JP2020091201A - Computer system and data structure - Google Patents

Abstract

To appropriately control a moving object.SOLUTION: A computer system pertaining to one embodiment includes at least one processor. The at least one processor controls a moving object in a real space on the basis of dynamic information that represents the real space using a dynamic information block with which a dynamically changing state is associated and common block data that represents the real space using a common block with which the dynamic information block is associated.SELECTED DRAWING: Figure 6

Description

One aspect of the disclosure relates to computer systems and/or data structures.

Conventionally, a technique for controlling a moving body has been known (see, for example, Patent Documents 1 and 2).

JP 2004-257794 A JP, 2008-81675, A

One side of this indication aims at controlling a mobile appropriately.

A computer system according to an aspect of the present disclosure includes at least one processor, and at least one processor uses dynamic information blocks associated with dynamically changing situations and dynamic information that represents a physical space. , A moving object in the real space is controlled based on the common block data representing the real space using the common block associated with the dynamic information block.

It is a figure which shows an example of control of the moving body by the movement control system which concerns on embodiment. It is a figure which shows an example of an association of a moving route and dynamic information. It is a figure which shows an example of arrangement|positioning of the common block corresponding to FIG. An example of the relationship between a flight area and a common block is shown. It is a figure which shows the example of the dynamic information block corresponding to one common block. It is a figure showing an example of functional composition of a movement control system concerning an embodiment. It is a figure which shows an example of the hardware constitutions of the server which concerns on embodiment. It is a figure which shows the example of map data. It is a figure which shows the example of common block data. It is a figure which shows the example of dynamic information. It is a flow chart which shows an example of operation of the movement control system concerning an embodiment. 12 is a flowchart showing an example of acquisition of the situation of the target area shown in FIG. 11. It is a figure which shows the example of a setting of the movement route according to a weather condition.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements will be denoted by the same reference symbols, without redundant description.

[System overview]
The movement control system 1 according to the embodiment is a computer system for controlling a moving body. The moving body refers to an artifact that can move in the real space (real world space). The type of moving body is not limited, and may be, for example, a manned moving body or an unmanned moving body. The place where the moving body can move is not limited, and for example, the moving body may be able to move at least one of ground, water, air, ground, underwater, and indoors. Specific examples of the moving body include a flying body (for example, an aircraft and a drone), a water-based vehicle, an underwater vehicle, and a land-based vehicle (for example, an automobile, a train, and a motorcycle). However, the mobile control system 1 may manage any type of mobile body. Corresponding to the fact that the type of mobile body is not limited, the route of the mobile body may be land, water or air.

The movement control system 1 can appropriately manage the operation of the moving body by controlling the moving body in consideration of the situation that dynamically changes in the physical space. The “control of the moving body” may include at least one of controlling the movement of the moving body and controlling a device (for example, a camera) mounted on the moving body. The “dynamically changing situation” means a situation that changes with the passage of time. The length of time required to change the situation is not limited, for example, 1 second, 10 seconds, 30 seconds, 1 minute, 10 minutes, 30 minutes, 1 hour, 2 hours, 3 hours, 12 hours, 1 day, 1 week. It may be any value such as 1 month. The kind of situation is not limited at all, and may be, for example, a natural phenomenon, a situation caused by an artificial object, or a situation based on a rule set by a person. For example, the status of dynamic conversion includes weather (weather), movements of moving bodies, number of moving bodies, degree of traffic jam, radio wave intensity, traffic regulation, position of obstacles, number of carried objects, number of people or moving bodies. It may also be the density, or the movement of other natural objects (eg birds and beasts).

