WO2019181895A1 - Système de gestion de corps mobile, procédé de commande pour système de gestion de corps mobile et serveur de gestion pour système de gestion de corps mobile - Google Patents

Système de gestion de corps mobile, procédé de commande pour système de gestion de corps mobile et serveur de gestion pour système de gestion de corps mobile Download PDF

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Publication number
WO2019181895A1
WO2019181895A1 PCT/JP2019/011305 JP2019011305W WO2019181895A1 WO 2019181895 A1 WO2019181895 A1 WO 2019181895A1 JP 2019011305 W JP2019011305 W JP 2019011305W WO 2019181895 A1 WO2019181895 A1 WO 2019181895A1
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WO
WIPO (PCT)
Prior art keywords
route
movement
information
delivery
management system
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Application number
PCT/JP2019/011305
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English (en)
Japanese (ja)
Inventor
伊藤洋
長井誠
大舘正太郎
惣野崇
藤原明彦
松本恒平
廣瀬史也
Original Assignee
本田技研工業株式会社
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Priority to JP2020507811A priority Critical patent/JP7320489B2/ja
Publication of WO2019181895A1 publication Critical patent/WO2019181895A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Definitions

  • 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.
  • US Patent Application Publication No. 2015/0339931 discloses a system, method and apparatus capable of flying according to a flight restricted area (summary).
  • a flight restricted area summary
  • UAV unmanned vehicle
  • U.S. Patent Application Publication No. 2015/0339931 compares the location of the UAV with the flight restricted area and, if necessary, the UAV takes action to avoid entering the no-fly zone. Take (summary).
  • US Patent Application Publication No. 2015/0339931 does not consider the characteristics of the flying object. Such a problem applies not only to a flying object but also to other autonomous moving objects (automobiles, ships, etc.) that perform autonomous movement.
  • the present invention has been made in consideration of the above-described problems, and a management system capable of providing a service more suitably in consideration of attributes of a plurality of mobile objects including autonomous mobile bodies, a control method thereof, and management
  • the purpose is to provide a server.
  • the management system includes: An autonomous mobile body with an autonomous control unit for moving from the departure place to the destination, A communication unit that communicates with the autonomous mobile body via a communication device, and manages a movement of a plurality of mobile bodies including the autonomous mobile body, At least two multiple route options between the starting point and the destination for one of the mobiles, or at least two multiple routes between the starting point and the destination for each of the multiple mobiles One moving route is selected from options based on the movement evaluation value calculated for each of the plurality of route options.
  • At least two multiple route options between a starting point and a destination for one mobile unit, or at least two multiple routes between a starting point and a destination for each of the multiple mobile units One movement route is selected based on the movement evaluation value calculated for each of the plurality of route options from the options. Accordingly, it is possible to select one moving route in consideration of the attributes of a plurality of moving objects or the attributes of a plurality of route options. Therefore, it is possible to provide a service more appropriately in consideration of the attributes of a plurality of mobile objects.
  • the movement management unit may acquire a service request received from an external device or generated by itself, and select one movement path from the plurality of path options according to the service request. This makes it possible to select a movement route according to the service request.
  • Examples of the service include delivery of luggage, transportation of people, emergency use, shooting, advertisement, security monitoring, surveying, and entertainment.
  • the emergency use includes, for example, disaster response, lifesaving or crime response.
  • the entertainment includes, for example, music concerts, sports or festivals.
  • the management system may include a map information database storing map information, and a moving body database storing individual information or type information of the plurality of moving bodies.
  • the map information database may include unit section information that is attribute information for each geographical unit section as the map information.
  • the movement management unit may select an individual or a type of the moving body corresponding to a service request received from an external device or determined to be necessary by the movement management unit itself.
  • the movement management unit may calculate at least one route option from a departure point to a destination corresponding to the service request for each individual or type of the moving object based on the map information. .
  • the movement management unit for each of the route options, from the departure point to the destination based on the unit division information from the departure point to the destination and the individual information or the type information A total of movement evaluation values may be calculated. Further, the movement management unit is configured to determine a target moving body that actually moves among the moving bodies or a type thereof, and a moving path that is used by the target moving body among the route options, based on the total of the movement evaluation values. May be selected.
  • the total of the movement evaluation values from the departure point to the destination is calculated based on the unit classification information and the individual information or type information. Further, the target mobile body that actually moves among the mobile bodies or the type thereof, and the movement route that the target mobile body uses among the plurality of route options are selected based on the total of the movement evaluation values. Accordingly, it is possible to select a mobile object suitable for the requested service and movement from the departure place to the destination in consideration of both the unit classification information and the individual information or type information of the mobile object. Therefore, it becomes possible to provide a service more suitably.
  • the individual information includes, for example, the type of mobile body (drone, vehicle, etc.), fuel consumption, maximum speed, operating years, total travel distance, maximum load weight, maximum loadable load size, loadable load Any one or more of the number, the maximum available number of people, and the current position of the moving object can be used.
  • the movement management unit may preferentially use the target moving body corresponding to the first service request as the target moving body corresponding to the second service request. Thereby, a plurality of services can be processed efficiently.
  • the plurality of mobile bodies may include a drone as the autonomous mobile body and a delivery vehicle as the mobile body or the autonomous mobile body.
  • the movement management unit may select the delivery vehicle when delivering a large package having a size greater than or equal to the first dimension alone.
  • the movement management unit may select the drone when delivering a small package smaller than the first dimension alone.
  • the delivery destination of the small package corresponds to delivery of the large package.
  • the movement management unit may deliver the small package together with the large package with the delivery vehicle. This makes it possible to efficiently deliver a plurality of luggage (large luggage and small luggage).
