JPWO2019181917A1 - Mobile management system, its control method, and management server - Google Patents

Abstract

Provided are a management system capable of performing a search more preferably, a control method thereof, and a management server. The mobile management unit (30) or the management server (22) of the management system (10) receives a search request from the external device (20) requesting a search regarding the surrounding environment. The movement management unit (30) or the management server (22) responds to the search request and assigns a search mobile body, which is an autonomous mobile body, from among a plurality of mobile bodies (26) to search for the surrounding environment as the search mobile body. The search information acquired in advance by any of the plurality of moving bodies for the search target area corresponding to the search request is read from the storage unit (66) in which the search information is stored.

Description

The present invention relates to a management system that manages the movement of a plurality of mobile objects, a control method thereof, and a management server.

Japanese Patent Application Laid-Open No. 2016-197776 eliminates the need for the searcher to actually go to the site to find the lost item, thereby eliminating the time and effort required for the searcher to search for the lost item, and also saving the device to be attached to the lost item. The purpose is to provide a lost property detection system that can be electrified ([0005], summary). In order to achieve this purpose, the information terminal 20 of Japanese Patent Application Laid-Open No. 2016-197776 (summary) includes a corresponding processing unit 21, a receiving unit 22, a position information acquisition unit 23, and a transmitting unit 24.

The correspondence processing unit 21 associates the position detection terminal 10 with the information terminal 20 (first information terminal), and transmits the correspondence relationship to the server device 30 together with the identification information unique to the terminal. The receiving unit 22 receives the identification information transmitted from the position detection terminal 10. When the position information acquisition unit 23 receives the identification information, the position information acquisition unit 23 acquires the current position of the received information terminal 20 (first information terminal). The transmission unit 24 transmits the received identification information and the acquired position information to the server device 30.

When the server device 30 receives the identification information and the location information, the server device 30 includes a location information notification unit 32 that notifies the location information to the information terminal 20 (second information terminal) associated with the identification information. By locating another user's information terminal 20 (first information terminal) within a predetermined distance from the lost object to which the position detection terminal 10 is attached, it corresponds to the position detection terminal 10 attached to the lost object. Location information is transmitted to the attached information terminal 20 (second information terminal).

As described above, in Japanese Patent Application Laid-Open No. 2016-197776 (summary), the server 30 preliminarily associates the position detection terminal 10 and the information terminal 20 (second information terminal) belonging to a certain user. Then, the information terminal 20 (first information terminal) of another user is located within a predetermined distance from the position detection terminal 10 (or the lost object to which the position detection terminal 10 is attached). Then, the information terminal 20 (first information terminal) of another user transmits the correspondence relationship with the position detection terminal 10 of a certain user to the server device 30 together with the identification information unique to the terminal. Then, the server device 30 transmits the position information to the information terminal 20 (second information terminal) associated with the position detection terminal 10.

In the case of such a configuration, the information terminal 20 (first information terminal) of another user is lost until the correspondence relationship with the position detection terminal 10 of a certain user is transmitted to the server device 30 together with the identification information unique to the terminal. I can't search for things. In other words, the server device 30 itself cannot narrow down the location where the lost item may exist and perform the search.

Such a problem is not limited to lost items (forgotten items), but also applies to other search applications (for example, searching for lost children).

The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a management system, a control method thereof, and a management server capable of performing a search more preferably.

The management system according to the present invention
It is provided with a movement management unit that communicates with a plurality of moving bodies including an autonomous moving body including an autonomous moving body for autonomous movement via a communication device and manages the movement of the plurality of moving bodies.
The movement management unit
Received a search request requesting a search for the surrounding environment of the plurality of mobile objects, and received a search request.
A search moving body corresponding to the search request is assigned from the plurality of moving bodies, and the search moving body is made to search for the surrounding environment to acquire search information, or a search target corresponding to the search request. The search information acquired in advance by any of the plurality of moving bodies for the area is read from the storage unit in which the search information is stored and acquired.
It is characterized in that it responds to the search request based on the search information newly acquired by the search moving body or the search information acquired in advance by any of the plurality of moving bodies.

According to the present invention, a search moving body corresponding to a search request regarding the surrounding environment is assigned from the moving bodies, and the search moving body is made to perform a search regarding the surrounding environment to acquire search information. Alternatively, the search information acquired in advance by any of the plurality of moving bodies for the search target area corresponding to the search request is read from the storage unit in which the search information is stored and acquired. Then, it responds to the search request based on the search information newly acquired by the search moving body or the search information acquired in advance by any of the plurality of moving bodies. As a result, a more suitable search becomes possible by actively searching the search target range or the search target point.

In addition to or instead of directly searching by the search mobile body, the search mobile body may indirectly search by causing peripheral terminals of the search mobile body to perform a search. .. In other words, the search moving body may function not only as a direct search subject but also as an indirect search subject as an intermediary for another search subject (peripheral terminal).

The movement management unit may generate a search route for satisfying the search request, and have the search moving body perform a search along the search route. This makes it possible to newly perform a search that satisfies the search requirements.

Based on the search information received from the search mobile body, the movement management unit determines whether or not an event according to the search request has occurred, and identifies the geographical area or point where the event has occurred. It may have a part. As a result, since most of the operations are carried out by the movement management unit, it is possible to avoid performing operations with a large load on the search moving body side.

The movement management unit may assign the first search movement body and the second search movement body corresponding to the search request from among the plurality of autonomous movement bodies. In addition, the movement management unit may cause each of the first search moving body and the second search moving body to perform a search along the overlapping search routes. As a result, it is possible to respond to the search request based on the search information of each of the first search moving body and the second search moving body. Therefore, it is possible to obtain more detailed search information for the overlapping new search routes.

The management system may have a limiting unit that limits the search when a task having a higher priority than the search occurs in the search moving body after the search moving body starts the search. As a result, when a task having a higher priority than the search (for example, a task for emergency use) occurs, the search moving body can appropriately respond.

The search mobile body may include an auxiliary request unit that transmits an auxiliary request for assisting the search or processing associated with the search to peripheral terminals of the search mobile body. Further, when the peripheral terminal receives the auxiliary request, the peripheral terminal may assist the search based on the auxiliary request or assist the processing associated with the search. Further, the peripheral terminal may transmit auxiliary search information including the search information obtained as a result of assisting the search or processing associated with the search to the search moving body. Furthermore, the movement management unit may respond to the search request based on the auxiliary search information from the peripheral terminal. As a result, the search moving body can function as an intermediary for another search subject (peripheral terminal).

The control method according to the present invention is
A control method of a management system including a movement management unit that communicates with a plurality of moving bodies including an autonomous moving body including an autonomous moving body for autonomous movement via a communication device and manages the movement of the plurality of moving bodies. And
The movement management unit
Received a search request requesting a search for the surrounding environment of the plurality of mobile objects, and received a search request.
It is characterized in that a search moving body corresponding to the search request is assigned from the plurality of moving bodies, and the search moving body is made to search for the surrounding environment.

According to the present invention, a search moving body corresponding to a search request regarding the surrounding environment is assigned from the moving bodies, and the search moving body is made to search for the surrounding environment. As a result, a more suitable search becomes possible by actively searching the search target range or the search target point.

The management server according to the present invention communicates with a plurality of mobile bodies including an autonomous mobile body including an autonomous control unit for autonomous movement, and manages the movement of the plurality of mobile bodies.
The management server
A communication unit that receives a search request requesting a search regarding the surrounding environment of the plurality of mobile objects, and a communication unit.
An acquisition unit that assigns a search moving body corresponding to the search request from the plurality of moving bodies and causes the search moving body to search for the surrounding environment to acquire search information, or corresponds to the search request. A reading unit that reads search information acquired in advance by any of the plurality of moving bodies for the search target area from a storage unit in which the search information is stored, and a reading unit.
Having a response unit that responds to the search request based on the search information newly acquired by the search moving body or the search information acquired in advance by any of the plurality of moving bodies. It is a feature.

