WO2019131557A1 - Information processing device - Google Patents

Abstract

The purpose of the invention is to guide a group of moving bodies in a specified area as a group while maintaining coordination using a particle method. A real space configuration information acquisition unit 111 acquires, as real space configuration information, information pertaining to the configuration of a specified real space. A virtual space configuration unit 112 configures the specified real space configuration as a virtual space on the basis of the real space configuration information. A flow field calculation unit 113 calculates a force vector for each point in the virtual space. A moving body information acquisition unit 121 acquires, as moving body information, information indicating the state of each of the plurality of moving bodies in the real space. A physical quantity calculation unit 122 calculates the physical quantity relating to each of the plurality of moving bodies in the virtual space on the basis of the moving body information. A trajectory variation calculation unit 123 calculates a trajectory variation for the plurality of moving bodies in the virtual space on the basis of the power vectors and the moving body information and/or the physical quantities.

Description

Information processing device

The present invention relates to an information processing apparatus.

BACKGROUND ART Conventionally, for example, techniques for controlling an unmanned mobile unit such as a drone have been advanced. However, such a control technique is control of a mobile unit alone, and interaction is also considered on a one-on-one basis, so it is difficult to stably control the entire group.
Therefore, there is a technique called so-called group control in which a plurality of moving bodies are simultaneously controlled, that is, a plurality of moving bodies are organized and controlled as a group (for example, Patent Document 1).

Unexamined-Japanese-Patent No. 201-188893

However, although it is possible to control collision avoidance and coordination movement between mobiles only with the prior art including the technology described in the above-mentioned Patent Document 1, a method for guiding a group collectively has not been shown. .

The present invention has been made in view of such a situation, and aims to guide a group of mobiles in a specific area as a group while maintaining the coordination by the particle method.

In order to achieve the above object, an information processing apparatus according to an aspect of the present invention is
First report acquisition means for acquiring information on the configuration of a predetermined real space as real space configuration information;
Configuration means for configuring the predetermined real space configuration as a virtual space based on the real space configuration information;
First calculating means for calculating a vector of forces at each point of the virtual space;
Equipped with

According to the present invention, it is possible to derive a group of mobiles in a specific area as a group while maintaining the coordination by the particle method.

It is an image figure showing an outline of an example of group control by particle method which is a basic technology of the present invention. It is an image figure showing an example of a state of virtual space in group control using particle method and lattice method. FIG. 6 is a block diagram showing a configuration of an information processing system according to an embodiment of the present invention, which is an information processing system capable of realizing the group control of FIGS. 1 and 2; FIG. 5 is a block diagram showing an example of a hardware configuration of a server according to an embodiment of the information processing apparatus of the present invention among the information processing system of FIG. 3. FIG. 5 is a functional block diagram showing an example of a functional configuration that enables group control in which a particle method and a grid method are coupled, among the functional configurations of the server of FIG. 4. It is a figure which shows an example of the result of group control performed by the server of FIG. It is a figure which is an example of the result of group control performed by the server of FIG. 5, Comprising: It is a figure which shows an example different from FIG. It is an example of a result of group control performed by the server of FIG. 5, Comprising: It is a figure which shows an example different from FIG.6 and FIG.7. It is an example of a result of group control performed by the server of FIG. 5, Comprising: It is a figure which shows an example different from FIG. 6 thru | or FIG. It is an example of a result of group control performed by the server of FIG. 5, Comprising: It is a figure which shows an example different from FIG. 6 thru | or FIG. It is an image figure which shows an example of the calculation method of group control performed by the server of FIG. It is an image figure which shows an example of the calculation method of the group control performed by the server of FIG. 5, and is a figure which shows an example different from FIG. It is an image figure which shows an example of the calculation method of group control performed by the server of FIG. 5, and is a figure which shows an example different from FIG.11 and FIG.12. It is an image figure which shows an example of the calculation method of the group control performed by the server of FIG. 5, and is a figure which shows an example different from FIGS. 11-13. It is an image figure which shows an example of the calculation method of the group control performed by the server of FIG. 5, and is a figure which shows an example different from FIGS. 11-14. It is a figure which is an example of the result of group control performed by the server of FIG. 5, Comprising: It is a figure which shows an example different from FIG. It is an image figure which shows the outline | summary of "high-precision map and waypoint" which is one of the existing methods.

Hereinafter, embodiments of the present invention will be described using the drawings.

FIG. 1 is an image diagram showing an outline of an example of group control by a particle method which is a basic technology of the present invention.
In the present specification and the like, the particle method is a kind of group control method in which each moving body is regarded as one particle and controlled. In group control by particle method, information of physical quantity of each moving object is acquired in real space, and information of the physical quantity is input in virtual space to execute predetermined model calculation according to the physical law, and the model again in real space A group is controlled by changing the trajectory of each mobile based on the output of calculation.

The real space is a normal space in which an object exists, and is used to distinguish it from a virtual space described later. Here, an object moving in the real space is particularly referred to as a "moving object".
Further, the information of the physical quantity is information describing the physical state of the moving body, and includes, for example, the position, velocity, and acceleration of the moving body.
In addition, each moving object is a sensing means for acquiring information of physical quantity in real space, a transmission means for transmitting information of physical quantity in real space, and information of output of model calculation executed in virtual space in real space A receiving means to receive, and a trajectory changing means for changing its own trajectory in real space based on the result of the model calculation shall be provided.

The virtual space is a virtual space configured to perform model calculation.
Here, the model calculation is a calculation that calculates information of a predetermined physical quantity by performing calculation based on a predetermined model in accordance with the physical law of the real space, using information of the physical quantity acquired in the real space as an input.
Here, in the model calculation, it is possible to add a virtual element which is not present in real space and is useful for control of a group. Specifically, for example, there is a model in which a virtual spring (hereinafter referred to as a "virtual spring") that generates attractive force or repulsive force according to the distance between moving bodies is added between the moving bodies (hereinafter Models that add such virtual springs are called "spring models").

In the spring model, for example, when the distance between the two moving bodies is short, a repulsive force is generated to try to move them apart. Also, conversely, when the distance between the two moving bodies is long, an attractive force is generated to try to prevent each moving body from separating from the group.
By doing this, it is possible to avoid the collision of the moving bodies and the detachment of the moving bodies from the group.