  • the management system may include a traffic management unit that manages the entry of the plurality of moving objects into the entry restricted area. Further, the movement management unit may calculate the movement evaluation value by performing weighting on each of the plurality of route options based on position information of the entry restriction area that requires entry permission by the traffic management unit. As a result, it is possible to make the entry restricted area requiring entry permission by the traffic management unit difficult to be included in the movement route by calculating the movement evaluation value by weighting the entry restriction area so that it is difficult to be included in the movement route. Become.
  • the management system may include a traffic flow information providing unit that provides traffic flow information related to the position and degree of traffic flow.
  • the movement management unit may calculate the movement evaluation value by weighting each of the plurality of route options based on the traffic flow information. As a result, the traffic flow can be taken into consideration when selecting the target moving body and the moving route.
  • the control method of the management system includes: An autonomous mobile body with an autonomous control unit for moving from the departure place to the destination, A control method for a management system comprising: a movement management unit that communicates with the autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the autonomous mobile body, At least two multiple route options between the starting point and the destination for one of the mobiles, or at least two multiple routes between the starting point and the destination for each of the multiple mobiles One moving route is selected from options based on the movement evaluation value calculated for each of the plurality of route options.
  • a management server communicates with an autonomous mobile body provided with an autonomous control unit for moving from a departure place to a destination, and manages movement of a plurality of mobile bodies including the autonomous mobile body. , At least two multiple route options between the starting point and the destination for one of the mobiles, or at least two multiple routes between the starting point and the destination for each of the multiple mobiles One moving route is selected from options based on the movement evaluation value calculated for each of the plurality of route options.
  • it is a flowchart which shows the outline
  • It is a flowchart which shows the whole flow of the service management control of the said embodiment.
  • 5 is a flowchart (details of S76 in FIG. 3) in which the service management server calculates a target mobile body and a travel route in the embodiment. It is explanatory drawing of the route choice used in the said embodiment.
  • 5 is a flowchart (details of S94 in FIG. 4) for calculating the total movement cost for each of the route options in the embodiment.
  • FIG. 1 is an overall configuration diagram showing an overview of a management system 10 according to an 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 28.
  • the moving body 26 includes a plurality of drones 30 and a plurality of vehicles 32 (hereinafter also referred to as “delivery vehicles 32”).
  • FIG. 1 shows only one customer terminal 20, service server 22, transportation server 24, drone 30, and delivery vehicle 32.
  • the drone 30 or the delivery vehicle 32 (hereinafter also referred to as “target mobile body 26 tar”) delivers the product G based on the order information Iodr of the product G input via the customer terminal 20.
  • Communication is possible between the customer terminal 20 and the service server 22 and between the service server 22 and the traffic server 24 via the Internet 40. Further, communication between the service server 22 and the drone 30 and between the service server 22 and the delivery vehicle 32 are possible via the Internet 40 and the wireless relay station 42.
  • the customer terminal 20 (external device) is a terminal that accepts an order from a customer for the product G handled by the service server 22.
  • the customer terminal 20 is comprised from a personal computer or a smart phone, for example.
  • the service management server 22 is a server managed by a specific company, and performs order management, inventory management, and delivery management of the company.
  • order management an order (service request) from the customer terminal 20 is accepted.
  • inventory management inventory management of the product G is performed.
  • delivery management delivery of goods G (movement of a plurality of mobile bodies 26) is managed.
  • the service server 22 includes an input / output unit 50, a communication unit 52, a calculation unit 54, and a storage unit 56.
  • the communication unit 52 can communicate with the customer terminal 20, the traffic server 24, the drone 30, the delivery car 32, and the like via the Internet 40.
  • the calculation unit 54 includes a central processing unit (CPU) and operates by executing a program stored in the storage unit 56. A part of the function executed by the arithmetic unit 54 can also be realized by using a logic IC (Integrated Circuit). The calculation unit 54 can also configure a part of the program with hardware (circuit parts).
  • the calculation unit 54 of the present embodiment executes service management control for managing the order of the product G and the delivery by the moving body 26. The service management control will be described later with reference to FIG.
  • the storage unit 56 stores programs and data used by the calculation unit 54, and includes a random access memory (hereinafter referred to as “RAM”).
  • RAM random access memory
  • a volatile memory such as a register and a non-volatile memory such as a hard disk or a flash memory can be used.
  • the storage unit 56 may include a read only memory (ROM) in addition to the RAM.
  • the storage unit 56 includes an order database 70 (hereinafter referred to as “order DB 70”), an inventory database 72 (hereinafter referred to as “inventory DB 72”), a mobile object database 74 (hereinafter referred to as “mobile object DB 74”), 1 map database 76 (hereinafter referred to as “first map DB 76”) and a delivery database 78 (hereinafter referred to as “delivery DB 78”).
  • order database 70 hereinafter referred to as “order DB 70”
  • inventory database 72 hereinventory DB 72
  • mobile object database 74 hereinafter referred to as “mobile object DB 74”
  • 1 map database 76 hereinafter referred to as “first map DB 76”
  • delivery database 78 hereinafter referred to as “delivery DB 78”.
  • the order DB 70 accumulates information (order information Io) related to orders received via each customer terminal 20.
  • the stock DB 72 stores information related to stock (stock information Is).
  • the mobile body DB 74 stores individual information Ii related to the drone 30 and the delivery vehicle 32 used for delivery.
  • the individual information Ii includes, for example, identification information (identification ID) of the moving body, type (drone, vehicle, etc.), maximum load weight, and maximum size of the loadable load.
  • the individual information Ii may include one or more of fuel consumption, maximum speed, operation years, total movement distance, the number of loads that can be loaded, the maximum number of people that can be used, and the current position of the moving object.
  • the first map information Imap1 includes a reference cost Cref (reference evaluation value), which is an evaluation value related to the passage of the moving body 26, defined for each geographical unit section. Further, the first map information Imap1 includes position information of an entry restriction area requiring entry permission by the traffic management unit 100 of the traffic server 24.
  • a reference cost Cref reference evaluation value
  • the delivery DB 78 stores information (delivery information Idl) related to delivery of the product G that has been ordered.
