WO2019181897A1

WO2019181897A1 - Moving body management system, method for controlling same, management server, and autonomous moving body

Info

Publication number: WO2019181897A1
Application number: PCT/JP2019/011307
Authority: WO
Inventors: 藤原明彦; 長井誠; 大舘正太郎; 惣野崇; 松本恒平; 廣瀬史也; 伊藤洋
Original assignee: 本田技研工業株式会社
Priority date: 2018-03-19
Filing date: 2019-03-19
Publication date: 2019-09-26
Also published as: JP7391832B2; JPWO2019181897A1

Abstract

Provided are: a management system capable of suitably managing the movement of an autonomous moving body in consideration of factors such as an attribute of the autonomous moving body; and a method for controlling the same. A management system (10), wherein when a first autonomous moving body (26tar) experiences an event (Ev) of changing or deviating from a planned route (RTp), a movement management unit (32) includes a countermeasure control unit (70) for executing countermeasure control to carry out a response that corresponds to unit classification information (Isu), which is attribute information for a geographical unit classification to which the current position (Pdcur) of the first autonomous moving body (26tar) belongs, and individual information (Ii) for the first autonomous moving body (26tar).

Description

Mobile body management system and control method thereof, management server, and autonomous mobile body

The present invention relates to a management system that manages the movement of a plurality of moving bodies, a control method therefor, a management server, and an autonomous moving body.

US Patent Application Publication No. 2015/0339931 discloses a system, method and apparatus capable of flying according to a flight restricted area (summary). In US 2015/0339931, the position of an unmanned vehicle (UAV) is compared to a flight restricted area. If necessary, the UAV takes action to avoid entry into the no-fly zone.

As described above, 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). However, US Patent Application Publication No. 2015/0339931 does not consider the attributes of the flying object. In addition, US Patent Application Publication No. 2015/0339931 does not take into consideration a case where an event that causes a departure or a change in the planned route occurs in the flying object. These issues apply not only to flying objects 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, a management system capable of suitably managing the movement of the autonomous mobile body in consideration of the attributes of the autonomous mobile body, and the control method thereof, It aims at providing a management server and an autonomous mobile body.

The management system according to the present invention includes:
A first autonomous mobile body having an autonomous control unit for moving from the departure place to the destination;
A communication unit that communicates with the first autonomous mobile body via a communication device, and manages a movement of a plurality of mobile bodies including the first autonomous mobile body,
The movement management unit is unit classification information that is attribute information of a geographical unit classification to which a current position of the first autonomous moving body belongs when an event that deviates or changes a planned route occurs in the first autonomous moving body. And a countermeasure control unit that executes countermeasure control for performing correspondence according to the individual information of the first autonomous mobile body.

According to the present invention, when an event that deviates or changes the planned route occurs in the first autonomous mobile body, the movement management unit is attribute information of the geographical unit section to which the current position of the first autonomous mobile body belongs. Countermeasure control is performed to perform correspondence according to the unit classification information and the individual information of the first autonomous mobile body. Thereby, it becomes possible to respond appropriately when an event that deviates or changes the planned route occurs in the first autonomous mobile body.

When the event that the first autonomous mobile body itself cannot maintain the planned route occurs, the movement management unit commands the correspondence of the first autonomous mobile body according to the unit classification information and the individual information May be. Thereby, it becomes possible to appropriately cope with an event in which the first autonomous mobile body itself cannot maintain the planned route.

The management system may include an external device that requests the movement management unit to move the first autonomous moving body. In addition, when the event that deviates or changes the planned route occurs in the first autonomous mobile body, the movement management unit notifies the external device of the occurrence of the event or the response by the countermeasure control. You may have a part. As a result, the user who has recognized the notification via the external device can provide an additional service according to the content notified when the event occurs.

The movement management unit changes the response commanded to the first autonomous mobile body when the event occurs, according to a history of the event in which the first autonomous mobile body has deviated or changed the planned route. You may let them. Thereby, it becomes possible to cope more appropriately when an event that deviates or changes the planned route occurs in the first autonomous mobile body.

When the event that deviates or changes the planned route occurs in the first autonomous mobile body, the movement management unit determines the planned route of the second autonomous mobile body that is moving around the first autonomous mobile body. It may be reset so as to leave the first autonomous mobile body. Thereby, the planned route of the second autonomous mobile body can be changed in accordance with the movement of the first autonomous mobile body.

The control method of the management system according to the present invention includes:
A first autonomous mobile body having 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 first autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the first autonomous mobile body,
When an event occurs in the first autonomous mobile body that deviates or changes the planned route, the movement management unit is unit classification information that is attribute information of a geographical unit classification to which the current position of the first autonomous mobile body belongs And a command corresponding to the individual information of the first autonomous mobile body is directed to the first autonomous mobile body.

The management server which concerns on this invention communicates with the 1st autonomous mobile body provided with the autonomous control part for moving from a departure place to the destination, and manages the movement of the several mobile body containing the said 1st autonomous mobile body And
The management server, when an event that deviates or changes a planned route occurs in the first autonomous mobile body, unit classification information that is attribute information of a geographical unit classification to which the current position of the first autonomous mobile body belongs, And a coping control unit that executes coping control for performing the coping according to the individual information of the first autonomous mobile body.

The autonomous mobile body according to the present invention includes an autonomous control unit for moving from a departure place to a destination,
The autonomous control unit, when an event that deviates or changes a planned route occurs in the autonomous mobile body, unit classification information that is attribute information of a geographical unit classification to which the current position of the autonomous mobile body belongs, It includes a countermeasure control unit that executes countermeasure control for performing correspondence in accordance with individual information of a moving object.

According to the present invention, it is possible to suitably manage the movement of the autonomous mobile body in consideration of the attributes of the autonomous mobile body.