An outline of group control by a particle method using a spring model will be described with reference to FIG. 1 as appropriate.
In step SS1, the moving body VR moving in the real space RS acquires position information of the moving body (including itself) included in the spherical space Sph of a predetermined radius centered on itself.
Here, since FIG. 1 is described taking a vehicle moving on a two-dimensional plane as an example, the spherical space Sph is drawn as a circle.

In step SS2, the mobile VR transmits the position information acquired in step SS1 to a predetermined information processing apparatus (for example, the server 1 in FIG. 3 described later).

In step SS3, the information processing apparatus receives the position information transmitted in step SS2, and uses the information as an input, to reconstruct the positional relationship of each mobile body in the virtual space CS. Specifically, for example, the mobile VC is a mobile VR reconfigured in the virtual space CS.
Furthermore, the information processing apparatus calculates a vector of force acting on each moving body by numerical analysis using a spring model.
Here, the vector of force is information specifying the direction and magnitude of the force acting on each moving body. The force vector is applied to the moving body so as to regard the moving body as one rigid body and identify the force acting on its center of gravity.

In step SS4, the information processing apparatus calculates a change in trajectory of each moving object at the next time step by numerical analysis based on an equation of motion using the force vector calculated in step SS3. The next time step is a time after a predetermined time (typically, about 50 milliseconds to one second) from the time when the position information of the moving object in the real space is acquired in step SS1. .

In step SS5, the information processing apparatus transmits, to the target moving body, the information on the trajectory change of each moving body calculated in step SS4.

In step SS6, the information processing apparatus instructs each moving body to change the trajectory based on the information on the trajectory change transmitted in step SS5.
Thus, each mobile changes its own trajectory.

The processes of steps SS1 to SS6 are performed on all the mobiles included in the group. As a result, due to the effect of the virtual spring, it is possible to avoid collision between moving bodies in real space and separation of moving bodies from the group.

FIG. 2 is an image diagram showing an example of the state of the virtual space in group control using the particle method and the lattice method.
Specifically, FIG. 2 shows the state of virtual space in group control by particle method based on the above-mentioned spring model, and the state of virtual space in group control in which particle method and "grid method" are coupled. FIG.
Therefore, FIG. 2 shows the principle of group guidance by the “flow field” of the virtual space described later, which is an advantage of group control in which the particle method and the “grid method” are coupled.

The virtual space CS-1 shows an example of the state of the virtual space when the group control by the particle method using the above-mentioned spring model is performed.
In the virtual space CS-1, there are a group G-1 including a plurality of mobiles (for example, mobile Mo-1) and an obstacle O-1. The group G-1 can maintain a group as a group by group control based on a particle method using a spring model, and can avoid collisions between moving bodies and detachment of the moving bodies from the group.

However, the spring model is a method of controlling the relative relationship of each moving body in the group G-1. That is, in the group control by the particle method using a spring model, the group G-1 can not be guided to a predetermined destination as a group. In other words, when the obstacle O-1 is present as shown in FIG. 2, the group G-1 can not advance beyond the obstacle O-1 in the Z direction.
Although the spring model has been described as an example here, it is impossible to guide a predetermined group as a group to a predetermined destination for group control by the particle method in general.
In group control by the particle method, in order to guide a group to a destination as a group, it is necessary to constantly maneuver one or more moving bodies in the group, which requires, for example, the labor cost of the pilot A problem arises.

The virtual space CS-2 is an example in which the groups G-2a and G-2b controlled by the particle method using the above-described spring model are further induced along the "flow field" generated by the lattice method. Show.

The generation of the "flow field" by the grid method will be described.
In the lattice method, a virtual space is configured based on information on the configuration of the real space. Furthermore, the virtual space is divided into fine "grids". In other words, in the present specification and the like, “grid” refers to the smallest unit of virtual space division in the grid method. Here, a plurality of "grids" continuously integrated is referred to as "mesh" and is used separately from "grid".
The "flow field" is a set of vectors of forces exerted by the virtual fluid on the moving body, which are applied to the representative points of the grids. In the grid method, a virtual flow flowing in a virtual space is generated as a flow field by numerical analysis based on computational fluid dynamics.
Here, in the grid method, for example, the viscosity of a virtual fluid forming a flow field (hereinafter referred to as “virtual fluid”) is variably set, or the pressure of the virtual fluid in a predetermined grid is variably set. , Flow fields suitable for group control purposes.

In the virtual space CS-2, there are a group G-2a, a group G-2b, and an obstacle O-2.
In the virtual space CS-2, the flow field is generated to flow in the Z direction. More precisely, for example, in the triangular lattice T-2, a vector of forces indicated by an arrow A-2 is generated as one of the elements constituting the flow field. A flow field flowing in the Z direction is generated as a collection of force vectors generated on each lattice in such a virtual space CS-2.
Here, the flow field of the virtual space in the region R-2 is generated so as to avoid the obstacle O-2.

The flow field generated as described above allows each mobile unit to move around the virtual space CS-2 like a fallen leaf on a river flow while avoiding an obstacle.
For example, although groups G-2a and G-2b were originally one group around Z = 0, they are induced by the flow field, and groups G-2a and G-2b are around obstacle O-2. By breaking up, we are avoiding obstacle O-2.

The groups G-2a and G-2b are also group-controlled by the particle method using a spring model, so that collisions of moving bodies in each group and separation of moving bodies from the group can be avoided.
That is, according to the group control in which the particle method and the lattice method are coupled, the group method is maintained as a group by the particle method, and the collision between the moving bodies and the detachment of the moving bodies from the group are avoided. Groups can be derived as a group to avoid obstacles.
That is, according to the group control in which the particle method and the grid method are coupled, it is possible to guide the group as a group to the destination without requiring a pilot.

FIG. 3 is a block diagram showing the configuration of an information processing system according to an embodiment of the present invention, which is an information processing system capable of realizing the group control shown in FIGS. 1 and 2.
The information processing system of FIG. 3 is configured to include the server 1 and M (M is an arbitrary integer value of 1 or more) mobile bodies 2-1 to 2-M.

The server 1 and the mobile units 2-1 to 2-M are mutually connected via a predetermined network N such as the Internet.
However, hereinafter, when it is not necessary to distinguish the moving objects 2-1 to 2-M individually, they are collectively referred to simply as "the moving object 2".

