JP6926604B2 - Monitoring device, monitoring target tracking control device for moving objects, monitoring target tracking control program - Google Patents

Description

The present invention relates to a monitoring device that moves a moving body to monitor a monitoring area, a monitoring target tracking control device for a moving body that follows the moving body with respect to the movement of the monitoring target, and a monitoring target tracking control program.

Patent Document 1 describes a monitoring system that moves and controls a flight device to a position suitable for dealing with a monitored object.

More specifically, the surveillance system includes at least a flight device that monitors the ground from the sky and a center device. The center device has a storage unit that stores the depression / elevation angle with respect to the monitored target for each control type, and when there is an input of a control signal including the control type, the center device refers to the storage unit and refers to the target position corresponding to the depression / elevation angle corresponding to the control type. It is provided with a target calculation unit for calculating the above and a flight device control unit for moving the flight device to the target position.

However, in Patent Document 1, the logic does not assume a plurality of moving bodies. In addition, a detailed trajectory plan must be applied to the moving body.

Further, in Patent Document 1, since the centralized processing is performed by the center device, the calculation load is high, and when the scale becomes large, the solution cannot be obtained within a realistic time.

Here, as a technique for controlling a plurality of moving objects without centralized management, there is a distributed management technique for defining a Voronoi region.

For example, when moving a plurality of moving objects 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 a boronoi area. By setting each divided area as the area in charge of each moving body, it is possible to avoid collision between moving bodies.

The technology that defines the Voronoi region can provide the optimum logic assuming multiple moving objects. In addition, it is not necessary to make a detailed trajectory plan for each moving body, and each moving body can make decisions in an autonomous and decentralized manner while communicating with the vicinity.

Further, since it is a distributed process rather than a centralized process, the calculation load is small, the solution can be obtained within a realistic time without depending on the scale.

The moving body repeatedly moves to the position of the center of gravity of the risk potential in the Voronoi region surrounded by the vertical bisectors between the moving bodies. Also, the definition of the Voronoi region can change from moment to moment.

In this specification, the ratio of the monitoring area that the mobile body can monitor to the risk potential is referred to as "coverage ratio". The coverage may be the 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 defined as the monitoring area.

Japanese Unexamined Patent Publication No. 2016-118996

However, in the conventional autonomous decentralized control that defines the Boronoi region, the moving speed of the moving body that monitors the risk potential in each region should be faster than the moving speed of the risk potential, but the opposite relationship, that is, If the moving speed of the risk potential is faster than the moving speed of the moving body, it may be difficult to follow the moving body.

In consideration of the above facts, the present invention considers the above facts, and in the tracking control of the monitored object, a monitoring device capable of continuing the monitoring of the monitored object by the moving object even when the moving speed of the monitored object is faster than the moving speed of the moving object. The purpose is to obtain a monitoring target tracking control device and a monitoring target tracking control program for a moving body.

The present invention controls a sensor unit that detects information about a moving monitoring target, a moving mechanism unit that moves the sensor unit, and the moving mechanism unit so that the sensor unit follows the movement of the monitored object. a control means for monitoring the monitoring target while moving, to the control unit, the sensor unit when the causes movement to follow the movement of the monitored moving speed of the monitored the When the moving speed of the sensor unit is faster than that of the moving mechanism unit, the sensor unit is controlled to move by shortcut to the predicted position at a predetermined time ahead in which the movement of the monitoring target is predicted, and the monitoring target is moved. It is a monitoring device characterized in that the degree of shortcut is set based on the importance of the predicted movement route in which the movement is predicted.

According to the present invention, the control means controls the moving mechanism, the sensor unit and basic control to monitor the monitoring target while moving so as to follow the movement of the monitoring target, a sensor portion when causes movement to follow the movement of the monitored if the moving speed of the monitoring target is faster than the moving speed of the sensor unit by the moving mechanism, the predicted position of the predetermined time destination mobile monitored are predicted The sensor unit is controlled to move by shortcut, and the degree of shortcut is set based on the importance of the predicted movement route in which the movement of the monitoring target is predicted .

As a result, in the follow-up control of the monitored object, even if the moving speed of the monitored object is faster than the moving speed of the moving object, the monitoring of the monitored object by the moving object can be continued.

The present invention is further characterized in that it further has an acquisition means for acquiring the movement speed information of the monitoring target and the movement plan information.