It is a whole lineblock diagram showing the outline of the management system concerning a 1st embodiment of the present invention. In 1st Embodiment, it is a flowchart which shows the outline | summary at the time of delivering the goods ordered from the customer with a drone. It is a figure for demonstrating the setting of the plan path | route of the object drone in 1st Embodiment. It is a figure which shows the example of the scene which sets the planned path | route in 1st Embodiment. It is a flowchart of the flight monitoring control in 1st Embodiment. In 1st Embodiment, it is explanatory drawing of the response | compatibility which a service management server and a traffic management server take when the said target drone deviates from the said plan route. It is a flowchart of emergency response control in a 1st embodiment. It is a flowchart of the flight monitoring control in 2nd Embodiment.

A. First Embodiment <A-1. Configuration>
[A-1-1. overall structure]
FIG. 1 is an overall configuration diagram showing an overview of a management system 10 according to the first embodiment of the present invention. The management system 10 includes a plurality of customer terminals 20, at least one service management server 22 (hereinafter also referred to as “service server 22”), and at least one traffic management server 24 (hereinafter also referred to as “traffic server 24”). )), A plurality of drones 26, a plurality of external alarm devices 28, and a plurality of peripheral terminals 30. The service server 22 and the traffic server 24 constitute a movement management unit 32. In FIG. 1, only one customer terminal 20, service server 22, traffic server 24, external alarm device 28, and peripheral terminal 30 are shown.

In the management system 10, the drone 26 (hereinafter also referred to as “target drone 26tar”) delivers the merchandise G based on the order information Iodr of the merchandise G input via the customer terminal 20. Further, in the management system 10, when an event Ev that deviates from the planned route RTp occurs in the target drone 26tar, the surrounding area is connected via the target drone 26tar and the external alarm device 28 and the peripheral terminal 30 located around the target drone 26tar. Notifications are made to people.

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 50. Further, communication between the service server 22 and the drone 26, between the traffic server 24 and the external alarm device 28, and between the traffic server 24 and the peripheral terminal 30 is possible via the Internet 50 and the wireless relay station 52.

[A-1-2. Customer terminal 20]
The customer terminal 20 (external device) is an external device 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.

[A-1-3. Service management server 22]
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. In order management, an order (service request) from the customer terminal 20 is accepted. In inventory management, inventory management of the product G is performed. In delivery management, delivery of goods G (movement of a plurality of drones 26) is managed. As shown in FIG. 1, the service server 22 includes an input / output unit 60, a communication unit 62, a calculation unit 64, and a storage unit 66.

The communication unit 62 can communicate with the customer terminal 20, the traffic server 24, the drone 26, and the like via the Internet 50.

The calculation unit 64 includes a central processing unit (CPU) and operates by executing a program stored in the storage unit 66. A part of the function executed by the arithmetic unit 64 can also be realized by using a logic IC (Integrated） Circuit). The calculation unit 64 can also configure a part of the program with hardware (circuit parts). The calculation unit 64 of the present embodiment includes a flight monitoring unit 70 (a countermeasure control unit) that executes flight monitoring control for monitoring the flight of the drone 26. In addition, the flight monitoring unit 70 includes a notification unit 80 that notifies the customer terminal 20 of the occurrence of an event Ev in which the target drone 26tar deviates from the planned route RTp or the response by countermeasure control (described later). The flight monitoring control will be described later with reference to FIGS. 5 and 6.

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

The storage unit 66 includes an order database 90 (hereinafter referred to as “order DB 90”), an inventory database 92 (hereinafter referred to as “stock DB 92”), a mobile object database 94 (hereinafter referred to as “mobile object DB 94”), 1 map database 96 (hereinafter referred to as “first map DB 96”) and a delivery database 98 (hereinafter referred to as “delivery DB 98”).

The order DB 90 accumulates information (order information Iodr) related to orders received via each customer terminal 20. The stock DB 92 accumulates information related to stock (stock information Istk). The mobile DB 94 accumulates individual information Ii as attribute information of the drone 26 used for delivery. The individual information Ii includes, for example, the identification information (identification ID) of the drone 26, the type (small, large, etc.), the maximum load weight, and the maximum size of the loadable load. In addition, the individual information Ii may include one or more of the number of loads that can be loaded, the maximum number of people that can be used, the fuel consumption, the maximum speed, the number of years of operation, the total moving distance, and the current position of the moving object. As will be described later, the individual information Ii also includes the airframe classification Sp.

The first map DB 96 accumulates map information (first map information Imap1) for delivery by the drone 26. The first map information Imap1 includes position information of an entry restriction area that requires entry permission by the traffic server 24.

The delivery DB 98 stores information (delivery information Idel) related to delivery of the ordered product G. The delivery information Idel includes information related to the drone 26 that delivers the product G.

[A-1-4. Traffic management server 24]
The traffic management server 24 manages information (traffic information It) regarding traffic (flight) of the plurality of drones 26. For example, when the traffic server 24 receives a flight permission application for the drone 26 from the service server 22, the traffic server 24 determines whether or not to permit the flight permission application, and permits or does not permit the service server 22 according to the determination result. Notice. In addition, the traffic server 24 notifies the service server 22 of various information related to the drone 26.

As shown in FIG. 1, the traffic management server 24 includes an input / output unit 100, a communication unit 102, a calculation unit 104, and a storage unit 106. The communication unit 102 can communicate with the service server 22, the external alarm device 28, the peripheral terminal 30, and the like via the Internet 50.

The calculation unit 104 includes a CPU and operates by executing a program stored in the storage unit 106. Some of the functions executed by the arithmetic unit 104 can also be realized using a logic IC. The calculation unit 104 can also configure a part of the program with hardware (circuit parts).