As described above, the mobile unit 2 includes sensing means, transmitting means, receiving means, and activation changing means.
The sensing means acquires information of physical quantities in real space. The transmitting means transmits the information of the physical quantity to the server 1 via the network N. The receiving means receives the information of the output of the model calculation in the virtual space from the server 1 via the network N in the real space. Trajectory changing means changes its own trajectory in real space based on the result of the model calculation.

FIG. 4 is a block diagram showing an example of a hardware configuration of a server according to an embodiment of the information processing apparatus of the present invention among the information processing system of FIG. 3.

The server 1 includes a central processing unit (CPU) 11, a read only memory (ROM) 12, a random access memory (RAM) 13, a bus 14, an input / output interface 15, an input unit 16, an output unit 17, and storage. A unit 18, a communication unit 19, and a drive 20 are provided.

The CPU 11 executes various processes in accordance with various programs stored in the ROM 12 or various programs loaded from the storage unit 18 into the RAM 13.
The RAM 13 appropriately stores data and the like necessary for the CPU 11 to execute various processes.

The CPU 11, the ROM 12 and the RAM 13 are connected to one another via a bus 14. An input / output interface 15 is also connected to the bus 14. An input unit 16, an output unit 17, a storage unit 18, a communication unit 19 and a drive 20 are connected to the input / output interface 15.

The input unit 16 includes various hardware and the like, and inputs various information.
The output unit 17 is configured by various liquid crystal displays or the like, and outputs various information.
The storage unit 18 is configured by a hard disk, a dynamic random access memory (DRAM), or the like, and stores various data.
The communication unit 19 controls communication with another device (for example, the mobile unit 2 in FIG. 3) via the network N such as the Internet.

The drive 20 is provided as needed. A removable medium 21 composed of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory or the like is appropriately attached to the drive 20. The program read from the removable media 21 by the drive 20 is installed in the storage unit 18 as necessary. The removable media 21 can also store various data stored in the storage unit 18 in the same manner as the storage unit 18.

FIG. 5 is a functional block diagram showing an example of the functional configuration of the server 1 of FIG. 4 that enables group control in which the particle method and the lattice method are coupled.
In the CPU 11 of the server 1, when group control in which the particle method and the lattice method are coupled is performed, the lattice method control unit 101 and the particle method control unit 102 function.

In the lattice method control unit 101, a real space configuration information acquisition unit 111, a virtual space construction unit 112, a flow field calculation unit 113, and a reception unit 114 function.

The real space configuration information acquisition unit 111 acquires information on the configuration of a predetermined real space as real space configuration information from each of the moving objects 2-1 to 2-M.
The information on the configuration of the real space referred to here is, for example, information including the information on the arrangement of the floor, the wall, the ceiling, etc. constituting the real space, as well as the information on the shape and coordination of the object existing in the real space is there.

The virtual space configuration unit 112 configures the above-described predetermined real space configuration as a virtual space based on the real space configuration information acquired by the real space configuration information acquisition unit 111.
In addition, comprising as a virtual space here includes discretizing a virtual space other than comprising the flow path of the flow field in virtual space based on real space structure information.
The term “discretize virtual space” as used herein refers to a structural unit (grid that is sufficiently fine to describe the continuum in the calculation so that the virtual space, which is essentially a continuum, can be calculated based on computational fluid dynamics). Work to divide into).
Here, specific parameters in discretization of the virtual space, for example, the shape, size, and configuration of the grid are not particularly limited, and based on predetermined input information acquired via the reception unit 114 described later, Values of suitable parameters are appropriately set.

For example, as indicated by an arrow A-2 in FIG. 2, the flow field calculation unit 113 calculates vectors of forces at representative points of grids obtained by dividing the virtual space to generate a flow field.
Here, the calculation of the force vector includes not only solving the equation analytically, but also calculating the solution numerically using the simulation based on numerical fluid dynamics repeatedly.
Here, as described above, the flow field calculation unit 113 can variably set various parameters. For example, the flow field calculation unit 113 can variably set the viscosity of the virtual fluid, or variably set the pressure of the virtual fluid of a predetermined grid, and can generate a flow field suitable for the purpose of group control. It is assumed that the information necessary for such setting is acquired via the reception unit 114 described later.

The accepting unit 114 accepts values of parameters used in the virtual space constructing unit 112 and the flow field calculating unit 113 described above.

In the particle method control unit 102, a moving body information acquisition unit 121, a physical quantity calculation unit 122, a trajectory change calculation unit 123, and a trajectory change instruction unit 124 function.

The moving body information acquisition unit 121 acquires information indicating the states of the plurality of moving bodies 2-1 to 2-M in the real space as moving body information from the moving bodies 2-1 to 2-M.
Here, the moving body information is information including the physical quantity of the moving body, for example, the position, velocity, and acceleration of the moving body.

Physical quantity calculation unit 122 receives the moving body information acquired by moving body information acquisition unit 121 as an input, and calculates a vector of force acting on each of moving bodies 2-1 to 2-M in the virtual space by predetermined model calculation. Calculate
Specifically, for example, the moving body information is input, and based on the above-described spring model, vectors of forces acting on the moving bodies 2-1 to 2-M are calculated from virtual springs.

The trajectory change calculation unit 123 calculates the force vector of each grid calculated by the flow field calculation unit 113 and the vector of the force acting on each of the moving bodies 2-1 to 2-M calculated by the physical quantity calculation unit 122. Based on an equation of motion using at least one as an input, the trajectory change at each next time step of the moving objects 2-1 to 2-M in the virtual space configured by the virtual space configuration unit 112 is calculated.

The trajectory change instruction unit 124 transmits the information on the trajectory change calculated by the trajectory change calculation unit 123 to the moving objects 2-1 to 2-M.
The trajectory change instructing unit 124 further instructs each of the moving objects 2-1 to 2-M in the real space to change the trajectory based on the information on the trajectory change.

FIG. 6 is a diagram showing an example of the result of group control executed by the server 1 of FIG.
Specifically, FIG. 6 is a view sequentially illustrating an example in which a group moving in a predetermined virtual space avoids an obstacle by group control in which a particle method and a lattice method are coupled.

In FIG. 6, virtual spaces CS-61 to CS-65 show the state of the same virtual space at each time of each time step t-61 to t-65.

In the virtual space CS-61, the group G-6 is aligned in two rows near Z = 0.
Here, in the virtual space CS-61, a flow field flowing in the Z direction as a whole is generated.
Also, in the region R-6, a flow field is generated to flow so as to avoid the obstacle O-6.