The acquisition means acquires the movement speed information and the movement plan information of the monitoring target. For example, the acquisition of the movement speed information and the movement plan information of the monitoring target may be known by the time the monitoring device starts monitoring the monitoring area. It should be noted that it may be calculated internally and acquired during monitoring control, or it may be received and acquired from the outside.

The present invention collides with a plurality of moving bodies, each of which is arranged in a region in charge that does not interfere with each other and has a sensor unit whose monitoring range can be changed, and the plurality of moving bodies transmitting and receiving position information to each other. A monitoring target tracking control device for a moving body that moves the moving body so as to change the area in charge while avoiding the above. An acquisition means for acquiring information and movement plan information, and a determination means for determining a speed difference between the movement speed of the monitoring target and the movement speed of the moving body based on the movement speed information acquired by the acquisition means. When it is determined from the determination result by the determination means that the movement speed of the monitoring target is faster than the movement speed of the moving body, from the current position of the monitoring target based on the movement plan information acquired by the acquisition means. A specific means for specifying a predicted position at a predicted predetermined time ahead and a predicted movement route where the movement of the monitoring target is predicted to move to the predicted position at the predetermined time ahead, and a predetermined time ahead specified by the specific means. A monitoring target tracking control device for a moving body having a shortcut control means for controlling the movement of the moving body by shortcut to a predicted position and setting the degree of shortcut based on the importance of the predicted moving path. be.

According to the present invention, the monitoring target tracking control device for controlling a moving body is arranged in a region in charge that does not interfere with each other, and a plurality of moving bodies and a plurality of moving bodies each equipped with a sensor unit whose monitoring range can be changed. By transmitting and receiving position information to each other, the moving bodies are basically controlled to move so as to change the area in charge while avoiding collision.

Under this basic control, the acquisition means acquires the movement speed information and the movement plan information of the monitoring target, and the determination means determines the movement speed of the monitoring target and the movement speed of the moving body based on the acquired movement speed information. Judge the speed difference of.

When the specific means determines that the moving speed of the monitored object is faster than the moving speed of the moving object based on the determination result by the determining means, the specific means predicts from the current position of the monitored object based on the movement plan information acquired by the acquiring means. The predicted movement route to the predicted position at a predetermined time ahead and the predicted position at a predetermined time ahead is specified. The shortcut control means controls the moving body to move by shortcut to the predicted position at a predetermined time ahead specified by the specific means, and sets the degree of shortcut based on the importance of the predicted movement route.

As a result, in the follow-up control of the monitored object, even if the moving speed of the monitored object is faster than the moving speed of the moving object, the monitoring of the monitored object by the moving object can be continued.

The present invention is characterized in that the specific means is scattered on a predetermined movement path of a monitoring target and is selected from a plurality of important transit points for which monitoring is prioritized to specify a predicted position. And.

By selecting from the important waypoints where monitoring is prioritized and specifying the predicted position on the movement route to be monitored, it is possible to monitor the important monitoring area without delay.

In the present invention, when the shortcut control means moves the moving body by the shortest distance to the predicted position, the surplus time to reach before the monitoring target is calculated, and the calculated surplus time and tracking are performed. It is characterized in that the follow-up movement of the monitored object is continued so as to minimize the distance to the object.

Further, in the present invention, the shortcut control means is an arc-shaped moving path connecting the position of the current moving body to the predicted position at a predetermined time ahead specified by the specific means, and is the predicted moving path . The moving body is controlled to move in the moving path set based on the importance.

If the predicted position is specified, linear movement can be reach the predicted position at the top a short time, and calculates the surplus time to reach before the monitoring target, computed with excess time and followed up The follow-up movement of the monitored object is continued so as to minimize the distance. For example, for a linear movement, the monitoring degree (coverage) of the monitoring target is not sufficient, but the monitoring target is monitored by moving it in an arc locus so as to be as close as possible to the movement locus of the monitoring target and ahead of it. Monitoring along the movement trajectory can be continued to the minimum necessary. In other words, the moving body is controlled to move in the moving path set based on the importance of the predicted moving path.

The present invention is a monitoring target tracking control program that operates a computer as a monitoring target tracking control device for a moving body.

As described above, in the tracking control of the monitored object, the present invention has an excellent effect that the monitoring of the monitored object by the moving object can be continued even when the moving speed of the monitored object is faster than the moving speed of the moving object. Has.