  • the delivery information Idl includes information related to the drone 30 that delivers the product G.
  • the traffic management server 24 manages information (traffic information It) regarding traffic (flight) of the plurality of drones 30 and traffic (running) of the plurality of delivery vehicles 32. For example, when the traffic server 24 receives the flight permission application for the drone 30 from the service server 22, the traffic server 24 determines whether or not to permit the flight permission application, and permits or disallows the service server 22 according to the determination result. Notice. In addition, the traffic server 24 notifies the service server 22 of various types of information (such as environment information Ic described later) regarding the drone 30 and the delivery vehicle 32.
  • the traffic management server 24 includes an input / output unit 90, a communication unit 92, a calculation unit 94, and a storage unit 96.
  • the communication unit 92 can communicate with the customer terminal 20, the service server 22, and the like via the Internet 40.
  • the calculation unit 94 includes a CPU and operates by executing a program stored in the storage unit 96. A part of the function executed by the arithmetic unit 94 can also be realized by using a logic IC. The calculation unit 94 can also configure a part of the program with hardware (circuit parts).
  • the calculation unit 94 includes a traffic management unit 100 and a traffic flow information providing unit 102.
  • the traffic management unit 100 manages the entry of a plurality of moving bodies 26 with respect to the entry restricted area.
  • the traffic flow information providing unit 102 provides traffic flow information Its regarding the position and degree of traffic flow.
  • the traffic flow information Its includes traffic jam information.
  • the storage unit 96 stores programs and data used by the calculation unit 94 and includes a RAM. In addition to the RAM, the storage unit 96 may include a ROM.
  • the storage unit 96 includes 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”).
  • 2nd map DB110 accumulate
  • the flight schedule DB 112 stores information (flight schedule information Isc) related to the flight schedule of each drone 30.
  • the drone 30 (autonomous mobile body) of the present embodiment is for merchandise delivery, and the warehouse 200 (FIG. 5) according to the delivery command (flight command) received from the service server 22 via the Internet 40 and the wireless relay station 42. To the delivery destination Pdtar. As will be described later, the drone 30 may be used for other purposes.
  • the drone 30 includes a drone sensor group 130, a communication device 132, a drone control device 134, and a propeller drive unit 136.
  • the drone sensor group 130 includes sensors (not shown) such as a first global positioning system sensor (first GPS sensor), a speedometer, an altimeter, a gyro sensor, and a first camera.
  • the first GPS sensor detects the current position Pdcur of the drone 30.
  • the speedometer detects the flight speed Vd [km / h] of the drone 30.
  • the altimeter detects a ground altitude H (hereinafter also referred to as “altitude H”) [m] as a distance to the ground below the drone 30.
  • the gyro sensor detects the angular velocity ⁇ [rad / sec] of the drone 30.
  • the angular velocity ⁇ includes an angular velocity Y (yaw Y) with respect to the vertical axis, an angular velocity Pi (pitch Pi) with respect to the left and right axes, and an angular velocity R (roll R) with respect to the longitudinal axis.
  • the first camera is arranged at the lower part of the main body of the drone 30 and acquires the first image information Iimage1 around the drone 30.
  • the camera is a video camera that takes a video.
  • the first camera may be able to shoot both moving images and still images or only still images.
  • the orientation of the first camera can be adjusted by a camera actuator (not shown) (the orientation of the first camera with respect to the main body of the drone 30).
  • the position of the first camera with respect to the main body of the drone 30 may be fixed.
  • the communication device 132 can perform radio wave communication with the wireless relay station 42 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 42 and the Internet 40.
  • the drone control device 134 (autonomous control unit) controls the entire drone 30 such as flight and shooting of the drone 30.
  • the drone control device 134 moves (flys) the drone 30 autonomously from the departure 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).
  • the propeller drive unit 136 includes a plurality of propellers and a plurality of propeller actuators.
  • the propeller actuator has, for example, an electric motor.
  • A-1-6. Delivery car 32 (A-1-6-1. Overview of delivery vehicle 32)
  • the delivery vehicle 32 (mobile body, autonomous mobile body) of the present embodiment is for product delivery, and the warehouse 200 according to a delivery command (running command) received from the service server 22 via the Internet 40 and the wireless relay station 42.
  • the merchandise G is delivered from (FIG. 5) to the delivery destination Pdtar.
  • the delivery vehicle 32 may be used for other purposes.
  • the delivery vehicle 32 includes a vehicle sensor group 150, a communication device 152, a vehicle control device 154, a drive device 156, a braking device 158, and a steering device 160.
  • the vehicle sensor group 150 includes a second global positioning system sensor (second GPS sensor), a vehicle speed sensor, a second camera, a radar, and LIDAR (Light Detection And Ranging).
  • the second GPS sensor detects the current position Pvcur of the delivery vehicle 32.
  • the vehicle speed sensor detects the vehicle speed Vv [km / h] of the delivery vehicle 32.
  • the second camera acquires second image information Iimage2 obtained by imaging the periphery (front, side, and rear) of the delivery vehicle 32.
  • the radar outputs radar information Iradar indicating a reflected wave with respect to the electromagnetic wave transmitted to the periphery (forward, side and rear) of the delivery vehicle 32.
  • the LIDAR continuously emits a laser in all directions of the delivery vehicle 32, measures the three-dimensional position of the reflection point based on the reflected wave, and outputs it as three-dimensional information Ilidar.
  • the communication device 152 can perform radio wave communication with the wireless relay station 42 and the like, and includes, for example, a radio wave communication module.
  • the communication device 152 can communicate with the service server 22 and the like via the wireless relay station 42 and the Internet 40.
  • Vehicle control device 154 The vehicle control device 154 controls the entire delivery vehicle 32 such as acceleration / deceleration and steering of the delivery vehicle 32.