According to the present invention, the search can be performed more preferably.

It is an overall block diagram which shows the outline of the management system which concerns on 1st Embodiment of this invention. It is a flowchart which shows the overall flow at the time of searching for a lost thing in 1st Embodiment. It is a flowchart of the search management control executed by the service management server in 1st Embodiment. It is a flowchart of search control executed by a moving body in 1st Embodiment. It is a flowchart which shows the overall flow at the time of searching for a lost thing in 2nd Embodiment. It is an overall block diagram which shows the outline of the management system which concerns on 3rd Embodiment of this invention. It is a flowchart which shows the overall flow at the time of searching for a lost thing in 3rd Embodiment. It is a flowchart of the search management control executed by the service management server in the modification.

A. First Embodiment <A-1. Configuration>
[A-1-1. overall structure]
FIG. 1 is an overall configuration diagram showing an outline of the management system 10 according to the first embodiment of the present invention. The management system 10 includes a plurality of customer terminals 20, at least one service management server 22 (hereinafter, also referred to as “service server 22”), and at least one traffic management server 24 (hereinafter, also referred to as “traffic server 24”). ) And a plurality of moving bodies 26. The service server 22 and the traffic server 24 constitute a movement management unit 30. The moving body 26 includes a plurality of drones 32 and a plurality of vehicles 34.

In the management system 10, the drone 32 or the vehicle 34 (hereinafter, also referred to as “delivery mobile body 26del”) is based on the ordering information Iodor of the product G input via the customer terminal 20 (hereinafter, also referred to as “ordering terminal 20odr”). .) Delivers the product G.

In addition, when a lost item 500 (FIG. 1) occurs regardless of delivery or in connection with delivery, a search is performed from the customer terminal 20 (hereinafter, also referred to as “search request terminal 20shr”) to the service server 22. Can be requested. The service server 22 selects the drone 32 or the vehicle 34 (hereinafter, also referred to as “search moving body 26shr”) based on the search request from the customer terminal 20, and causes the lost property 500 to be searched. It should be noted that in FIG. 1, the lost property 500 is located on the right side of the traffic server 24 due to the inclusion of many components, but does not reflect the actual position of the lost property 500.

The search mobile body 26srh searches for the search target area Rsrh based on the command from the service server 22. When the short-range communication device 502 added to the lost item 500 and the search mobile body 26srh establish communication and the lost item 500 and the short-range communication device 502 are found, the service server 22 notifies the search request terminal 20shr. , Notify the location of the lost property 500.

Communication is possible between the customer terminal 20 and the service server 22 and between the service server 22 and the transportation server 24 via the Internet 50. Further, the service server 22 and the mobile body 26 can communicate with each other via the Internet 50 and the wireless relay station 52. Communication between the mobile bodies 26 is possible via radio wave communication. Communication between the mobile body 26 and the short-range communication device 502 is possible via short-range radio communication.

[A-1-2. Customer terminal 20]
The customer terminal 20 (ordering terminal 20odr) is an external terminal that accepts orders from customers for the product G handled by the service server 22. Further, the customer terminal 20 (search request terminal 20shr) is a terminal that accepts a request from a customer for searching for a lost property 500. The customer terminal 20 as the ordering terminal 20odr and the search request terminal 20shr is composed of, for example, a personal computer or a smartphone. The customer terminal 20 may function as only one of the ordering terminal 20odr and the search request terminal 20shr.

[A-1--3. Service management server 22]
The service management server 22 is a management server managed by a specific company, and manages orders, inventory management, and delivery management of the company. In order management, an order (service request) from the customer terminal 20 is accepted. In inventory management, inventory management of product G is performed. In the delivery management, the delivery of the product G (movement of a plurality of moving bodies 26) is managed. In addition, the service management server 22 searches and manages the lost property 500.

As shown in FIG. 1, the service server 22 includes an input / output unit 60, a communication unit 62, a calculation unit 64, and a storage unit 66. The communication unit 62 can communicate with the customer terminal 20, the transportation server 24, the drone 32, the vehicle 34, and the like via the Internet 50. Further, the communication unit 62 receives the search request signal (search request) Sshreq (described later) from the customer terminal 20.

The arithmetic unit 64 includes a central processing unit (CPU) and operates by executing a program stored in the storage unit 66. Some of the functions executed by the arithmetic unit 64 can also be realized by using a logic IC (Integrated Circuit). The arithmetic unit 64 may also configure a part of the program with hardware (circuit parts).

The calculation unit 64 has a delivery management unit 70 and a search management unit 72. The delivery management unit 70 manages the delivery of the product G. The search management unit 72 manages the search for the lost property 500. The search management unit 72 allocates the search moving body 26shr corresponding to the search request signal Sshreq from among the plurality of moving bodies 26, causes the search moving body 26shr to perform a search regarding the surrounding environment, and acquires the search information Issue. Function. In addition, the search management unit 72 also functions as a response unit that responds to the search request signal Sshreq based on the search information Issue newly acquired by the search moving body 26shr.

Further, the search management unit 72 has a lost property identification unit 80 and a search restriction unit 82. The lost property identification unit 80 identifies the existence and position Plcur of the lost property 500 based on the search information Issue from the search mobile body 26srh. The search limiting unit 82 limits the search by the search moving body 26shr and gives priority to the other priority task Tpr.

The storage unit 66 stores programs and data used by the arithmetic unit 64, and includes a random access memory (hereinafter referred to as “RAM”). As the RAM, a volatile memory such as a register and a non-volatile memory such as a hard disk and a flash memory can be used. Further, the storage unit 66 may have a read-only memory (ROM) in addition to the RAM.

The storage unit 66 includes an order database 90 (hereinafter referred to as "order DB 90"), an inventory database 92 (hereinafter referred to as "inventory DB 92"), a mobile database 94 (hereinafter referred to as "mobile DB 94"), and a first. It has one map database 96 (hereinafter referred to as “first map DB 96”), a delivery database 98 (hereinafter referred to as “delivery DB 98”), and a search database 100 (hereinafter referred to as “search DB 100”).

The order DB 90 accumulates information (order information Iodor) regarding the order received via each customer terminal 20. The inventory DB 92 accumulates information related to inventory (inventory information Istk). The mobile DB 94 stores individual information Ii regarding the drone 32 and the vehicle 34 used for delivery. Further, the individual information Ii includes, for example, the identification information (identification ID) of the moving body 26, the type (drone, vehicle, etc.), the maximum load weight, and the maximum size of the load that can be loaded. Further, the individual information Ii may include any one or more of the number of loads that can be loaded, the maximum number of people that can be used, the fuel consumption, the maximum speed, the number of years of operation, the total distance traveled, and the current position Pcur of the moving body 26.

The first map DB 96 stores map information (first map information Imap1) for delivery by the moving body 26. The first map information Imap1 includes the position information of the entry restricted area that requires the entry permission by the traffic server 24.

The delivery DB 98 stores information (delivery information Idel) regarding the delivery of the ordered product G. The delivery information Idel also includes information on the delivery mobile 26del (drone 32 and vehicle 34) that delivers the product G.

The search DB 100 accumulates information (search information Issue) related to the search for the lost property 500. The search information Issue includes, for example, a customer code, a type of lost property 500, and a search target area Rsrh.

[A-1-4. Traffic management server 24]
The traffic management server 24 manages information (traffic information It) regarding the traffic (flying) of the plurality of drones 32 and the traffic (traveling) of the plurality of vehicles 34. For example, when the traffic server 24 receives the flight permission application of the drone 32 from the service server 22, it determines whether or not to permit the flight permission application, and permits or disallows the flight permission application to the service server 22 according to the determination result. Notice. Further, the traffic server 24 notifies the service server 22 of various information (for example, traffic jam information) regarding the drone 32 and the vehicle 34.

As shown in FIG. 1, the traffic server 24 has a second map database 110 (hereinafter referred to as “second map DB 110”) and a flight schedule database 112 (hereinafter referred to as “flight schedule DB 112”). The second map DB 110 accumulates map information (second map information Imap2) regarding the traffic (flying) of the drone 32 and the traffic (running) of the vehicle 34. The flight schedule DB 112 stores information (flight schedule information Isc) regarding the flight schedule of each drone 32.