The distributed control system of the moving body according to the present embodiment is shown, (A) is a block diagram of a control system for operating the moving body applied to the present embodiment, and (B) is a region where the moving body moves. It is a plan view of. It is a top view of the Voronoi-divided region according to the present embodiment, (A) shows when the risk potential is specified, and (B) shows after the movement of the moving body based on the control rule 1. It is a top view which shows the correlation between a moving body and a risk potential which concerns on this embodiment. In the case of (D), when 0 <coverage <1, (E) indicates a moving body that can move outside the Boronoi region in the region. It is a coverage transition diagram which shows the change of the coverage rate by the priority degree when the importance is set for a risk potential. It is a top view of the Voronoi-divided region according to this embodiment, and shows after the movement of the moving body based on the control rule 2 from the state of FIG. 2 (B). It is a flowchart which shows the risk potential monitoring control routine which concerns on this embodiment. 6 is a flowchart showing a follow-up mode selection control routine that is controlled by the input calculation subroutine according to the control rule 1 of step 104 of FIG. 6 and the input calculation subroutine according to the control rule 1 of step 108. According to the first embodiment of the present embodiment, (A) is a transition diagram of the moving body 10 and the risk potential 28 based on the control rule 3 in chronological order, and (B) is the control rule 4. It is a transition diagram of the moving body which showed the movement of the moving body 10 and the risk potential 28 based on, in time series. (A) is an example (Example 2) in which the effect of the follow-up control according to the control rule 4 according to the present embodiment is verified by comparing with a comparative example, and (B) is the comparative example.

FIG. 1 shows a moving body 10 applied to the distributed control system of the moving body according to the present embodiment and a region 12 in which the moving body 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. Further, FIG. 1B is a plan view of a region 12 in which the moving body 10 moves. There are a plurality of moving bodies 10 in the region 12, and they can move independently.

As shown in FIG. 1A, the moving body 10 can move unmanned within the range of the area 12, and is equipped with a control device 14 including a microcomputer that executes control including the movement.

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 a control bus connecting them. A monitoring module 18, a mobile module 20, a position recognition module 22, and a communication module 24 are connected to the I / O 16D.

For example, the control device 14 activates the distributed control program of the mobile body stored in the ROM 16C in advance by the CPU 16A, and controls the operations of the monitoring module 18, the mobile module 20, the position recognition module 22, and the communication module 24.

(Monitoring module 18)
A typical device applied to the monitoring module 18 is a camera, which captures a specific monitoring range (field of view) from the position of the moving body 10.

The monitoring module 18 is not limited to imaging by a camera, and may detect geographical features (landmarks) by irradiating radio waves (radar, laser, ultrasonic waves, etc.) or the like.

(Movement module 20)
The moving body 10 of the present embodiment is a flying body (for example, a drone), and as a device applied to the moving module 20, includes a plurality of propellers driven by independent drive sources (motors), and is a motor. By controlling the drive of the vehicle, it is possible to fly in the target direction and stop (hover) in the target position space.

The moving body 10 is not limited to the flying body, and may be a moving module 20 that moves on the ground or on the water, or a plurality of devices may be used in combination. Further, 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 suffices if the monitoring range of the monitoring module 18 can be changed.

(Position recognition module 22)
The position recognition module 22 is a function of recognizing the position of the moving body 10 of the own machine, and as a device for obtaining position information, GPS, laser, radar, ultrasonic wave, motion capture, camera, wireless communication, wireless intensity. It is equipped with at least one sensor of (distance information).

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

In addition to recognizing the position of the moving body 10 of the own machine, the position recognition module 22 acquires the position information of the moving body 10 of another machine via the communication module 24 described later, calculates the mutual distance, and a plurality of positions. Recognizes the relative positional relationship of the moving body 10.

(Communication module 24)
The communication module 24 includes a wireless communication device as a device. In wireless communication, as a function of communicating between mobile bodies 10, a position information transmission / reception unit that transmits / receives position information and a monitoring degree (called "coverage rate") of a designated monitoring target area (sometimes referred to as "risk potential") are used. It is provided with a coverage transmission / reception unit for transmitting / receiving information (coverage information) related to (details will be described later) and an arbitration information transmission / reception unit for transmitting / receiving arbitration information regarding the division of the monitored area.

The arbitration information is information for determining whether or not the moving body 10 moves to the risk potential, and is used properly according to the sign (positive or negative) of the risk potential. For example, a risk potential defined as "positive" indicates that monitoring is required, and a risk potential defined as "negative" does not require monitoring.

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

In the control device 14 of each moving body 10, the region 12 shown in FIG. 1B is divided into Voronoi based on the position information from the position recognition module 22.