In the virtual space CS-62, the group G-6 reaches the vicinity of the obstacle O-6 and begins to split.

In the virtual space CS-63, the group divided into the group G-6a and the group G-6b avoids the obstacle O-6 along the flow field.

In the virtual space CS-64, the group G-6a and the group G-6b, which have avoided the obstacle O-6, start merging.

In the virtual space CS-65, the group G-6 reaches around Z = Zd and is aligned in two rows.

As described above, according to group control in which the particle method and the lattice method are coupled, the lattice method is maintained as a group by the particle method, and the lattices are further avoided while avoiding collisions between moving bodies and detachment of the moving bodies from the group. By means of the method, groups can be derived as a group to avoid obstacles.

FIG. 7 is a diagram showing an example of the result of the group control executed by the server 1 of FIG. 5 and an example different from FIG.
More specifically, FIG. 7 shows an example in which a group moving in a predetermined virtual space avoids an obstacle and reaches a predetermined target place over time by group control in which a particle method and a lattice method are coupled. FIG.

In the virtual space CS-7, there exist a group G-7, an obstacle O-7 and a destination D-7.
Here, inside the region R1, a flow field is generated in which the group G-7 flows so as to avoid the obstacle O-7.
In addition, in the region R2, a flow field is generated in which the group G-7 flows so as to be guided to the destination D-7.

In FIG. 7, each of virtual spaces CS-71 to CS-710 shows the state of virtual space CS-7 at each time of each time step t-71 to t-710.

In virtual space CS-71, group G-7 is aligned in two rows.

In virtual space CS-72, group G-7 travels in the Z direction and starts splitting into two groups.

In the virtual space CS-73, the group divided into the group G-7a and the group G-7b further travels in the Z direction while taking a trajectory avoiding the obstacle O-7.

In the virtual space CS-74, the group G-7a and the group G-7b reach the flow paths on both sides of the obstacle O-7.

In the virtual space CS-75, the group G-7a and the group G-7b travel in the flow path on both sides of the obstacle O-7.

In the virtual space CS-76, the group G-7a and the group G-7b reach the exit of the flow path on both sides of the obstacle O-7.

In the virtual space CS-77, the group G-7a and the group G-7b that have avoided the obstacle start approaching for merging.

In virtual space CS-78, group G-7a and group G-7b are closer to each other.

In the virtual space CS-79, the divided group G-7 becomes one group again and proceeds in the Z direction.

In the virtual space CS-710, the group G-7 has reached the destination D-7.

Here, since the position of the destination D-7 can be easily changed, it is also possible to guide the group G-7 as a group while changing the position of the destination D-7.
That is, the particle method keeps the unit as a group of the group G-7, and avoids the collision between the moving bodies included in the group G-7 and the detachment of the moving bodies from the group, and further the group G by the lattice method. -7 can be guided to various destinations as a group.

FIG. 8 is a diagram showing an example of the result of the group control executed by the server 1 of FIG. 5 and an example different from FIGS. 6 and 7.
Specifically, FIG. 8 shows an example of combining two meshes having the same start point and independent end points, generated using the grid method, and generating a mesh having one start point and two end points. It is.

The mesh M1 is a mesh having a start point S and an end point Db.
Here, the direction of the flow field near the start point S is as shown by arrow Aa, and the direction of the flow field near the end point Db is as shown by arrow Ab. That is, the direction of the vector of force generated in each lattice of the mesh M1 is the same as the arrow Aa near the start point S and the arrow Ab near the end point Db.

Similarly, the mesh M2 is a mesh having a start point S and an end point Dc, the direction of the flow field near the start point S is as shown by arrow Aa, and the direction of the flow field near the end point Dc is as shown by arrow Ac become.

The mesh M3 is a mesh obtained by combining the mesh M1 and the mesh M2, and has one start point S, two end points Db, and an end point Dc.
The direction of the flow field near the start point S is as shown by arrow Aa, the direction of the flow field near the end point Db is as shown by arrow Ab, and the direction of the flow field near the end point Dc is as shown by arrow Ac.
Further, in the mesh M3, a branch point Br is formed in which the mesh M1 and the mesh M2 branch in different directions.

FIG. 9 is a diagram showing an example of the result of the group control executed by the server 1 of FIG. 5 and an example different from those of FIGS.
Specifically, in FIG. 9, as in the example of FIG. 8, a group traveling on a mesh having a predetermined branch point, generated by combining two meshes, couples the particle method and the lattice method. It is a figure which shows an example which isolate | separates smoothly in the said junction | node by said group control.

Here, in FIG. 9, the mobile indicated by the black circle is induced by the flow field of the mesh M-9a, and the mobile indicated by the white circle is induced by the flow field of the mesh M-9b.
Also, in FIG. 9, virtual spaces CS-91 to CS-94 show the same virtual state at each time of each time step t-91 to t-94.

In virtual space CS-91, group G-9 is guided in the direction of arrow A-9c.
Here, in the group G-9, a mobile indicated by a black circle and a mobile indicated by a white circle are mixed. Since the direction of the flow field in the vicinity of the starting point S-9 of the mesh M-9a and the mesh M-9b is the same as that of the arrow A-9c, all moving bodies included in the group G-9 are of the arrow A-9a It is guided in the direction.

In virtual space CS-92, group G-9 reaches branch point Br-9. Here, after the branch point Br-9, the mobile indicated by the black circle moves in the direction of the arrow A-9a, and the mobile indicated by the white circle moves in the direction of the arrow A-9b. That is, group G-9 separates at branch point Br-9.
Here, since each moving body in the group G-9 is under control by the particle method, even at the branch point Br-9, moving bodies heading in different directions do not collide with each other, and Smooth separation is realized.

In virtual space CS-93, from the branch point Br-9, mobile objects indicated by black circles form group G-9a, and mobile objects indicated by white circles form group G-9b.

In virtual space CS-94, groups G-9a and G-9b further progress along their respective traveling directions.

According to the method of group control in the example of FIG. 9, for example, it is possible to control the outflow of the mobile body from the main line of the road or the route to the branch line. That is, by setting the main line and the branch line as separate meshes as described above and generating independent flow fields, the moving object traveling on the main line flows out to the branch line along the flow field of the main line mesh. The mobile is guided along the mesh flow field of the branch line. Here, since each mobile unit is controlled by the particle method, problems such as collision, congestion, congestion and the like can be avoided at the bifurcation.