[A-1-5. Drone 32]
(A-1-5-1. Outline of Drone 32)
The drone 32 (autonomous mobile body) of the first embodiment is for product delivery, and is the departure point Pst (warehouse) according to the delivery command (flight command) received from the service server 22 via the Internet 50 and the wireless relay station 52. Etc.) to deliver the product G to the delivery destination Pdtar. The drone 32 is also used to search for lost property 500. As will be described later, the drone 32 may be used for other purposes.

As shown in FIG. 1, the drone 32 includes a drone sensor group 130, a communication device 132, a drone control device 134, and a propeller drive unit 136.

(A-1-5-2. Drone sensor group 130)
The drone sensor group 130 includes a first camera 150, a first global positioning system sensor 152 (hereinafter referred to as “first GPS sensor 152”), a speedometer 154, an altimeter (not shown), and a gyro sensor (not shown). ) Etc.

The first camera 150 is arranged at the lower part of the main body of the drone 32, and outputs the image information Image 1 regarding the peripheral image obtained by capturing the periphery of the drone 32. The first camera 150 is a video camera that captures a moving image. Alternatively, the first camera 150 may be capable of capturing both moving images and still images, or only still images. The orientation of the first camera 150 (the posture of the first camera 150 with respect to the main body of the drone 32) can be adjusted by a camera actuator (not shown). Alternatively, the position of the first camera 150 with respect to the main body of the drone 32 may be fixed.

The first GPS sensor 152 outputs the position information Ipdcur regarding the current position Pdcur of the drone 32. The speedometer 154 detects the flight speed Vd [km / h] of the drone 32. The altimeter detects the altitude above ground level H (hereinafter, also referred to as “altitude H”) [m] as the distance to the ground below the drone 32. The gyro sensor detects the angular velocity ω [rad / sec] of the drone 32. The angular velocity ω includes an angular velocity Y (yaw Y) with respect to the vertical axis, an angular velocity P (pitch P) with respect to the left and right axes, and an angular velocity R (roll R) with respect to the front-rear axis.

(A-1-5-3. Communication device 132)
The communication device 132 is capable of radio wave communication with the wireless relay station 52 and the like, and includes, for example, a radio wave communication module. The communication device 132 can communicate with the service server 22 and the like via the wireless relay station 52 and the Internet 50.

(A-1-5-4. Drone control device 134)
The drone control device 134 (autonomous control unit) controls the entire drone 32, such as flight and shooting of the drone 32. The drone control device 134 autonomously moves (flys) the drone 32 from the starting point Pst to the destination Ptar. The drone control device 134 includes an input / output unit, a calculation unit, and a storage unit (not shown).

(A-1-5-5. Propeller drive unit 136)
The propeller drive unit 136 has a plurality of propellers and a plurality of propeller actuators. The propeller actuator includes, for example, an electric motor.

[A-1-6. Vehicle 34]
(A-1-6-1. Outline of vehicle 34)
The vehicle 34 (mobile body, autonomous mobile body) of the first embodiment is for product delivery, and is a departure point according to a delivery command (travel command) received from a service server 22 via the Internet 50 and a wireless relay station 52. The product G is delivered from the Pst (warehouse, etc.) to the delivery destination Pdtar. The vehicle 34 is also used to search for the lost property 500. As will be described later, the vehicle 34 may be used for other purposes.

As shown in FIG. 1, the vehicle 34 includes a vehicle sensor group 160, a communication device 162, a vehicle control device 164, a drive device 166, a braking device 168, and a steering device 170.

(A-1-6--2. Vehicle sensor group 160)
The vehicle sensor group 160 includes a second camera 180, a second global positioning system sensor 182 (hereinafter referred to as “second GPS sensor 182”), a vehicle speed sensor 184, a radar (not shown), and a lidar (not shown). It has Light Detection And Ranging (not shown).

The plurality of second cameras 180 output image information Image 2 regarding peripheral images obtained by capturing the periphery (front, side, and rear) of the vehicle 34. The second GPS sensor 182 outputs the position information Ipvcur regarding the current position Pvcur of the vehicle 34. The vehicle speed sensor 184 detects the vehicle speed Vv [km / h] of the vehicle 34.

The plurality of radars output radar information Iradar indicating reflected waves for electromagnetic waves transmitted to the periphery (front, side, and rear) of the vehicle 34. LIDAR continuously emits lasers in all directions of the vehicle 34, measures the three-dimensional position of the reflection point based on the reflected wave, and outputs it as three-dimensional information Iridar.

(A-1-6-3. Communication device 162)
The communication device 162 is capable of radio wave communication with a wireless relay station 52 or the like, and includes, for example, a radio wave communication module. The communication device 162 can communicate with the service server 22 and the like via the wireless relay station 52 and the Internet 50.

(A-1-6-4. Vehicle control device 164)
The vehicle control device 164 controls the entire vehicle 34, such as acceleration / deceleration and steering of the vehicle 34. The vehicle control device 164 autonomously moves (runs) the vehicle 34 from the starting point Pst to the destination Ptar. The vehicle control device 164 includes an input / output unit, a calculation unit, and a storage unit (not shown).

The vehicle control device 164 executes automatic driving control for driving the vehicle 34 to the destination Ptar without the need for driving operations (acceleration, deceleration, and steering) by the driver. For example, the central processing unit (CPU) including.

(A-1-6-5. Drive 166)
The drive device 166 has a travel drive source (engine, travel motor, etc.) and a drive electronic control device (hereinafter referred to as “drive ECU”) (hereinafter referred to as “drive ECU”) (not shown). The drive ECU controls the travel drive source based on the operation amount of the accelerator pedal or the command from the vehicle control device 164 to adjust the travel drive force of the vehicle 34.

(A-1-6-6. Braking device 168)
The braking device 168 includes a brake motor (or hydraulic mechanism), a brake member, and a braking electronic control device (hereinafter referred to as “braking ECU”) (hereinafter referred to as “braking ECU”) (not shown). The braking device 168 may control engine braking by the engine and / or regenerative braking by the traveling motor. The braking ECU controls the braking force of the vehicle 34 by operating the brake motor or the like based on the operation amount of the brake pedal or the command from the vehicle control device 164.

(A-1-6-7. Steering device 170)
The steering device 170 includes an electric power steering (EPS) motor (not shown) and an EPS electronic control device (hereinafter referred to as “EPS ECU”). The EPS ECU controls the EPS motor in response to the operation of the steering wheel by the driver or the command from the vehicle control device 164 to control the steering angle of the vehicle 34.

[A-1-7. Lost and Found 500 and Near Field Communication Device 502]
The lost property 500 may include items of various sizes. In order to search in the management system 10, the lost property 500 is required to have the short-range communication device 502 attached.

The short-range communication device 502 is a communication terminal capable of short-range communication (about several tens to 100 m), and for example, a Bluetooth terminal or an active RFID (Radio Frequency IDentification) can be used.

<A-2. Control of the first embodiment>
[A-2-1. At the time of ordering and delivery]
The outline of the flow at the time of ordering and delivering the product G will be described below. The customer terminal 20 displays an ordering screen on a display unit (not shown) according to a customer's operation. The data on the ordering screen is obtained from the service management server 22. Further, when displaying the ordering screen, the service server 22 confirms the inventory quantity of the product G to be ordered. If it is out of stock, the service server 22 also displays that fact. When there is an order, the customer terminal 20 receives the order from the customer and transmits it to the service management server 22.

The service server 22 monitors whether or not an order has been received from the customer via the customer terminal 20. When an order is received, the service server 22 selects a mobile body 26 (delivery mobile body 26del) for delivering the product G from the mobile body DB 94. Then, the service server 22 transfers the selected delivery mobile 26del from the departure point Pst (warehouse, etc.) to the delivery destination Pdtar (orderer's address, etc.), and from the delivery destination Pdtar to the return destination Prtar (usually a warehouse, etc.). ) Is calculated for the planned delivery route RTdel.