  • the vehicle control device 154 autonomously moves (runs) the delivery vehicle 32 from the departure point Pst to the destination Ptar.
  • Vehicle control device 154 includes an input / output unit, a calculation unit, and a storage unit (not shown).
  • the vehicle control device 154 executes automatic driving control for driving the delivery vehicle 32 to the destination Ptar without requiring a driving operation (acceleration, deceleration and steering) by the driver.
  • a central processing unit CPU
  • CPU central processing unit
  • the drive device 156 includes a travel drive source (engine, travel motor, etc.) and a drive electronic control device (hereinafter referred to as “drive ECU”) (not shown).
  • the drive ECU adjusts the travel drive force of the delivery vehicle 32 by controlling the travel drive source based on the operation amount of the accelerator pedal or a command from the vehicle control device 154.
  • the braking device 158 includes a brake motor (or hydraulic mechanism) (not shown), a brake member, and a braking electronic control device (hereinafter referred to as “braking ECU”).
  • the braking device 158 may control engine braking by the engine and / or regenerative braking by the traveling motor.
  • the braking ECU controls the braking force of the delivery vehicle 32 by operating a brake motor or the like based on the operation amount of the brake pedal or a command from the vehicle control device 154.
  • the steering device 160 includes an electric power steering (EPS) motor (not shown) and an EPS electronic control device (hereinafter referred to as “EPS ECU”).
  • EPS ECU controls the steering angle of the delivery vehicle 32 by controlling the EPS motor in accordance with the steering wheel operation by the driver or a command from the vehicle control device 154.
  • FIG. 2 is a flowchart showing an outline when the commodity G ordered from the customer is delivered by the mobile body 26 (drone 30 or vehicle 32) in the present embodiment. Note that in FIG. 2, only a rough flow is shown.
  • step S11 the customer terminal 20 accepts an order according to the customer's operation. Specifically, the customer terminal 20 displays an ordering screen on a display unit (not shown) in accordance with a customer operation.
  • the order screen data is obtained from the service management server 22. Further, when displaying the ordering screen, the service server 22 confirms the number of stocks of the product G to be ordered. In the case of out of stock, the service server 22 displays the fact together.
  • the customer terminal 20 receives an order from the customer and transmits it to the service management server 22.
  • step S21 the service server 22 calculates the target mobile body 26tar and the travel route RTm according to the order information Iodr received by the customer terminal 20.
  • the calculation of the target moving body 26tar and the movement route RTm may be performed before ordering and may be determined at the time of ordering. Details of step S21 will be described later with reference to FIG.
  • step S22 the service server 22 determines whether or not the traffic server 24 needs to be permitted for the travel route RTm (in other words, whether or not the travel route RTm includes a portion that requires the traffic server 24). Is determined based on the first map information Imap1.
  • the part requiring the permission of the traffic server 24 includes a flight restriction area 202 (FIG. 5) described later.
  • a permission application for the travel route RTm is transmitted to the traffic management server 24 in step S23.
  • the identification number of the target mobile body 26 (drone 30) is given to the permission application.
  • the service server 22 monitors whether or not a result notification from the traffic management server 24 has been received.
  • step S31 the traffic management server 24 that has received the permission application (S23) from the service server 22 determines whether the received permission application is permitted or not. For example, when the travel route RTm includes a temporary flight prohibited area, the traffic server 24 disallows the permission application. In addition, when one or more other drones 30 (other devices) plan to pass a part of the travel route RTm at the same time as themselves (own devices), the traffic server 24 disallows the permission application. . On the other hand, if there is no reason for not permitting the flight of the drone 30 on the travel route RTm, the traffic server 24 permits the permission application.
  • step S32 the traffic management server 24 transmits a permission notice.
  • permission application is not permitted (S31: FALSE)
  • the traffic management server 24 transmits a disapproval notice to the service server 22 in step S33.
  • the reason for non-permission (for example, the movement route RTm passing through the flight prohibited area, the position of the flight prohibited area, etc.) is also added to the non-permission notice.
  • the process proceeds to the service server 22 again.
  • the process proceeds to step S25.
  • the service server 22 calculates a new travel route RTm according to the reason for non-permission included in the result. For example, when the reason for the disapproval is that the travel route RTm passes through the flight prohibition region, the service server 22 calculates a new travel route RTm that avoids the flight prohibition region (S21). Then, the service server 22 makes another flight permission application as necessary (S23).
  • the service server 22 transmits a delivery command to the target mobile body 26tar that delivers the product G.
  • the delivery command includes information on the travel route RTm.
  • the travel route RTm includes a route (outward) from the departure point Pst to the delivery destination Pdtar, which is the current position Pcur (for example, the warehouse 200 (FIG. 5)) of the target mobile body 26tar, and from the delivery destination Pdtar to the return destination Prtar. Route (return).
  • the movement route RTm may include a route from the current position Pdcur to the warehouse 200 or the like.
  • the route to the warehouse 200 or the like may be set as the movement route RTm.
  • a route to the delivery destination Pdtar and a route to the return destination Prtar may be set as the new travel route RTm.
  • the delivery command can be transmitted by another method instead of directly transmitted from the service server 22 to the target moving body 26tar.
  • step S51 the mobile unit 26 that has received the delivery command carries the product G from the warehouse 200 to the delivery destination Pdtar, and then starts delivery control to return to the return destination Prtar.
  • FIG. 3 is a flowchart showing an overall flow of service management control according to the present embodiment.
  • the service management control is control for managing the order of the product G and the delivery by the moving body 26, and is executed by the calculation unit 54 of the service server 22.
  • step S71 of FIG. 3 the service server 22 determines whether or not an order for the product G has been received.
  • the customer terminal 20 receives an order according to the customer's operation, and transmits the order information Iodr to the service server 22 (S11 in FIG. 2). Therefore, when the service server 22 receives the order information Iodr from the customer terminal 20, the service server 22 determines that an order for the product G has been received.