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

In the present embodiment, the moving bodies 10 move freely with each other within the range of the region 12, and the Voronoi region changes each time. FIG. 1B shows a Voronoi region when each moving body 10 moves from the position of the dotted line to the position of the solid line.

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

In the present embodiment, the area of one unit of risk potential 28 is equal to the area of the monitoring range that can be monitored by the monitoring module 18 of one mobile body 10. That is, when the center of one mobile body 10 overlaps the center of the risk potential 28 shown in a rectangular network, the entire risk potential 28 becomes the 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 moving body 10 in FIG. 2 (A) is the same as the position in FIG. 1 (B), and each moving body 10 transmits and receives position information to and from each other, and the boronoi region of the moving body 10 of the own machine It will move toward the risk potential 28 within.

FIG. 2B is the result of each moving body 10 moving with respect to FIG. 2A, and is a conventional control of moving toward the risk potential 28 while maintaining the Voronoi region (control rule 1). ).

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

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

In FIG. 2B based on the control rule 1, it can be seen that there is a risk potential 28 having a coverage ratio 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 is not functioning at all.

That is, even if the area of the monitoring area of all the moving bodies 10 is larger than the total area of the designated risk potential 28, all the risk potentials 28 cannot be monitored by the control bound to the control rule 1.

Therefore, in the present embodiment, in addition to the control rule 1, the coverage ratio deviates from the boronoy region of the mobile body 10 of the own machine based on the positional relationship between the mobile body 10 (monitoring range) and the risk potential 28. We have established a control (control rule 2) to move to the risk potential 28 where is insufficient (0 <coverage <1).

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

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

FIG. 3B shows a case where the risk potential 28 does not exist in the Voronoi region in charge of the mobile body 10, which is the most inefficient relationship (Situation 1).

FIG. 3C shows a case where the risk potential 28 of one section designated across the two boronoy areas is dealt with by the two mobile bodies 10 in charge of each boronoy area, and the two mobile bodies. 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 moving body 10 becomes surplus (Situation 2). ..

On the other hand, FIG. 3D shows a situation in which one mobile body 10 corresponds to the risk potential 28 of three sections in a single Voronoi region, and the coverage is less than 1 (0.333 ...). This is an inadequate relationship for monitoring the risk potential 28.

In relation to FIG. 3A, it is preferable that the moving body 10 maintains the current state.

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

In the relationship of FIG. 3 (C) (situation 2), the two mobile bodies 10 each waste the monitoring range of 1/2. In other words, if there is no binding of the Boronoi region, FIG. 3 (Situation 2) One of the two mobiles 10 in C) can be assigned to another risk potential 28.

On the other hand, in relation to FIG. 3D, the risk potential 28 of the two compartments cannot be monitored.

In the present embodiment, the situation of FIGS. 3 (B) and 3 (C) (situation 1 and situation 2 in which the monitoring range of the moving body is excessive) and the situation of FIG. 3 (D) (moving body 10). Recognizing that the monitoring range of the mobile body is insufficient), we set the control rule 2 that allows the moving body 10 to move, deviating from the control of maintaining the Voronoi region (control rule 1) (FIG. 3). See (E)).

Further, in the present embodiment, when the risk potential 28 has a difference in importance, the movement of the moving body 10 is controlled according to the importance.

FIG. 4 shows the movement control of the moving body 10 based on the importance.

The importance is expressed by, for example, a numerical value exceeding 0 to a numerical value of 1 or less, and 1 is assumed to be the most important. In FIG. 4, a risk potential of importance 1 and a risk potential of importance 0.5 are assumed to be 28A. It is assumed that 28B exists.

For example, as shown in FIG. 4A, when a risk potential 28B having a importance of 0.5 exists in the first section and the moving body 10 covers (monitors) the moving body 10, the importance of the moving body is considered. Since the monitoring area uses only 50% of the capacity, the coverage is 1 / 0.5 = 2. Further, when two risk potentials 28A of importance 1 exist in the second section and the moving body 10 covers (monitors) one of the risk potentials 28A, the monitoring area of the moving body 10 in terms of importance. Uses 100% capacity, so the coverage is 1 / (1 + 1) = 0.5.

Here, as a comprehensive evaluation of the covering ratio in consideration of the importance, it is expressed by an evaluation index. As for the evaluation index, the higher the numerical value, the better the coverage.

The evaluation index of the two sections in FIG. 4 (A) is 0.5 + 1 = 1.5.