FIG. 1 is a diagram showing an example of control of a moving body by the movement control system 1. In this example, the moving body 30 is a flying body. An air vehicle is an artificial object that can move in the air. The type of flying body is not limited, and may be, for example, a manned aircraft or an unmanned aerial vehicle (drone). In this example, the moving body 30 is going to move along a movement route (flight route) 200 including a plurality of nodes 201 to 206 and a plurality of links connecting adjacent nodes. A node refers to a position set for controlling a moving body, and more specifically, a position where a moving method (for example, direction, speed, etc.) of the moving body can be changed. A link refers to a virtual line that is set up to indicate a route on which a moving body can move, and connects adjacent nodes. A dynamically changing situation may occur on the travel route 200. For example, the situation may be a prohibited area 211 that is temporarily set, traffic of another moving body 31, or a weather situation 212. The movement control system 1 acquires such a dynamically changing situation and controls the movement of the moving body 30 based on the situation.

The moving route of the moving body can be represented by using map data. The map data is data representing a physical space in which a moving body can move or an unmovable physical space (for example, an obstacle). Map data can be represented using map elements such as nodes and links. The map data of the land vehicle can also be expressed using map elements such as road position, width, and number of lanes. On the other hand, the dynamically changing situation is associated in advance with the area in which the situation occurs or may occur, and this association can be obtained as dynamic information. By referring to this dynamic information, the mobile control system 1 can determine where and what kind of situation is occurring or may occur.

Since both the map data and the dynamic information include the position in the physical space, the moving route and the dynamic information can be associated by collating the positions of both. FIG. 2 is a diagram showing an example of the association between the travel route and the dynamic information, and specifically shows the travel route 200 shown in FIG. 1 and the association of three situations. In this example, it is assumed that the dynamic information is set for each three-dimensional block (dynamic information block), and that there are three dynamic information blocks 221 to 223 corresponding to the movement route 200. Dynamic information about the prohibited area 211 is set in the dynamic information block 221, dynamic information about another moving body 31 is set in the dynamic information block 222, and weather information 212 is set in the dynamic information block 223. Dynamic information is set. The movement control system 1 collates the map data of the movement route 200 with the dynamic information to determine that the vicinity of the node 202 is the temporary prohibited area 211 and that another mobile body 31 exists near the node 204. It can be determined that it exists and the weather condition 212 near the node 205. Then, the movement control system 1 can control the moving body 30 based on the determination.

As described above, the types of dynamically changing situations are not limited in any way. In response to this, the number of computer systems managing dynamic information is not limited to one, and a plurality of computer systems may manage different dynamic information. When multiple types of dynamic information are used, the method of defining the block (dynamic information block) indicated by each dynamic information depends on various situations such as the type of situation and the difference in computer system. , Can be different from each other. Here, the block means a closed space represented by using a virtual boundary, and can also be called a mesh or a cell. The shape, size, or arrangement of the dynamic information block may differ depending on the type of dynamic information. The example of FIG. 2 also illustrates such differences in dynamic information blocks. When the dynamic information blocks are defined in different ways, the computer system needs to match the moving route with the dynamic information in a method according to each dynamic information block. Since the matching method changes depending on the type of dynamic information block, the matching algorithm becomes complicated, and it may be necessary to change the algorithm when the definition of the dynamic information block is changed or the dynamic information is added. To do.

The mobility control system 1 adopts the concept of a common block in order to absorb such a difference between dynamic information blocks. The common block is a block that connects the map data and the dynamic information block, and is set independently of both the map data and the dynamic information block. By adopting the concept of the common block, the physical space represented by the map data is represented by a set of a plurality of common blocks. In other words, the physical space is virtually divided by a plurality of common blocks. Each common block is associated with one or more map elements (eg, nodes, links, roads, etc.) that make up the map data and also with one or more or one or more types of dynamic information blocks. By referring to one common block, the mobility control system 1 can access all the dynamic information blocks associated with the common block. This means that the mobility control system 1 can acquire all the dynamic information corresponding to a certain part of the travel route by referring to one common block. That is, the mobility control system 1 can efficiently acquire various dynamic information by referring to the common block.

FIG. 3 is a diagram showing an example of an arrangement of common blocks corresponding to FIG. In this example, 5×3×3 common blocks 230 are shown, and the set of common blocks 230 includes dynamic information blocks 221 to 223.