FIG. 10 is a diagram showing an example of the result of the group control executed by the server 1 of FIG. 5 and an example different from those of FIGS.
Specifically, in FIG. 10, a group of flying vehicles traveling on two virtual air routes having a predetermined junction merges smoothly at the junction by the group control in which the particle method and the grid method are coupled. It is a figure which shows an example.

Here, the virtual air route refers to a virtual air route that controls the flight path of the flying object flying in the sky by the flow field on the mesh generated by the grid method. Also, here, since FIG. 10 is a view of a real space, the mesh and the flow field are not drawn out.
Here, the flying object means the moving object 2 of FIG. 3 equipped with the flight function, and is controlled by the particle method or the grid method.

In FIG. 10, a virtual air route connecting the starting point Sa and the destination D-10 guides a white vehicle (for example, a vehicle Foa) in the direction of the arrow Aa.
Further, a virtual air route connecting the starting point Sb and the destination D-10 guides a hatched flying object (for example, flying object Fob) in the direction of the arrow Ab.
Here, the guiding device Gd prevents the flight vehicle from coming out of the virtual air by, for example, a beacon function.

In FIG. 10, a white vehicle and a shaded vehicle merge at a junction Co.
Here, since the respective flying bodies are controlled by the particle method, smooth merging is possible without colliding with each other at the merging point Co.
After merging, each flying object, for example, flying object Foc is guided in the direction of arrow Ac.

As described above, group control in which the particle method and the lattice method are coupled enables smooth merging while avoiding a collision. As a result, the occurrence of collision, congestion, congestion and the like at the junction point Co can be avoided, which leads to the improvement of the transport density and transport speed using the aircraft.

FIG. 11 is an image diagram showing an example of a group control calculation method executed by the server 1 of FIG.
Specifically, FIG. 11 is a numerical analysis based on computational fluid dynamics in the lattice method, in which the pressure on the virtual fluid of the lattice at the position of the moving body (hereinafter abbreviated as “the pressure of the lattice”) is set high It is an image figure showing an outline of a calculation method for generating a flow field for guiding a mobile to a destination by setting the pressure of the grid at the destination low.

In the real space RS-11, there are a plurality of options including the route P-1a, the route P-1b, and the route P-1c in order to guide the moving object V-1 to the destination D-11a.
In such a case, in the corresponding virtual space, the pressure of the grid at the position of the mobile V-1 is set high, and the pressure of the grid of the destination D-11 is set low, so that the mobile V-1 can be set. One path leading to the destination D-11a is determined by numerical analysis based on computational fluid dynamics.

The virtual space CS-11 is an example of setting the pressure difference with respect to the virtual fluid as described above to determine the path of the moving body, the pressure of the grid at the position of the moving body V-2a is high, and the destination D-11b The pressure of the grid in the region R-11, which contains
With such a setting, by performing numerical analysis based on computational fluid dynamics, a path P-2a for guiding the moving body V-2a to the destination D-11 in the passage Cor is determined.

FIG. 12 is an image diagram showing an example of a group control calculation method executed by the server 1 of FIG. 5, and is a diagram showing an example different from FIG.
Specifically, FIG. 12 is an outline of a method of determining a route for avoiding traffic congestion or congestion by setting the pressure of an area where traffic congestion or congestion of a mobile object is high by flow field generation in the grid method. FIG.

In the real space RS-12, mobile V-1d moves along path P-1d, mobile V-1e moves along path P-1e, and mobile V-1f moves along path P-1f. ing.
That is, the area Are-1 of the real space RS-12 is crowded.

In the virtual space CS-12, the pressure in the area Are-2 corresponding to the area Are-1 of the real space RS-12 is set high. As a result, the mobile unit V-2b can select the route P-2b avoiding the area Are-2 and avoid congestion.

FIG. 13 is an image diagram showing an example of a group control calculation method executed by the server 1 of FIG. 5, and is a diagram showing an example different from FIGS. 11 and 12.
Specifically, FIG. 13 shows flow field generation in the grid method, and when an obstacle is present in the traveling direction of a moving object, the obstacle is avoided in different ways depending on the width of the passage where the obstacle is present. It is an image figure which shows the outline of the method to do.

In the virtual space CS-13a, when guiding the person H-1 to the destination D-13a, the obstacle O-13a blocks the path of the person H-1 in the passage Cor-1 Do.
In such a case, by setting the pressure at the position of the obstacle O-13a high, the passage Cor-1 becomes impassable, and the route P-13a bypassing the passage Cor-1 is selected.

In the virtual space CS-13b, when guiding the person H-2 to the destination D-13b, the obstacle O-13b is in the passage Cor-2, but the passage Cor-2 is completely blocked. It shall not be.
In such a case, even if the pressure at the position of the obstacle O-13b is set high, the passage Cor-2 is still passable, and as a result, a route bypassing the obstacle O-13b in the passage Cor-2 P-13b is selected.

FIG. 14 is an image diagram showing an example of a group control calculation method executed by the server 1 of FIG. 5 and is a diagram showing an example different from FIGS. 12 to 13.
Specifically, FIG. 14 is an image diagram showing an outline of a method of performing viewpoint conversion from a map coordinate system to a vehicle coordinate system in a virtual space to control a group of vehicles passing through an area having an intersection in real space. It is.

The map coordinate system refers to a coordinate system having axes of spatial directions orthogonal to one another in one to three dimensions, in which all axes are fixed in a virtual space.
In the vehicle coordinate system, the relative distance between a specific moving object whose origin is fixed (hereinafter referred to as “own vehicle”) and another moving object (hereinafter referred to as “other vehicle”) is used as a coordinate axis. A one-dimensional coordinate system. Here, the traveling direction of the vehicle is taken in the positive direction, and the opposite is taken in the negative direction.
Here, the names of "vehicle coordinate system", "own vehicle" and "other vehicle" are used for the sake of convenience because the moving body in the present description is a vehicle, and the names are not particularly limited thereto. Specifically, for example, when the moving object is an airplane, the names of “plane coordinates”, “own aircraft”, and “other aircraft” may be used.

