WO2019181898A1 - Mobile body management system, control method for mobile body management system, and management server for mobile body management system - Google Patents

Mobile body management system, control method for mobile body management system, and management server for mobile body management system Download PDF

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Publication number
WO2019181898A1
WO2019181898A1 PCT/JP2019/011308 JP2019011308W WO2019181898A1 WO 2019181898 A1 WO2019181898 A1 WO 2019181898A1 JP 2019011308 W JP2019011308 W JP 2019011308W WO 2019181898 A1 WO2019181898 A1 WO 2019181898A1
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WIPO (PCT)
Prior art keywords
mobile body
observed
autonomous mobile
observed information
autonomous
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PCT/JP2019/011308
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French (fr)
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 JP2020507813A priority Critical patent/JP6859487B2/en
Publication of WO2019181898A1 publication Critical patent/WO2019181898A1/en

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    • 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

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 for example, an airport is cited ([0003], [0004]).
  • 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).
  • the flight restricted area for example, an airport is cited ([0003], [0004]).
  • the restricted flight area it is possible to set multiple “restricted” degrees. For example, for school routes that elementary school students are attending school, it may be possible to prohibit flying only during school attendance. In addition, it is conceivable that the outdoor concert venue and its surroundings are prohibited from flying only during and before the concert. In other words, the flight restriction area (flight restriction area) can be dynamically changed according to the time zone or the number of people.
  • the present invention has been made in consideration of the above-described problems, and provides a management system for a moving body, a control method therefor, and a management server capable of suitably changing a flight restriction place dynamically. With the goal.
  • the management system 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, Furthermore, the management system includes: An observed information acquisition unit for acquiring observed information of the first autonomous mobile body that has observed the first autonomous mobile body from the periphery of the first autonomous mobile body; Based on the observed information acquired by the observed information acquisition unit, the movement to change the movement plan or operation state of the first autonomous moving object or the second autonomous moving object that can approach the acquisition point of the observed information And a plan change section.
  • the first autonomous mobile body or the acquisition point of the observed information can be approached by the observed information of the first autonomous mobile body observed from the periphery of the first autonomous mobile body (observation information for the periphery).
  • 2 Change the movement plan or operation state of the autonomous mobile body. Thereby, it becomes possible to reflect the influence which the 1st autonomous mobile body had on the periphery in a subsequent movement plan or operation state. Therefore, the movement of the first autonomous mobile body or the second autonomous mobile body can be more suitably managed.
  • the observed information may include a noise state of the first autonomous mobile body.
  • the observed information may include discomfort experienced by surrounding people as the first autonomous mobile body moves, and information that the surrounding people input to the observed information acquisition unit.
  • the subsequent movement plan or operation state of the first autonomous mobile body or the second autonomous mobile body is set so as to avoid or reduce the situation in which the movement of the first autonomous mobile body gives discomfort to surrounding people. It can be changed.
  • the mobility management unit An observed information database for accumulating negative observed information, which is the observed information including negative evaluation, together with an observed location of the first autonomous mobile body in which the negative evaluation is observed; And a route calculation unit that calculates a new planned route of the first autonomous mobile body or the second autonomous mobile body so as to avoid the observed location.
  • the movement management unit includes a movement restriction unit that sets a movement restriction place that is a place or a region that restricts movement of the first autonomous mobile body or the second autonomous mobile body based on the observed information. Also good. As a result, the calculation load of the movement management unit can be reduced by using the movement restricted place, in comparison with the case where the planned route of the first autonomous moving body or the second autonomous moving body is calculated in consideration of the observed information itself. It becomes possible to reduce.
  • the control method 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, Acquiring observed information of the first autonomous moving body, which has observed the first autonomous moving body from the periphery of the first autonomous moving body, in an observed information acquiring unit; Based on the observed information acquired by the observed information acquisition unit, a dynamic plan of the movement plan or operation state of the first autonomous moving object or the second autonomous moving object that can approach the acquisition point of the observed information And a step of changing by the changing unit.
  • 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 Furthermore, the management server acquires observed information of the first autonomous mobile body that has observed the first autonomous mobile body from the periphery of the first autonomous mobile body from the observed information acquisition unit, and includes the observed information in the observed information
  • a dynamic plan change unit that changes a movement plan or an operation state of the second autonomous mobile body that can approach the acquisition point of the first autonomous mobile body or the observed information is provided.
  • it is a flowchart which shows the outline
  • 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”). .), A plurality of drones 26, and a plurality of peripheral terminals 28.
  • the service server 22 and the traffic server 24 constitute a movement management unit 30 that manages movement of a plurality of drones 26.
  • the drone 26 (hereinafter also referred to as “delivery drone 26del”) delivers the merchandise G based on the order information Iodr for the merchandise 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 50.
  • Communication between the service server 22 and the drone 26 and between the service server 22 and the peripheral terminal 28 are possible via the Internet 50 and the wireless relay station 52.
  • the customer terminal 20 is an external terminal that receives 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 drones 26) is managed.
  • 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, the peripheral terminal 28, 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 executes order-receiving control for managing the order of the product G and the delivery by the drone 26. In addition, the calculation unit 64 executes observed information reflection control for changing the movement plan or the operation state of the drone 26 based on the observed information Iob transmitted from the user via the peripheral terminal 28.
  • the calculation unit 64 includes a delivery management unit 70 and a movement control unit 72.
  • the delivery management unit 70 manages delivery of the product G.
  • the movement control unit 72 controls the flight of the delivery drone 26del.
  • the delivery management unit 70 includes a dynamic plan change unit 80 that dynamically changes the movement plan and operation state of each delivery drone 26del based on the observed information Iob (described later) acquired by the peripheral terminal 28.
  • the dynamic plan change unit 80 includes a movement restriction unit 90 and a route calculation unit 92.
  • the movement restriction unit 90 sets a movement restriction place Lml, which is a place or area where movement of each drone 26 is restricted, based on the observed place Lob of the observed information Iob.
  • the route calculation unit 92 calculates a new planned route RTp for each delivery drone 26del so as to avoid the movement restricted place Lml (including the observed place Lob).
  • 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”).
  • 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 66 may include a read only memory (ROM) in addition to the RAM.
  • the storage unit 66 includes an order database 100 (hereinafter referred to as “order DB 100”), an inventory database 102 (hereinafter referred to as “inventory DB 102”), a mobile object database 104 (hereinafter referred to as “mobile object DB 104”), 1 map database 106 (hereinafter referred to as “first map DB 106”), delivery database 108 (hereinafter referred to as “delivery DB 108”), and observed information database 110 (hereinafter referred to as “observed information DB 110”). .
  • order DB 100 order database 100
  • inventory database 102 hereinventory DB 102
  • mobile object database 104 hereinafter referred to as “mobile object DB 104”
  • 1 map database 106 hereinafter referred to as “first map DB 106”
  • delivery database 108 hereinafter referred to as “delivery DB 108”
  • observed information database 110 hereinafter referred to as “observed information DB 110”.
  • the order DB 100 accumulates information (order information Iodr) related to orders received via each customer terminal 20.
  • the inventory DB 102 stores information related to inventory (inventory information Istk).
  • the mobile object DB 104 stores individual information Ii related to the drone 26 used for delivery.
  • the individual information Ii includes, for example, identification information (identification ID) of the drone 26, a type (large size, small size, etc.), a maximum load weight, and a maximum size of the loadable load.
  • the individual information Ii may include any one or more of the number of loads that can be loaded, the maximum number of people that can be used, the fuel consumption, the maximum speed, the number of years of operation, the total movement distance, and the current position Pdcur of the drone 26.
  • the first map DB 106 stores 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 108 accumulates information (delivery information Id) related to delivery of the ordered product G.
  • the delivery information Id includes information related to the delivery drone 26del that delivers the product G.
  • the observed information DB 110 accumulates the observed information Iob of the target drone 26tar obtained by observing the target drone 26tar from the periphery of the specific drone 26 (hereinafter referred to as “target drone 26tar”).
  • the observed information Iob is information of the drone 26 (delivery drone 26del) observed by the observer (person), the negative observed information Iobneg, the observed location Lob, the observed time Tob (or the observed time zone) ) And the identification ID of the target drone 26tar.
  • the negative observed information Iobneg, the observed location Lob, and the observed time Tob (or the observed time zone) indicate that the observer around the target drone 26tar (in other words, the user of the peripheral terminal 28) determines the peripheral terminal 28.
  • the identification ID of the target drone 26tar is specified by the service server 22 based on the flight route RTf, the observed location Lob, the observed time Tob, and the like of the target drone 26tar.
  • the flight route RTf is a route on which the target drone 26tar flew, and is stored in the delivery DB 108.
  • the flight route RTf is preferably a route (based on position information) on which the target drone 26tar actually flies, but a past scheduled route RTp may be used.
  • the negative observation information Iobneg is information including a negative evaluation of the target drone 26tar by an observer around the target drone 26tar.
  • the negative observed information Iobneg includes the noise state of the target drone 26tar and information related to discomfort experienced by the surroundings as the target drone 26tar moves.
  • the observed location Lob is an observation point or an observation area of the target drone 26tar that has generated a negative evaluation.
  • the observed location Lob is a location observed by an observer.