The moving path of the moving body may be considered using not only the virtual line but also the width set in the direction orthogonal to the moving direction. For example, since it may be difficult for an air vehicle to fly completely along a moving path due to the influence of wind or the like, a virtual three-dimensional flight area may be defined. When this flight area is adopted, a common block at least partially overlapping the flight area is set as a common block associated with the link. FIG. 4 shows an example of the relationship between the flight area and the common block. In this example, a cylindrical flight area 240 centered on the link 241 and four common blocks 231 to 234 arranged in a 2×2 array are shown. The link 241 overlaps only the common blocks 232 and 233, but the flight area 240 overlaps not only the two common blocks but also the common block 231. Therefore, the link 241 is associated with the three common blocks 231 to 233.

One common block may be associated with multiple types of dynamic information. For example, the common block is associated with the first dynamic information that represents the physical space using the first dynamic information block that is associated with the first dynamically changing situation and the second dynamically changing situation. It may be associated with both the second dynamic information that represents the physical space by using the second dynamic information block. Since the size of the dynamic information block can be set arbitrarily, the correspondence relationship between the common block and the dynamic information block can be variously changed according to the type of dynamic information.

FIG. 5 is a diagram showing various examples of dynamic information blocks corresponding to one common block 250. In the example (a) of FIG. 5, the common block 250 is associated with four dynamic information blocks 261-264 of the six dynamic information blocks 261-266. In the example (b) of FIG. 5, the common block 250 is associated with two dynamic information blocks 271 and 273 of the four dynamic information blocks 271 to 274. In the example (c) of FIG. 5, the common block 250 is associated with one dynamic information block 281. The common block 250 is associated with at least one type of dynamic information block among the dynamic information blocks 261-264, the dynamic information blocks 271, 273, and the dynamic information block 281. With respect to a certain type of dynamic information block, one common block may exist over a plurality of dynamic information blocks, or it may fit within one dynamic information block. Similarly, one dynamic information block may exist over a plurality of common blocks or may fit within one common block.

2 to 5, both the dynamic information block and the common block have a rectangular parallelepiped shape, but the shapes of these two types of blocks are not limited at all and may be set arbitrarily. For example, the dynamic information block or common block may be spherical, columnar, or a more complex three-dimensional shape. Alternatively, the dynamic information block or common block may be rectangular, circular, or a more complex two-dimensional shape. Both the dynamic information block and the common block may have a three-dimensional shape, or both may have a two-dimensional shape. Alternatively, one of the dynamic information block and the common block may have a three-dimensional shape and the other may have a two-dimensional shape. At least one of the shape and the size of the common block may or may not be unified. At least one of the shape and the dimension of the dynamic information block corresponding to a certain type of dynamic information may be unified or may not be unified. That is, for both the common block and the dynamic information block, at least one of the shape and the size of the block may change midway.

[System configuration]
FIG. 6 is a diagram showing an example of a functional configuration of the movement control system 1. In one example, the mobility control system 1 includes a server 10 and a map database 20. The server 10 is a computer for controlling the moving body, and in this example, the movement of the moving body 30 is controlled by transmitting instruction data to the moving body 30. The moving body 30 can move based on the instruction data from the server 10. FIG. 6 also illustrates a flying body as the moving body 30. The map database 20 is a device that stores map data 21 and common block data 22. In one example, the server 10 can obtain the dynamic information 51 from the external database 50 via the external server 40. The numbers of the external server 40 and the external database 50 are not limited, and the number of at least one device may be two or more. All of the map data 21, the common block data 22, and the dynamic information 51 are computer-readable electronic data, and are control data including digital information necessary for moving the moving body 30.

The server 10 can send and receive data to and from the map database 20, the mobile unit 30, and the external server 40 via a wired or wireless communication network. For example, the server 10 reads the map data 21 or the common block data 22 from the map database 20, the dynamic information 51 from the external server 40, or the transmission of instruction data to the mobile unit 30 via the communication network. be able to. The specific configuration of the communication network is not limited, and for example, the communication network may include at least one of the Internet and the intranet.

