving the monitoring area from now on) is omitted, it is more important to prioritize monitoring at the predicted position. be able to.

  The operation of the present embodiment will be described below with reference to the flowchart of FIG.

  FIG. 8 is a flowchart showing a risk potential monitoring control routine according to the present embodiment, and mainly shows a flow specialized for movement control of the mobile object 10.

  In step 100, information on the mobile unit 10 of its own is collected. That is, while recognizing the positional information on the own machine in the area 12 (see FIG. 1B), the positional information is transmitted to the moving object 10 of the other machine.

  In the next step 102, information of the mobiles 10 of other aircraft (mobiles 10 other than the own aircraft present in the area 12) is collected. That is, the position information of the other device is recognized, and the process proceeds to step 104.

  In step 104, target position calculation according to control law 1 is performed. That is, the Voronoi region of each mobile object 10 is sequentially set, and when the risk potential 28 exists in the Voronoi region, control to move so as to cover the risk potential 28 is executed.

  In the next step 106, the current situation of the mobile unit 10 of its own is grasped. In other words, the risk potential 28 does not exist in the Voronoi region of the mobile of the own aircraft (condition 1), or the risk potential 28 of the Voronoi region of the mobile of the own aircraft is smaller than the monitored area of the mobile (coverage To determine if is greater than 1) situation (situation 2) or otherwise

  If it is determined in step 106 that a positive determination is made, that is, situation 1 or situation 2, then the process proceeds to step 108 where target position calculation according to control law 2 is performed. That is, the coverage rate falls below 1 (coverage <1) outside the Voronoi region of the mobile object 10 of its own aircraft, and whether or not to move toward the risk potential 28 is arbitrated, and the mobile object 10 determined by arbitration is Control is executed to move to the risk potential 28 out of the Voronoi region of the own machine, and the process proceeds to step 110.

  In addition, when a negative determination is made in step 106, the process proceeds to step 110.

  At step 110, it is judged whether or not the covering of all the risk potentials 28 has been achieved, and if the positive judgment is made, this routine ends. Also, if a negative determination is made in step 110, the process returns to step 100 and the above steps are repeated.

  If the total area of the risk potential 28 exceeds the total area that can be monitored by a plurality of mobile units 10, the mobile unit 10 can hold and obtain information on the risk potential 28 in time series. It is also good.

  According to the present embodiment, the coverage of the risk potential 28 is reduced by setting the Voronoi region based on the control law 1 for the purpose of collision avoidance during free movement of the plurality of mobile bodies 10 in the region 12. In order to rectify, as the control law 2, the coverage to the risk potential 28 is improved by mediation (for example, first-come-first-served) movement to the risk potential 28 with low coverage and moving away from the Voronoi region be able to.

  In the risk potential monitoring control routine of FIG. 8 above, the movement of the dynamic risk potential 28 in either of the target position calculation according to control law 1 executed in step 104 and the target position calculation according to control law 2 executed in step 108 Will be involved.

  Therefore, at the time of execution of step 104 and step 108 of FIG. 8, the following control law for following is executed.

  FIG. 9 moves (that is, follows) the moving object 10 to the risk potential 28 obtained in the target position calculation subroutine according to control rule 1 of step 104 of FIG. 8 and the target position calculation subroutine according to control rule 1 of step 108 ) Is a flowchart showing a risk potential tracking control routine for obtaining an instruction value (control input) for movement of the mobile object 10).

  In step 150 of FIG. 9, information of the mobile unit 10 of its own device is collected, and then, in step 152, information of the mobile unit 10 of another device is collected, and the process proceeds to step 154.

  At step 154, forecast information to be monitored is collected. For example, a target to be monitored is a vehicle, and by acquiring information such as a navigation system mounted on the vehicle, it is possible to grasp a future travel situation. The prediction information of the monitoring target may change including leaving from the monitoring area of the monitoring target which has been followed and entering the monitoring area of the monitoring target to be newly followed.

  In the next step 156, it is determined whether the state of movement control in FIG. 8 is within the Voronoi region or outside the Voronoi region.

  If it is determined in step 156 that it is within the Voronoi region, the subroutine of FIG. 9 determines that the control is performed under control rule 1 of step 104 of FIG. The target position is calculated according to rule 1, and the process proceeds to step 162.

  Further, if it is determined in step 156 that it is out of the Voronoi region, it is determined that the subroutine of FIG. 9 is the control executed under control rule 2 of step 108 of FIG. Then, the target position is calculated according to control law 2, and the process proceeds to step 162.