  • the traffic management server 24 manages information (traffic information It) regarding traffic (flight) of a plurality of flying bodies (including the drone 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 traffic (for example, traffic jam information).
  • the traffic server 24 includes a second map database 130 (hereinafter referred to as “second map DB 130”) and a flight schedule database 132 (hereinafter referred to as “flight schedule DB 132”).
  • 2nd map DB130 accumulate
  • the flight schedule DB 132 stores information (flight schedule information Isc) related to the flight schedule of each aircraft.
  • the drone 26 (autonomous mobile body) of the present embodiment is for product delivery, and the departure place Pst (a warehouse or the like) according to a delivery command (flight command) received from the service server 22 via the Internet 50 and the wireless relay station 52. ) To the delivery destination Pdtar. As will be described later, the drone 26 may be used for other purposes.
  • the drone 26 includes a drone sensor group 150, a communication device 152, a drone control device 154, and a propeller driving unit 156.
  • the drone sensor group 150 includes a camera, a global positioning system sensor (hereinafter referred to as “GPS sensor”), a speedometer, an altimeter, a gyro sensor (all not shown), and the like.
  • GPS sensor global positioning system sensor
  • the camera is arranged at the lower part of the main body of the drone 26, and outputs image information Iimage about a peripheral image obtained by imaging the periphery of the drone 26.
  • the camera is a video camera that takes a video.
  • the camera may be capable of capturing both moving images and still images or only still images.
  • the direction of the camera (the posture of the camera with respect to the main body of the drone 26) can be adjusted by a camera actuator (not shown).
  • the position of the drone 26 with respect to the main body may be fixed.
  • the GPS sensor outputs position information Ipdcur regarding the current position Pdcur of the drone 26.
  • the speedometer detects the flight speed Vd [km / h] of the drone 26.
  • the altimeter detects a ground altitude H (hereinafter also referred to as “altitude H”) [m] as a distance to the ground below the drone 26.
  • the gyro sensor detects the angular velocity ⁇ [rad / sec] of the drone 26.
  • the angular velocity ⁇ 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 communication device 152 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 152 can communicate with the service server 22 and the like via the wireless relay station 52 and the Internet 50.
  • the drone control device 154 (autonomous control unit) controls the entire drone 26 such as flight and shooting of the drone 26.
  • the drone control device 154 autonomously moves (flys) the drone 26 from the departure point Pst to the destination Ptar.
  • the drone control device 154 includes an input / output unit, a calculation unit, and a storage unit (not shown).
  • the propeller drive unit 156 includes a plurality of propellers and a plurality of propeller actuators.
  • the propeller actuator has, for example, an electric motor.
  • the peripheral terminal 28 functions as an observed information acquisition unit that acquires the observed information Iob, and includes, for example, a smartphone that an individual has.
  • the peripheral terminal 28 may include an input terminal installed around the road or a personal computer owned by an individual.
  • Each peripheral terminal 28 includes an input / output unit 160, a communication unit 162, a calculation unit 164, a storage unit 166, and a display unit 168.
  • the input / output unit 160 and the display unit 168 can be configured by a touch panel.
  • the communication unit 162 can communicate with the service server 22 and the like via the wireless relay station 52 and the Internet 50.
  • FIG. 2 is a flowchart showing an outline when the product G ordered from the customer is delivered by the drone 26 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 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.
  • 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.
  • a permission application for the planned route RTp is transmitted to the traffic management server 24 in step S23.
  • the identification ID of the target drone 26 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 planned route RTp includes a temporary flight prohibited area, the traffic server 24 disallows the permission application. In addition, when one or more other drones 26 (other devices) are scheduled to pass a part of the planned route RTp at the same time as themselves (own devices), the traffic server 24 disallows the permission application. . On the other hand, when there is no reason for not allowing the drone 26 to fly, the traffic server 24 permits the permission application.
  • the traffic management server 24 When permitting a 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.
  • the process proceeds to step S25.
  • 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).
  • 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 planned route RTp includes a route (outbound route) from the departure point Pst to the delivery destination Pdtar, which is the current position Pdcur (for example, a warehouse not shown) of the target drone 26tar, and a route from the delivery destination Pdtar to the return destination Irtar ( Including return trip).
  • the planned route RTp may include a route from the current position Pdcur to the warehouse.
  • a route to the warehouse, sales office, or the like may be set as the scheduled route RTp.
  • a route to the delivery destination Pdtar and a route to the return destination Irtar may be set as the new scheduled route RTp.
  • the delivery command can be transmitted by another method instead of directly transmitted from the service server 22 to the target drone 26tar.
  • ⁇ 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.
  • 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 Irtar.
  • FIG. 3 is a flowchart of the control at the time of order reception according to this embodiment.
  • the control at the time of order reception is control for managing the order reception of the product G and the delivery by the drone 26, and is executed by the calculation unit 64 of the service server 22.
  • the service server 22 displays an ordering screen on the customer terminal 20 in response to a request from the customer terminal 20.
  • the service server 22 transmits the order screen data to the customer terminal 20 in response to a request from the customer terminal 20.
  • the customer terminal 20 Upon receiving the order screen data, the customer terminal 20 displays the order screen on a display unit (not shown).
  • step S72 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. If an order is received (S72: TRUE), the process proceeds to step S73. If no order has been received (S72: FALSE), the process returns to step S71.
  • the service server 22 calculates the target drone 26tar and the planned route RTp. That is, in step S73, the service server 22 acquires the delivery information Id necessary for calculating the target drone 26tar and the scheduled route RTp.
  • the delivery information Id includes the delivery location, delivery deadline, dimensions, weight, etc. of the product G (package).
  • step S74 the service server 22 extracts the target drone 26tar used for delivery of the product G based on the delivery information Id. For example, regional limitation is performed from the drone 26 based on the delivery location included in the delivery information Id. For example, when delivering to the A area, the service server 22 extracts the drone 26 currently arranged in the A area.
  • a limitation based on the performance (attribute) of each individual from the drone 26 is performed. For example, when the commodity G is a large luggage having a size greater than or equal to the first dimension, the large drone 26 is extracted and the small drone 26 is excluded. On the other hand, when the commodity G is a small luggage smaller than the first dimension, both large and small drones 26 are extracted. In the present embodiment, when a small package smaller than the first dimension is delivered alone, the small drone 26 is basically selected.
  • step S75 the service server 22 calculates the planned route RTp of the target drone 26tar.
  • the service server 22 uses the flight restriction area Rlim stored in the first map DB 106. For example, when the flight restriction region Rlim is not included in the shortest aerial route RTmin from the departure point Pst to the delivery destination Pdtar, the shortest aerial route RTmin is set as the scheduled route RTp. When the flight restriction region Rlim is included in the shortest aerial route RTmin, the scheduled route RTp corresponding to the restriction content of the flight restriction region Rlim is set.
  • the flight restriction area Rlim is an area where the flight of the drone 26 is restricted, and includes a flight prohibition area Rban and a conditional flight permission area Ralw.
  • the flight prohibited area Rban is an area where the flight of the drone 26 is prohibited.
  • the conditional flight permission area Ralw is an area where the flight of the drone 26 is permitted only when a predetermined condition (flight permission condition CNalw) is satisfied, and when the flight permission condition CNalw is not satisfied, the flight of the drone 26 is prohibited. It is.
  • the flight permission condition CNalw for example, a time zone or a specific use (emergency use or the like) is included.
  • the flight restriction area Rlim is defined in a three-dimensional direction (front-rear direction, left-right direction, and up-down direction).
  • the flight restriction region Rlim may be defined in a two-dimensional direction (front-rear direction and left-right direction).
  • the flight restriction region Rlim includes not only the front-rear direction and the left-right direction (current position Pdcur defined by latitude and longitude) but also the vertical direction (altitude H). Is set.
  • the flight restriction area Rlim includes an area set based on the observed information Iob.
  • the setting of the flight restriction region Rlim based on the observed information Iob will be described later with reference to FIG.
  • the service server 22 sets the shortest aerial route RTmin as the planned route RTp. Furthermore, when the conditional flight permission area Ralw is included in the shortest aerial route RTmin and the flight permission condition CNalw is not satisfied, the service server 22 schedules the shortest path among the aerial paths that avoid the conditional flight permission area Ralw. The route is RTp.
  • the planned route RTp is calculated separately depending on whether each flight restriction area Rlim passes or detours.
  • the planned route RTp is a route used by the target drone 26tar to deliver the product G, and includes a forward route and a return route.
  • step S76 the service server 22 transmits a delivery command to the target drone 26tar.
  • the delivery command includes the planned route RTp.
  • Step S76 corresponds to step S25 in FIG.
  • FIG. 4 is a flowchart showing an overall flow when reflecting the observed information Iob in the present embodiment. Note that in FIG. 4 only a rough flow is shown.
  • step S101 the peripheral terminal 28 receives the observed information Iob according to the operation of the user (observer). Specifically, the peripheral terminal 28 displays an observed information input screen on the display unit 168 in accordance with a user operation.
  • the observed information input screen is acquired from the service management server 22.
  • the observed information input screen includes an input field for observed information Iob.
  • the observed information Iob is information of the drone 26 observed by the observer (person).
  • the observed information Iob includes negative observed information Iobneg, observed location Lob, observed time Tob (or observed time zone), and identification ID of the target drone 26tar.