The configuration of the movement control system 1 is not limited to the example of FIG. The map database 20 may be managed by a computer system different from the movement control system 1, or the server 10 may include the map database 20. The server 10 may directly access the external database 50 without using the external server 40 to acquire the dynamic information. The mobility control system 1 may include a configuration corresponding to at least a part of the external server 40 or at least a part of the external database 50.

The server 10 includes a path acquisition unit 11, a dynamic information acquisition unit 12, an instruction generation unit 13, and a communication unit 14 as functional modules. The route acquisition unit 11 is a functional module that acquires information about a route that the mobile body 30 is going to travel. The dynamic information acquisition unit 12 is a functional module that acquires the status (dynamically changing status) of the route. The instruction generator 13 is a functional module that generates instruction data based on the situation. The communication unit 14 is a functional module that outputs the instruction data. The moving body 30 can move according to the instruction data.

FIG. 7 shows an example of the hardware configuration of the server 10. For example, the server 10 has a control circuit 100. In one example, the control circuit 100 includes one or more processors 101, a memory 102, a storage 103, a communication port 104, and an input/output port 105. The processor 101 executes an operating system and application programs. The storage 103 is composed of a hard disk, a non-volatile semiconductor memory, or a removable storage medium (for example, a magnetic disk, an optical disk, etc.), and stores an operating system and application programs. The memory 102 temporarily stores the program loaded from the storage 103 or the calculation result by the processor 101. In one example, the processor 101 functions as each of the above functional modules by executing a program in cooperation with the memory 102. The communication port 104 performs data communication with another device via the communication network NW according to a command from the processor 101. The input/output port 105 executes input/output of electric signals with an input/output device (user interface) such as a keyboard, a mouse, and a monitor according to a command from the processor 101.

The server 10 may be composed of one or more computers. When a plurality of computers are used, these computers are connected to each other via a communication network to logically form one server 10.

The computer that functions as the server 10 is not limited. For example, the server 10 may be composed of a large computer such as a business server, or may be composed of a small computer such as a personal computer or a mobile terminal (for example, a smartphone or a tablet terminal).

[data structure]
The map data 21 is data representing a real space in which a moving body can move. The data structure of the map data 21 is not limited as long as the space or the position can be specified to move the mobile body. In any case, the map data is data in which the map element and the common block are associated with each other. FIG. 8 is a diagram showing an example of the map data 21, and specifically shows an example of the map data 21 that can be used to move the moving body 30. In this example, the map data 21 includes node information indicating individual nodes and link information indicating individual links.

In one example, the node information indicating one node includes a node ID that is an identifier that uniquely identifies the node, the coordinates of the node, and a common block ID that indicates a common block corresponding to the position of the node. The common block ID is an identifier that uniquely identifies the common block. In FIG. 8, the three-dimensional coordinates of the node identified by the node ID “N0” are (nx0, ny0, nz0), and the position of this node corresponds to the common block identified by the common block ID “SP0”. Indicates that. The position of the node corresponding to the common block means that the node is included in the common block, for example.

In one example, the link information indicating one link includes a link ID that is an identifier that uniquely identifies the link, node IDs of start and end points of the link, and a common block ID that indicates a common block corresponding to the position of the link. Including and In FIG. 8, the link specified by the link ID “L0” connects two nodes “N0” and “N1”, and the position of this link is specified by the common block IDs “SP0” and “SP1”. It corresponds to two common blocks. The link position corresponding to the common block means that at least a part of the link is included in the common block. FIG. 8 shows that the link “L0” extends across two common blocks “SP0” and “SP1”. One link may be included in only one common block or may extend over three or more common blocks. Therefore, the number of common block IDs corresponding to one link ID is 1 or more.