The moving body 26 selected as the delivery moving body 26 del may be the one that has finished delivery and is in the process of returning. In the case of the moving body 26 on the way back, the planned delivery route RTdel can be a route from the current position Pcur of the delivery moving body 26del to the collection destination Pptar. Further, when the flight permission of the traffic server 24 is required for the flight of the drone 32, the service server 22 transmits a flight permission application for the planned delivery route RTdel to the traffic server 24 and obtains the permission from the traffic server 24. Further, the calculation of the delivery moving body 26del and the scheduled delivery route RTdel may be performed before the ordering and confirmed at the time of ordering.

The service server 22 transmits the delivery information Idel such as the product G and the planned delivery route RTdel (including the delivery destination Pdtar and the return destination Prtar) to the delivery mobile 26del. The delivery mobile 26del delivers the product G based on the delivery information Idel received from the service server 22.

[A-2-2. When searching]
(A-2-2-1. Overall flow during search)
FIG. 2 is a flowchart showing the overall flow when searching for the lost property 500 in the first embodiment. Note that FIG. 2 shows only a rough flow.

In step S11, the customer terminal 20 receives a search request according to the customer's operation. Specifically, the customer terminal 20 displays a search request screen on a display unit (not shown) in response to a customer's operation. The search request screen is obtained from the service management server 22. Further, the search request screen includes input fields such as identification information (identification ID) of the short-range communication device 502 added to the lost property 500, a search required area Rsn, and the importance of the lost property 500. The information input in these input fields is referred to as search request information Ishreq. When there is a search request, the customer terminal 20 receives the search request from the customer and transmits the search request signal Sshrhrq including the search request information Ishreq to the service management server 22.

Move on to the processing of the service server 22. In step S21, the service server 22 calculates the planned movement route RTmbp and the search movement body 26shr according to the search request information Ishreq received by the customer terminal 20. The service server 22 may obtain the flight permission of the traffic server 24 when calculating the planned search route RTshrhp. Details of step S21 and steps S22 to S26 described later will be described later with reference to FIG.

In step S22, the service server 22 issues a search start command to the search mobile body 26shr. Specifically, the service server 22 transmits the search start signal Sshrhst to the search mobile body 26shr. The search start signal Sshrst includes information on the planned movement route RTmbp. The planned movement route RTmbp includes a planned search route RTsrp for search, a pre-search route RTbb for pre-search movement, and a post-search route RTaf for post-search movement.

After transmitting the search start signal Sshrst, in step S23, the service server 22 monitors the search for the search mobile body 26shr. At that time, the service server 22 performs a lost property determination process for determining the presence or absence of the lost property 500 based on the search information Issue from the search mobile body 26srh.

In step S24, the service server 22 determines whether or not to end the search. If the lost property 500 is found as a result of step S23, the service server 22 determines that the search is completed. Further, even if the lost property 500 is not found, the service server 22 determines that the search is completed when the search for all the search target areas Rsrh is completed. If it is determined that the search is completed (S24: TRUE), the process proceeds to step S25. If it is determined that the search is not completed (S24: FALSE), the process returns to step S23.

In step S25, the service server 22 issues a search end command to the search mobile body 26shr. Specifically, the service server 22 transmits the search end signal Sshrf to the search mobile body 26shr. In step S26, the service server 22 transmits the search result to the customer terminal 20 (search request terminal 20shr). The customer terminal 20 that has received the search result displays the search result on the display unit in step S12.

The process of moving body 26 is started. The mobile body 26 (search mobile body 26srh) that has received the search start signal Sshrst from the service server 22 performs search control for searching for the lost property 500 in step S31. In the search control, the search mobile body 26srh transmits the search information Issue to the service server 22. The search information Issue includes communication information Idcom and Ivcom acquired by the communication devices 132 and 162, image information Images 1 and Image 2 acquired by the cameras 150 and 180, and position information Ipdcur and Ipvcur acquired by the GPS sensors 152 and 182. .. Details of step S31 will be described later with reference to FIG.

In step S32, the search moving body 26srh determines whether or not to end the search. When the search end signal Sshrf is received from the service server 22 (S32: TRUE), the search mobile unit 26srh ends the search. Then, in step S33, the search mobile body 26srh returns to the return destination Prtar. If the search end signal Sshrf is not received from the service server 22 (S32: FALSE), the search mobile unit 26srh continues the search (S31).

(A-2-2-2. Search management control by service management server 22)
(A-2-2-2-1. Overall flow of search management control)
FIG. 3 is a flowchart of the search management control executed by the service management server 22 in the first embodiment. The search management control is the details of steps S21 to S26 of FIG. In step S51 of FIG. 3, the service server 22 causes the customer terminal 20 to display the search request screen in response to the request from the customer terminal 20. In other words, the service server 22 transmits the data of the search request screen to the customer terminal 20 in response to the request from the customer terminal 20.

In step S52, the service server 22 determines whether or not the search request signal Sshreq has been received from the customer terminal 20. When the search request signal Sshreq is received (S52: TRUE), the process proceeds to step S53. If the search request signal Sshreq has not been received (S52: FALSE), the process returns to step S51.

In step S53, the service server 22 identifies the search target area Rsrh based on the search request information Ishreq. For example, when the search request information Isrhrq includes the search request area Rrsrh, the service server 22 corrects the search request area Rrsrh according to a predetermined rule and uses it as the search target area Rrshr. As the predetermined rule, for example, it can be used that the outer edge of the search request region Rrsrh is extended by a predetermined distance to be the search target region Rrshr.

Alternatively, when the search request information Isrhrq includes the search request area Rrshr or the search request route RTshrh, the search request area Rrshr or the search request route RTshrhr is used as it is as the search target area Rshr or the planned search route RTshrhp, so that step S53 is omitted. You may. If the search target area Rshr is a range that cannot be searched by either the drone 32 or the vehicle 34, the service server 22 may notify the customer terminal 20 that the search is not possible.

In step S54, the service server 22 calculates the planned movement route RTmbp. As described above, the planned movement route RTmbp includes the planned search route RTshrhp for the search, the pre-search route RTbb for the pre-search movement, and the post-search route RTaf for the post-search movement. Specifically, the service server 22 calculates the planned search route RTsrhp so that the search mobile body 26srh can search the entire search target area Rsrh specified in step S53. Alternatively, when the planned search route RTshrhp is included in the search request information Ishreq, step S53 may be omitted by using the scheduled search route RTshrhp as it is.

At the stage when the planned search route RTsrhp is set, the type of the search moving body 26srh (either the drone 32 or the vehicle 34) is also determined. Further, when the search movement body 26shr is a delivery movement body 26del that is already moving for delivery, the service server 22 makes a scheduled movement so as to add the scheduled search route RTshrp to the scheduled delivery route RTdel for delivery. Calculate the route RTmbp.

In step S55, the service server 22 selects the search mobile 26shr. Specifically, the service server 22 refers to the mobile 26 (hereinafter, also referred to as “candidate mobile 26 opt”) existing in the vicinity of the planned search route RTshrhp among the types of mobiles 26 corresponding to the planned search route RTshrhp. Extract from the delivery DB 98. For example, if the lost property 500 is known to be on the road, the vehicle 34 may be the candidate mobile 26opt. The candidate mobile 26opt may be the mobile 26 currently being delivered.

When the candidate mobile body 26opt exists, the service server 22 determines whether or not the candidate mobile body 26opt can search the planned search route RTshrhp. For example, it is determined whether or not there is a time margin and an energy margin while moving on the planned search route RTshrhp. The time margin is determined by whether or not the scheduled delivery time is met even if the scheduled search route RTsrp is moved. The energy margin is determined by whether or not there is sufficient energy (battery SOC, fuel, etc.) to move the planned search path RTsrp.