As shown in FIG. 1, the calculation unit 104 includes an emergency response unit 110 that executes emergency response control. The emergency response control is control in which a response is taken on the traffic server 24 side when an emergency occurs in the drone 26 in flight.

The storage unit 106 stores programs and data used by the arithmetic unit 104 and includes a RAM. The storage unit 106 may include a ROM in addition to the RAM. The storage unit 106 includes a second map database 120 (hereinafter referred to as “second map DB 120”), a flight schedule database 112 (hereinafter referred to as “flight schedule DB 122”), and a flight history database 124 (hereinafter referred to as “flight history DB 124”). Said).

2nd map DB120 accumulate | stores the map information (2nd map information Imap2) regarding the traffic (flight) of the drone 26. FIG. The flight schedule DB 122 stores information related to the flight schedule of each drone 26 (flight schedule information Isc). The flight history DB 124 accumulates information (flight history information Ifh) regarding the flight history of each drone 26.

[A-1-5. Drone 26]
(A-1-5-1. Outline of drone 26)
The drone 26 (autonomous mobile body) of the present embodiment is for merchandise delivery, and is based on a departure command Pst (not shown) according to a delivery command (flight command) received from the service server 22 via the Internet 50 and the wireless relay station 52. The goods G are delivered from the warehouse etc. to the delivery destination Pdtar. As will be described later, the drone 26 may be used for other purposes.

As shown in FIG. 1, the drone 26 includes a drone sensor group 130, a communication device 132, a drone control device 134, a propeller drive unit 136, a lamp 138, and a first speaker 140.

(A-1-5-2. Drone sensor group 130)
The drone sensor group 130 includes a global positioning system sensor 150 (hereinafter referred to as “GPS sensor 150”), a speedometer 152, an altimeter 154, a gyro sensor 156, a camera 158, and the like.

The GPS sensor 150 detects the current position Pdcur of the drone 26. The speedometer 152 detects the flight speed Vd [km / h] of the drone 26. The altimeter 154 detects a ground altitude H (hereinafter referred to as “altitude H”) [m] as a distance to the ground below the drone 26. The gyro sensor 156 detects the angular velocity ω [rad / sec] of the drone 26. The angular velocity ω includes an angular velocity Y (yaw Y) with respect to the vertical axis, an angular velocity P (pitch P) with respect to the horizontal axis, and an angular velocity R (roll R) with respect to the longitudinal axis.

The camera 158 is arranged at the lower part of the main body of the drone 26 and acquires an image Id of the drone 26 (hereinafter also referred to as “drone image Id”). The camera 158 is a video camera that captures moving images. Alternatively, the camera 158 may be able to capture both moving images and still images, or only still images. The direction of the camera 158 (the posture of the camera 158 with respect to the main body of the drone 26) can be adjusted by a camera actuator (not shown). Alternatively, the position of the camera 158 with respect to the main body of the drone 26 may be fixed.

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

(A-1-5-4. Drone control device 134)
The drone control device 134 (autonomous control unit) controls the entire drone 26 such as flight and shooting of the drone 26. The drone control device 134 autonomously moves (flies) the drone 26 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).

(A-1-5-5. Propeller drive 136)
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-1-5-6. Lamp 138)
The lamp 138 is disposed on the lower surface of the main body of the drone 26 and irradiates visible light below the drone 26. The visible light is used as warning light to the surroundings of the drone 26 (details will be described later).

(A-1-5-7. First speaker 140)
The first speaker 140 is disposed on the lower surface of the main body of the drone 26 and generates an output sound downward from the drone 26. The output sound is used as a warning sound around the drone 26 (details will be described later).

[A-1-6. External alarm device 28]
When an event Ev that deviates or changes the planned route RTp occurs in the target drone 26tar, the external alarm device 28 notifies people around the external alarm device 28 based on a command from the traffic server 24 (movement management unit 32). Make notifications. The external alarm device 28 that performs notification or the like is present around the target drone 26tar where the event Ev that deviates from the planned route RTp has occurred. The external alarm device 28 includes, for example, a second speaker 170 disposed in the city.

[A-1-7. Peripheral terminal 30]
When the event Ev that deviates or changes the planned route RTp occurs in the target drone 26tar, the peripheral terminal 30 notifies the people around the peripheral terminal 30 based on a command from the traffic server 24 (movement management unit 32). I do. The peripheral terminal 30 that performs notification or the like is present around the target drone 26tar in which the event Ev that deviates from the planned route RTp has occurred. The peripheral terminal 30 is composed of, for example, a personal computer or a smartphone. Peripheral terminal 30 includes a third speaker 180 and a display unit 182.

<A-2. Control of First Embodiment>
[A-2-1. Outline at the time of delivery]
FIG. 2 is a flowchart showing an outline when the product G ordered from the customer is delivered by the drone 26 in the first embodiment. Note that in FIG. 2, only a rough flow is shown.

In 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. When there is an order, the customer terminal 20 receives an order from the customer and transmits it to the service management server 22.

Move on to processing of the service server 22. In step S21, the service server 22 calculates the target drone 26tar and the planned route RTp according to the order information Iodr received by the customer terminal 20. The calculation of the target drone 26tar and the planned route RTp may be performed before ordering and may be determined at the time of ordering. Further information regarding the calculation of the planned route RTp will be described later.

In step S22, the service server 22 determines whether the traffic server 24 needs to be permitted for the planned route RTp (in other words, whether the planned route RTp includes a portion that requires the traffic server 24). Is determined based on the first map information Imap1. As a part which requires permission of the traffic server 24, a flight restriction area is included, for example.

When permission of the traffic server 24 is required (S22: TRUE), a flight permission application for the planned route RTp is transmitted to the traffic management server 24 in step S23. The identification number of the target drone 26 is given to the flight permission application. After transmitting the flight permission application, in step S24, the service server 22 monitors whether or not the result notification from the traffic management server 24 has been received.