The common block data 22 is data representing a common block. The data structure of the common block data 22 is not limited as long as the common block can be specified. FIG. 9 is a diagram showing an example of the common block data 22, and specifically shows an example of the common block data 22 that can be used to move the moving body 30.

In one example, common block data indicating one common block includes a common block ID, center coordinates indicating the position of the center of the common block, the size of the common block, and one or more types of dynamic information block IDs. FIG. 9 shows that the common block identified by the common block ID “SP0” has a virtual three-dimensional shape defined by the center coordinates (Xsp0, Ysp0, Zsp0) and the size (sp0, sp0, sp0). Further, FIG. 9 shows that the common block “SP0” corresponds to three types of dynamic information, that is, weather, radio field intensity, and GPS intensity (GPS reception status). In this example, the dynamic information blocks corresponding to weather, radio wave intensity, and GPS intensity are referred to as a "weather block", a "radio wave intensity block", and a "GPS intensity block", respectively. The common block ID "SP0" includes two weather block IDs "WM001" and "WM002", three radio wave intensity block IDs "SM001", "SM003" and "SM004", and two GPS intensity block IDs "GM001" and "GM002". ". This means that the common block “SP0” overlaps these two weather blocks, three radio wave intensity blocks, and two GPS intensity blocks in the physical space.

The dynamic information 51 is data indicating a dynamically changing situation in the dynamic information block. The data structure of the dynamic information 51 is not limited as long as the status of each dynamic information block can be specified. FIG. 10 is an example of the dynamic information 51, and specifically shows an example of the weather information, the radio wave intensity information, and the GPS supplementary information, which are the dynamic information 51 that can be used to move the moving body 30.

In one example, the dynamic information indicating one dynamic information block includes a dynamic information block ID that is an identifier that uniquely identifies the dynamic information block, a center coordinate that indicates the position of the center of the dynamic information block, and a motion information. It includes the size of the target information block and information indicating the status. Although each dynamic information shows the situation of each time zone in FIG. 10, the method of expressing the situation is not limited to this, and may be represented in any format. For example, the situation may be represented without using time zones. The weather information illustrated in the example (a) of FIG. 10 indicates the weather, the wind speed, and the wind direction in the weather block “WM001”. The radio wave intensity information shown in the example (b) of FIG. 10 indicates the radio wave intensity in the radio wave intensity block “SM003”. The GPS intensity information shown in the example (c) of FIG. 10 indicates the GPS intensity in the GPS intensity block “GM002”.

The data structures shown in FIGS. 8 to 10 are examples, and the map data 21, the common block data 22, and the dynamic information 51 may be expressed in any format. In any case, since the map data 21 and the dynamic information 51 are associated with each other via the common block data 22, it becomes possible to efficiently obtain the dynamic information of an arbitrary point in the physical space.

[Processing procedure in the system]
The operation of the movement control system 1 will be described with reference to FIGS. 11 and 12, and the method of controlling the moving body according to the present embodiment will be described. FIG. 11 is a flowchart showing an example of the operation of the movement control system 1. FIG. 12 is a flowchart showing an example of acquisition of the situation of the target area shown in FIG.

In step S11, the route acquisition unit 11 acquires the target area by referring to the map data 21. The target area is an area that is a target for acquiring a dynamically changing situation. Specifically, the target area is at least a part of the movement route of the moving body 30. The method of identifying the target area may depend on the structure of the map data. For example, the route acquisition unit 11 acquires the map data 21 indicating at least one node, at least one link, or at least one block, A target area represented by the node, link, or block may be specified.

In step S12, the dynamic information acquisition unit 12 acquires the status of the target area. The dynamic information acquisition unit 12 refers to the map data 21, the common block data 22, and the dynamic information 51 to acquire the dynamically changing status. Details of step S12 will be described with reference to FIG.

In step S121, the dynamic information acquisition unit 12 identifies at least one common block corresponding to the target area. Specifically, the dynamic information acquisition unit 12 refers to the map data 21 corresponding to the position of the target area and acquires at least one common block ID indicated by the map data 21.