When the candidate mobile 26opt can search the planned search route RTshrhp, the service server 22 selects the candidate mobile 26opt as the search mobile 26srh. When there are a plurality of candidate mobiles 26opts capable of searching the planned search route RTsrhp, the service server 22 selects the candidate mobiles 26opts suitable for moving the planned search route RTsrhp as the search mobiles 26srh.

In step S56, the service server 22 transmits the search start signal Sshrst to the search mobile body 26shr. Although not shown in FIG. 3, while the search mobile body 26shr is moving, the service server 22 acquires the current position Pmcur of the search mobile body 26shr at a predetermined cycle and monitors the status of the search mobile body 26shr.

In step S57, the service server 22 receives the search information Issue from the search mobile body 26shr and stores it in the search DB 100 of the storage unit 66. In step S58, the service server 22 executes a lost property determination process for determining the presence or absence of the lost property 500 based on the search information Issue from the search mobile body 26srh. In the lost property determination process, when the communication information Idcom and Ivcom included in the search information Issue include the identification ID of the short-range communication device 502, the identification ID is that of the short-range communication device 502 added to the lost property 500. Determine if it exists. Further, the images of the lost property 500 are extracted from the image information Image1 and Image2 included in the search information Issue2.

In step S59, the service server 22 determines whether or not the lost property 500 has been found as a result of the lost property determination process. If the lost property 500 is found (S59: TRUE), the process proceeds to step S60.

In step S60, the service server 22 performs a position narrowing process for narrowing down the position Plcur of the lost property 500. The details of the position narrowing process will be described later. In step S61, the service server 22 transmits a search end signal Sshrf instructing the end of the search (here, completion) to the search mobile body 26shr.

In step S62, the service server 22 transmits the search result to the search request terminal 20shr. The search result when the lost property 500 is found includes the position Plcur of the lost property 500 and the image information Image1 and Image2 (still image or moving image) corresponding to the position Plcur.

Returning to step S59, if no lost property 500 has been found (S59: FALSE), the process proceeds to step S63. In step S63, the service server 22 determines whether or not the search for the planned search route RTsrhp by the search mobile body 26shr is nearing completion. For example, it is determined whether or not the scheduled remaining time Tr until the search completion of the scheduled search route RTsrp is equal to or less than the time threshold THtr. When the search for the planned search route RTsrp is nearing completion (S63: TRUE), the process proceeds to step S64.

In step S64, the service server 22 determines whether or not it is necessary to extend the planned search route RTshrhp. For example, it is determined whether or not there is a margin in the remaining energy of the search moving body 26srh. When it is necessary to extend the planned search route RTshrhp (S64: TRUE), in step S65, the service server 22 extends the scheduled search route RTshrhp. Specifically, the service server 22 transmits a route change signal Srtc notifying the new planned search route RTsrp and the post-search route RTaf to the search mobile body 26srh.

When it is not necessary to extend the planned search route RTshrhp (S64: FALSE), the lost property 500 is not found, but the search ends. In that case, in step S61, the service server 22 transmits a search end signal Sshrf instructing the end of the search (here, stop) to the search mobile body 26shr.

In step S62, the service server 22 transmits the search result to the search request terminal 20shr. The search result when the lost property 500 is not found includes a message to the effect that the lost property 500 was not found and information on the searched route (search route RTshr).

If the search end of the planned search route RTshrhp is not imminent in step S63 (S63: FALSE), or after step S65, the process proceeds to step S66. In step S66, the service server 22 determines whether or not a priority task Tpr other than the search has occurred in the search mobile body 26shr. Priority task Tpr other than search includes, for example, emergency use such as disaster response, lifesaving, and crime response.

When the priority task Tpr occurs (S66: TRUE), in step S67, the service server 22 transmits a task change signal Stc instructing the task change to the search mobile body 26srh. The task change signal Stc includes information about the priority task Tpr. If the priority task Tpr has not occurred (S66: FALSE), the process returns to step S57.

(A-2-2-2-2. Position narrowing process)
As described above, the position narrowing process (S60 in FIG. 3) is a process of narrowing down the position Plcur of the lost property 500. In the first embodiment, the drone 32 and the vehicle 34 as the moving body 26 have GPS sensors 152 and 182, respectively, and the search information Issue includes the position information Ipdcur and Ipvcur of the GPS sensors 152 and 182. There is. Therefore, the service server 22 identifies the position Plcur corresponding to the frame in which the lost property 500 is found in the image information Image1 and Image2 by associating the image information Image1 and Image2 with the position information Ipdcur and Ipvcur.

Alternatively, the service server 22 stores the correspondence between the image information Image1 and Image2 and the position information Ipdcur and Ipvcur when the search mobile body 26shr receives the image information Image1 and Image2, and corresponds to the image frame in which the lost property 500 is found. The positions Ipdcur and Ipvcur may be read out. Further, when the detection accuracy of the GPS sensors 152 and 182 is low, the service server 22 compares the image information Image1 and Image2 with the map information Imap1 (three-dimensional map information) to make the position Plcur of the lost item 500 more accurate. It may be calculated by.

(A-2-2-3. Search control by mobile 26)
FIG. 4 is a flowchart of the search control executed by the moving body 26 in the first embodiment. The search control is the details of step S31 in FIG. In step S81 of FIG. 4, the mobile body 26 determines whether or not the search start signal Sshrst (S56 of FIG. 3) has been received from the service server 22. When the search start signal Sshrst is received (S81: TRUE), the process proceeds to step S82. The moving body 26 that has received the search start signal Sshrst becomes the search moving body 26shr. If the search start signal Sshrst is not received (S81: FALSE), step S81 is repeated.

In step S82, the search mobile body 26srh starts moving along the planned movement route RTmbp (here, the pre-search route RTbf) included in the search start signal Sshrst. In step S83, the search moving body 26srh determines whether or not the search target area Rsrh has been reached. In other words, the search moving body 26srh finishes the movement of the pre-search route RTbf and determines whether or not it has entered the planned search route RTsrhp. When the search target area Rsrh is reached (S83: TRUE), the process proceeds to step S84. When the search target area Rsrh has not been reached (S83: FALSE), the process returns to step S83 in order to continue the movement of the pre-search route RTbf.

In step S84, the search mobile body 26shr acquires the search information Issue and transmits it to the service server 22. The search information Issue includes communication information Idcom and Ivcom acquired by the communication devices 132 and 162, image information Images 1 and Image 2 acquired by the cameras 150 and 180, and position information Ipdcur and Ipvcur acquired by the GPS sensors 152 and 182. ..

In step S85, the search mobile body 26srh determines whether or not the search end signal Sshrf (S61 in FIG. 3) has been received from the service server 22. When the search end signal Sshrf is received (S85: TRUE), in step S86, the search moving body 26shr returns along the post-search path RTaf. If the search end signal Sshrf is not received (S85: FALSE), the process proceeds to step S87.

In step S87, the search moving body 26srh determines whether or not the planned search path RTshrp has been extended. Specifically, the search mobile body 26srh determines whether or not the route change signal Srtc (S65 in FIG. 3) has been received from the service server 22. When the planned search route RTsrhp is extended (S87: TRUE), in step S88, the search moving body 26srh extends the planned search route RTshrhp (changes the planned search route RTshrhp and the post-search route RTaf). If the planned search route RTsrp is not extended (S87: FALSE) or after step S88, the process proceeds to step S89.

In step S89, the search mobile body 26srh determines whether or not the task change signal Stc (S67 in FIG. 3) has been received from the service server 22. When the task change signal Stc is received (S89: TRUE), in step S90, the search moving body 26srh changes the task from the search to the priority task Tpr. Then, it moves along the priority task Tpr. If the task change signal Stc is not received (S89: FALSE), the process returns to step S84.