  • the peripheral terminal 28 transmits a reflection request signal Srefreq including the observed information Iob from the user to the service management server 22.
  • the service server 22 determines whether or not the route restriction condition CNrtl is satisfied based on the observed information Iob received by the peripheral terminal 28.
  • the route restriction condition CNrtl is a condition for determining whether or not a new restriction is imposed on the planned route RTp of the drone 26.
  • the route restriction condition CNrtl for example, the fact that the reception frequency Nr of the negative observed information Iobneg is equal to or greater than the frequency threshold value THnr can be used. Alternatively, it may be used that the number Ns of transmissions of the negative observation information Iobneg is equal to or greater than the number threshold THns. When the number of receptions Nr or the number Ns of transmissions is used, weighting according to the degree of negative evaluation may be performed.
  • step S111: TRUE When the route restriction condition CNrtl is satisfied (S111: TRUE), the process proceeds to step S112. If the route restriction condition CNrtl is not satisfied (S111: FALSE), the process associated with the acquisition of the current observed information Iob is terminated. In step S112, the service server 22 sets a new flight restriction area Rlim in the observed location Lob.
  • the service server 22 determines whether or not there is a drone 26 that needs to change the planned route RTp.
  • the target drone 26 is not limited to the drone 26 (target drone 26tar) corresponding to the observed information Iob, but may be another drone 26 that can approach the acquisition point of the observed information Iob (hereinafter “other drone 26otr”). Is also included.). For example, if a new flight restriction region Rlim exists on the planned route RTp of the target drone 26tar or another drone 26otr, it is determined that the planned route RTp needs to be changed.
  • a new planned route RTp (or a corrected route) is calculated for the drone 26 that requires a change in the planned route RTp in step S114.
  • S113: FALSE the process associated with the acquisition of the observed information Iob this time is terminated.
  • step S118 is the same as steps S22, S23, S24, S31, S32, and S33 of FIG. 2. Steps S115, S116, S117, S121, S122, and S123 of FIG.
  • the process proceeds to step S118.
  • step S118 the service server 22 transmits a route change command to the drone 26 (target drone 26tar or other drone 26otr) corresponding to the new planned route RTp.
  • the route change command includes information on a new planned route RTp.
  • step S130 the drone 26 (target drone 26tar or other drone 26otr) that has received the route change command changes the current planned route RTp to a new planned route RTp included in the route change command.
  • FIG. 5 is a flowchart of observed information reflection control (hereinafter also referred to as “reflection control”) of the present embodiment.
  • the reflection control is control for changing the movement plan or operation state of the drone 26 based on the observed information Iob transmitted from the user via the peripheral terminal 28, and is executed by the calculation unit 64 of the service server 22. .
  • step S151 of FIG. 5 the service server 22 displays an observed information input screen on the peripheral terminal 28 in response to a request from the peripheral terminal 28.
  • the service server 22 transmits data of the observed information input screen to the peripheral terminal 28 in response to a request from the peripheral terminal 28.
  • the peripheral terminal 28 that has received the observed information input screen data causes the display unit 168 to display the observed information input screen.
  • step S152 the service server 22 determines whether or not the observed information Iob is received from the peripheral terminal 28.
  • S152: TRUE the process proceeds to step S153. If the observed information Iob is not received (S152: FALSE), the process returns to step S151.
  • step S153 the service server 22 identifies the target drone 26tar based on the observed information Iob (particularly, the observed location Lob, the observed time Tob, and the characteristics of the drone 26).
  • the identification ID of the identified target drone 26tar is included in the observed information Iob.
  • step S154 the service server 22 registers the observed information Iob (including the identification ID of the target drone 26tar) in the observed information DB 110.
  • step S155 the service server 22 determines whether or not the route restriction condition CNrtl is satisfied based on the observed information Iob.
  • the route restriction condition CNrtl is a condition for determining whether or not a new restriction is imposed on the planned route RTp of the drone 26.
  • the route restriction condition CNrtl for example, the number of receptions Nr or the number Ns of transmissions of the negative observed information Iobneg can be used.
  • the route restriction condition CNrtl is satisfied (S155: TRUE)
  • the process proceeds to step S156.
  • the route restriction condition CNrtl is not satisfied (S155: FALSE)
  • the current reflection control is terminated.
  • step S156 the service server 22 registers a new flight restriction area Rlim in the first map DB 106.
  • the new flight restriction region Rlim is set based on the observed location Lob.
  • step S157 the service server 22 determines whether there is a drone 26 (target drone 26tar or other drone 26otr) that needs to be changed in the planned route RTp by the new flight restriction region Rlim. In other words, it is determined whether or not there is a planned route RTp that passes through the new flight restriction region Rlim.
  • the process proceeds to step S158. If there is no drone 26 that needs to change the planned route RTp (S157: FALSE), the current reflection control is terminated.
  • a new planned route RTp (or modified route) is calculated for the drone 26 that needs to change the planned route RTp.
  • the new scheduled route RTp calculated here can be, for example, the shortest route that bypasses the new flight restriction region Rlim.
  • Steps S159, S160, S161, and S162 are performed in the same manner as steps S22, S23, S24, and S25 in FIG. 2, as described in steps S115, S116, S117, and S118 in FIG. That is, in step S159, the service server 22 determines whether or not the traffic route 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.
  • step S161 the service server 22 monitors whether or not the result notification from the traffic management server 24 has been received.
  • the process proceeds to step S162. If the result received from the traffic management server 24 indicates disapproval (S161: FALSE), the process returns to step S158.
  • step S162 the service server 22 transmits a route change command to the drone 26 (target drone 26tar or other drone 26otr) corresponding to the new planned route RTp.
  • the route change command includes information on a new planned route RTp.
  • step S163 the service server 22 notifies the customer terminal 20 of the customer corresponding to the drone 26 whose route is changed that the route has been changed.
  • the target drone 26tar or other drone 26otr (observed information) according to the observed information Iob (observation information for the periphery) of the target drone 26tar observed from the periphery of the target drone 26tar (first autonomous mobile body).
  • the movement plan or operation state of the second autonomous mobile body that can approach the Iob acquisition point is changed (S21 in FIG. 2, S75 in FIG. 3, S114 in FIG. 4, S158 in FIG. 5).
  • S21 in FIG. 2, S75 in FIG. 3, S114 in FIG. 4, S158 in FIG. 5 is changed (S21 in FIG. 2, S75 in FIG. 3, S114 in FIG. 4, S158 in FIG. 5).
  • S21 in FIG. 2, S75 in FIG. 3, S114 in FIG. 4, S158 in FIG. 5 Thereby, it becomes possible to reflect the influence which the object drone 26tar gave to the circumference
  • the observed information Iob includes the noise state of the target drone 26tar (first autonomous mobile body) (S101 in FIG. 4 and S152 in FIG. 5). Accordingly, it is possible to change the subsequent movement plan or operation state of the target drone 26tar or another drone 26otr (second autonomous mobile body) in consideration of the noise state given to the surroundings by the target drone 26tar.
  • the observed information Iob indicates that the surrounding person (the user of the peripheral terminal 28) feels uncomfortable feelings as the target drone 26tar (first autonomous mobile body) moves. (S101 in FIG. 4 and S152 in FIG. 5). Accordingly, the subsequent movement plan or operation of the target drone 26tar or other drone 26otr (second autonomous mobile body) is performed so as to avoid or reduce the situation in which the movement of the target drone 26tar causes discomfort to surrounding people. It becomes possible to change the state.
  • the service server 22 (movement management unit 30) includes an observed information DB 110 and a route calculation unit 92 (FIG. 1).
  • the observed information DB 110 is a point or a region of the target drone 26tar (first autonomous mobile body) that has generated the negative evaluation of the negative observed information Iobneg, which is the observed information Iob including the negative evaluation. It accumulates with the observed location Lob.
  • the route calculation unit 92 calculates a new planned route RTp of the target drone 26tar or another drone 26otr (second autonomous mobile body) so as to avoid the observed location Lob (S21 in FIG. 2, S75 in FIG. 3, S114 in FIG. 4 and S158 in FIG. 5). Thereby, it becomes possible to reduce or avoid the occurrence of a new negative evaluation due to a new movement of the target drone 26tar or another drone 26otr.
  • the service server 22 (movement management unit 30) restricts movement of the target drone 26tar (first autonomous mobile body) or another drone 26otr (second autonomous mobile body) based on the observed information Iob.
  • a movement restriction unit 90 for setting a movement restriction place Lml which is a place or area to perform (FIG. 1).
  • the calculation load of the service server 22 can be reduced by using the movement restriction place Lml as compared with the case where the planned route RTp of the target drone 26tar or another drone 26otr is calculated in consideration of the observed information Iob itself each time. It becomes possible to reduce.
  • the drone 26 of the above embodiment was for delivery (FIGS. 1 and 2).
  • the present invention is not limited to this.
  • 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 present invention is applied to the drone 26 (FIGS. 1 and 2).
  • the present invention may be applied to another type of flying body or autonomous mobile body.
  • the present invention can be applied to an autonomous vehicle, a helicopter, or a ship.
  • the mobility management unit 30 of the above embodiment includes a service server 22 and a traffic management server 24 (FIG. 1).