The process proceeds to the traffic management server 24. In step S31, the traffic management server 24 that has received the flight permission application (S23) from the service server 22 determines whether the received flight permission application is permitted or not. For example, when the scheduled route RTp includes a temporary flight prohibited area, the traffic server 24 disallows the flight permission application. In addition, when one or more other drones 26 (other aircraft) are scheduled to pass a part of the planned route RTp at the same time as themselves (own aircraft), the traffic server 24 rejects the flight permission application. To do. On the other hand, when there is no reason for not allowing the drone 26 to fly, the traffic server 24 permits the flight permission application.

When permitting a flight permission application (S31: TRUE), the traffic management server 24 transmits a permission notice to the service server 22 in step S32. When 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, that the planned route RTp passes 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. When the result received from the traffic management server 24 indicates permission (S24: TRUE), the process proceeds to step S25. If the result received from the traffic management server 24 indicates disapproval (S24: FALSE), the process returns to step S21. Then, the service server 22 calculates a new scheduled route RTp according to the reason for non-permission included in the result. For example, if the reason for the disapproval is that the scheduled route RTp passes through the flight prohibited area, the service server 22 calculates a new scheduled route RTp that avoids the flight prohibited area (S21). Then, the service server 22 makes another flight permission application as necessary (S23).

In step S25, the service server 22 transmits a delivery command to the target drone 26tar delivering the product G. The delivery command includes information on the planned route RTp. The travel route RTf includes a route from the departure point Pst, which is the current position Pdcur (for example, a warehouse not shown) of the target drone 26tar, to the delivery destination Pdtar (outward route), and a route from the delivery destination Pdtar to the return destination Prtar ( Including return trip).

When the target drone 26tar needs to stop at a warehouse, a sales office or the like for delivery, the planned route RTp may include a route from the current position Pdcur to the warehouse. Alternatively, when the target drone 26tar needs to stop at a warehouse or the like for delivery, a route to the warehouse, sales office, or the like may be set as the scheduled route RTp. In this case, a route to the delivery destination Pdtar and a route to the return destination Prtar (return route) may be set as the new scheduled route RTp. As will be described later, the delivery command can be transmitted by another method instead of directly transmitted from the service server 22 to the target drone 26tar.

移 Move to processing of each drone 26. The drone 26 monitors whether or not a delivery command (S25) has been received from the service server 22. In step S51, the drone 26 that has received the delivery command starts the delivery control for transporting the product G from the warehouse or sales office to the delivery destination Pdtar and then returning to the return destination Prtar. The target drone 26tar transmits its current position Pdcur and the like to the service server 22 at a predetermined cycle during delivery. The service server 22 can monitor the delivery state of the target drone 26tar by comparing the received current position Pdcur and the like with the planned route RTp.

[A-2-2. Calculation of planned route RTp]
As described above, in the first embodiment, the service server 22 calculates the target drone 26tar and the scheduled route RTp according to the order information Iodr received by the customer terminal 20. When calculating the scheduled route RTp, the service server 22 calculates the departure place Pst of the target drone 26tar. As the departure place Pst, for example, a warehouse of the product G, a sales office where the target drone 26tar loads the product G, and the like are set.

Next, the service server 22 calculates a necessary flight distance Dnf for delivery of the product G. Specifically, the total of the distance from the departure point Pst to the delivery destination Pdtar (outward route) and the distance from the delivery destination Pdtar to the return destination Prtar (return route) is the required flight distance Dnf. In calculating the required flight distance Dnf, the service server 22 imposes a restriction on the planned route RTp of the drone 26 according to the unit classification information Isu and the individual information Ii.

FIG. 3 is a diagram for explaining the setting of the scheduled route RTp of the target drone 26tar in the first embodiment. As shown in FIG. 3, in the first embodiment, whether or not the target drone 26 tar can fly is determined for each combination of the aircraft section Sp and the geographical unit section Su of the drone 26. The unit division information Isu is attribute information of the geographical unit division Su.

As shown in FIG. 3, there are categories A to E as the geographic unit category Su of the present embodiment. That is, the section A is a population concentration area and a densely populated house. Section B is on the road and on the track. Section C is an urban area. Category D is a field and a non-urban area. Category E is freeways, rivers and safety measures areas. In addition, in population-intensive areas or densely populated areas in Category A, the movement of humans or vehicles is monitored by a fixed point camera (not shown), and Category A or Non-Category A (Category B ~ Any one of E) may be switched.

The individual information Ii includes the airframe classification Sp of the drone 26. There are first to third types of airframe divisions Sp. The first type is an aircraft for private use (for example, commercial delivery, commercial photography). The second type is, for example, a general public-use aircraft (for example, patrol monitoring by the police). The third type is, for example, an emergency public use aircraft (for example, disaster response, lifesaving, crime response). Airframe classification Sp may be other than the above.

In the case of the first type, when the geographical unit division Su is division A to C, the flight of the drone 26 is prohibited. In other words, it is not selected as the planned route RTp. In the case of the first type, when the geographical unit division Su is the division D, the flight of the drone 26 is permitted under certain conditions. In other words, only when the condition is satisfied, it can be selected as the scheduled route RTp.

The condition mentioned here is, for example, a condition that the planned route RTp when detouring the geographical unit section Su is a distance X times the planned route RTp when passing the geographical unit section Su. Here, “X” is set as a fixed value of 1.5 to 3.0, for example. Further, in the case of the first type, when the geographical unit section Su is the section E, the drone 26 is allowed to fly without restriction. In other words, the scheduled route RTp can be selected without limitation.