<A-3. Effect of the first embodiment>
According to the first embodiment, the search mobile body 26shr corresponding to the search request signal Sshreq regarding the surrounding environment is assigned from a plurality of autonomous mobile bodies, and the search mobile body 26shr is made to perform the search regarding the surrounding environment to obtain the search information Ishr. Acquire (Figs. 2 to 4). Then, the search moving body 26srh responds to the search request signal Sshreq based on the newly acquired search information Ishr (S26 in FIG. 2 and S62 in FIG. 3). As a result, a more suitable search becomes possible by positively searching the search target area Rsrh. In addition, it becomes possible to newly perform a search that satisfies the search request.

In the first embodiment, whether or not the service server 22 (movement management unit 30) has found the lost property 500 (event according to the search request signal Sshreq) based on the search information Issue received from the search moving body 26shr. (S59 in FIG. 3) and a location Plcur (geographical area or point) of the lost property 500 (S58, S60 in FIG. 3) has a lost property identification unit 80 (specification unit) (FIG. 1). .. As a result, since the service server 22 is responsible for most of the operations, it is possible to avoid performing operations with a large load on the search mobile body 26shr side.

In the first embodiment, when the search mobile body 26shr starts the search and then a priority task Tpr having a higher priority than the search occurs in the search mobile body 26shr (S66: TRUE in FIG. 3), the management system 10 It has a search limiting unit 82 (restricting unit) that limits the search by transmitting the task change signal Stc (S67) (FIG. 1). As a result, when a task having a higher priority than the search (for example, emergency use such as disaster response, lifesaving, crime response, etc.) occurs, the search mobile body 26shr can appropriately respond.

B. Second Embodiment <B-1. Configuration (difference from the first embodiment)>
The configuration of the second embodiment is basically the same as that of the first embodiment (FIG. 1). In the following, similar components will be designated by the same reference numerals and detailed description thereof will be omitted. In the first embodiment, it was assumed that the number of search mobile bodies 26shr was one (FIGS. 2 to 4). On the other hand, in the second embodiment, one lost property 500 is searched by a plurality of search moving bodies 26srh.

<B-2. Control of the second embodiment (difference from the first embodiment)>
[B-2-1. Overall flow during exploration]
FIG. 5 is a flowchart showing the overall flow when searching for the lost property 500 in the second embodiment. Note that FIG. 5 shows only a rough flow. Steps S111, S112, S121, S122, S123, S124, S125, S126, S131, S132, and S133 of FIG. 5 are the steps S11, S12, S21, S22, S23, S24, S25, S26, S31, and S32 of FIG. , S33. Steps S141, S142, and S143 of FIG. 5 are the same as steps S131, S132, and S133 of FIG.

In step S121 of FIG. 5, a plurality of planned movement paths RTmbp and a plurality of search movements 26shr can be calculated. Whether to use the single search moving body 26shr or to use the plurality of searching moving bodies 26shr is determined based on, for example, the search request information Ishreq from the customer terminal 20. As the search request information Ishreq here, the importance of the lost property 500 (and the related search cost) can be used. Alternatively, it is also possible to include the number of search moving bodies 26shr in the search request information Ishreq.

Further, in step S122, the service server 22 issues a search start command or transmits a search start signal Sshrst to the plurality of search mobile bodies 26shr (first mobile body and second mobile body). Each of the plurality of search moving bodies 26srh that received the search start signal Sshrst operates in the same manner as in steps S31 to S33 of FIG. Therefore, in step S123, the service server 22 monitors the search (including the lost property determination process) for each of the plurality of search mobile bodies 26shr.

[B-2-2. Search management control by service management server 22]
Regarding the search management control (FIG. 3) by the service management server 22, the control in the second embodiment is basically the same as that in the first embodiment. However, when a plurality of search moving bodies 26shr are used, the first search moving body 26shr (hereinafter, also referred to as "first search moving body 26shr-1") and the second search moving body 26shr (hereinafter, "second search"). The scheduled search route RTsrhp that overlaps with the mobile body 26shr-2 ") is set. The overlapping scheduled search route RTsrp is moved so as to cause a time difference. As will be described later, the planned search route RTsrhp may be calculated so that the planned search route RTsrp does not overlap.

Further, steps S56 to S67 in FIG. 3 are performed for the first search moving body 26shr-1 and the second search moving body 26shr-2, respectively. Further, when the lost property 500 is found based on the search information Isrh of one search mobile body 26srh (S59: TRUE in FIG. 3), the search end signal Sshrf is also transmitted to the other search mobile body 26srh (S61). ..

[B-2-3. Search control by mobile 26]
The search control of the first embodiment (FIG. 4) is applied to the first search mobile body 26srh-1 and the second search mobile body 26shr-2 of the second embodiment, respectively.

<B-3. Effect of the second embodiment>
According to the second embodiment as described above, the following effects can be obtained in addition to or in place of the effects of the first embodiment.

That is, according to the second embodiment, the service server 22 (movement management unit 30) autonomously moves the first search mobile body 26shr-1 and the second search mobile body 26shr-2 corresponding to the search request signal Sshreq. Assign from within the body (S121 in FIG. 5). Further, the service server 22 causes the first search mobile body 26shr-1 and the second search mobile body 26srh-2 to perform a search along the overlapping planned search route RTsrhp (new search route) (FIG. 5). S131, S141).

As a result, it becomes possible to respond to the search request signal Sshreq based on the search information Isrh of each of the first search moving body 26shr-1 and the second search moving body 26shr-2. Therefore, it is possible to obtain more detailed search information Ishr for the overlapping planned search route RTsrhp.

C. Third Embodiment <C-1. Configuration (difference from the first and second embodiments)>
FIG. 6 is an overall configuration diagram showing an outline of the management system 10A according to the third embodiment of the present invention. The configuration of the third embodiment is basically the same as that of the first and second embodiments (FIG. 1). In the following, similar components will be designated by the same reference numerals and detailed description thereof will be omitted.

The management system 10 of the first and second embodiments has a plurality of customer terminals 20, at least one service management server 22, at least one traffic management server 24, and a plurality of mobile bodies 26. (Fig. 1). On the other hand, the management system 10A of the third embodiment has a plurality of peripheral terminals 200 in addition to these components.

Peripheral terminals 200 include, for example, smartphones owned by individuals or beacons installed around roads. A mobile body 26 (existing around the search mobile body 26srh) different from the search mobile body 26srh selected by the service server 22 may be used as the peripheral terminal 200. These peripheral terminals 200 have a communication device 202 that wirelessly communicates with the search mobile body 26shr and the short-range communication device 502.

In the third embodiment, the search mobile body 26shr selected by the service server 22 searches by itself, and also makes a search request (auxiliary request) from the search mobile body 26srh to the peripheral terminal 200. As shown in FIG. 6, the drone control device 134 and the vehicle control device 164 have auxiliary request units 210 and 220 that make the auxiliary request.

<C-2. Control of the third embodiment (difference from the first and second embodiments)>
As described above, in the third embodiment, the search mobile body 26shr selected by the service server 22 searches by itself, and the peripheral terminal 200 that receives the auxiliary request from the search mobile body 26srh also searches (auxiliary search).

FIG. 7 is a flowchart showing the overall flow when searching for the lost property 500 in the third embodiment. Note that FIG. 7 shows only a rough flow. Steps S211, S212, S221, S222, S223, S224, S225, S226, S232, S233, S234 of FIG. 7 are steps S11, S12, S21, S22, S23, S24, S25, S26, S31, S32 of FIG. , S33.

In step S222 of FIG. 7, the service server 22 issues a search start command or transmits a search start signal Sshrst to the search mobile body 26shr. The search start signal Sshrst also includes a code to the effect that an auxiliary request should be made to the peripheral terminal 200.

In step S231, the search mobile body 26srh makes an auxiliary request to the peripheral terminals 200 existing around itself. Specifically, the search mobile body 26srh broadcasts the auxiliary request signal Sar to its surroundings (short distance). The auxiliary request signal Sar is a signal for requesting the auxiliary search information Is from the peripheral terminal 200. Therefore, when the peripheral terminals 200 that implement the program for processing the auxiliary request signal Sar exist in the vicinity of the search mobile body 26shr, the auxiliary search information Is arrives at those peripheral terminals 200.