In the natural world, there is no physical phenomenon suitable for the model calculation of intersection of moving objects by the particle method and turning from left to right. That is, when there is an intersection, in the particle method using a normal map coordinate system, it is not possible to control the intersection between moving bodies and the left / right turn merging.
However, according to the particle method, the coordinate system used in the virtual space is converted to the vehicle coordinate system, and in addition to the moving object moving in the front and back of the vehicle in real space, the moving object including crossing and merging may be included. By performing the control, it is possible to control the intersection and the turn intersection.

The conversion from the map coordinate system to the vehicle coordinate system will be described using FIG. 14 as appropriate.
The coordinate system Ax-M shows an example of displaying the state of a predetermined virtual space CS-14 at the intersection CR using a map coordinate system.
The own vehicle Vs is moving along the route Ps.
The other vehicle Vo-1 is moving along the route Po-1. Here, the route Po-1 includes the right turn at the intersection CR, and after the right turn merges with the route Ps.
The other vehicle Vo-2 is moving along the route Po-2. Here, the route Po-2 includes the right turn at the intersection point CR, and at this time, the route Po-2 and the route Ps intersect.
The other vehicle Vo-3 is moving along the route Po-3. Here, the route Po-3 goes straight through the intersection CR, and at this time, the route Po-3 and the route Ps intersect.

The coordinate system Ax-Vo shows an example of the result of converting the state of the virtual space CS-14 on the aforementioned coordinate axis Ax-M into a vehicle coordinate system.
The origin of the coordinate axis Ax is fixed to the vehicle Vs, and other vehicles moving forward and backward are displayed at a position specified by the relative distance and direction from each vehicle Vs.
Here, vehicles having the possibility of crossing or merging, such as the other vehicles Vo-1 and Vo-2 and the other vehicles Vo-3 described above are also displayed on the coordinate axes Ax-Vo.
Here, when the distance between the vehicle Vs and the other vehicle is larger than the influence radius Reff, the two do not interact with each other. That is, no force works between the two.

By performing control according to the particle method using such coordinate axes Ax-Vo, it is possible to control smooth intersection or right / left turn / join at intersection CR.
As an example of applying the spring model, when the distance between the vehicle Vs and the other vehicle Vo-3 becomes too close on the coordinate axis Ax-Vo, a repulsive force is generated between the two (for example, the real space) The collision at the intersection CR can be avoided by the acceleration of the other vehicle Vo-3.
In addition, a virtual spring is also added between the other vehicle Vo-3 and the other vehicle Vo-4.
Furthermore, a virtual spring is similarly added between the vehicle Vs and the other vehicle Vo-4.
And a virtual spring added between the vehicle Vs and the other vehicle Vo-3, a virtual spring added between the vehicle Vs and the other vehicle Vo-4, another vehicle Vo-3 and the other vehicle The force generated in the virtual spring applied between Vo-4 is adjusted to prevent collision and separation according to the physical law.
Therefore, it is possible to avoid a collision or separation between the own vehicle Vs, the other vehicle Vo-3, and the other vehicle Vo-4.

FIG. 15 is an image diagram showing an example of a group control calculation method executed by the server 1 of FIG. 5 and is a diagram showing an example different from FIGS. 12 to 14.
Specifically, FIG. 15 shows an outline of the change of the force acting on the vehicle by the virtual spring connecting the vehicle and the other vehicle in the vehicle coordinate system described in FIG. 14 due to the positional relationship between the vehicle and the other vehicle. It is an image figure.

The graph Gr in FIG. 15 is a graph in which the vertical axis is the force acting on the vehicle Vs, and the horizontal axis is the distance Dij on the coordinate axis Ax.
Here, when the vertical axis is positive, the direction of the force acting on the vehicle is the positive direction of the coordinate axis Ax shown in the diagram Dg, and when the vertical axis is negative, the direction of the force acting on the vehicle is It indicates that it is the negative direction of the coordinate axis Ax.
Here, when the distance between the vehicle Vs and the other vehicle Vo is larger than the influence radius Reff, the two do not interact with each other. That is, no force works between the two.

A thick line F1 and a thick line F2 in the graph indicate the distance Dij dependency of the force acting on the vehicle Vs.
When another vehicle is between the position Veffm and the position Vstdm on the coordinate axis Ax, an attractive force acts between the vehicle Vs and the other vehicle, and the vehicle Vs receives a force in the negative direction. Here, the magnitude of the force that the vehicle Vs can receive increases as the Dij decreases, but a predetermined maximum value (MAX) is set and does not become larger.
When another vehicle is between the position Vstdm and the position VLimm on the coordinate axis Ax, a repulsive force acts between the vehicle Vs and the other vehicle, and the vehicle Vs receives a force in the positive direction. Here, the magnitude of the force received by the vehicle Vs increases as the Dij increases.
When another vehicle is between the position VLimm and the origin on the coordinate axis Ax, a repulsive force acts between the vehicle Vs and the other vehicle Vo, and the vehicle Vs receives a force in the positive direction. Here, the magnitude of the force received by the vehicle Vs is a predetermined constant value (MAX).

When another vehicle is on the coordinate axis Ax and between the origin and the position VLim, a repulsive force acts between the vehicle Vs and the other vehicle Vo, and the vehicle Vs receives a force in the negative direction. Here, the magnitude of the force received by the vehicle Vs is a predetermined constant value (MAX).
When another vehicle is between the position VLim and the position Vstd on the coordinate axis Ax, a repulsive force acts between the vehicle Vs and the other vehicle, and the vehicle Vs receives a force in the negative direction. Here, the magnitude of the force received by the vehicle Vs decreases as the Dij increases.
When another vehicle is between the position Vstd and the position Veff on the coordinate axis Ax, an attractive force works between the vehicle Vs and the other vehicle, and the vehicle Vs receives a force in the positive direction. Here, the magnitude of the force that the vehicle Vs can receive increases as Dij increases, but a predetermined maximum value (MAX) is set and does not become larger.

FIG. 16 is a diagram showing an example of the result of the group control executed by the server 1 of FIG. 5, which is different from FIGS. 6 to 10.
More precisely, FIG. 16 illustrates an example of controlling the physical distribution in the warehouse by group control in which the particle method and the grid method are coupled to avoid collisions between moving bodies and collisions between moving bodies and people. FIG.