3 is stored in the first map DB 96. Therefore, the service server 22 can select a candidate geographic unit segment Su that can be selected as the planned route RTp (hereinafter referred to as “candidate”) based on the combination of the individual information Ii (airframe segment Sp) and the unit segment information Isu (geographic unit segment Su). “Unit division candidate Suop”). Then, the service server 22 calculates a planned route RTp that passes through the unit category candidate Suop.

FIG. 4 is a diagram illustrating an example of a scene in which the planned route RTp is set in the first embodiment. For example, when all the shortest aerial routes RTp1 to the departure point Pst and the delivery destination Pdtar pass through the unit segment candidate Suop, the service server 22 sets the shortest aerial route RTp1 as the planned route RTp. For example, the airframe section Sp is the third type, the first area 200 belongs to the section C, and the second area 202 around the first area 200 belongs to the section D.

In addition, there may be a flight prohibition area on the shortest air route RTp1. For example, the airframe section Sp is the first type, the first area 200 belongs to the section C, and the periphery of the second area 202 around the first area 200 belongs to the section E. In such a case, the service server 22 sets, as the planned route RTp, the shortest route (the detour shortest route RTp2) that does not pass through the prohibited flight region among the route choices RTop to the departure point Pst and the delivery destination Pdtar. .

Furthermore, there may be a conditional flight permission region on the shortest air route RTp1. For example, the airframe section Sp is the second type, the first area 200 belongs to the section C, and the periphery of the second area 202 around the first area 200 belongs to the section D. In such a case, the service server 22 compares the first required flight distance Dnp1 of the shortest aerial route RTp1 with the second required flight distance Dnp2 of the detour shortest route RTp2. If the second required flight distance Dnp2 is equal to or greater than X times the first required flight distance Dnp1, the service server 22 selects the shortest air route RTp1 as the planned route RTp. On the other hand, when the second required flight distance Dnp2 is not greater than or equal to X times the first required flight distance Dnp1, the service server 22 selects the detour shortest route RTp2 as the planned route RTp.

[A-2-3. Flight monitoring control by service management server 22]
(A-2-3-1. Overall flow of flight monitoring and control)
FIG. 5 is a flowchart of flight monitoring control in the first embodiment. As described above, the flight monitoring control is control for monitoring the flight of the target drone 26tar, and is executed by the flight monitoring unit 70 of the service server 22.

5, the service server 22 acquires the current information Idcur of the target drone 26tar from the target drone 26tar. The current information Idcur includes the current position Pdcur of the target drone 26tar.

In step S72, the service server 22 determines whether or not the target drone 26tar has deviated from the planned route RTp. For example, when the distance Df of the target drone 26tar with respect to the virtual line indicating the planned route RTp is greater than or equal to the departure determination threshold THrtd, it is determined that the target drone 26tar has deviated from the planned route RTp.

The distance Df is defined by either a three-dimensional direction (front-rear direction, left-right direction, and up-down direction) or a two-dimensional direction (front-rear direction, left-right direction). For example, when the distance Df is defined in the three-dimensional direction, the deviation can be detected even when the target drone 26tar deviates from the planned route RTp in the vertical direction. In that case, for example, it becomes possible to improve the deviation detection accuracy. On the other hand, when the distance Df is defined in the two-dimensional direction, the calculation load on the flight monitoring unit 70 can be reduced because the distance Df is not defined in the vertical direction.

When the target drone 26tar deviates from the planned route RTp (S72: TRUE), it is considered that some emergency has occurred in the target drone 26tar. In that case, the process proceeds to step S73. If the target drone 26tar does not deviate from the planned route RTp (S72: FALSE), it is considered that the target drone 26tar is flying smoothly. In that case, the process returns to step S71.

In step S73, the service server 22 reads unit classification information Isu (FIG. 3) as attribute information of the geographical unit classification Su to which the current position Pdcur of the target drone 26tar belongs from the first map DB 96. In step S74, the service server 22 reads the individual information Ii of the target drone 26tar from the mobile DB 94. As described above, the body information Sp is included in the individual information Ii.

In step S75, the service server 22 takes a response according to the unit classification information Isu and the individual information Ii (handling control). Details of step S75 will be described later with reference to FIG.

(A-2-3-3-2. Correspondence according to geographical unit division Su and individual information Ii)
FIG. 6 is an explanatory diagram of correspondence that the service management server 22 and the traffic management server 24 take when the target drone 26tar deviates from the planned route RTp in the first embodiment. In the example of FIG. 6, level 1, level 2, and level 3 are provided as corresponding levels.

In the case of level 1, the service server 22 (notification unit 80) orders that the target drone 26tar has deviated from the planned route RTp (level 1) and orders the traffic management server 24 and the product G delivered by the target drone 26tar. To the customer terminal 20 (ordering terminal 20odr) of the customer who made the request. More specifically, the service server 22 transmits a route departure signal Srtd for notifying that the departure has occurred to the traffic server 24 and the ordering terminal 20odr.

In addition, the service server 22 transmits the first alarm command Sal1 to the target drone 26tar. The target drone 26tar that has received the first warning command Sal1 blinks the lamp 138 and outputs a warning sound from the first speaker 140. Thereby, it is possible to warn people around the target drone 26tar. Further, the service server 22 resets the scheduled route RTp of the drone 26 (peripheral drone 26 sur) existing around the target drone 26 tar so as to be away from the target drone 26 tar.

The traffic server 24 that has received the route departure signal Srtd (level 1) transmits the second alarm command signal Sal2 and the third alarm command signal Sal3 to the external alarm device 28 and the peripheral terminal 30. The external alarm device 28 that has received the second alarm command signal Sal2 outputs a warning sound via the second speaker 170. The peripheral terminal 30 that has received the third alarm command signal Sal3 outputs a warning sound via the third speaker 180 and outputs a warning display on the display unit 182. Further, the traffic server 24 records in the mobile DB 94 and the delivery DB 98 that the target drone 26tar has deviated from the planned route RTp (level 1). Upon receiving the route departure signal Srtd (level 1), the customer terminal 20 (order terminal 20odr) displays the content of the route departure signal Srtd (level 1) on the display unit.