  • the movement management unit 30 may be configured only from the service server 22.
  • a plurality of local control servers arranged for each predetermined area and managing the flight of the drone 26 can be provided.
  • command with respect to the drone 26 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 (FIGS. 1 and 2).
  • the present invention is not limited to this.
  • 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.
  • a new flight restriction region Rlim is set based on the observed information Iob (S112 in FIG. 4 and S156 in FIG. 5), thereby changing the planned route RTp of the target drone 26tar or other drone 26otr. (S114 in FIG. 4 and S158 in FIG. 5).
  • the present invention is not limited to this.
  • the operating state of the target drone 26tar or another drone 26otr it is possible to change the operating state of the target drone 26tar or another drone 26otr.
  • the operating state to be changed for example, the flight speed Vd or altitude H of the target drone 26tar or another drone 26otr can be used. That is, when the noise state is pointed out as the negative observed information Iobneg, decreasing the flight speed Vd or increasing the altitude H is one of the possible responses.
  • the user of the peripheral terminal 28 inputs the observed information Iob to the peripheral terminal 28 (observed information acquisition unit) (S101 in FIG. 4).
  • the present invention is not limited to this.
  • an observation sensor that observes the target drone 26tar may be provided around the planned route RTp of the target drone 26tar, and the output of the observation sensor may be automatically transmitted to the service server 22 as the observed information Iob.
  • the observation sensor for example, a microphone or a vibration sensor can be used.
  • the execution subject of the observed information reflection control is the service server 22 (FIG. 5).
  • the traffic server 24 or the local control server may be the execution subject instead of the service server 22.
  • the target drone 26tar may execute the observation information reflection control.
  • the target drone 26tar (first autonomous mobile body) and the other drone 26otr (second autonomous mobile body) are set as targets whose movement plan or operation state is changed based on the observed information Iob (FIG. 5). S157).
  • the target whose movement plan or operation state is changed based on the observed information Iob may be either the target drone 26tar (first autonomous mobile body) or another drone 26otr (second autonomous mobile body).
  • the observed information Iob includes the noise state of the target drone 26tar (first autonomous mobile body) and information related to discomfort experienced by the surroundings as the target drone 26tar moves (S101 in FIG. 4). , S152 in FIG.
  • the present invention is not limited to this.
  • the observed information Iob may include only one of the noise state of the target drone 26tar or information related to the discomfort experienced by the surroundings as the target drone 26tar moves.
  • other information may be included in the observed information Iob.
  • the newly set flight restriction area Rlim is assumed to be a fixed area (S156 in FIG. 5).
  • the present invention is not limited to this.
  • the peripheral terminal 28 as a mobile terminal such as a smartphone moves with the user. Therefore, from the viewpoint of setting the flight restriction region Rlim according to the user, the new flight restriction region is set according to the position of the user (or the peripheral terminal 28) rather than setting the new flight restriction region Rlim as a fixed region. It is preferable to change the position of Rlim. Therefore, the new flight restriction region Rlim based on the observed information Iob may be changed according to the position of the peripheral terminal 28.

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Abstract

Provided are a mobile body management system, a control method for the mobile body management system, and a management server for the mobile body management system that make it possible to make dynamic changes to flight restricted locations in a suitable manner. A management system (10) that has an observed information acquisition part (28) and a dynamic plan adjustment part (80). The observed information acquisition part (28) acquires observed information (Iob) about a first autonomous mobile body (26tar) that has been gathered by observing the first autonomous mobile body (26tar) from the periphery of the first autonomous mobile body (26tar). On the basis of the observed information (Iob) acquired by the observed information acquisition part (28), the dynamic plan adjustment part (80) adjusts a movement plan for or the operating state of the first autonomous mobile body (26tar) or a second autonomous mobile body (26otr) that can approach the point at which the observed information (Iob) was acquired. The dynamic plan adjustment part (80) is included, for example, in a management server (22).

Description

移動体の管理システム及びその制御方法並びに管理サーバMobile body management system, control method therefor, and management server
　本発明は、複数の移動体の移動を管理する管理システム及びその制御方法並びに管理サーバに関する。 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.
　米国特許出願公開第２０１５／０３３９９３１号明細書では、飛行制限区域に応じた飛行が可能なシステム、方法及び装置が開示されている（要約）。米国特許出願公開第２０１５／０３３９９３１号明細書では、無人飛行体（ＵＡＶ：unmanned aerial vehicle）の位置が、飛行制限区域と比較される。必要に応じて、ＵＡＶは、飛行禁止区域への進入を回避するための対応を採る。飛行制限区域としては、例えば空港が挙げられている（［０００３］、［０００４］）。 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 will take action to avoid entry into the no-fly zone. As the flight restricted area, for example, an airport is cited ([0003], [0004]).
　上記のように、米国特許出願公開第２０１５／０３３９９３１号明細書では、ＵＡＶの位置を飛行制限区域と比較し、必要に応じて、ＵＡＶは、飛行禁止区域への進入を回避するための対応を採る（要約）。飛行制限区域としては、例えば空港が挙げられている（［０００３］、［０００４］）。 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). As the flight restricted area, for example, an airport is cited ([0003], [0004]).
　飛行制限区域については、「制限」の程度を複数設けることが可能である。例えば、小学生が通学中の通学経路については、通学の間のみ飛行を禁止することが考えられる。また、屋外コンサート会場及びその周辺については、コンサートの開催中及びその前後のみ、飛行を禁止することが考えられる。換言すると、時間帯又は人数に応じて、飛行制限区域（飛行制限領域）を動的に変化させることが可能である。 In the restricted flight area, it is possible to set multiple “restricted” degrees. For example, for school routes that elementary school students are attending school, it may be possible to prohibit flying only during school attendance. In addition, it is conceivable that the outdoor concert venue and its surroundings are prohibited from flying only during and before the concert. In other words, the flight restriction area (flight restriction area) can be dynamically changed according to the time zone or the number of people.
　しかしながら、米国特許出願公開第２０１５／０３３９９３１号明細書では、飛行制限領域又は飛行制限地点としての飛行制限場所を動的に変化させることについては考慮されていないように見受けられる。これらの課題は、飛行体に限らず、自律的な移動を行うその他の自律移動体（自動車、船舶等）にも該当する。 However, in US Patent Application Publication No. 2015/0339931, it seems that dynamic change of the flight restriction area as the flight restriction area or the flight restriction point is not considered. These issues apply not only to flying objects but also to other autonomous moving objects (automobiles, ships, etc.) that perform autonomous movement.
　本発明は上記のような課題を考慮してなされたものであり、飛行制限場所の動的な変化を好適に行うことが可能な移動体の管理システム及びその制御方法並びに管理サーバを提供することを目的とする。 The present invention has been made in consideration of the above-described problems, and provides a management system for a moving body, a control method therefor, and a management server capable of suitably changing a flight restriction place dynamically. With the goal.
　本発明に係る管理システムは、
　　出発地から目的地まで移動するための自律制御部を備えた第１自律移動体と、
　　通信装置を介して前記第１自律移動体と通信し、前記第１自律移動体を含む複数の移動体の移動を管理する移動管理部と
　を備えるものであって、
　さらに、前記管理システムは、
　　前記第１自律移動体の周辺から前記第１自律移動体を観測した前記第１自律移動体の被観測情報を取得する被観測情報取得部と、
　　前記被観測情報取得部が取得した前記被観測情報に基づいて、前記第１自律移動体又は前記被観測情報の取得地点に接近し得る第２自律移動体の移動計画又は動作状態を変更する動的計画変更部と
　を備える
　ことを特徴とする。 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,
Furthermore, the management system includes:
An observed information acquisition unit for acquiring observed information of the first autonomous mobile body that has observed the first autonomous mobile body from the periphery of the first autonomous mobile body;
Based on the observed information acquired by the observed information acquisition unit, the movement to change the movement plan or operation state of the first autonomous moving object or the second autonomous moving object that can approach the acquisition point of the observed information And a plan change section.
　本発明によれば、第１自律移動体の周辺から観測した第１自律移動体の被観測情報（周辺にとっての観測情報）によって第１自律移動体又は被観測情報の取得地点に接近し得る第２自律移動体の移動計画又は動作状態を変更する。これにより、第１自律移動体がその周辺に与えた影響を、その後の移動計画又は動作状態に反映することが可能となる。従って、第１自律移動体又は第２自律移動体の移動をより好適に管理することが可能となる。 According to the present invention, the first autonomous mobile body or the acquisition point of the observed information can be approached by the observed information of the first autonomous mobile body observed from the periphery of the first autonomous mobile body (observation information for the periphery). 2 Change the movement plan or operation state of the autonomous mobile body. Thereby, it becomes possible to reflect the influence which the 1st autonomous mobile body had on the periphery in a subsequent movement plan or operation state. Therefore, the movement of the first autonomous mobile body or the second autonomous mobile body can be more suitably managed.
　前記被観測情報は、前記第１自律移動体の騒音状態を含んでもよい。これにより、第１自律移動体が周囲に与える騒音状態を考慮して、第１自律移動体又は第２自律移動体のその後の移動計画又は動作状態を変化させることが可能となる。 The observed information may include a noise state of the first autonomous mobile body. Thereby, it becomes possible to change the subsequent movement plan or operation state of the first autonomous mobile body or the second autonomous mobile body in consideration of the noise state given to the surroundings by the first autonomous mobile body.