  In the next step 162, the following control law is executed. In the processing procedure of the follow-up control rule, the above-described procedures 1 to 4 are executed.

  In step 164, the control input determined in the process of the tracking control rule in step 162 is executed, and the subroutine of FIG. 9 is ended.

  FIG. 10 is a plan view of a monitoring area showing a transition state of tracking of the risk potential 28 by the moving object 10 based on the tracking control law of the present embodiment.

  In order to compare with the present embodiment, that is, the transition state of the tracking in FIG. 10, the transition state of the tracking based on the basic operation of the autonomous distribution using the control law 1 and the control law 2 in combination is shown in FIG. Indicated. That is, it is the transition transition condition of the follow which does not execute the follow control rule of this embodiment.

  Further, FIG. 12 shows, as a reference example, a transition state of the follow in the basic operation of the area division by the Voronoi area described in Non-Patent Document 1 described above and the autonomous dispersion to the center of gravity position.

  10, 11 and 12 show the transition states at the same elapsed time period (t = 0 seconds, 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds and 7 seconds), respectively. is there. As the risk potential 28, two dynamic risk potentials 28 (moving along arrow D in FIGS. 10 to 12) and three static risk potentials 28 exist, and are followed by five moving bodies 10. It is in the form. In addition, when one dynamic risk potential 28 reaches the tip of the arrow D and exits from the monitoring area, there is a time when a new one dynamic risk potential 28 enters from the beginning of the arrow D. In other words, although the number of risk potentials 28 in the monitoring area is constant (five), they are replaced by leaving and entering. As one example, it is assumed that the surveillance area is a parking lot, the entrance and exit exist separately, and the vehicle exiting from the exit of the parking lot and the vehicle entering from the entrance of the parking lot.

  In FIGS. 10 to 12, in order to make the transition situation easy to understand, one risk potential 28 and one mobile unit 10 are given symbols as a representative, and the other symbols are omitted.

  In each figure, t = 0 seconds is the state before the start of movement, and all are the same state.

  (Reference example)

  In the case of the reference example shown in FIG. 12, in order to move to the barycentric position of the risk potential 28 within the set Voronoi region, there is a moving object 10 that does not capture the risk potential 28 or multiple moves of the same risk potential 28 It is for the body 10 to follow. For this reason, the coverage does not reach 100% or 100% until 7 seconds after the start of the follow-up, and approximately 60% is maintained on average (see the dashed line in FIG. 13). ).

  (Comparative example)

  In the case of the comparative example shown in FIG. 11, since the mobile object 10 in the region where the risk potential 28 does not exist moves out of its own Voronoi region, the monitoring performance is improved compared to the reference example. After leaving the Voronoi region (for example, t = 4 seconds), it takes a while to follow.

  In the comparative example, although there is a delay in following due to the function of departing from the Voronoi region, there is a time when the coverage rate reaches 100%, and there is no increase or decrease in the existing risk potential 28, the average coverage rate is , It has been in a higher state compared to the reference example (see the dotted line in FIG. 13).

  However, in FIG. 11, the coverage rate is extremely low at the time when one dynamic risk potential 28 leaves the monitoring area and one new dynamic risk potential 28 enters. This means that the prediction of risk potential 28 replacement is insufficient.

  (Embodiment)

  In the present embodiment shown in FIG. 10, the followability of the risk potential 28 (for example, t = 5 to 7 seconds) after leaving the current Voronoi region is predicted relative to the comparative example based on the prediction of the optimal arrangement in the future. Improved. As the reason, from the predicted behavior of the risk potential 28, the follow-up of the leaving risk potential 28 is stopped early, and the newly entered risk potential 28 is followed ahead.

  That is, by predicting the approach of the new risk potential 28 before the risk potential 28 reaches the end of the arrow D, the coverage rate becomes 100% because the new risk potential 28 comes forward. The time zone increases more than the comparative example, and the average coverage can also exceed the comparative example (see the solid line in FIG. 13).

  (Detailed explanation of follow-up cancellation and advance follow-up)

  FIG. 14 shows in detail the process of stopping the follow-up of the exiting risk potential 28 at an early stage from the predicted behavior of the risk potential 28 and preceding the newly entering risk potential 28 in advance.