In step S122, the dynamic information acquisition unit 12 selects one common block (common block ID). In step S123, the dynamic information acquisition unit 12 identifies one dynamic information block corresponding to the selected common block. Specifically, the dynamic information acquisition unit 12 refers to the common block data 22 specified by the selected common block ID, and acquires one or more dynamic information block IDs included in the common block data 22. ..

In step S124, the dynamic information acquisition unit 12 selects one dynamic information block (dynamic information block ID). In step S125, the dynamic information acquisition unit 12 acquires the status of the selected dynamic information block. Specifically, the dynamic information acquisition unit 12 refers to the dynamic information 51 specified by the selected dynamic information block ID and acquires the situation indicated by the dynamic information 51. When the dynamic information includes the time zone, the dynamic information acquisition unit 12 acquires the status of the designated time zone.

As shown in step S126, when a plurality of dynamic information blocks correspond to one common block, the dynamic information acquisition unit 12 determines the remaining dynamic information blocks (unprocessed dynamic information blocks to be processed. Stuff). If there is an unprocessed dynamic information block, the dynamic information acquisition unit 12 selects the next dynamic information block (next dynamic information block ID) in step S127, and selects the next dynamic information block. Is executed in step S125.

As shown in step S128, when a plurality of common blocks correspond to one target area, the dynamic information acquisition unit 12 processes all common blocks. If there is an unprocessed common block, the dynamic information acquisition unit 12 selects the next common block (next common block ID) by referring to the map data 21 in step S129, and selects the next common block. The processing from step S123 onward is executed for the block. In this way, the dynamic information acquisition unit 12 processes all the common blocks corresponding to the target area while sequentially identifying the common block IDs shown in the map data 21, thereby determining the status of the target area. Can be obtained.

Returning to FIG. 11, in step S13, the instruction generation unit 13 generates instruction data corresponding to the target area based on the acquired situation. The method of generating the instruction data based on the dynamic information is not limited at all, and the instruction generation unit 13 may generate the instruction data for controlling the moving body 30 based on an arbitrary rule. The data structure of the instruction data is not limited at all. For example, the instruction data may indicate the movement route of the moving body 30.

In step S14, the communication unit 14 transmits the instruction data. The destination of the instruction data is not limited. For example, the communication unit 14 may directly transmit the instruction data to the mobile body 30, or may transmit the instruction data to the mobile body 30 via any computer other than the mobile body 30. For example, the instruction data is used to control the movement of the moving body 30, and is used to change, determine, or calculate the movement route, for example. For example, the control circuit of the moving body 30 may receive and process the instruction data to calculate the moving route, and the power and the rudder of the moving body 30 may be controlled so as to move along the route. Alternatively, a computer (for example, a remote controller) other than the mobile unit 30 calculates a travel route based on the instruction data, transmits route data indicating the route to the mobile unit 30, and the control circuit of the mobile unit 30 converts the route data into the route data. The power and rudder of its own machine may be controlled based on this. In any case, the mobile body 30 can move based on the instruction data provided from the server 10.

The movement control system 1 executes a series of processes shown in steps S11 to S14 each time a new target area is received. For example, the movement control system 1 can appropriately control the moving body 30 to the destination by processing each of the plurality of target areas forming the moving route of the moving body 30 in the moving order of the moving body 30.

The use of the movement control system 1, that is, the purpose of controlling the movement of the moving body 30 is not limited at all. For example, the movement control system 1 may control the moving direction or speed of the moving body 30 according to weather conditions. FIG. 13 is a diagram illustrating an example of setting a travel route according to weather conditions. The example (a) of FIG. 13 shows the moving route 311 from the start point node 301 to the end point node 302 in fine weather, and the example (b) of FIG. 13 shows the start point node 301 to the end point node 302 when rain is considered. A travel route 312 is shown. The mobility control system 1 can flexibly move the mobile unit 30 by referring to the dynamic information of each node or each link via the common block data. As another example of the application, the movement control system 1 may control the moving body 30 so that other sensors such as a camera are emphasized for collision avoidance when the radio wave intensity or the GPS intensity is weak. Alternatively, the movement control system 1 may search for a place (for example, a place where the density of people or moving bodies is low) for emergency landing of the moving body 30 and guide the moving body 30 to that place.