In step S242, the peripheral terminal 200 that has received the auxiliary request searches for the auxiliary search signal Sas indicating that the lost property 500 exists when the lost property 500 (short-range communication device 502) exists in the vicinity of the peripheral terminal 200. Reply to 26shr. The auxiliary search signal Sas indicating the existence of the lost property 500 includes the identification ID of the short-range communication device 502 received from the short-range communication device 502 and the position information Ips of the peripheral terminal 200 as the auxiliary search information Is. Further, when the peripheral terminal 200 that has received the auxiliary request does not have the lost property 500 (short-range communication device 502) in the vicinity of itself, the peripheral terminal 200 sends an auxiliary search signal Sas indicating that the lost property 500 does not exist to the search mobile body 26shr. Send back. The auxiliary search signal Sas indicating that the lost property 500 does not exist includes a code indicating that the identification ID of the short-range communication device 502 has not been received and the position information Ips of the peripheral terminal 200 as the auxiliary search information Is.

When the auxiliary search signal Sas is received from the peripheral terminal 200, the search mobile body 26srh transmits the search information Issue acquired by itself and the auxiliary search information Is of the peripheral terminal 200 to the service server 22.

In step S223, the service server 22 performs a lost property determination process using the search information Issue from the search mobile body 26srh and the auxiliary search information Is from the peripheral terminal 200.

<C-3. Effect of the third embodiment>
According to the third embodiment as described above, the following effects can be obtained in addition to or in place of the effects of the first and second embodiments.

That is, according to the third embodiment, the search mobile body 26shr includes auxiliary request units 210 and 220 for transmitting an auxiliary request signal Sar requesting search assistance to the peripheral terminals 200 of the search mobile body 26srh (FIG. FIG. 6). When the peripheral terminal 200 receives the auxiliary request signal Sar, it assists the search based on the auxiliary request signal Sar, and transmits the auxiliary search signal Sa including the auxiliary search information Is obtained as a result of the search assistance to the search mobile body 26shr. (S242 in FIG. 7). Then, the service server 22 (movement management unit 30) responds to the search request signal Sshreq based on the auxiliary search information Is included in the auxiliary search signal Sas from the peripheral terminal 200 (S226). As a result, the search mobile body 26srh can function as an intermediary for another search subject (peripheral terminal 200).

D. Modifications The present invention is not limited to the above embodiments, and it goes without saying that various configurations can be adopted based on the contents described in the present specification. For example, the following configuration can be adopted.

<D-1. Autonomous mobile>
The drone 32 of the first embodiment was for delivery and search (FIGS. 1 and 2). However, the present invention is not limited to this, for example, from the viewpoint of assigning the search mobile body 26shr corresponding to the search request signal Sshreq from among a plurality of autonomous mobile bodies and causing the search mobile body 26srh to search for the surrounding environment. For example, the drone 32 can also be used for human transportation, emergency use, photography, advertising, security monitoring, surveying, entertainment, personal hobbies, and the like. Alternatively, the drone 32 may be used only for searching for the lost property 500. The same applies to the vehicle 34. The same applies to the second and third embodiments.

In the first embodiment, the present invention is applied to the drone 32 and the vehicle 34 (FIGS. 1 and 2). However, for example, from the viewpoint of allocating the search mobile 26shr corresponding to the search request signal Sshreq from among a plurality of autonomous mobiles and causing the search mobile 26shr to search for the surrounding environment, another type of flying vehicle or autonomous The present invention may be applied to a moving body. For example, it is possible to use only one of the drone 32 and the vehicle 34. Alternatively, the present invention can be applied to a helicopter or a ship instead of the drone 32 or the vehicle 34. The same applies to the second and third embodiments.

In the first embodiment, both the drone 32 and the vehicle 34 were autonomously mobile. However, the present invention is not limited to this, for example, from the viewpoint of allocating the search mobile body 26shr corresponding to the search request signal Sshreq from among a plurality of autonomous mobile bodies and causing the search mobile body 26srh to search for the surrounding environment. For example, one of the drone 32 and the vehicle 34 may not be able to move autonomously. The same applies to the second and third embodiments.

<D-2. Movement management department 30>
The movement management unit 30 of the first embodiment includes a service server 22 and a traffic management server 24 (FIG. 1). However, it is not limited to this, for example, from the viewpoint of managing the movement of a plurality of drones 32 or vehicles 34 (or autonomous mobile bodies). For example, the movement management unit 30 may be configured from only the service server 22. Alternatively, in addition to the service server 22 and the traffic management server 24, a plurality of local control servers may be provided for each predetermined area to manage the flight of the drone 32 or the travel of the vehicle 34. Then, the delivery command from the service server 22 to the drone 32 or the vehicle 34 may be transmitted via the local control server. The same applies to the second and third embodiments.

The service server 22 of the first embodiment manages the delivery of the product G in addition to the search for the lost property 500 (FIG. 1). However, the present invention is not limited to this, for example, from the viewpoint of allocating the search mobile body 26shr corresponding to the search request signal Sshreq from among a plurality of autonomous mobile bodies and causing the search mobile body 26srh to search for the surrounding environment. For example, the service server 22 may manage applications such as transportation of people, emergency use, photography, advertising, security monitoring, surveying, entertainment, and personal hobbies. Alternatively, the service server 22 may be used only for searching for the lost property 500. The same applies to the second and third embodiments.

<D-3. Search for Lost and Found 500>
In the first embodiment, the lost property 500 was searched when the customer terminal 20 requested a search (FIG. 2). However, the present invention is not limited to this, for example, from the viewpoint of assigning the search mobile body 26shr corresponding to the search request signal Sshreq from among a plurality of autonomous mobile bodies and causing the search mobile body 26srh to search for the surrounding environment. For example, when the delivery mobile body 26del (particularly the drone 32) drops the product G, it is possible to search for the lost property 500. For example, a product sensor for determining whether or not the product G is supported is provided on the delivery mobile body 26del. Then, when the product G is unintentionally dropped, the delivery mobile body 26del transmits a search request signal Sshreq to the service server 22.

The subsequent flow is the same as that described with reference to FIG. However, it is not necessary to transmit the search result to the delivery moving body 26del on which the product G has fallen. Instead, the service server 22 can display a message or the like instructing the collection of the dropped product G on a corporate terminal (not shown). The same applies to the second and third embodiments.

In the first embodiment, it is assumed that the lost property 500 is stopped (not moving) (S58 and S59 in FIG. 3), but even if the case where the lost property 500 is moving is considered. Good. For example, when the movement of the short-range communication device 502 is detected in the lost property determination process (S58), the service server 22 reports as a search result that the lost property 500 (short-range communication device 502) is moving. It may be done (S62). The same applies to the second and third embodiments.

In the first embodiment, the service server 22 determines the presence or absence of the lost property 500 (lost property determination process) (S58 and S59 in FIG. 3). However, for example, from the viewpoint of determining the presence or absence of the lost property 500, the present invention is not limited to this. For example, it is also possible for the search mobile body 26shr to perform a part or all of the lost property determination process in the service server 22. The same applies to the second and third embodiments.

In the second embodiment, the planned search paths RTsrhp of the plurality of search moving bodies 26shr (first search moving body 26shr-1 and second search moving body 26shr-2) are overlapped (S121 in FIG. 5). However, the present invention is not limited to this, for example, from the viewpoint of searching by a plurality of search moving bodies 26shr. For example, the search target region Rsrh based on the search request information Ishreq may be divided and assigned to the first search moving body 26shr-1 and the second search moving body 26shr-2.

In the third embodiment, the peripheral terminal 200 assists the search for the purpose of communicating with the short-range communication device 502 (acquiring the identification ID from the short-range communication device 502) (S242 in FIG. 7). .. However, for example, from the viewpoint that the peripheral terminal 200 assists the search mobile body 26srh, the present invention is not limited to this. For example, the camera (not shown) of the peripheral terminal 200 may acquire the image information Image3 and transmit the image information Image3 from the peripheral terminal 200 to the search mobile body 26srh. Alternatively, it is also possible for the peripheral terminal 200 to perform a part or all of the lost property determination process by the service server 22 (to assist the process associated with the search).