Each control of the mobile unit in FIG. 16 will be described.
When guiding the moving object C-Ra of the real space RS-16 to the destination D-Ra, the moving object C-Ra of the real space RS-16, the destination D-Ra, the person H-Ra, Are reproduced in a virtual space CS-16 as a mobile C-Ca, a destination D-Ca, and a person H-Ca.
Here, in the numerical analysis of the grid method, as shown in FIG. 11 and FIG. 12, the pressure of the grid at the position of the starting point of the mobile C-Ca and the pressure of the grid in the region where human H-Ca exists Is set high and the lattice pressure of the destination D-Ca is set low, the appropriate path P-Ca for bypassing the human H-Ca is determined.
That is, in the real space RS, not the path P-Rb blocked by the person H-Ra but the path P-Ra is selected.

When guiding the mobile C-Rd in the real space RS-16 to the destination D-Rd, the mobile C-Rd in the real space RS-16, the destination D-Rd, and the person H-Rd The moving object C-Cd, the destination D-Cd, and the person H-Rd are reproduced in the virtual space CS-16.
Here, in the numerical analysis of the grid method, as in the example shown in FIG. 11 and FIG. 12, the pressure of the grid at the position of the starting point of the mobile C-Cd and the grid of the area where the human H-Cd exists By setting the pressure high and setting the pressure of the grid of the destination D-Cd low, an appropriate path P-Cd bypassing the person H-Cd is selected.
That is, in the real space RS-16, not the path P-Re blocked by the person H-Rd but the path P-Rd is determined.

Here, the route P-Rd selected by the mobile C-Rd approaches the route P-Rc of the mobile C-Rc at the intersection point CR-R.
Therefore, here, as in the example shown in FIG. 14 and FIG. 15, the moving object C-Rd and the moving object C-Rc are controlled not to collide with each other by the particle method using the vehicle coordinate system.

FIG. 17 is an image diagram showing an outline of “high accuracy map and waypoint” which is one of the existing methods.
Specifically, FIG. 17 shows three different outlines of "high accuracy map and waypoint" which is a method of controlling route selection and route change of a vehicle by waypoints embedded in a predetermined high accuracy map. It is a figure explained from a viewpoint.

At the viewpoint VP-1, a waypoint indicating the direction in which the vehicle travels, such as the waypoint WPa, is fixed in the virtual space, like a rail of a railway.
Here, individual vehicles are guided along the row of waypoints.
Also, each waypoint holds information on position, orientation, and target speed.

In the viewpoint VP-2, two adjacent paths and a lane change path that can be generated between the two paths are shown.
The route Pa is a route in which the vehicle V-17 is traveling, and the route Pb is a route adjacent to the route Pa. Here, on the path Pa, there is a waypoint WPb which is a starting point of the lane change path Pc by setting a predetermined right turn flag. Here, the right turn flag is not set, and the lane change path Pc is not active.

The viewpoint VP-3 shows the case where the above-mentioned right turn flag is set. When the vehicle V-17 traveling on the route Pa reaches the waypoint WPb, the lane changing route Pc becomes active, and the route Pb adjacent to the route Pa is set as the next route.

Here, since the waypoint is fixed in the virtual space, for example, when the waypoint is blocked by a stopped vehicle or a parked vehicle, the flow of traffic of other vehicles guided by the waypoint is obstructed There is a problem of
On the other hand, according to the group control combining the particle method and the grid method, the vehicle being guided does not get caught in the lane, so that the stopped vehicle and the parked vehicle are The avoidance can prevent the traffic flow of the vehicle from being obstructed.

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, A deformation | transformation in the range which can achieve the objective of this invention, improvement, etc. are included in this invention It is regarded as

Also, for example, in the above-described embodiment, the generation of the flow field of the virtual space is performed using the grid method, but it is not particularly limited thereto. That is, the method used to generate the flow field of the virtual space may be any method that generates the flow field of the virtual space using numerical analysis.

Also, for example, in the above-described embodiment, the mobile unit information is described as being acquired by the mobile unit 2, but the present invention is not particularly limited thereto. That is, it is sufficient if mobile object information is acquired by any information acquisition device or information acquisition means.
Specifically, for example, it may be acquired by an external device such as the guiding device Gd.

Also, for example, in the above-described embodiment, the mobile unit information is described as being transmitted to the server 1 by the mobile unit 2, but the present invention is not particularly limited thereto. That is, it is sufficient if the mobile information is transmitted to the server 1 by some transmitting device or transmitting means.
Specifically, for example, it may be transmitted to the server 1 by an external device such as the guiding device Gd.

Also, for example, in the above-described embodiment, the real space configuration information is described as being acquired by the mobile unit 2, but it is not particularly limited to this. That is, real space configuration information may be acquired by any information acquisition device or information acquisition means.
Specifically, for example, it may be acquired by an external device such as the guiding device Gd.

Also, for example, in the above-described embodiment, the real space configuration information is described as being transmitted to the server 1 by the mobile unit 2, but the present invention is not particularly limited thereto. That is, it is sufficient if real space configuration information is transmitted to the server 1 by some transmitting device or transmitting means.
Specifically, for example, it may be transmitted to the server 1 by an external device such as the guiding device Gd.

Further, for example, in the above-described embodiment, as a physical model used in the particle method, a spring model is described as an example, but it is not particularly limited thereto. That is, any physical model suitable for the purpose of implementation is sufficient.
Specifically, for example, a mobile body in a predetermined region may be regarded as a gas molecule, and a model in which the pressure of the gas is obtained from the density of the mobile body may be adopted. Also, for example, even if a moving body in a predetermined region is regarded as a solid molecule, and a model for obtaining the stress of the solid based on the deviation from the predetermined position of each moving body (corresponding to distortion of the solid) is adopted. Good.

Further, for example, in the above-described embodiment, although the vehicle or the flying body has been described as an example of the moving body 2, the invention is not particularly limited thereto. That is, any mobile unit having a function as the mobile unit 2 is sufficient.
Specifically, for example, a ship, a submarine, or a spacecraft may be used.

Also, for example, in the above-described embodiment, the moving body 2 is described as including the trajectory changing means, but it is not particularly limited thereto. That is, if it is possible to change the trajectory of the moving body 2 by some means, the moving body 2 does not have to be provided with the trajectory changing means.
Specifically, for example, the mobile body 2 which is a small surgical robot may be operated from the outside of the patient's body using a predetermined device that generates a magnetic field.