  Arrows D1 and D2 in FIG. 14 indicate the behavior of the risk potential 28 (two dynamic risk potentials 28) identical to the arrow D shown in FIG. 10, and time t1, t2, t3, t4, t5 and t6 indicate , 0.2 cycle time series, t1 is the most past and t6 is the present. The period is a period in which the transition of the mobile unit 10 can be easily understood, and is not limited.

  As shown in FIG. 14, the most past risk potential 28 is at the position of t1, and the mobile body 10 substantially covers the risk potential 28 at this position.

  Next, when the risk potential 28 reaches the position of t2, it is predicted that the risk potential 28 will exit, and the mobile 10 stops following the risk potential 28.

  The mobile unit 10 follows the risk potential 28 newly entering the position of t3.

  At this time, the moving body 10 that has been following the risk potential 28 moving along the arrow D1 follows the risk potential 28 (newly entered) moving along the arrow D2. In addition, the mobile unit 10 which has been following the risk potential 28 moving along the arrow D2 follows the risk potential 28 (newly entered) moving along the arrow D1.

  The tracking of each mobile object 10 can predict three steps ahead, and can cover the risk potential 28 completely at the position of t6 ahead of (short-cut) the position of t6.

10 Mobile Body 12 Region 14 Control Device (Calculation Means, Prediction Means, Evaluation Means, Generation Means, Control Means)
16A CPU
16B RAM
16C ROM
16D input / output port (I / O)
16E bus 18 monitoring module (sensor section)
20 Movement module (movement mechanism part)
22 Position recognition module 24 Communication module 26 Dotted line 28 Dynamic risk potential, static risk potential (target of monitoring)
(1) to (n) Voronoi region (monitoring region)

Claims (7)

A sensor unit that detects information on a moving monitoring target;
A moving mechanism unit for moving the sensor unit;
Calculating means for calculating a target position to which the sensor unit is to be moved to a predetermined step ahead every predetermined period from the present;
Prediction means for predicting a predicted position of the sensor unit at a predetermined step ahead in a predetermined cycle from the current time by the state space model of the sensor unit;
Evaluation means for evaluating an error between the target position of each step calculated by the calculation means and the predicted position of each step predicted by the prediction means;
Generation means for generating a control input value for controlling the moving mechanism based on the evaluation result of the evaluation means;
A control unit that controls the movement mechanism unit based on the control input value generated by the generation unit, and monitors the sensor unit while moving so as to follow the movement of the monitoring target;
A monitoring apparatus comprising:   The target position calculated by the calculation means is changed including leaving from the monitored area of the monitored object which has been followed and entering the monitored area of the monitored object to be newly followed. Description monitoring device. The system further includes history recording means for recording a history of monitoring performance by calculating a coverage rate indicated by a ratio of the number of targets to be monitored by the sensor unit to the number of targets to be monitored in the monitoring area.
The monitoring device according to claim 1 or 2, wherein the history of the monitoring performance is reflected on the prediction by the state space model of the sensor unit. It is used for a plurality of mobile units that are respectively disposed in the handling area that do not interfere with each other and that have a sensor unit and a moving mechanism unit that detect information related to the monitoring target, and the plurality of mobile units transmit and receive positional information to each other. A monitoring target tracking control apparatus for a moving object which is moved so as to change the responsible area while avoiding a collision,
Calculating means for calculating a target position to which the mobile unit is to be moved to a predetermined step ahead every predetermined period from the present;
Prediction means for predicting a predicted position of the moving object at a predetermined step ahead in a predetermined cycle from the present by the state space model of the moving object;
Evaluation means for evaluating an error between the target position of each step calculated by the calculation means and the predicted position of each step predicted by the prediction means;
Generation means for generating a control input value for controlling the moving mechanism based on the evaluation result of the evaluation means;
Movement control means for controlling movement of the moving body based on the control input value generated by the generation means;
A monitoring target tracking control device for a moving body having   The target position calculated by the calculation means is changed including leaving from the monitored area of the monitored object which has been followed and entering the monitored area of the monitored object to be newly followed. A monitoring target tracking control device for a moving object as described above. The system further comprises history recording means for recording a history of monitoring performance by calculating a coverage rate indicated by the ratio of the number of targets to be monitored by the mobile object to the number of targets to be monitored in the monitoring area.
The monitoring target tracking control system for a mobile according to claim 4 or 5, wherein the history of the monitoring performance is reflected on the prediction based on the state space model of the mobile. Computer,
A monitoring target tracking control program operated as the monitoring target tracking control device for a mobile according to any one of claims 4 to 6.