　前記被観測情報は、前記第１自律移動体の移動に伴って周囲の人が受けた不快感を、前記周囲の人が前記被観測情報取得部に入力した情報を含んでもよい。これにより、第１自律移動体の移動が周囲の人に不快感を与える状況を避けるように又は軽減するように、第１自律移動体又は第２自律移動体のその後の移動計画又は動作状態を変化させることが可能となる。 The observed information may include discomfort experienced by surrounding people as the first autonomous mobile body moves, and information that the surrounding people input to the observed information acquisition unit. Thereby, the subsequent movement plan or operation state of the first autonomous mobile body or the second autonomous mobile body is set so as to avoid or reduce the situation in which the movement of the first autonomous mobile body gives discomfort to surrounding people. It can be changed.
　前記移動管理部は、
　　否定的な評価を含む前記被観測情報である否定的被観測情報を、前記否定的な評価が観測された前記第１自律移動体の被観測場所と共に蓄積する被観測情報データベースと、
　　前記被観測場所を避けるように、前記第１自律移動体又は前記第２自律移動体の新たな予定経路を算出する経路算出部と
　を備えてもよい。 The mobility management unit
An observed information database for accumulating negative observed information, which is the observed information including negative evaluation, together with an observed location of the first autonomous mobile body in which the negative evaluation is observed;
And a route calculation unit that calculates a new planned route of the first autonomous mobile body or the second autonomous mobile body so as to avoid the observed location.
　これにより、第１自律移動体又は第２自律移動体の新たな移動により、新たな否定的な評価が生じることを軽減又は回避することが可能となる。 This makes it possible to reduce or avoid the occurrence of a new negative evaluation due to a new movement of the first autonomous mobile body or the second autonomous mobile body.
　前記移動管理部は、前記被観測情報に基づいて、前記第１自律移動体又は前記第２自律移動体の移動を制限する場所又は領域である移動制限場所を設定する移動制限部を有してもよい。これにより、毎回、被観測情報自体を考慮して第１自律移動体又は第２自律移動体の予定経路を算出する場合と比較して、移動制限場所を用いることで移動管理部の演算負荷を軽減することが可能となる。 The movement management unit includes a movement restriction unit that sets a movement restriction place that is a place or a region that restricts movement of the first autonomous mobile body or the second autonomous mobile body based on the observed information. Also good. As a result, the calculation load of the movement management unit can be reduced by using the movement restricted place, in comparison with the case where the planned route of the first autonomous moving body or the second autonomous moving body is calculated in consideration of the observed information itself. It becomes possible to reduce.
　本発明に係る制御方法は、
　　出発地から目的地まで移動するための自律制御部を備えた第１自律移動体と、
　　通信装置を介して前記第１自律移動体と通信し、前記第１自律移動体を含む複数の移動体の移動を管理する移動管理部と
　を備える管理システムの制御方法であって、
　前記第１自律移動体の周辺から前記第１自律移動体を観測した前記第１自律移動体の被観測情報を被観測情報取得部で取得するステップと、
　前記被観測情報取得部が取得した前記被観測情報に基づいて、前記第１自律移動体又は前記被観測情報の取得地点に接近し得る第２自律移動体の移動計画又は動作状態を動的計画変更部で変更するステップと
　を有することを特徴とする。 The control method 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,
Acquiring observed information of the first autonomous moving body, which has observed the first autonomous moving body from the periphery of the first autonomous moving body, in an observed information acquiring unit;
Based on the observed information acquired by the observed information acquisition unit, a dynamic plan of the movement plan or operation state of the first autonomous moving object or the second autonomous moving object that can approach the acquisition point of the observed information And a step of changing by the changing unit.
　本発明に係る管理サーバは、出発地から目的地まで移動するための自律制御部を備えた第１自律移動体と通信し、前記第１自律移動体を含む複数の移動体の移動を管理するものであって、
　さらに、前記管理サーバは、前記第１自律移動体の周辺から前記第１自律移動体を観測した前記第１自律移動体の被観測情報を被観測情報取得部から取得し、前記被観測情報に基づいて、前記第１自律移動体又は前記被観測情報の取得地点に接近し得る第２自律移動体の移動計画又は動作状態を変更する動的計画変更部を備える
　ことを特徴とする。 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
Furthermore, the management server acquires observed information of the first autonomous mobile body that has observed the first autonomous mobile body from the periphery of the first autonomous mobile body from the observed information acquisition unit, and includes the observed information in the observed information A dynamic plan change unit that changes a movement plan or an operation state of the second autonomous mobile body that can approach the acquisition point of the first autonomous mobile body or the observed information is provided.
　本発明によれば、飛行制限領域の動的な変化を好適に行うことが可能となる。 According to the present invention, it is possible to suitably change the flight restriction region dynamically.
本発明の一実施形態に係る管理システムの概要を示す全体構成図である。It is a whole lineblock diagram showing an outline of a management system concerning one embodiment of the present invention. 前記実施形態において、顧客から発注された商品を、ドローンで配送する際の概要を示すフローチャートである。In the said embodiment, it is a flowchart which shows the outline | summary at the time of delivering the goods ordered from the customer by drone. 前記実施形態の受注時制御を示すフローチャートである。It is a flowchart which shows the order control at the time of the said embodiment. 前記実施形態において被観測情報を反映する際の全体的な流れを示すフローチャートである。It is a flowchart which shows the whole flow at the time of reflecting observed information in the said embodiment. 前記実施形態の被観測情報反映制御のフローチャートである。It is a flowchart of the observed information reflection control of the embodiment.
Ａ．一実施形態
＜Ａ－１．構成＞
［Ａ－１－１．全体構成］
　図１は、本発明の一実施形態に係る管理システム１０の概要を示す全体構成図である。管理システム１０は、複数の顧客端末２０と、少なくとも１台のサービス管理サーバ２２（以下「サービスサーバ２２」ともいう。）と、少なくとも１台の交通管理サーバ２４（以下「交通サーバ２４」ともいう。）と、複数のドローン２６と、複数の周辺端末２８とを有する。サービスサーバ２２と交通サーバ２４は、複数のドローン２６の移動を管理する移動管理部３０を構成する。 A. One 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 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”). .), A plurality of drones 26, and a plurality of peripheral terminals 28. The service server 22 and the traffic server 24 constitute a movement management unit 30 that manages movement of a plurality of drones 26.
　図１では、顧客端末２０、サービスサーバ２２、交通サーバ２４、ドローン２６及び周辺端末２８を、それぞれ１台のみ示している。管理システム１０では、顧客端末２０を介して入力された商品Ｇの発注情報Ｉｏｄｒに基づいて、ドローン２６（以下「配送ドローン２６ｄｅｌ」ともいう。）が商品Ｇを配送する。 In FIG. 1, only one customer terminal 20, service server 22, transportation server 24, drone 26, and peripheral terminal 28 are shown. In the management system 10, the drone 26 (hereinafter also referred to as “delivery drone 26del”) delivers the merchandise G based on the order information Iodr for the merchandise G input via the customer terminal 20.
　顧客端末２０とサービスサーバ２２の間、サービスサーバ２２と交通サーバ２４の間は、インターネット５０を介して通信可能である。また、サービスサーバ２２とドローン２６の間、サービスサーバ２２と周辺端末２８の間は、インターネット５０及び無線中継局５２を介して通信可能である。 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. Communication between the service server 22 and the drone 26 and between the service server 22 and the peripheral terminal 28 are possible via the Internet 50 and the wireless relay station 52.
［Ａ－１－２．顧客端末２０］
　顧客端末２０は、サービスサーバ２２が取り扱う商品Ｇについて顧客からの発注を受け付ける外部端末である。顧客端末２０は、例えば、パーソナルコンピュータ又はスマートフォンから構成される。 [A-1-2. Customer terminal 20]
The customer terminal 20 is an external terminal that receives 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．サービス管理サーバ２２］
　サービス管理サーバ２２は、特定の企業が管理するサーバであり、当該企業の受注管理、在庫管理及び配送管理を行う。受注管理では、顧客端末２０からの発注（サービスの要求）を受け付ける。在庫管理では、商品Ｇの在庫管理を行う。配送管理では、商品Ｇの配送（複数のドローン２６の移動）を管理する。 [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.
　図１に示すように、サービスサーバ２２は、入出力部６０と、通信部６２と、演算部６４と、記憶部６６とを含む。通信部６２は、インターネット５０を介することで、顧客端末２０、交通サーバ２４、ドローン２６、周辺端末２８等との通信が可能である。 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, the peripheral terminal 28, and the like via the Internet 50.
　演算部６４は、中央演算装置（ＣＰＵ）を含み、記憶部６６に記憶されているプログラムを実行することにより動作する。演算部６４が実行する機能の一部は、ロジックＩＣ（Integrated Circuit）を用いて実現することもできる。演算部６４は、前記プログラムの一部をハードウェア（回路部品）で構成することもできる。 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).