Further, for example, the type of real space configuration information acquired by the real space configuration information acquisition unit 111 is not particularly limited to the example of the above-described embodiment. That is, real space configuration information may be any information that can be used for the configuration of the virtual space of the virtual space configuration unit 112 and the generation of the flow field of the flow field calculation unit 113.
Specifically, for example, the real space configuration information is information on an external force that can act on the mobile object from the surrounding environment, information on surrounding waves in group control of ships on the sea, and group control of submarines in the sea It may include information on surrounding ocean currents. Also, for example, the real space configuration information may include information of an area where moving objects are dangerous to pass, for example, information of an area where flux of cosmic rays is large in group control of a spacecraft in space.

Further, for example, the types of parameters that can be set by discretization of the virtual space of the virtual space configuration unit 112 are not particularly limited to the examples of the above-described embodiment. That is, the parameters set in the discretization of the virtual space may be any parameters that can be used for discretizing the virtual space.
Specifically, for example, the distribution of the density of the grid within a region of a certain size in a wider region may be used as one type of parameter. Further, for example, the correlation between the shape and size of the lattice may be used as one type of parameter.

Further, for example, the types of parameters that are variably set in the generation of the flow field of the flow field calculation unit 113 are not particularly limited to the example of the above-described embodiment. That is, the parameters that are variably set in the flow field generation may be any parameters that can be used to generate the flow field.
Specifically, for example, the maximum allowable local flow velocity in generation of the flow field may be set as one type of parameter. Also, for example, the maximum allowable vorticity in the generation of the flow field may be one kind of parameter.

Further, for example, the type of mobile object information acquired by the mobile object information acquisition unit 121 is not particularly limited to the example of the above-described embodiment. That is, any information that can be used for the calculation of the physical quantity calculation unit 122, information that can be used for the calculation of the trajectory change calculation unit 123, or information that can be used for an instruction to change the trajectory by the trajectory change instruction unit 124 is sufficient. .
Specifically, for example, information on weight, strength, remaining amount of fuel, and material information of the moving body (for example, permeability, permittivity, shielding degree against radiation) may be included.

Also, for example, the series of processes described above can be performed by hardware or software.
In other words, the functional configuration of FIG. 5 is merely an example and is not particularly limited.
That is, it is sufficient if the information processing system is provided with a function capable of executing the above-described series of processes as a whole, and what functional block is used to realize this function is not particularly limited to the example of FIG. Also, the location of the functional block is not particularly limited to that in FIG. 5 and may be arbitrary.
Further, one functional block may be configured by hardware alone, may be configured by software alone, or may be configured by a combination of them.

Further, for example, in the case of executing a series of processes by software, a program configuring the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer incorporated in dedicated hardware.
The computer may be a computer capable of executing various functions by installing various programs, for example, a server, a smartphone, a personal computer, or various devices.

Also, for example, the recording medium including such a program is not only configured by removable media distributed separately from the apparatus main body to provide the program to the user, but also for the user in a state incorporated in advance in the apparatus main body. It comprises the provided recording medium and the like.

In the present specification, in the step of describing the program to be recorded on the recording medium, the processing performed chronologically along the order is, of course, parallel or individually not necessarily necessarily chronologically processing. It also includes the processing to be performed.

In summary, the information processing apparatus to which the present invention is applied only needs to have the following configuration, and various various embodiments can be taken.
That is, the information processing apparatus to which the present invention is applied is
A first acquisition unit (for example, a real space configuration information acquisition unit 111 in FIG. 5) for acquiring information on the configuration of a predetermined real space as the real space configuration information;
Configuration means (for example, virtual space configuration unit 112 in FIG. 5) configured to configure the predetermined real space configuration as a virtual space based on the real space configuration information;
First calculating means (for example, the flow field calculating unit 113 of FIG. 5) for calculating the force vector of each point of the virtual space;
Can be provided.
According to the information processing apparatus to which the present invention is applied, it is possible to generate the flow field of the virtual space by the lattice method and to guide a plurality of moving bodies along the flow field.
That is, a group of mobiles in a specific area can be guided as a group while maintaining the coordination by the particle method.

Further, an information processing apparatus to which the present invention is applied is
A second acquisition unit (for example, mobile object information acquisition unit 121 in FIG. 5) for acquiring, as mobile object information, information indicating each state of a plurality of mobile objects in the real space;
Second calculating means (for example, the physical quantity calculating unit 122 in FIG. 5) for calculating physical quantities related to each of the plurality of moving subjects in the virtual space based on the moving subject information;
Third calculation means (for example, trajectory change calculation in FIG. 5) for calculating trajectory changes of the plurality of mobile objects in the virtual space based on at least one of the force vector, the mobile object information, and the physical quantity Part 123),
An instruction unit (for example, a trajectory change instruction unit 124 in FIG. 5) for instructing a change in the trajectory of each of the plurality of moving bodies in the real space based on the trajectory change;
Can further be provided.
According to the information processing apparatus to which the present invention is applied, it is possible to control a plurality of moving bodies by group control in which the particle method and the lattice method are coupled.
That is, it is possible to keep groups as a group by the particle method, and to guide groups as a group by the lattice method while avoiding collisions between moving bodies and detachment of the moving bodies from the group.

DESCRIPTION OF SYMBOLS 1 ... Server, 2 ... Mobile body, 11 ... CPU, 101 ... Lattice method control part, 102 ... Particle method control part, 111 ... Space structure information acquisition part, 112 .. Virtual space configuration unit 113: flow field calculation unit 114: reception unit 111: moving object information acquisition unit 112: physical quantity calculation unit 113: trajectory change calculation unit 114 ... Trajectory change instruction unit

Claims (2)

1. First acquisition means for acquiring information on the configuration of a predetermined real space as real space configuration information;
   Configuration means for configuring the predetermined real space configuration as a virtual space based on the real space configuration information;
   First calculating means for calculating a vector of forces at each point of the virtual space;
   An information processing apparatus comprising:
2. A second acquisition unit that acquires information indicating the state of each of a plurality of moving objects in the real space as moving object information;
   A second calculation unit that calculates physical quantities related to each of the plurality of mobile objects in the virtual space based on the mobile object information;
   Third calculation means for calculating a change in trajectory of the plurality of moving bodies in the virtual space based on at least one of the force vector, the moving body information, and the physical quantity;
   An instruction unit that instructs to change a trajectory of each of the plurality of moving bodies in the real space based on the trajectory change;
   Further comprising
   An information processing apparatus according to claim 1.

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