The level 1 corresponds to the case where the airframe section Sp is the first type and the geographical unit section Su is any one of the sections A to C, and the airframe section Sp is the second type and the geographical unit section Su. Is a category A (FIG. 6).

In the case of level 2, the service server 22 (notification unit 80) notifies the traffic management server 24 and the ordering terminal 20odr that the target drone 26tar has deviated from the planned route RTp (level 2). The traffic server 24 that has received the level 2 notification from the service server 22 focuses on the target drone 26tar. For example, the traffic server 24 directly communicates with the target drone 26tar and monitors the current position Pdcur of the target drone 26tar by itself. Further, the traffic server 24 records in the mobile DB 94 and the delivery DB 98 that the target drone 26tar has deviated from the planned route RTp (level 2). The ordering terminal 20odr that has received the route departure signal Srtd (level 2) displays the content of the route departure signal Srtd (level 2) on the display unit.

Corresponding to level 2 is when the airframe division Sp is the first type and the geographical unit division Su is the division D, the airframe division Sp is the second type and the geographical unit division Su is the division B or C. Is the case where the aircraft section Sp is the third type and the geographical unit section Su is the section A or B.

In the case of level 3, the service server 22 (notification unit 80) notifies the traffic management server 24 and the ordering terminal 20odr that the target drone 26tar has deviated from the planned route RTp (level 3). The traffic server 24 that has received the level 3 notification from the service server 22 records in the mobile DB 94 and the delivery DB 98 that the target drone 26tar has deviated from the planned route RTp (level 3). Upon receiving the route departure signal Srtd (level 3), the ordering terminal 20odr displays the content of the route departure signal Srtd (level 3) on the display unit.

The level 3 corresponds to the case where the airframe division Sp is the first type and the geographical unit division Su is the division E, and the airframe division Sp is the second type and the geographical unit division Su is the division D or E. Is the case where the airframe section Sp is the third type and the geographical unit section Su is any one of the sections C to E.

[A-2-4. Emergency response control by the traffic management server 24]
FIG. 7 is a flowchart of emergency response control in the first embodiment. As described above, emergency response control is control in which the traffic management server 24 responds when an emergency situation occurs in the drone 26 (target drone 26tar) in flight, and the emergency response unit 110 of the traffic server 24 Execute.

7, the traffic server 24 determines whether or not the route departure signal Srtd has been received from the service server 22. When the route departure signal Srtd is received (S91: TRUE), the process proceeds to step S92. When the route departure signal Srtd is not received (S91: FALSE), the emergency response control is terminated, and the process returns to step S91 after a predetermined time has elapsed.

In step S92, the traffic server 24 determines whether or not the level indicated by the route departure signal Srtd is level 1 (see FIG. 6). When the level is 1 (S92: TRUE), in step S93, the traffic server 24 transmits the second alarm command signal Sal2 to the external alarm device 28 and the third alarm command signal Sal3 to the peripheral terminal 30. If it is not level 1 (S92: FALSE), the process proceeds to step S94.

In step S94, the traffic server 24 determines whether or not the level indicated by the route departure signal Srtd is level 2 (see FIG. 6). If it is level 2 (S94: TRUE), in step S95, the traffic server 24 focuses on the target drone 26tar. When it is not level 2 (S94: FALSE), the level indicated by the route departure signal Srtd is level 3 (see FIG. 6). In this case, the process proceeds to step S96.

After step S93 or S95 or when step S94 is false (FALSE), the process proceeds to step S96. In step S96, the traffic server 24 records in the mobile DB 94 and the delivery DB 98 that the target drone 26tar has deviated from the planned route RTp and its level (any of levels 1 to 3).

<A-3. Effects of First Embodiment>
According to the first embodiment, when an event Ev that deviates or changes the planned route RTp occurs in the target drone 26tar (first autonomous mobile body) (S72: TRUE in FIG. 5), the service server 22 (movement management unit 32). ) Executes the coping control for performing correspondence in accordance with the unit section information Isu that is the attribute information of the geographical unit section Su to which the current position Pdcur of the target drone 26tar belongs and the individual information Ii of the target drone 26tar (FIG. 5). S75, FIG. 6). As a result, it is possible to suitably cope with an event Ev that deviates or changes the planned route RTp in the target drone 26tar.

In the first embodiment, when an event Ev that cannot maintain the planned route RTp by the target drone 26tar (first autonomous mobile body) itself (S72: TRUE in FIG. 5) occurs, the service server 22 (movement management unit 32) Corresponding to the target drone 26tar is commanded according to the unit division information Isu (attribute information of the geographical unit division Su) and the individual information Ii (S75 in FIG. 5, FIG. 6). Accordingly, it is possible to appropriately cope with an event Ev in which the target drone 26tar itself cannot maintain the planned route RTp.

In the first embodiment, the management system 10 sends a customer terminal 20 (external device) that requests delivery (movement) of the target drone 26tar (first autonomous mobile body) to the service server 22 (movement management unit 32). Provide (FIG. 1). Further, when an event Ev that deviates or changes the planned route RTp occurs in the target drone 26tar (S72: TRUE in FIG. 5), the service server 22 causes the customer terminal 20 to respond to the occurrence of the event Ev or the response control by the response control. Notifying (FIG. 6) It has the notification part 80 (FIG. 1). Thereby, the customer (user) who has recognized the notification via the customer terminal 20 can provide an additional service according to the content notified in response to the occurrence of the event Ev.