　演算部６４は、商品Ｇの受注及びドローン２６による配送を管理する受注時制御を実行する。また、演算部６４は、周辺端末２８を介してユーザから送信された被観測情報Ｉｏｂによってドローン２６の移動計画又は動作状態を変更する被観測情報反映制御を実行する。演算部６４は、配送管理部７０と、移動制御部７２とを有する。配送管理部７０は、商品Ｇの配送を管理する。移動制御部７２は、配送ドローン２６ｄｅｌの飛行を制御する。 The calculation unit 64 executes order-receiving control for managing the order of the product G and the delivery by the drone 26. In addition, the calculation unit 64 executes observed information reflection control for changing the movement plan or the operation state of the drone 26 based on the observed information Iob transmitted from the user via the peripheral terminal 28. The calculation unit 64 includes a delivery management unit 70 and a movement control unit 72. The delivery management unit 70 manages delivery of the product G. The movement control unit 72 controls the flight of the delivery drone 26del.
　配送管理部７０は、周辺端末２８が取得した被観測情報Ｉｏｂ（後述）に基づいて、各配送ドローン２６ｄｅｌの移動計画及び動作状態を動的に変更する動的計画変更部８０を有する。動的計画変更部８０は、移動制限部９０と、経路算出部９２とを有する。 The delivery management unit 70 includes a dynamic plan change unit 80 that dynamically changes the movement plan and operation state of each delivery drone 26del based on the observed information Iob (described later) acquired by the peripheral terminal 28. The dynamic plan change unit 80 includes a movement restriction unit 90 and a route calculation unit 92.
　移動制限部９０は、各ドローン２６の移動を制限する場所又は領域である移動制限場所Ｌｍｌを、被観測情報Ｉｏｂの被観測場所Ｌｏｂ等に基づいて設定する。経路算出部９２は、移動制限場所Ｌｍｌ（被観測場所Ｌｏｂを含む）を避けるように、各配送ドローン２６ｄｅｌの新たな予定経路ＲＴｐを算出する。 The movement restriction unit 90 sets a movement restriction place Lml, which is a place or area where movement of each drone 26 is restricted, based on the observed place Lob of the observed information Iob. The route calculation unit 92 calculates a new planned route RTp for each delivery drone 26del so as to avoid the movement restricted place Lml (including the observed place Lob).
　記憶部６６は、演算部６４が用いるプログラム及びデータを記憶するものであり、ランダム・アクセス・メモリ（以下「ＲＡＭ」という。）を備える。ＲＡＭとしては、レジスタ等の揮発性メモリと、ハードディスク、フラッシュメモリ等の不揮発性メモリとを用いることができる。また、記憶部６６は、ＲＡＭに加え、リード・オンリー・メモリ（ＲＯＭ）を有してもよい。 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.
　記憶部６６は、注文データベース１００（以下「注文ＤＢ１００」という。）と、在庫データベース１０２（以下「在庫ＤＢ１０２」という。）と、移動体データベース１０４（以下「移動体ＤＢ１０４」という。）と、第１地図データベース１０６（以下「第１地図ＤＢ１０６」という。）と、配送データベース１０８（以下「配送ＤＢ１０８」という。）と、被観測情報データベース１１０（以下「被観測情報ＤＢ１１０」という。）とを有する。 The storage unit 66 includes an order database 100 (hereinafter referred to as “order DB 100”), an inventory database 102 (hereinafter referred to as “inventory DB 102”), a mobile object database 104 (hereinafter referred to as “mobile object DB 104”), 1 map database 106 (hereinafter referred to as “first map DB 106”), delivery database 108 (hereinafter referred to as “delivery DB 108”), and observed information database 110 (hereinafter referred to as “observed information DB 110”). .
　注文ＤＢ１００は、各顧客端末２０を介して受け付けた注文に関する情報（発注情報Ｉｏｄｒ）を蓄積する。在庫ＤＢ１０２は、在庫に関する情報（在庫情報Ｉｓｔｋ）を蓄積する。移動体ＤＢ１０４は、配送に用いるドローン２６に関する個体情報Ｉｉを蓄積する。また、個体情報Ｉｉは、例えば、ドローン２６の識別情報（識別ＩＤ）、種類（大型、小型等）、最大積載重量、積載可能な荷物の最大寸法を含む。また、個体情報Ｉｉは、積載可能な荷物の個数、最大利用可能人数、燃費、最高速度、稼働年数、総移動距離、ドローン２６の現在位置Ｐｄｃｕｒのいずれか１つ又は複数を含んでもよい。 The order DB 100 accumulates information (order information Iodr) related to orders received via each customer terminal 20. The inventory DB 102 stores information related to inventory (inventory information Istk). The mobile object DB 104 stores individual information Ii related to the drone 26 used for delivery. The individual information Ii includes, for example, identification information (identification ID) of the drone 26, a type (large size, small size, etc.), a maximum load weight, and a maximum size of the loadable load. The individual information Ii may include any one or more of the number of loads that can be loaded, the maximum number of people that can be used, the fuel consumption, the maximum speed, the number of years of operation, the total movement distance, and the current position Pdcur of the drone 26.
　第１地図ＤＢ１０６は、ドローン２６による配送を行うための地図情報（第１地図情報Ｉｍａｐ１）を蓄積する。第１地図情報Ｉｍａｐ１には、交通サーバ２４による進入許可を要する進入制限領域の位置情報が含まれる。 The first map DB 106 stores 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.
　配送ＤＢ１０８は、注文を受けた商品Ｇの配送に関する情報（配送情報Ｉｄ）を蓄積する。配送情報Ｉｄには、商品Ｇの配送を行う配送ドローン２６ｄｅｌに関する情報も含まれる。 The delivery DB 108 accumulates information (delivery information Id) related to delivery of the ordered product G. The delivery information Id includes information related to the delivery drone 26del that delivers the product G.
　被観測情報ＤＢ１１０は、特定のドローン２６（以下「対象ドローン２６ｔａｒ」という。）の周辺から対象ドローン２６ｔａｒを観測した対象ドローン２６ｔａｒの被観測情報Ｉｏｂを蓄積する。被観測情報Ｉｏｂは、観測者（人）が観測したドローン２６（配送ドローン２６ｄｅｌ）の情報であり、否定的被観測情報Ｉｏｂｎｅｇと、被観測場所Ｌｏｂと、被観測時刻Ｔｏｂ（又は被観測時間帯）と、対象ドローン２６ｔａｒの識別ＩＤとを含む。 The observed information DB 110 accumulates the observed information Iob of the target drone 26tar obtained by observing the target drone 26tar from the periphery of the specific drone 26 (hereinafter referred to as “target drone 26tar”). The observed information Iob is information of the drone 26 (delivery drone 26del) observed by the observer (person), the negative observed information Iobneg, the observed location Lob, the observed time Tob (or the observed time zone) ) And the identification ID of the target drone 26tar.
　このうち、否定的被観測情報Ｉｏｂｎｅｇ、被観測場所Ｌｏｂ及び被観測時刻Ｔｏｂ（又は被観測時間帯）は、対象ドローン２６ｔａｒ周辺の観測者（換言すると、周辺端末２８のユーザ）が周辺端末２８を介してサービスサーバ２２に送信した情報である。対象ドローン２６ｔａｒの識別ＩＤは、対象ドローン２６ｔａｒの飛行経路ＲＴｆ、被観測場所Ｌｏｂ、被観測時刻Ｔｏｂ等に基づいてサービスサーバ２２が特定する。飛行経路ＲＴｆは、対象ドローン２６ｔａｒが飛行した経路であり、配送ＤＢ１０８に記憶されている。飛行経路ＲＴｆは、対象ドローン２６ｔａｒが実際に飛行した経路（位置情報に基づくもの）であることが好ましいが、過去の予定経路ＲＴｐを用いてもよい。 Among these, the negative observed information Iobneg, the observed location Lob, and the observed time Tob (or the observed time zone) indicate that the observer around the target drone 26tar (in other words, the user of the peripheral terminal 28) determines the peripheral terminal 28. Information transmitted to the service server 22 via the service server 22. The identification ID of the target drone 26tar is specified by the service server 22 based on the flight route RTf, the observed location Lob, the observed time Tob, and the like of the target drone 26tar. The flight route RTf is a route on which the target drone 26tar flew, and is stored in the delivery DB 108. The flight route RTf is preferably a route (based on position information) on which the target drone 26tar actually flies, but a past scheduled route RTp may be used.
　否定的被観測情報Ｉｏｂｎｅｇは、対象ドローン２６ｔａｒ周辺の観測者による、対象ドローン２６ｔａｒについての否定的な評価を含む情報である。否定的被観測情報Ｉｏｂｎｅｇは、対象ドローン２６ｔａｒの騒音状態と、対象ドローン２６ｔａｒの移動に伴って周囲が受ける不快感に関する情報とを含む。被観測場所Ｌｏｂは、否定的な評価を発生させた対象ドローン２６ｔａｒの観測地点又は観測領域である。被観測場所Ｌｏｂは、観測者が観測した場所である。 The negative observation information Iobneg is information including a negative evaluation of the target drone 26tar by an observer around the target drone 26tar. The negative observed information Iobneg includes the noise state of the target drone 26tar and information related to discomfort experienced by the surroundings as the target drone 26tar moves. The observed location Lob is an observation point or an observation area of the target drone 26tar that has generated a negative evaluation. The observed location Lob is a location observed by an observer.