The movement control system 1 may control the moving body based on a plurality of types of dynamic information. Explaining one example with reference to FIG. 9 and FIG. 10, the movement control system 1 controls the movement of the moving body between 9:00 and 10:00 of the common block “SP0” by “at least partly sunny (wind speed is 1 m/s, wind direction is north-northeast)", "at least part of the signal strength is low", and "at least part of the GPS strength is strong". You may control your body.

[program]
The program for causing the computer to function as the server 10 includes a program code for causing the computer to function as the route acquisition unit 11, the dynamic information acquisition unit 12, the instruction generation unit 13, and the communication unit 14. This program may be provided after being fixedly recorded in a tangible recording medium such as a CD-ROM, a DVD-ROM, or a semiconductor memory. Alternatively, the program may be provided as a data signal superimposed on a carrier wave via a communication network. The provided program is stored in the storage 103, and the above-mentioned functional modules are realized by the processor 101 cooperating with the memory 102 and executing the program.

[effect]
As described above, the computer system according to one aspect of the present disclosure includes at least one processor, and at least one processor creates a physical space by using a dynamic information block associated with a dynamically changing situation. A moving object in a physical space is controlled based on dynamic information to be expressed and common block data representing a physical space using a common block associated with a dynamic information block.

A data structure according to one aspect of the present disclosure is a data structure for controlling a moving body in a physical space, and is a dynamic structure that represents a physical space using a dynamic information block associated with a dynamically changing situation. The dynamic information block ID of the dynamic information block and the common block ID of the common block associated with the dynamic information block, and the processor refers to the common block ID corresponding to the physical space to determine the dynamic information block ID. By identifying and dynamically referencing the dynamic information corresponding to the identified dynamic information block ID, a dynamically changing situation is identified, and the moving body is controlled based on the identified situation.

In such an aspect, since the dynamic information block is associated with the common block, the difference between the dynamic information blocks can be absorbed by the common block. By referring to one common block, it is possible to acquire all the dynamic information associated with the common block, and thus it is possible to efficiently acquire various dynamic information for controlling the moving body.

In a computer system according to another aspect, the dynamic information dynamically includes a first dynamic information that represents a real space using a first dynamic information block associated with a dynamically changing first situation, and A second dynamic information block that represents a real space using a second dynamic information block that is associated with a changing second situation, and the common block is a first dynamic information block and a second dynamic information block. It may be associated with both. Since a plurality of different dynamic information blocks are absorbed by one common block, it is possible to acquire all the plurality of types of dynamic information simply by referring to the common block. That is, the common block contributes to efficient acquisition of various dynamic information.

In a computer system according to another aspect, at least one processor identifies a dynamic information block indicated by common block data, and based on a situation indicated by dynamic information corresponding to the identified dynamic information block, The moving body may be controlled. By accessing the dynamic information via the common block data, the dynamic information can be efficiently acquired.

In a computer system according to another aspect, at least one processor controls the moving body based on map data in which a map element representing a moving route of the moving body in the physical space and a common block are further associated with each other. Good. Since the map element and the dynamic information are associated with each other via the common block, it is possible to efficiently acquire the dynamic information associated with the map element.

In a computer system according to another aspect, at least one processor identifies a common block represented by map data, identifies a dynamic information block represented by common block data corresponding to the identified common block, and identifies the identified common block. The mobile body may be controlled based on the situation indicated by the dynamic information corresponding to the dynamic information block. Various dynamic information can be efficiently acquired by accessing the common block from the map data and accessing the dynamic information from the common block, instead of directly accessing the dynamic information from the map data. ..