  • S71: TRUE the process proceeds to step S72. If no order has been received (S71: FALSE), step S71 is repeated.
  • step S72 the service server 22 determines whether or not the product G that has been ordered this time can be delivered simultaneously with the product G that has already been ordered (simultaneous delivery availability determination). The simultaneous delivery permission determination will be described later.
  • step S73 If the simultaneous delivery is possible as a result of the simultaneous delivery determination (S73: TRUE), the service server 22 sets the simultaneous delivery flag FLG to “1” in step S74. If simultaneous delivery is not possible (S73: FALSE), in step S75, the service server 22 sets the simultaneous delivery flag FLG to “0”. After step S74 or S75, the process proceeds to step S76.
  • the service server 22 calculates the target moving body 26tar and the moving route RTm.
  • the target moving body 26tar is a moving body (drone 30 or delivery vehicle 32) that delivers the product G.
  • the movement route RTm is a route used by the target moving body 26tar for delivery of the product G, and includes a forward route and a return route. Details of the calculation of the target moving body 26tar and the moving route RTm will be described later with reference to FIG.
  • step S77 the service server 22 transmits a delivery command to the target mobile object 26tar.
  • Step S77 corresponds to step S25 in FIG.
  • the service server 22 determines that simultaneous delivery is possible when the delivery destination Pdtar of the second product G2 is on the travel route RTm for delivery of the first product G1. Alternatively, the service server 22 may determine that simultaneous delivery is possible when the delivery destination Pdtar of the second product G2 is below a predetermined distance from the travel route RTm for delivery of the first product G1.
  • FIG. 4 is a flowchart (details of S76 in FIG. 3) in which the service management server 22 calculates the target moving body 26tar and the moving route RTm in the present embodiment.
  • FIG. 5 is an explanatory diagram of the route option RTop used in the present embodiment.
  • FIG. 5 shows route options RTop1 and RTop2 for the drone 30 and route options RTop3 and RTop4 for the delivery vehicle 32 as route options RTop from the departure place Pst where the warehouse 200 is located to the delivery destination Pdtar.
  • the route option RTop1 is the shortest aerial route from the departure point Pst to the delivery destination Pdtar.
  • the route option RTop2 is the shortest route that avoids the flight restriction region 202 among the aerial routes from the departure point Pst to the delivery destination Pdtar.
  • the route option RTop3 is the shortest ground route from the departure point Pst to the delivery destination Pdtar.
  • the route option RTop4 is the shortest route avoiding the traffic jam area 204 among the ground routes from the departure point Pst to the delivery destination Pdtar.
  • the service server 22 acquires the delivery information Id necessary for calculating the target mobile object 26tar and the movement route RTm.
  • the delivery information Id includes the delivery location, delivery deadline, dimensions, weight, etc. of the product G (package).
  • step S92 the service server 22 extracts a mobile body 26 (hereinafter referred to as “candidate mobile body 26can”) that can be used for delivery of the product G based on the delivery information Id.
  • the candidate mobile body 26can includes one or the other of the drone 30 and the delivery vehicle 32.
  • the service server 22 Based on the delivery location included in the delivery information Id, regional limitation is performed from among the moving bodies 26. For example, when delivering to the A area, the service server 22 extracts the drone 30 and the delivery vehicle 32 currently arranged in the A area.
  • the limitation based on the performance (attribute) of each individual from the moving body 26 is performed. For example, when the product G is a large luggage having a size greater than or equal to the first dimension, the delivery vehicle 32 is extracted and the drone 30 is excluded. On the other hand, when the product G is a small luggage smaller than the first dimension, both the drone 30 and the delivery vehicle 32 are extracted. In the present embodiment, when a small package smaller than the first dimension is delivered alone, basically, the drone 30 is selected.
  • the service server 22 calculates a route option RTop for each candidate mobile body 26can.
  • the route option RTop for example, the route option RTop1 in FIG. 5
  • the flight prohibition area is included on the shortest aerial route (for example, when the flight restriction area 202 in FIG. 5 is a flight prohibition area)
  • the shortest path among the air routes avoiding the flight prohibition area is selected as a route option.
  • the shortest air route and the flight Of the aerial routes that avoid the restricted area are set as route options RTop. Therefore, in the example of FIG. 5, if the flight restriction area 202 of FIG. 5 is a flight restriction area other than the prohibited flight area, the route as the shortest air route (route option RTop1) and the route as the detour route (route option) Let RTop2) be the route option RTop.
  • the route options RTop are divided into cases for passing and detouring for each flight restriction area.
  • the shortest ground route (route option RTop3 in FIG. 5) from the departure point Pst to the delivery destination Pdtar is set as the route option RTop.
  • traffic flow information Its congestion information
  • a route of the shortest distance next to the shortest ground route (route option RTop4 in FIG. 5) among the ground routes that can avoid traffic congestion is also set as the route option RTop. Therefore, in the example of FIG. 5, the route as the shortest ground route (route option RTop3) and the route as the detour route (route option RTop4) are set as the route option RTop.
  • the simultaneous delivery flag FLG is set to “1” (S74).
  • the service server 22 sets the route option RTop only for the route from the travel route RTm for delivery of the first product G1 to the delivery destination Pdtar of the second product G2. calculate. Thereby, the route option RTop of the second product G2 for simultaneous delivery with the first product G1 can be compared with the route option RTop of the second product G2 when not simultaneously delivered. Accordingly, simultaneous delivery is easily selected.
  • step S94 the service server 22 calculates the total T of the movement cost C (movement evaluation value) for each route option RTop.
  • a method of calculating the total T will be described later with reference to FIGS.
  • step S95 the service server 22 selects the route option RTop having the smallest total travel cost C as the travel route RTm.
  • step S96 the service server 22 selects the moving body 26 corresponding to the moving route RTm as the target moving body 26tar.