In the first embodiment, when an event Ev that deviates or changes the planned route RTp occurs in the target drone 26tar (first autonomous mobile body) (S72: TRUE in FIG. 5), the service server 22 (movement management unit 32) Then, the scheduled route RTp of the peripheral drone 26sur (second autonomous mobile body) moving around the target drone 26tar is reset so as to leave the target drone 26tar (FIG. 6). As a result, the planned route RTp of the peripheral drone 26sur can be changed in accordance with the movement of the target drone 26tar.

B. Second Embodiment <B-1. Configuration and Control (Differences from First Embodiment)>
The configuration and control of the second embodiment are basically the same as those of the first embodiment. Hereinafter, the same reference numerals are given to the same components as those in the first embodiment, and detailed description thereof will be omitted. In the second embodiment, the flight monitoring control by the service server 22 is partially different from the first embodiment (FIG. 5).

FIG. 8 is a flowchart of the flight monitoring control in the second embodiment. As described above, the flight monitoring control is control for monitoring the flight of the target drone 26tar, and is executed by the flight monitoring unit 70 of the service server 22. In the second embodiment, the determination as to whether or not the target drone 26tar has deviated from the planned route RTp is different from that in the first embodiment.

In step S101 in FIG. 8, the service server 22 reads the erroneous correspondence history Her for the target drone 26tar from the delivery DB 98. The erroneous correspondence history Her determines in the past flight monitoring control that the target drone 26tar (the same drone 26 as the target drone 26tar in the current flight monitoring control) has deviated from the planned route RTp (S104 in FIG. 8: TRUE). Nevertheless, it is a history indicating that there was no actual departure. The erroneous correspondence history Her is recorded in the delivery DB 98 by the administrator of the service server 22 when the erroneous correspondence is found.

In step S102, the service server 22 sets the departure determination threshold value THrtd of the planned route RTp according to the erroneous handling history Her. For example, the deviation determination threshold value THrtd is set so that it is difficult to determine that the deviation has occurred as the number of erroneous correspondence histories Her increases.

Steps S103, S104, S105, S106, and S107 are the same as steps S71, S72, S73, S74, and S75 in FIG.

<B-2. Effect of Second Embodiment>
According to the second embodiment as described above, the following effects can be obtained in addition to or instead of the effects of the first embodiment.

That is, in the second embodiment, the service server 22 (movement management unit 32) sets the erroneous correspondence history Her as the history of the event Ev that has deviated or changed the planned route RTp to the target drone 26tar (first autonomous mobile body). Correspondingly, the response to be commanded to the target drone 26tar when the event Ev occurs is changed (S101 to S107 in FIG. 8). Accordingly, it is possible to more appropriately cope with a case where an event Ev that deviates or changes the planned route RTp occurs in the target drone 26tar.

C. Modifications Note that the present invention is not limited to the above-described embodiments, and various configurations can be adopted based on the description of the present specification. For example, the following configuration can be adopted.

<C-1. Autonomous mobile>
The drone 26 of the first embodiment was for delivery (FIGS. 1 and 2). However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention is not limited to this. For example, the drone 26 can be used for applications such as transportation of people, emergency use, photography, advertisement, security monitoring, surveying, entertainment, personal hobbies, and the like. The emergency use includes, for example, disaster response, lifesaving or crime response. The entertainment includes, for example, music concerts, sports or festivals. The same applies to the second embodiment.

In the first embodiment, the present invention is applied to the drone 26 (FIGS. 1 and 2). However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention may be applied to another type of flying object or autonomous moving object. For example, the present invention can be applied to an autonomous vehicle, a helicopter, or a ship. The same applies to the second embodiment.

<C-2. Mobility Management Unit 32>
The mobility management unit 32 of the first embodiment includes a service server 22 and a traffic management server 24 (FIG. 1). However, for example, from the viewpoint of managing the movement of a plurality of drones 26 (or autonomous mobile bodies), the present invention is not limited to this. For example, the movement management unit 32 may be configured only from the service server 22. Alternatively, in addition to the service server 22 and the traffic management server 24, a plurality of local control servers arranged for each predetermined area and managing the flight of the drone 26 can be provided. And the delivery instruction | command with respect to the drone 26 from the service server 22 may be transmitted via a local control server. The same applies to the second embodiment.

The service server 22 of the first embodiment managed the delivery (flight) of the drone 26 (FIGS. 1 and 2). However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention is not limited to this. For example, in addition to or instead of the drone 26, delivery of an autonomous vehicle, helicopter or ship may be managed. The same applies to the second embodiment.

The service server 22 of the first embodiment managed the delivery of the product G (FIG. 1). However, for example, from the viewpoint of managing the movement of a plurality of drones 26 (or autonomous mobile bodies), the present invention is not limited to this. For example, the service server 22 may manage uses such as transportation of people, emergency use, shooting, advertisement, security monitoring, surveying, entertainment, personal hobbies, and the like. The same applies to the second embodiment.

<C-3. Database>
In the first embodiment, the first map DB 96 and the moving body DB 94 are arranged on the service server 22 (FIG. 1). However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention is not limited to this. For example, the first map DB 96 or the moving body DB 94 can be provided outside the service server 22 (for example, the cloud or the traffic server 24).

<C-4. Emergency response of the target drone 26tar>
In the first embodiment, four correspondences including notification to the traffic server 24, warning command to the target drone 26tar, resetting the scheduled route RTp of the surrounding drone 26sur and notification to the customer terminal 20 are provided as Level 1 correspondences. (S75 in FIG. 5, FIG. 6). However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention is not limited to this. For example, any one, two, or three of these four can be performed. The same applies to the second embodiment.

In the first embodiment, two correspondences including notification to the traffic server 24 and notification to the customer terminal 20 are performed as correspondences of the level 2 and the level 3 (S75 in FIG. 5, FIG. 6). However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention is not limited to this. For example, only one of these two can be performed. The same applies to the second embodiment.