［Ａ－１－４．交通管理サーバ２４］
　交通管理サーバ２４は、複数の飛行体（ドローン２６を含む）の交通（飛行）に関する情報（交通情報Ｉｔ）を管理する。例えば、交通サーバ２４は、ドローン２６の飛行許可申請をサービスサーバ２２から受信した場合、当該飛行許可申請を許可するか否かを判定し、判定結果に応じて許可又は不許可をサービスサーバ２２に通知する。また、交通サーバ２４は、交通に関する各種の情報（例えば渋滞情報）をサービスサーバ２２に通知する。 [A-1-4. Traffic management server 24]
The traffic management server 24 manages information (traffic information It) regarding traffic (flight) of a plurality of flying bodies (including the drone 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 traffic (for example, traffic jam information).
　図１に示すように、交通サーバ２４は、第２地図データベース１３０（以下「第２地図ＤＢ１３０」という。）と、飛行スケジュールデータベース１３２（以下「飛行スケジュールＤＢ１３２」という。）とを有する。第２地図ＤＢ１３０は、飛行体の交通（飛行）に関する地図情報（第２地図情報Ｉｍａｐ２）を蓄積する。飛行スケジュールＤＢ１３２は、各飛行体の飛行スケジュールに関する情報（飛行スケジュール情報Ｉｓｃ）を蓄積する。 As shown in FIG. 1, the traffic server 24 includes a second map database 130 (hereinafter referred to as “second map DB 130”) and a flight schedule database 132 (hereinafter referred to as “flight schedule DB 132”). 2nd map DB130 accumulate | stores the map information (2nd map information Imap2) regarding the traffic (flight) of a flying body. The flight schedule DB 132 stores information (flight schedule information Isc) related to the flight schedule of each aircraft.
［Ａ－１－５．ドローン２６］
（Ａ－１－５－１．ドローン２６の概要）
　本実施形態のドローン２６（自律移動体）は、商品配送用であり、インターネット５０及び無線中継局５２を介してサービスサーバ２２から受信した配送指令（飛行指令）に応じて出発地Ｐｓｔ（倉庫等）から配送目的地Ｐｄｔａｒまで商品Ｇを配送する。後述するように、ドローン２６はその他の用途で用いてもよい。 [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 product delivery, and the departure place Pst (a warehouse or the like) according to a delivery command (flight command) received from the service server 22 via the Internet 50 and the wireless relay station 52. ) To the delivery destination Pdtar. As will be described later, the drone 26 may be used for other purposes.
　図１に示すように、ドローン２６は、ドローンセンサ群１５０と、通信装置１５２と、ドローン制御装置１５４と、プロペラ駆動部１５６とを有する。 1, the drone 26 includes a drone sensor group 150, a communication device 152, a drone control device 154, and a propeller driving unit 156.
（Ａ－１－５－２．ドローンセンサ群１５０）
　ドローンセンサ群１５０は、カメラ、グローバル・ポジショニング・システム・センサ（以下「ＧＰＳセンサ」という。）、速度計、高度計、ジャイロセンサ（いずれも図示せず）等を有する。 (A-1-5-2. Drone sensor group 150)
The drone sensor group 150 includes a camera, a global positioning system sensor (hereinafter referred to as “GPS sensor”), a speedometer, an altimeter, a gyro sensor (all not shown), and the like.
　カメラは、ドローン２６の本体の下部に配置され、ドローン２６の周辺を撮像した周辺画像に関する画像情報Ｉｉｍａｇｅを出力する。カメラは、動画を撮影するビデオカメラである。或いは、カメラは、動画及び静止画の両方又は静止画のみを撮影可能としてもよい。カメラは、図示しないカメラアクチュエータにより向き（ドローン２６の本体に対するカメラの姿勢）を調整可能である。或いは、カメラは、ドローン２６の本体に対する位置が固定されてもよい。 The camera is arranged at the lower part of the main body of the drone 26, and outputs image information Iimage about a peripheral image obtained by imaging the periphery of the drone 26. The camera is a video camera that takes a video. Alternatively, the camera may be capable of capturing both moving images and still images or only still images. The direction of the camera (the posture of the camera with respect to the main body of the drone 26) can be adjusted by a camera actuator (not shown). Alternatively, the position of the drone 26 with respect to the main body may be fixed.
　ＧＰＳセンサは、ドローン２６の現在位置Ｐｄｃｕｒに関する位置情報Ｉｐｄｃｕｒを出力する。速度計は、ドローン２６の飛行速度Ｖｄ［ｋｍ／ｈ］を検出する。高度計は、ドローン２６下方の地面に対する距離としての対地高度Ｈ（以下「高度Ｈ」ともいう。）［ｍ］を検出する。ジャイロセンサは、ドローン２６の角速度ω［ｒａｄ／ｓｅｃ］を検出する。角速度ωは、上下軸に対する角速度Ｙ（ヨーＹ）と、左右軸に対する角速度Ｐ（ピッチＰ）と、前後軸に対する角速度Ｒ（ロールＲ）とを含む。 The GPS sensor outputs position information Ipdcur regarding the current position Pdcur of the drone 26. The speedometer detects the flight speed Vd [km / h] of the drone 26. The altimeter detects a ground altitude H (hereinafter also referred to as “altitude H”) [m] as a distance to the ground below the drone 26. The gyro sensor 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.
（Ａ－１－５－３．通信装置１５２）
　通信装置１５２は、無線中継局５２等との電波通信が可能であり、例えば、電波通信モジュールを含む。通信装置１５２は、無線中継局５２及びインターネット５０を介することでサービスサーバ２２等との通信が可能である。 (A-1-5-3. Communication Device 152)
The communication device 152 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 152 can communicate with the service server 22 and the like via the wireless relay station 52 and the Internet 50.
（Ａ－１－５－４．ドローン制御装置１５４）
　ドローン制御装置１５４（自律制御部）は、ドローン２６の飛行、撮影等、ドローン２６全体を制御する。ドローン制御装置１５４は、ドローン２６を出発地Ｐｓｔから目的地Ｐｔａｒまで自律的に移動（飛行）させる。ドローン制御装置１５４は、図示しない入出力部、演算部及び記憶部を含む。 (A-1-5-4. Drone control device 154)
The drone control device 154 (autonomous control unit) controls the entire drone 26 such as flight and shooting of the drone 26. The drone control device 154 autonomously moves (flys) the drone 26 from the departure point Pst to the destination Ptar. The drone control device 154 includes an input / output unit, a calculation unit, and a storage unit (not shown).
（Ａ－１－５－５．プロペラ駆動部１５６）
　プロペラ駆動部１５６は、複数のプロペラと、複数のプロペラアクチュエータとを有する。プロペラアクチュエータは、例えば電動モータを有する。 (A-1-5-5. Propeller drive unit 156)
The propeller drive unit 156 includes a plurality of propellers and a plurality of propeller actuators. The propeller actuator has, for example, an electric motor.
［Ａ－１－６．周辺端末２８］
　周辺端末２８は、被観測情報Ｉｏｂを取得する被観測情報取得部として機能するものであり、例えば、個々人が有するスマートフォンが含まれる。周辺端末２８は、道路周辺に設置された入力端末又は個々人が有するパーソナルコンピュータを含んでもよい。各周辺端末２８は、入出力部１６０と、通信部１６２と、演算部１６４と、記憶部１６６と、表示部１６８とを有する。入出力部１６０及び表示部１６８は、タッチパネルで構成することができる。通信部１６２は、無線中継局５２及びインターネット５０を介することでサービスサーバ２２等との通信が可能である。 [A-1-6. Peripheral terminal 28]
The peripheral terminal 28 functions as an observed information acquisition unit that acquires the observed information Iob, and includes, for example, a smartphone that an individual has. The peripheral terminal 28 may include an input terminal installed around the road or a personal computer owned by an individual. Each peripheral terminal 28 includes an input / output unit 160, a communication unit 162, a calculation unit 164, a storage unit 166, and a display unit 168. The input / output unit 160 and the display unit 168 can be configured by a touch panel. The communication unit 162 can communicate with the service server 22 and the like via the wireless relay station 52 and the Internet 50.
＜Ａ－２．本実施形態の制御＞
［Ａ－２－１．発注及び配送時］
（Ａ－２－１－１．発注及び配送時の流れの概要）
　図２は、本実施形態において、顧客から発注された商品Ｇを、ドローン２６で配送する際の概要を示すフローチャートである。図２では、大まかな流れのみを示していることに留意されたい。 <A-2. Control of this embodiment>
[A-2-1. During ordering and delivery]
(A-2-1. Outline of flow for ordering and 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 present embodiment. Note that in FIG. 2, only a rough flow is shown.
　ステップＳ１１において、顧客端末２０は、顧客の操作に応じて発注を受け付ける。具体的には、顧客端末２０は、顧客の操作に応じて発注画面を表示部（図示せず）に表示する。発注画面のデータは、サービス管理サーバ２２から取得したものである。また、発注画面を表示させるに当たり、サービスサーバ２２は、発注対象の商品Ｇの在庫数を確認する。在庫切れの場合、サービスサーバ２２は、その旨を併せて表示させる。発注があった場合、顧客端末２０は、顧客からの発注を受け付けてサービス管理サーバ２２に送信する。 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.