In the computer system according to another aspect, the mobile body may be a flying body. In this case, it becomes possible to efficiently acquire the dynamic information for controlling the flying body.

[Modification]
The present disclosure has been described above in detail based on the embodiment. However, the present disclosure is not limited to the above embodiment. The present disclosure can be variously modified without departing from the gist thereof.

The system configuration for controlling the moving body is not limited. For example, the mobile unit 30 may have the function of the server 10, and in this case, the mobile unit 30 accesses the map database 20 and the external database 50 via the communication network to allow the map data 21 and the common block data 22 to be accessed. , And the dynamic information 51 are read. Alternatively, the mobile unit 30 may have all the functions of the server 10, the map database 20, and the external database 50. In this case, the mobile unit 30 relies on another information processing device as if it were a stand-alone machine. You can control the movement without.

The procedure of the control of the mobile body executed by at least one processor is not limited to the example in the above embodiment. For example, some of the steps (processes) described above may be omitted, or each step may be executed in a different order. Further, any two or more of the steps described above may be combined, or some of the steps may be modified or deleted. Alternatively, other steps may be executed in addition to the above steps.

Aspects described in all or part of the above embodiments are appropriate control of a moving object, improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of functions using data, or provision of appropriate functions. Providing appropriate data, programs, recording media, devices and/or systems, and data for improving other functions or providing appropriate functions, reducing the capacity of data and/or programs, miniaturizing devices and/or systems, etc. , Reduction of production/manufacturing costs of programs, devices or systems, facilitation of production/manufacturing, reduction of production/manufacturing time, etc., optimization of production/manufacturing of data, programs, recording media, devices and/or systems Solve one problem.

DESCRIPTION OF SYMBOLS 1... Mobility control system, 10... Server, 11... Route acquisition part, 12... Dynamic information acquisition part, 13... Instruction generation part, 14... Communication part, 20... Map database, 21... Map data, 22... Common block data , 30...moving body, 31...other moving body, 40...external server, 50...external database, 51...dynamic information, 200...moving route, 201-206...node, 211...entry prohibited area, 212...weather condition , 221-223, 261-266, 271-274, 281... Dynamic information block, 230-234, 250... Common block, 240... Flight area, 241... Link.

Claims (7)

With at least one processor,
The at least one processor uses the dynamic information that represents a physical space using a dynamic information block associated with a dynamically changing situation, and the real information using a common block associated with the dynamic information block. Controlling the moving body in the physical space based on the common block data expressing the space,
Computer system. The dynamic information is associated with the first dynamic information expressing the physical space by using a first dynamic information block associated with a dynamically changing first situation and a dynamically changing second situation. Second dynamic information representing the physical space using the generated second dynamic information block,
The common block is associated with both the first dynamic information block and the second dynamic information block,
The computer system according to claim 1. The at least one processor is
Identifying the dynamic information block indicated by the common block data,
Controlling the mobile unit based on the situation indicated by the dynamic information corresponding to the identified dynamic information block;
The computer system according to claim 1. The at least one processor controls the moving body based further on map data in which a map element expressing a moving route of the moving body in the physical space and the common block are associated with each other;
The computer system according to claim 1. The at least one processor is
Identifying the common block represented by the map data,
Specifying the dynamic information block indicated by the common block data corresponding to the specified common block,
Controlling the mobile unit based on the situation indicated by the dynamic information corresponding to the identified dynamic information block,
The computer system according to claim 4. The moving body is a flying body,
The computer system according to claim 1. A data structure for controlling a moving body in a physical space,
A dynamic information block ID of dynamic information expressing the physical space by using a dynamic information block associated with a dynamically changing situation;
A common block ID of a common block associated with the dynamic information block,
To the processor,
The dynamic information block ID is specified by referring to the common block ID corresponding to the physical space,
By referring to the dynamic information corresponding to the identified dynamic information block ID, the dynamically changing situation is identified,
Controlling the moving body based on the specified situation,
data structure.

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