On the other hand, as shown in FIG. 4 (B), the risk potential 28B of importance 0.5 and the risk potential 28A of importance 1 exist in the first section, and the moving body 10 covers (monitors) the risk potential 28A. If so, the coverage becomes 1 / (0.5 + 1) = 0.67. Further, when the risk potential 28A of importance 1 exists in the second section and the moving body 10 covers (monitors), the coverage ratio is 1/1 = 1.

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

That is, the overall coverage can be improved by preferentially covering the risk potential 28, which has a high degree of importance.

In the movement control of the moving body 10 according to the control rule 2, the following conditions are set, and the moving body 10 that moves by arbitration between the moving bodies 10 is selected.

(Condition 1) There is no moving body 10 of another aircraft on the moving locus in which each moving body 10 moves to the risk potential 28 (defined as “positive”) for which the monitoring range is insufficient.

(Condition 2) The moving body 10 for which condition 1 is satisfied declares movement to the moving body 10 of another aircraft.

The declaration of movement rewrites the risk potential 28 defined as "positive" to "negative". Also, the movement trajectory is rewritten as "negative". As a result, movement is permitted only to the moving body 10 that declares the movement first, and it is possible to prevent a plurality of moving bodies 10 from heading toward a single risk potential 28 and causing a collision or the like.

FIG. 5 shows the result of the moving body 10 moving from the state of FIG. 2B under the control of the above control rule 2, and the moving body 10 moves in a 1: 1 relationship with respect to all the risk potentials 28. It can be seen that the range is supported.

By the way, FIG. 5 assumes that the position of the risk potential 28 has not changed (has not moved) with respect to that before the moving body 10 has moved (see FIG. 2B). Hereinafter, the risk potential 28 that has not moved 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 motorcycle, a vehicle, or the like has a risk potential of 28, the position changes from moment to moment at each moving speed. Such a movable risk potential 28 is defined as a “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 reference numerals from the viewpoint that they are the same monitoring target area, and are “static” and “dynamic” as necessary. I tried to distinguish.

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

(Category 1) The dynamic risk potential 28 has a maximum moving speed slower than the moving speed of the moving body 10.

(Category 2) The dynamic risk potential 28 has a maximum moving speed faster than the moving speed of the moving body 10.

In the case of Category 1, even if the dynamic risk potential 28 moves linearly, the moving body 10 can always follow.

On the other hand, in the case of classification 2, when the dynamic risk potential 28 moves linearly, a situation may occur in which the moving body 10 cannot follow.

Therefore, in the present embodiment, in addition to the above-mentioned control rule 1 and control rule 2, the situation of classification 1 and the situation of classification 2 are distinguished, the follow-up control of the control rule 3 is executed in the classification 1, and the follow-up control of the control rule 3 is executed in the classification 2. The movement control of the moving body 10 that executes the follow-up control of the control rule 4 is constructed.

The control rule 3 or the control rule 4 needs to be selected in any of the processes of the control rule 1 and the control rule 2 described above.

Therefore, in the present embodiment, in the risk potential monitoring control (details will be described with reference to FIG. 6), the precondition processing of the input calculation for the movement control according to the control rule 1 and the input calculation for the movement control according to the control rule 2 As a result, selection control for tracking (details will be described with reference to FIG. 7) is being executed.

The execution of the control rule 3 or the control rule 4 is the result of comparing the moving speed v1 (maximum speed) of the moving body 10 which is the own machine and the moving speed v2 (maximum speed) of the dynamic risk potential 28 to be followed. Is selected based on (v1: v2).

When it is determined that the moving speed of the moving body 10 is the same as the moving speed of the dynamic risk potential 28 or faster than the moving speed of the risk potential 28 (v1> v2), it is calculated based on the collected prediction information of the monitoring target. Follow-up control is executed with the position of the dynamic risk potential 28 as a target (control rule 3).

That is, even if the dynamic risk potential 28 moves linearly, the moving body 10 can surely follow the movement.

On the other hand, when it is determined that the moving speed of the moving body 10 is equal to the moving speed of the dynamic risk potential 28 or slower than the moving speed of the dynamic risk potential 28 (v1 ≦ v2), the collected monitoring target From the position of the dynamic risk potential 28 calculated based on the prediction information of the above, follow-up control is performed with the predicted position that will move (predicted to move) several steps ahead as a target (control rule 4).

That is, when the dynamic risk potential 28 moves linearly, the moving body 10 is gradually separated from the dynamic risk potential 28.