In the first embodiment, the planned search route RTshrhp was newly calculated based on the search request from the customer terminal 20 (S11 and S21 in FIG. 2). However, the present invention is not limited to this, for example, from the viewpoint of making a response corresponding to the search request signal Sshreq based on the search information Ishr newly or in advance acquired by the search moving body 26shr.

FIG. 8 is a flowchart of the search management control executed by the service management server 22 in the modified example. In this modification, the service server 22 responds to the search request signal Sshreq based on the search information Issue acquired in advance by the mobile 26 (which will be designated as the search mobile 26shr in the future). In other words, in this modification, the service server 22 treats all or a plurality of mobiles 26 as future search mobiles 26shr before receiving the search request from the customer terminal 20. The search management control of FIG. 8 may be combined with the search management control of FIG.

In step S501 of FIG. 8, the service server 22 receives the search information Issue from the mobile body 26 (search mobile body 26shr) and stores it in the search DB 100 of the storage unit 66. As described above, at the time of step S501, the service server 22 has not received the search request signal Sshreq from the customer terminal 20. The selection of the moving body 26 for acquiring the search information Issue can be, for example, all delivery moving bodies 26del. Alternatively, the mobile 26 that acquires the search information Issue may be selected so that overlapping portions do not occur in the delivery route RTdel of each delivery mobile 26del. Alternatively, the mobile body 26 for acquiring the search information Issue may be selected by another method.

The method of acquiring the search information Issue and its contents are the same as in step S57 of FIG. That is, as the search information Issue, the communication information Idcom and Ivcom acquired by the communication devices 132 and 162, the image information Images1 and Image2 acquired by the cameras 150 and 180, and the position information Ipdcur and Ipvcur acquired by the GPS sensors 152 and 182. And include.

In step S502, the service server 22 determines whether or not the search request signal Sshreq has been received from the customer terminal 20. The determination is the same as in step S52 of FIG. When the search request signal Sshreq is received (S502: TRUE), the process proceeds to step S503. If the search request signal Sshreq has not been received (S502: FALSE), the process returns to step S501.

In step S503, the service server 22 identifies the search target area Rsrh based on the search request information Ishreq. The specific method is the same as in step S53 of FIG. At this time, the search management unit 72 of the service server 22 is from the storage unit 66 (or the search DB 100) in which the search information Ishr acquired in advance by the search mobile 26shr for the search target area Rshr corresponding to the search request signal Sshreq is stored. It functions as a reading unit for reading.

In step S504, the service server 22 executes the lost property determination process for the search information Issue corresponding to the search target area Rsrh. In step S505, the service server 22 transmits the search result to the search request terminal 20shr.

According to the modification of FIG. 8, the search information Isrh is acquired before the search request information Ishreq is received (S501 in FIG. 8). Then, after receiving the search request information Ishreq, the lost property determination process is performed (S504). Therefore, the search result can be transmitted promptly after receiving the search request information Ishreq.

<D-4. Others>
In the first embodiment, the lost property 500 was searched according to the flow shown in FIGS. 2 to 4. However, for example, when the effect of the present invention can be obtained, the content of the flow (order of each step) is not limited to this. For example, the order of steps S61 and S62 in FIG. 3 can be exchanged. The same applies to the second and third embodiments.

In the above embodiment, the case where the communication unit 62 provided in the service management server 22 receives the search request signal from the customer terminal 20 has been described as an example, but the present invention is not limited to this. For example, the search request input by the administrator may be accepted by the movement management unit 30.

10, 10A ... Management system 20 ... Customer terminal (external device)
26 ... Mobile 26shr ... Search Mobile 26shr-1 ... 1st Search Mobile 26shr-2 ... 2nd Search Mobile 30 ... Movement Management Unit 32 ... Drone (Autonomous Mobile)
34 ... Vehicle (autonomous mobile) 62 ... Communication unit (communication device)
66 ... Storage unit 72 ... Search management unit (acquisition unit, reading unit, response unit)
80 ... Lost and found identification part (specific part) 82 ... Search restriction part (restriction part)
100 ... Search DB (database)
134 ... Drone control device (autonomous control unit)
164 ... Vehicle control device (autonomous control unit) 200 ... Peripheral terminals 210, 220 ... Auxiliary request unit
Is ... Auxiliary search information (search information)
Ishr ... Search information Pst ... Departure point Ptar ... Destination RTshrhp ... Scheduled search route (new search route)
Rshr ... Search target area Sar ... Auxiliary request signal Sa ... Auxiliary search signal Sshreq ... Search request signal

Claims (8)

A management system including a movement management unit that communicates with a plurality of moving bodies including an autonomous moving body including an autonomous moving body for autonomous movement via a communication device and manages the movement of the plurality of moving bodies. ,
The movement management unit
Received a search request requesting a search for the surrounding environment of the plurality of mobile objects, and received a search request.
A search moving body corresponding to the search request is assigned from the plurality of moving bodies, and the search moving body is made to search for the surrounding environment to acquire search information, or a search target corresponding to the search request. The search information acquired in advance by any of the plurality of moving bodies for the area is read from the storage unit in which the search information is stored and acquired.
A management system characterized in that it responds to the search request based on the search information newly acquired by the search moving body or the search information acquired in advance by any of the plurality of moving bodies. .. In the management system according to claim 1,
The movement management unit is a management system characterized in that a search route for satisfying the search request is generated, and the search moving body performs a search along the search route. In the management system according to claim 2,
Based on the search information received from the search moving body, the movement management unit determines whether or not an event according to the search request has occurred, and identifies the geographical area or point where the event has occurred. A management system characterized by having a department. In the management system according to claim 2 or 3.
The movement management unit
The first search moving body and the second search moving body corresponding to the search request are assigned from the plurality of autonomous moving bodies.
A management system characterized in that each of the first search moving body and the second search moving body performs a search along the overlapping search paths. In the management system according to any one of claims 2 to 4.
The management system is characterized by having a limiting unit that limits the search when a task having a higher priority than the search occurs in the search moving body after the search moving body starts the search. Management system. In the management system according to any one of claims 2 to 5,
The search mobile body includes an auxiliary request unit that transmits an auxiliary request for assisting the search or processing associated with the search to peripheral terminals of the search mobile body.
The peripheral terminal is
Upon receiving the auxiliary request, the search is assisted based on the auxiliary request or the processing associated with the search is assisted.
Auxiliary search information including the search information obtained as a result of the assistance of the search or the assistance of the processing associated with the search is transmitted to the search moving body.
The movement management unit is a management system characterized in that it responds to the search request based on the auxiliary search information from the peripheral terminal. A control method of a management system including a movement management unit that communicates with a plurality of moving bodies including an autonomous moving body including an autonomous moving body for autonomous movement via a communication device and manages the movement of the plurality of moving bodies. And
The movement management unit
Received a search request requesting a search for the surrounding environment of the plurality of mobile objects, and received a search request.
A control method of a management system, characterized in that a search moving body corresponding to the search request is assigned from the plurality of moving bodies, and the search moving body is made to search for the surrounding environment. A management server that communicates with a plurality of mobile bodies including an autonomous mobile body having an autonomous control unit for autonomous movement and manages the movement of the plurality of mobile bodies.
The management server
A communication unit that receives a search request requesting a search regarding the surrounding environment of the plurality of mobile objects, and a communication unit.
An acquisition unit that assigns a search moving body corresponding to the search request from the plurality of moving bodies and causes the search moving body to search for the surrounding environment to acquire search information, or corresponds to the search request. A reading unit that reads search information acquired in advance by any of the plurality of moving bodies for the search target area from a storage unit in which the search information is stored, and a reading unit.
Having a response unit that responds to the search request based on the search information newly acquired by the search moving body or the search information acquired in advance by any of the plurality of moving bodies. Characterized management server.

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