  • the route option RTop is set for each candidate mobile body 26can (S93 in FIG. 4). For this reason, the moving body 26 corresponding to the moving route RTm (route option RTop) can be specified.
  • FIG. 6 is a flowchart (details of S94 of FIG. 4) for calculating the total T of the movement costs C for each route option RTop in this embodiment.
  • the service server 22 transmits information on the target moving body 26 tar and the movement route RTm to the traffic server 24, and acquires environment information Ic corresponding to the information from the traffic server 24.
  • the environment information Ic is information related to the environment of the movement route RTm.
  • the environment information Ic includes flight restriction information Ifl and weather information Icl.
  • the flight restriction information Ifl acquired from the traffic server 24 is a flight restriction that is temporarily issued, and includes information on the content of the flight restriction and its position (area).
  • the temporary flight restrictions are, for example, restrictions associated with traffic volume, weather, or accidents on the travel route RTm.
  • the flight restriction information Ifl from the traffic server 24 is acquired by the service server 22 by storing the information broadcast by the traffic server 24 at a certain period in the storage unit 56 (first map DB 76). It is also possible.
  • the service server 22 acquires the traffic flow information Its from the traffic server 24.
  • the traffic flow information Its is information on the position and degree of traffic flow such as current or future traffic congestion. If the information is about future traffic jams, the probability of occurrence may be included. Further, the traffic flow information Its may be positioned as a part of the environment information Ic and acquired in step S101.
  • the service server 22 transmits information on the target moving body 26tar and the travel route RTm to the traffic server 24, and acquires travel route risk information Irr from the traffic server 24.
  • the travel route risk information Irr is information indicating the content and position of the risk Rrr (travel route risk Rrr) in the travel route RTm.
  • the contents of the travel route risk Rrr include, for example, the incidence of traffic accidents.
  • the travel route risk information Irr may be positioned as a part of the environment information Ic and acquired in step S101.
  • the service server 22 calculates product delivery risk information Irgd related to the product G to be delivered this time.
  • the merchandise delivery risk information Irgd is information regarding the risk Rgd (the merchandise delivery risk Rgd) that occurs according to the contents of the merchandise G. For example, the risk Rgd is increased as the weight of the product G increases. Further, the risk Rgd is increased as the size of the product G increases. Furthermore, the risk Rgd is increased as the price of the product G increases. Further, when the commodity G is easily damaged, the risk Rgd is increased.
  • step S105 the service server 22 reads, from the first map DB 76, the flight permission section information Isfa related to the section Sfa (flight permission section Sfa) that has already obtained the flight permission among the flight restriction sections Sfl included in the travel route RTm.
  • step S106 the service server 22 reads the individual information Ii of the candidate mobile body 26can corresponding to the route option RTop from the mobile body DB 74.
  • step S107 the service server 22 reads the attribute information (unit section information Isu) of each unit section Su included in the route option RTop from the mobile body DB 74.
  • the unit category Su is a unit of category with common usage. Specifically, when the candidate mobile body 26can is the drone 30, the candidate mobile body 26can is delimited by the use classification in the first map information Imap1. Further, when the candidate mobile body 26can is the delivery vehicle 32, it is divided as an edge between nodes. An example of the unit segment information Isu will be described with reference to FIGS.
  • step S108 the service server 22 obtains the movement cost C (movement evaluation value) for each unit segment Su included in the route option RTop, as the pieces of information Ic, Its, Irr, Irgd, Isfa, Ii obtained in steps S101 to S107. , Isu is calculated.
  • the service server 22 performs only the route from the travel route RTm for delivery of the first product G1 to the delivery destination Pdtar of the second product G2.
  • the route option RTop is calculated. Accordingly, when the simultaneous delivery flag FLG is “1”, the service server 22 moves the travel cost only for the route from the travel route RTm for delivery of the first product G1 to the delivery destination Pdtar of the second product G2. C is calculated. Thereby, the route option RTop of the second product G2 for simultaneous delivery with the first product G1 can be compared with the route option RTop of the second product G2 when not simultaneously delivered. Accordingly, simultaneous delivery is easily selected.
  • the target mobile unit 26tar corresponding to the first service request corresponds to the second service request. It is preferentially used as the target moving body 26tar to be used.
  • step S109 in FIG. 6 the service server 22 calculates the total T of the movement costs C by adding the movement costs C for each unit segment Su.
  • FIG. 7 is a diagram illustrating calculation of the total T of the movement costs C when the candidate mobile body 26can is the drone 30 in the present embodiment.
  • FIG. 8 is a diagram illustrating calculation of the total T of the movement cost C when the candidate mobile body 26can is the vehicle 32 in the present embodiment. 7 and 8, the horizontal axis represents distance, and the vertical axis represents movement cost C.
  • the origin of the horizontal axis and the left end of the moving route RTm are the starting point Pst of the target moving body 26tar (drone 30 or delivery car 32).
  • the right end of the travel route RTm is the delivery destination Pdtar of the target mobile body 26tar (drone 30 or delivery car 32).
  • the first unit category Su (unit category information Isu) is “residential building with roof (with roof)”.
  • the second unit category Su is “residential school site”.
  • the third unit section Su is “UAV freeway”.
  • the fourth unit section Su is “on general road”.
  • the fifth unit section Su is “on line”.
  • the sixth unit section Su is “on highway”.
  • the seventh unit division Su is “river / field / forest”.
  • the first unit category Su (unit category information Isu) is “general road, small traffic volume (suburb)”.
  • the second unit section Su is an “intersection”.
  • the third unit division Su is “city area, low traffic”.
  • the fourth unit division Su is “highway bifurcation / merging”.
  • the fifth unit classification Su is “highway, small traffic”.
  • the sixth unit classification Su is “highway traffic volume”.
  • the seventh unit classification Su is “general road, small traffic volume (suburb)”.
  • Each unit division Su has a width corresponding to the distance. Moreover, the movement cost C is calculated individually for each unit classification Su.