Here, the moving body 10 can theoretically follow and move with v1 = v2 if there is no time lag in the follow-up movement control, but in terms of implementation, v1 = v2 is the target of the control rule 4.

As described above, in the follow-up control according to the control rule 4, the movement locus of the moving body 10 deviates from the movement locus of the dynamic risk potential 28. For example, when the predicted position is an important waypoint. Even if the movement locus in the middle is omitted, the importance of monitoring can be ensured by giving priority to monitoring at the predicted position.

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

FIG. 6 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 moving body 10.

In step 100, information on the moving body 10 of the own machine is collected. That is, the position information of the own machine in the area 12 (see FIG. 1B) is recognized, and the position information is transmitted to the moving body 10 of the other machine.

In the next step 102, information on the moving body 10 of the other machine (moving body 10 other than the own machine existing in the area 12) is collected. That is, the position information of the other machine is recognized, and the process proceeds to step 104.

In step 104, the input calculation according to the control rule 1 is executed. That is, the Voronoi region of each moving body 10 is sequentially set, and when the risk potential 28 exists in the Voronoi region, the control of moving so as to cover the risk potential 28 is executed.

In the next step 106, the current state of the moving body 10 of the own machine is grasped. That is, there is no risk potential 28 in the boronoy region of the mobile body of the own machine (situation 1), or the risk potential 28 of the boronoy region of the mobile body of the own machine is smaller than the monitoring area of the mobile body (coverage ratio). Is greater than 1) Affirmative judgment in step 106 to determine whether it is a situation (situation 2) or not, that is, if it is determined to be situation 1 or situation 2, the process proceeds to step 108 and control is performed. Perform the input calculation according to Rule 2. That is, outside the Voronoi region of the moving body 10 of the own machine, it is arbitrated whether or not to move toward the risk potential 28 whose coverage is less than 1 (coverage <1), and the moving body 10 determined by the arbitration is The control for moving to the risk potential 28, which deviates from the Voronoi region of the own machine, is executed, and the process proceeds to step 110.

If a negative determination is made in step 106, the process proceeds to step 110.

In step 110, it is determined whether or not the coverage of all risk potentials 28 has been achieved, and if affirmative, this routine ends. 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 the plurality of moving bodies 10, the moving bodies 10 carry over and obtain information on the risk potential 28 in chronological order. May be good.

According to the present embodiment, the coverage of the risk potential 28 is reduced by setting the boronoy region based on the control rule 1 for the purpose of avoiding collision during free movement in the region 12 of the plurality of moving bodies 10. In order to correct it, as control rule 2, the coverage of the risk potential 28 is improved by arbitrating the movement to the risk potential 28 having a low coverage (for example, first come, first served) and moving it out of the Boronoi region. be able to.

In the risk potential monitoring control routine of FIG. 6, the movement of the moving body 10 and the risk potential 28 is performed in both the input calculation according to the control rule 1 executed in step 104 and the input calculation according to the control rule 2 executed in step 108. Speed correlations (Category 1 and Category 2) will be involved.

Therefore, when the steps 104 and 108 of FIG. 6 are executed, a process (selection control for following) for determining the form of the following control rule (control rule 3 or control rule 4) is executed.

FIG. 7 is a flowchart showing a follow-up mode selection control routine that is controlled by the input calculation subroutine according to the control rule 1 of step 104 of FIG. 6 and the input calculation subroutine according to the control rule 1 of step 108.

In step 150 of FIG. 7, information on the mobile body 10 of the own machine is collected, and then in step 152, information on the mobile body 10 of the other machine is collected, and the process proceeds to step 154.

In step 154, the prediction information of the monitoring target is collected. For example, the monitoring target is a vehicle, and by acquiring information such as a navigation system mounted on the vehicle, it is possible to grasp the future driving situation.

In the next step 156, it is determined whether the state of the movement control in FIG. 6 is inside the Voronoi region or outside the Voronoi region.

If it is determined in step 156 that it is within the Voronoi region, it is determined that the subroutine in FIG. 7 is the control executed under the control rule 1 in step 104 in FIG. 6, and the process proceeds to step 158 for control. The input calculation according to the rule 1 is performed, and the process proceeds to step 162.

If it is determined in step 156 that it is outside the Voronoi region, it is determined that the subroutine in FIG. 7 is the control executed under the control rule 2 in step 108 in FIG. 6, and the process proceeds to step 160. The input calculation is performed according to the control rule 2, and the process proceeds to step 162.