In the first embodiment, when the target drone 26tar deviates from the planned route RTp (S72: TRUE in FIG. 5), the content of the countermeasure control is determined based on the unit division Su of the unit division information Isu and the airframe division Sp of the individual information Ii. Selected (Figure 6). However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention is not limited to this. For example, in addition to the unit classification Su and the aircraft classification Sp, the content of the countermeasure control may be selected according to the degree of deviation of the target drone 26tar or the degree of emergency situation. The same applies to the second embodiment.

In the first embodiment, when the target drone 26tar deviates from the planned route RTp (S72: TRUE in FIG. 5), the route guidance of the target drone 26tar is not included in the response performed by the service server 22 and the traffic server 24. (FIG. 6). However, when there is a facility for performing route guidance, the service server 22 or the traffic server 24 can also guide the route of the target drone 26tar.

In the first embodiment, the second alarm command signal Sal2 and the third alarm command signal Sal3 to the external alarm device 28 and the peripheral terminal 30 are transmitted from the traffic server 24 (S93 in FIGS. 6 and 7). However, for example, from the viewpoint of alarming from the external alarm device 28 or the peripheral terminal 30 in the event of an emergency of the target drone 26tar, the present invention is not limited to this. For example, instead of the traffic server 24, it is also possible to transmit the second alarm command signal Sal2 and the third alarm command signal Sal3 from the service server 22 to the external alarm device 28 and the peripheral terminal 30. The same applies to the second embodiment.

In the first embodiment, the execution subject of the flight monitoring control (FIG. 5) is the service server 22. However, for example, from the viewpoint of performing countermeasure control based on the unit segment information Isu and the individual information Ii, the present invention is not limited to this. For example, the traffic server 24 or the target drone 26tar can perform flight monitoring control (including coping control). The same applies to the second embodiment.

For example, when the target drone 26tar itself (particularly the drone control device 134) performs flight monitoring control, the following is performed. That is, when the target drone 26tar determines that he / she has deviated from the planned route RTp (S72 in FIG. 5: TRUE) or before that, the unit as attribute information of the geographical unit section Su to which his current position Pdcur belongs The division information Isu and its own individual information Ii are acquired. Then, the target drone 26tar performs countermeasure control based on the unit division information Isu and the individual information Ii.

10 ... Management system 20 ... Customer terminal (external device)
26 ... Drone (autonomous mobile body, mobile body)
26sur ... Peripheral drone (second autonomous mobile body)
26 tar ... Target drone (first autonomous mobile body, autonomous mobile body)
32 ... Movement management unit 62 ... Communication unit (communication device)
70: Flight monitoring unit (handling control unit) 80 ... Notification unit 94 ... Mobile object DB
96 ... 1st map DB (map database)
134 ... Drone control device (autonomous control unit)
Ev ... Event Ii ... Individual information Imap1 ... First map information (map information) Isu ... Unit division information Pdcur ... Current position of drone Pst ... Departure point Ptar ... Destination RTp ... Planned route

Claims

A first autonomous mobile body having an autonomous control unit for moving from the departure place to the destination;
A management system comprising: a movement management unit that communicates with the first autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the first autonomous mobile body,
The movement management unit is unit classification information that is attribute information of a geographical unit classification to which a current position of the first autonomous moving body belongs when an event that deviates or changes a planned route occurs in the first autonomous moving body. And a countermeasure control unit that executes countermeasure control for performing correspondence in accordance with the individual information of the first autonomous mobile body.
The management system according to claim 1,
When the event that the first autonomous mobile body itself cannot maintain the planned route occurs, the movement management unit commands the correspondence of the first autonomous mobile body according to the unit classification information and the individual information Management system characterized by
In the management system according to claim 1 or 2,
The management system includes an external device that requests the movement management unit to move the first autonomous moving body,
The movement management unit includes a notification unit for notifying the external device of the occurrence of the event or the response by the countermeasure control when the event that deviates or changes the planned route occurs in the first autonomous mobile body. A management system characterized by having.
The management system according to any one of claims 1 to 3,
The movement management unit changes the response commanded to the first autonomous mobile body when the event occurs, according to a history of the event in which the first autonomous mobile body has deviated or changed the planned route. Management system characterized by letting
The management system according to any one of claims 1 to 4,
When the event that deviates or changes the planned route occurs in the first autonomous mobile body, the movement management unit determines the planned route of the second autonomous mobile body that is moving around the first autonomous mobile body. The management system is reset so as to be separated from the first autonomous mobile body.
A first autonomous mobile body having 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 first autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the first autonomous mobile body,
When an event occurs in the first autonomous mobile body that deviates or changes the planned route, the movement management unit is unit classification information that is attribute information of a geographical unit classification to which the current position of the first autonomous mobile body belongs And a command corresponding to the individual information of the first autonomous mobile body to the first autonomous mobile body.
A management server that communicates with a first autonomous mobile body including an autonomous control unit for moving from a departure place to a destination, and manages movement of a plurality of mobile bodies including the first autonomous mobile body,
The management server, when an event that deviates or changes a planned route occurs in the first autonomous mobile body, unit classification information that is attribute information of a geographical unit classification to which the current position of the first autonomous mobile body belongs, A management server that includes a countermeasure control unit that executes countermeasure control for performing correspondence in accordance with the individual information of the first autonomous mobile body.
An autonomous mobile body equipped with an autonomous control unit for moving from a departure place to a destination,
The autonomous control unit, when an event that deviates or changes a planned route occurs in the autonomous mobile body, unit classification information that is attribute information of a geographical unit classification to which the current position of the autonomous mobile body belongs, An autonomous mobile body characterized by including a countermeasure control unit that executes countermeasure control for performing correspondence in accordance with individual information of the mobile body.