  • Cref is a reference cost
  • P is an occurrence probability
  • D is a distance for each unit section Su (movement distance of the target moving body 26tar)
  • Cad is an additional cost.
  • the standard cost Cref is a risk evaluation value serving as a standard for the unit classification Su.
  • the occurrence probability P is a probability that an accident will occur due to the target moving body 26tar.
  • the additional cost Cad is an evaluation value added when an additional cost (such as a flight permission application) is required to pass through the unit classification Su.
  • the reference cost Cref and the occurrence probability P are set based on the flight restriction information Ifl, the weather information Icl, the traffic flow information Its, the travel route risk information Irr, the merchandise delivery risk information Irgd, the individual information Ii, and the unit classification information Isu.
  • the reference cost Cref is increased.
  • the travel route risk information Irr indicates that a risk point is included in the unit classification Su
  • the reference cost Cref is increased.
  • the product delivery risk information Irgd indicates a higher product delivery risk Rgd
  • the reference cost Cref is increased.
  • the reference cost Cref When the type of the moving body 26 indicated by the individual information Ii is the drone 30, the reference cost Cref is lowered, and when it is the delivery vehicle 32, the reference cost Cref is increased. When the fuel efficiency included in the individual information Ii is high, the reference cost Cref is lowered. When the maximum speed included in the individual information Ii is high, the reference cost Cref is lowered. When the operation year or the total movement distance included in the individual information Ii is long, the reference cost Cref is increased.
  • the reference cost Cref is increased.
  • the occurrence probability P is increased as the weather indicated by the weather information Icl is worse.
  • the traffic flow information Its indicates more traffic flows, the occurrence probability P is increased.
  • the weather information Icl and the traffic flow information Its may be used for setting the reference cost Cref instead of setting the occurrence probability P.
  • the additional cost Cad is set based on the flight permitted section information Isfa. Specifically, when the flight permission section information Isfa indicates that the flight permission section Sfa is included in the unit section Su, the additional cost Cad is increased.
  • the additional cost Cad may be set in relation to the application of insurance. For example, when insurance payment is required for one movement or specific unit classification Su accompanying the movement of the target mobile body 26tar, the additional cost Cad may be set according to the insurance payment and the amount thereof.
  • the service server 22 (movement management unit 28) acquires a request for a service received from the customer terminal 20 (external device) (S11, S21 in FIG. 2, S71 in FIG. 3). Then, the service server 22 selects one movement route RTm from a plurality of route choices RTop in response to a service request (S21 in FIG. 2 and S95 in FIG. 4). This makes it possible to select the movement route RTm according to the service request.
  • the management system 10 includes a first map DB 76 (map information database) that stores first map information Imap, and a mobile body DB 74 that stores individual information Ii of a plurality of mobile bodies 26 (FIG. 1). ). Further, the first map DB includes unit segment information Isu, which is attribute information for each geographical unit segment Su, as first map information Imap1. Furthermore, the service server 22 (movement management unit 28) selects the individual or type of the moving body 26 corresponding to the service request received from the customer terminal 20 (external device) (S92 in FIG. 4).
  • the service server 22 calculates at least one route option RTop from the departure point Pst to the destination Ptar corresponding to the service request for each individual or type of the mobile body 26 based on the first map information Imap1. (S93). In addition, for each route option RTop, the service server 22 determines the movement cost C (movement) from the departure point Pst to the destination Ptar based on the unit classification information Isu from the departure point Pst to the destination Ptar and the individual information Ii. The total T of the evaluation values is calculated (S94). Further, the service server 22 selects the target moving body 26tar that actually moves among the moving bodies 26 and the moving route RTm used by the target moving body 26tar among the route options RTop based on the total T of the moving costs C. (S95, S96).
  • the total cost T (movement evaluation value) T from the departure point Pst to the destination Ptar is calculated based on the unit segment information Isu and the individual information Ii ( 6 to 8).
  • a target moving body 26tar that actually moves among the moving bodies 26 and a moving route RTm that is used by the target moving body 26tar among a plurality of route options RTop are selected based on the total T of the movement costs C (FIG. 4 S94, S95). Accordingly, it is possible to select the mobile 26 suitable for the requested service and the movement from the departure point Pst to the destination Ptar in consideration of both the unit segment information Isu and the individual information Ii of the moving body 26. . Therefore, it becomes possible to provide a service more suitably.
  • the movement management unit 28 receives the first service request, and then receives the second service request before executing the service of the first service request, the destination Ptar corresponding to the second service request.
  • the service server 22 sets the target mobile body 26tar corresponding to the first service request to the target mobile body corresponding to the second service request. It is preferentially used as 26 tar (FIGS. 3 and 4). Thereby, a plurality of services can be processed efficiently.
  • the plurality of mobile bodies 26 include a drone 30 as an autonomous mobile body and a delivery vehicle 32 as a mobile body 26 or an autonomous mobile body (FIG. 1).
  • the service server 22 moves management unit 28
  • the delivery destination Pdtar of the small package is placed on the travel route RTm corresponding to the delivery of the large package.
  • the service server 22 delivers the small parcel together with the large parcel with the delivery car 32 (FIGS. 3 and 4). This makes it possible to efficiently deliver a plurality of luggage (large luggage and small luggage).
  • the management system 10 includes a traffic management unit 100 that manages the entry of a plurality of moving bodies 26 with respect to an entry restriction area (such as the flight restriction area 202 in FIG. 5) (FIG. 1). Further, the service server 22 (movement management unit 28) weights each of the plurality of route choices RTop based on the position information of the entry restriction area requiring entry permission by the traffic management unit 100, and moves the movement cost C (movement evaluation value). ) Is calculated (S108 in FIG. 6).
  • an entry restricted area that requires entry permission by the traffic management unit 100 is weighted so as to be less likely to be included in the movement route RTm, and the movement cost C is calculated, thereby making it difficult to be included in the movement route RTm. Is possible.