In the next step 162, the moving speed v1 (maximum speed) of the moving body 10 which is the own machine is compared with the moving speed v2 (maximum speed) of the risk potential 28 to be followed, and which is faster. Judgment (v1: v2).

If it is determined in step 162 that the moving speed of the moving body 10 is the same as the moving speed of the risk potential 28 or faster than the moving speed of the risk potential 28 (v1> v2), the process proceeds to step 164. The position of the risk potential 28 calculated from the prediction information of the monitoring target collected in step 154 is set to the target follow-up control (control rule 3), and the process proceeds to step 168.

Further, in step 162, when it is determined that the moving speed of the moving body 10 is equal to the moving speed of the risk potential 28 or slower than the moving speed of the risk potential 28 (v1 ≦ v2), the process proceeds to step 166. Then, from the position of the risk potential 28 calculated from the prediction information of the monitoring target collected in step 154, the follow-up control (control rule 4) is set to target the predicted position that will move several steps ahead. The process proceeds to step 168.

In this case, it may not be able to catch up when moving in a direction away from the moving body 10 and the risk potential 28, but the risk potential 28 is a vehicle, and meandering, turning left or right, making a U-turn, stopping, etc. occur during the movement. When intervening, the moving body 10 can shortcut (for example, advance) to the predicted position.

In step 168, the control inputs set in each are executed, and the subroutine of FIG. 7 ends (returns to step 106 or step 110).

In step 162, if the moving speed v1 (maximum speed) of the moving body 10 is slightly faster than the moving speed v2 (maximum speed) of the risk potential 28, the control rule 3 is applied. This is not a problem in theory, but from the viewpoint of "the moving body 10 follows", v1> v2 and there is a speed difference Δv (= v1-v2) of a certain value or more. preferable.

(Example 1)
Example 1 of the present invention will be described with reference to FIG.

FIG. 8A shows the movement of the moving body 10 and the risk potential 28 in chronological order based on the control rule 3 described in the present embodiment.

In time step 1, the mobile body 10 covers the risk potential 28 within the respective regions A1 and A2 partitioned by the chain line 26 which is the Voronoi region boundary line.

Even if the risk potential 28 moves in the time step 2 to the time step 4, the moving body 10 always follows the risk potential 28 because the moving speed of the moving body 10 is faster than the moving speed of the risk potential 28. And can be covered.

FIG. 8B shows the movement of the moving body 10 and the risk potential 28 in chronological order based on the control rule 4 described in the present embodiment.

In time step 1, the mobile body 10 covers the risk potential 28 within the respective regions A1 and A2 partitioned by the chain line 26 which is the Voronoi region boundary line.

Here, in the time step 2, when the risk potential 28 moves faster than the moving body 10, the moving body 10 starts moving to follow the risk potential 28. At this time, the moving body 10 predicts the time step 3 and the time step 4, and the moving body 10 shortcuts to the position of the time step 4 while considering the position of the risk potential 28 of the time step 3. As a result, the position of the risk potential 28 is not lost.

(Example 2)
FIG. 9 is an embodiment (Example 2) in which the effect of the follow-up control according to the control rule 4 according to the present embodiment is verified by comparing with a comparative example. In FIG. 9, the risk potential 28 linearly moves from the first position A to the second position B within the respective regions A1 and A2 partitioned by the chain line 26, which is the boundary line of the Voronoi region, and then 90 ° It is assumed that the vehicle has changed direction and moved to the third position C.

In the comparative example shown in FIG. 9B, since the moving speed of the moving body 10 is slower than the moving speed of the risk potential 28, the risk potential 28 starts moving from the first position A and moves to the second position B. At the same time as when the mobile body 10 reaches, the moving body 10 is moving on a straight line between the first position A and the second position B of the risk potential 28.

After that, since the risk potential 28 moves to the third position C, the moving body 10 moves toward the risk potential 28 from between the first position A and the second position B of the risk potential 28. However, on the way, the risk potential 28 reaches the third position C and cannot catch up. At worst, the mobile 10 may lose sight of its risk potential.

On the other hand, in the second embodiment shown in FIG. 9A, the third position C is predicted when the risk potential 28 moves from the first position A to the second position B. Therefore, the moving body 10 moves to the third position C in an arc shape while recognizing the second position B.

With this shortcut, the moving body 10 can also reach the third position C when the risk potential 28 reaches the third position. It should be noted that the time may be advanced.

For the arc-shaped locus of the moving body 10 shown in FIG. 9A, the radius of curvature of the arc may be set based on the degree to which the second position B is emphasized. The more important the second position B is, the more the moving body 10 will pass in the vicinity of the second position B. In this case, the arrival at the third position C may be slightly delayed.

As described above, in the present embodiment (including Examples 1 and 2), the relationship between the moving speed of the moving body 10 and the moving speed of the risk potential 28 (classification 1 or classification 2) is used to control the follow-up. The form (control rule 3 or control rule 4) is selected, and the movement of the risk potential 28 is predicted several steps ahead of the moving body 10 that cannot catch up with the same movement as the movement trajectory of the risk potential 28, so-called. As a result, the risk potential 28 is not lost because the shortcut (including the advance) is used. Further, by considering the importance of the risk potential 28 on the movement locus of the forward locus, the state in the middle of the risk potential 28 can be reliably monitored.

In the present embodiment (including Examples 1 and 2), the moving body 10 moves out of the Voronoi region in order to improve not only the movement control (control rule 1) in the Voronoi region but also the coverage rate. However, in view of the gist of the present invention (improvement of followability of a moving body), the movement control in the Voronoi region (control rule 1) may be premised. According to the control rule 1, collision avoidance between the moving bodies 10 is guaranteed.

10 Mobile (monitoring device)
12 Area 14 Control device (control means, movement control means, acquisition means, determination means, specific means, advance means)
16A CPU
16B RAM
16C ROM
16D I / O port (I / O)
16E bus 18 Monitoring module (sensor section)
20 Moving module (moving mechanism)
22 Position recognition module 24 Communication module 26 Chain line (1) to (n) Voronoi region 28 Dynamic risk potential, static risk potential (monitored target)

Claims (7)

A sensor unit that detects information about moving monitoring targets, and
A moving mechanism unit that moves the sensor unit and
Wherein by controlling the moving mechanism, and a control means for monitoring the monitoring target while moving so as to follow the sensor portion to the movement of the monitoring target,
The control means
When make moving the sensor unit so as to follow the movement of the monitoring target, wherein when the moving speed of the monitoring target is faster than the moving speed of the sensor unit by the moving mechanism, the monitored movement prediction The sensor unit is controlled to move by shortcut to the predicted position at a predetermined time ahead, and the degree of shortcut is set based on the importance of the predicted movement route in which the movement of the monitored object is predicted.
A monitoring device characterized by that. The monitoring device according to claim 1, further comprising an acquisition means for acquiring the movement speed information of the monitoring target and the movement plan information. While being placed in the area in charge that does not interfere with each other, a plurality of moving bodies each equipped with a sensor unit whose monitoring range can be changed, and the plurality of moving bodies send and receive position information to each other while avoiding collisions. It is a monitoring target tracking control device for a moving body that moves so as to change the area in charge.
A movement control means for moving the moving body following a designated monitoring target, and
An acquisition means for acquiring the movement speed information and the movement plan information of the monitoring target, and
Based on the movement speed information acquired by the acquisition means, a determination means for determining the speed difference between the movement speed of the monitoring target and the movement speed of the moving body, and
When it is determined from the determination result by the determination means that the movement speed of the monitoring target is faster than the movement speed of the moving body, the movement plan information acquired by the acquisition means is used to start from the current position of the monitoring target. A specific means for specifying a predicted movement route at a predicted predetermined time ahead and a predicted movement route at which the movement of the monitoring target is predicted up to the predicted position at the predetermined time ahead.
A shortcut control means that controls the moving body to move by shortcut to a predicted position at a predetermined time ahead specified by the specific means, and sets a shortcut degree based on the importance of the predicted movement route.
A monitoring target tracking control device for a moving body having the above. The claim is characterized in that the specific means is scattered on a predetermined movement path of a monitoring target and is selected from a plurality of important waypoints for which monitoring is prioritized to specify a predicted position. 3. The monitoring target tracking control device according to 3. The shortcut control means
When the moving body is moved by the shortest distance to the predicted position, the surplus time to reach the monitoring target is calculated, and the calculated surplus time and the distance to the tracking target are minimized. The monitoring target tracking control device according to claim 3 or 4, wherein the tracking target movement is continued. The shortcut control means
An arc-shaped movement path connecting the position of the current moving body to the predicted position at a predetermined time ahead specified by the specific means, and the moving path set based on the importance of the predicted moving path. The monitored object tracking control device according to claim 3 or 4, wherein the moving body is controlled to move. Computer,
A monitoring target tracking control program that operates as a monitoring target tracking control device for a moving body according to any one of claims 3 to 6.

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