  • the management system 10 includes a traffic flow information providing unit 102 that provides traffic flow information Its regarding the position and degree of traffic flow (FIG. 1). Further, the service server 22 (movement management unit 28) performs weighting based on the traffic flow information Its for each of the plurality of route choices RTop to calculate the movement cost C (movement evaluation value) (S108 in FIG. 6). As a result, it is possible to consider the traffic flow when selecting the target moving body 26tar and the moving route RTm.
  • a traffic flow information providing unit 102 that provides traffic flow information Its regarding the position and degree of traffic flow (FIG. 1). Further, the service server 22 (movement management unit 28) performs weighting based on the traffic flow information Its for each of the plurality of route choices RTop to calculate the movement cost C (movement evaluation value) (S108 in FIG. 6). As a result, it is possible to consider the traffic flow when selecting the target moving body 26tar and the moving route RTm.
  • the drone 30 of the above embodiment was for delivery (FIGS. 1 and 2).
  • the present invention is not limited to this.
  • the drone 30 can be used for applications such as transportation of people, emergency use, photography, advertisement, security monitoring, surveying, and entertainment. The same applies to the delivery vehicle 32.
  • the present invention is applied to the drone 30 and the delivery vehicle 32 (FIGS. 1 and 2).
  • the present invention may be applied to another type of flying object or autonomous moving object.
  • the present invention can be applied to a helicopter or a ship instead of the drone 30 or the delivery vehicle 32.
  • both the drone 30 and the delivery vehicle 32 can move autonomously.
  • the present invention is not limited to this.
  • one of the drone 30 and the delivery vehicle 32 may not be able to move autonomously.
  • the drone 30 and the delivery vehicle 32 of the above embodiment have moved in response to a delivery command from the service server 22 (FIG. 2).
  • the present invention is not limited to this.
  • the mobility management unit 28 of the above embodiment includes a service server 22 and a traffic management server 24 (FIG. 1).
  • the movement management unit 28 may be configured only from the service server 22.
  • the service server 22 and the traffic management server 24 it is also possible to provide a local control server that is arranged for each predetermined area and manages the flight of the drone 30 or the traveling of the delivery vehicle 32.
  • command with respect to the drone 30 or the delivery vehicle 32 from the service server 22 may be transmitted via a local control server.
  • the service server 22 of the above embodiment managed the delivery of the product G (FIG. 1).
  • the service server 22 may manage applications such as human transportation, emergency use, shooting, advertisement, security monitoring, surveying, and entertainment.
  • the service server 22 of the above embodiment selects the target mobile body 26tar and the travel route RTm based on the service request received from the customer terminal 20 (external terminal) (S11, S21 in FIG. 2).
  • the present invention is not limited to this.
  • the service server 22 As a service for determining that the service server 22 itself is necessary, for example, the following services can be considered. That is, when the service server 22 has a function as a monitoring server for monitoring security, the service server 22 selects a monitoring area according to an input from a security monitoring sensor (camera or the like) (not shown). Then, the service server 22 selects the drone 30 or the vehicle 32 as the target moving body 26tar that monitors the selected monitoring area. Further, the service server 22 calculates a movement route RTm in relation to the monitoring area.
  • a security monitoring sensor camera or the like
  • 1st map DB76 and mobile body DB74 were arrange
  • the present invention is not limited to this.
  • the first map DB 76 or the moving body DB 74 can be provided outside the service server 22 (for example, the cloud or the traffic server 24).
  • the movement cost C is calculated using the reference cost Cref and the additional cost Cad (S108 in FIG. 6).
  • the information Ic, Its, Irr, Irgd, Isfa, Ii, and Isu acquired in steps S101 to S107 was used as the reference cost Cref.
  • the present invention is not limited to this. For example, it is possible to calculate the movement cost C (movement evaluation value) using only the unit classification information Isu and the individual information Ii.
  • the route option RTop having the smallest total T of the movement costs C is used as the movement route RTm (S95 in FIG. 4).
  • the present invention is not limited to this.
  • the movement cost C (movement evaluation value) of each unit segment Su is defined as the sum of the reference cost Cref and the additional cost Cad (S108 in FIG. 6).
  • a reference cost Cref can be set for each of the information Ic, Its, Irr, Irgd, Isfa, Ii, and Isu acquired in steps S101 to S107, and the sum of these can be used as the movement cost C.
  • the individual information Ii of the moving body 26 is used for calculating the movement cost C (S106 and S108 in FIG. 6).
  • the present invention is not limited to this.
  • the type information of the moving body 26 can be used instead of or in addition to the individual information Ii of the moving body 26.
  • the type information is information indicating the type of the moving body 26. For example, “drone” or “delivery vehicle” can be used. Alternatively, “truck”, “wagon car”, and the like can be used as finer types.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un système de gestion, un procédé de commande pour le système de gestion et un serveur de gestion pour le système de gestion qui peut fournir de manière plus appropriée des services en considérant les attributs d'une pluralité de corps mobiles qui comprennent des corps mobiles autonomes. Selon la présente invention, un système de gestion (10) ou un serveur de gestion (22) sélectionne un itinéraire de déplacement (RTm) à partir de deux options d'itinéraire ou plus (RTop) pour un corps mobile (26) entre un point de départ (Pst) et un point cible (Ptar) ou au moins deux options d'itinéraire (RTop) pour chaque corps parmi une pluralité de corps mobiles (26) entre un point de départ (Pst) et le point cible (Ptar) sur la base de valeurs d'évaluation de déplacement (C) qui ont été respectivement calculées pour les options d'itinéraire (RTop).
PCT/JP2019/011305 2018-03-19 2019-03-19 Système de gestion de corps mobile, procédé de commande pour système de gestion de corps mobile et serveur de gestion pour système de gestion de corps mobile WO2019181895A1 (fr)

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