　サービスサーバ２２の処理に移る。ステップＳ２１において、サービスサーバ２２は、顧客端末２０が受け付けた発注情報Ｉｏｄｒに応じて、対象ドローン２６ｔａｒ及び予定経路ＲＴｐを算出する。なお、対象ドローン２６ｔａｒ及び予定経路ＲＴｐの算出は、発注前に行っておき、発注時に確定してもよい。予定経路ＲＴｐの算出に関する更なる情報については後述する。 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.
　ステップＳ２２において、サービスサーバ２２は、予定経路ＲＴｐについて交通サーバ２４の許可が必要であるか否か（換言すると、交通サーバ２４の許可が必要な部分が予定経路ＲＴｐに含まれているか否か）を、第１地図情報Ｉｍａｐ１に基づいて判定する。交通サーバ２４の許可が必要な部分としては、例えば飛行制限領域が含まれる。 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.
　交通サーバ２４の許可が必要である場合（Ｓ２２：ＴＲＵＥ）、ステップＳ２３において、予定経路ＲＴｐについての許可申請を、交通管理サーバ２４に対して送信する。許可申請には、対象となるドローン２６の識別ＩＤが付与される。許可申請の送信後、ステップＳ２４において、サービスサーバ２２は、交通管理サーバ２４からの結果通知を受信したか否かを監視する。 When permission of the traffic server 24 is necessary (S22: TRUE), a permission application for the planned route RTp is transmitted to the traffic management server 24 in step S23. The identification ID of the target drone 26 is given to the permission application. After transmitting the permission application, in step S24, the service server 22 monitors whether or not a result notification from the traffic management server 24 has been received.
　交通管理サーバ２４の処理に移る。サービスサーバ２２からの許可申請（Ｓ２３）を受信した交通管理サーバ２４は、ステップＳ３１において、受信した許可申請について許可又は不許可のいずれとするかを判定する。例えば、予定経路ＲＴｐが、一時的な飛行禁止区域を含む場合、交通サーバ２４は許可申請を不許可とする。また、１又は複数の他のドローン２６（他機）が、自ら（自機）と同時刻に予定経路ＲＴｐの一部を通過する予定である場合、交通サーバ２４は許可申請を不許可とする。一方、ドローン２６の飛行を認めない事由が予定経路ＲＴｐに存在しない場合、交通サーバ２４は許可申請を許可する。 The process proceeds to the traffic management server 24. In 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 planned route RTp includes a temporary flight prohibited area, the traffic server 24 disallows the permission application. In addition, when one or more other drones 26 (other devices) are scheduled to pass a part of the planned route RTp at the same time as themselves (own devices), the traffic server 24 disallows the permission application. . On the other hand, when there is no reason for not allowing the drone 26 to fly, the traffic server 24 permits the permission application.
　許可申請を許可する場合（Ｓ３１：ＴＲＵＥ）、ステップＳ３２において、交通管理サーバ２４は、許可通知をサービスサーバ２２に送信する。許可申請を許可しない場合（Ｓ３１：ＦＡＬＳＥ）、ステップＳ３３において、交通管理サーバ２４は、不許可通知をサービスサーバ２２に送信する。不許可通知には、不許可の理由等（例えば、予定経路ＲＴｐが飛行禁止領域を通過すること、飛行禁止領域の位置等）も付加される。 When permitting a 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.
　再びサービスサーバ２２の処理に移る。交通管理サーバ２４から受信した結果が許可を示す場合（Ｓ２４：ＴＲＵＥ）、ステップＳ２５に進む。交通管理サーバ２４から受信した結果が不許可を示す場合（Ｓ２４：ＦＡＬＳＥ）、ステップＳ２１に戻る。そして、サービスサーバ２２は、結果に含まれる不許可の理由に応じて、新たな予定経路ＲＴｐを算出する。例えば、不許可の理由が、予定経路ＲＴｐが飛行禁止領域を通過することである場合、サービスサーバ２２は、飛行禁止領域を避ける新たな予定経路ＲＴｐを算出する（Ｓ２１）。そして、サービスサーバ２２は、必要に応じて再度飛行許可申請を行う（Ｓ２３）。 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).
　ステップＳ２５において、サービスサーバ２２は、商品Ｇを配送する対象ドローン２６ｔａｒに対して配送指令を送信する。配送指令には、予定経路ＲＴｐの情報が含まれる。予定経路ＲＴｐは、対象ドローン２６ｔａｒの現在位置Ｐｄｃｕｒ（例えば、図示しない倉庫）である出発地Ｐｓｔから配送目的地Ｐｄｔａｒまでの経路（往路）と、配送目的地Ｐｄｔａｒから帰還目的地Ｉｒｔａｒまでの経路（復路）を含む。 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 planned route RTp includes a route (outbound route) from the departure point Pst to the delivery destination Pdtar, which is the current position Pdcur (for example, a warehouse not shown) of the target drone 26tar, and a route from the delivery destination Pdtar to the return destination Irtar ( Including return trip).
　配送のために対象ドローン２６ｔａｒが倉庫、営業所等に立ち寄る必要がある場合、予定経路ＲＴｐは、現在位置Ｐｄｃｕｒから倉庫等への経路を含んでもよい。或いは、配送のために対象ドローン２６ｔａｒが倉庫等に立ち寄る必要がある場合、倉庫、営業所等までの経路を予定経路ＲＴｐとして設定してもよい。その場合、新たな予定経路ＲＴｐとして、配送目的地Ｐｄｔａｒまでの経路と、帰還目的地Ｉｒｔａｒまでの経路（復路）を設定してもよい。なお、後述するように、配送指令は、サービスサーバ２２から対象ドローン２６ｔａｒに対して直接送信するのではなく、別の方法で送信することも可能である。 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 Irtar (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.
　各ドローン２６の処理に移る。ドローン２６は、サービスサーバ２２から配送指令（Ｓ２５）を受信したか否かを監視している。配送指令を受信したドローン２６は、ステップＳ５１において、商品Ｇを倉庫又は営業所から配送目的地Ｐｄｔａｒまで運び、その後帰還目的地Ｉｒｔａｒまで戻る配送制御を開始する。 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 Irtar.
（Ａ－２－１－２．サービスサーバ２２による受注時制御）
　図３は、本実施形態の受注時制御のフローチャートである。上記のように、受注時制御は、商品Ｇの受注及びドローン２６による配送を管理する制御であり、サービスサーバ２２の演算部６４が実行する。 (A-1-2. Control at the time of order received by the service server 22)
FIG. 3 is a flowchart of the control at the time of order reception according to this embodiment. As described above, the control at the time of order reception is control for managing the order reception of the product G and the delivery by the drone 26, and is executed by the calculation unit 64 of the service server 22.
　図３のステップＳ７１において、サービスサーバ２２は、顧客端末２０からの要求に応じて、顧客端末２０に発注画面を表示させる。換言すると、サービスサーバ２２は、顧客端末２０からの要求に応じて、発注画面のデータを顧客端末２０に送信する。発注画面のデータを受信した顧客端末２０は、図示しない表示部に発注画面を表示させる。 3, the service server 22 displays an ordering screen on the customer terminal 20 in response to a request from the customer terminal 20. In other words, the service server 22 transmits the order screen data to the customer terminal 20 in response to a request from the customer terminal 20. Upon receiving the order screen data, the customer terminal 20 displays the order screen on a display unit (not shown).
　ステップＳ７２において、サービスサーバ２２は、商品Ｇを受注したか否かを判定する。上記のように、顧客端末２０が、顧客の操作に応じて発注を受け付け、発注情報Ｉｏｄｒをサービスサーバ２２に送信する（図２のＳ１１）。従って、サービスサーバ２２は、顧客端末２０から発注情報Ｉｏｄｒを受信したとき、商品Ｇを受注したと判定する。受注した場合（Ｓ７２：ＴＲＵＥ）、ステップＳ７３に進む。受注していない場合（Ｓ７２：ＦＡＬＳＥ）、ステップＳ７１に戻る。 In step S72, the service server 22 determines whether or not an order for the product G has been received. As described above, 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. If an order is received (S72: TRUE), the process proceeds to step S73. If no order has been received (S72: FALSE), the process returns to step S71.
　ステップＳ７３～Ｓ７５において、サービスサーバ２２は、対象ドローン２６ｔａｒ及び予定経路ＲＴｐを算出する。すなわち、ステップＳ７３において、サービスサーバ２２は、対象ドローン２６ｔａｒ及び予定経路ＲＴｐを算出するために必要な配送情報Ｉｄを取得する。配送情報Ｉｄには、商品Ｇ（荷物）の配送地、配送期限、寸法、重量等が含まれる。 In steps S73 to S75, the service server 22 calculates the target drone 26tar and the planned route RTp. That is, in step S73, the service server 22 acquires the delivery information Id necessary for calculating the target drone 26tar and the scheduled route RTp. The delivery information Id includes the delivery location, delivery deadline, dimensions, weight, etc. of the product G (package).
　ステップＳ７４において、サービスサーバ２２は、商品Ｇの配達に利用する対象ドローン２６ｔａｒを、配送情報Ｉｄに基づいて抽出する。例えば、配送情報Ｉｄに含まれる配送地に基づいて、ドローン２６の中から地域的な限定を行う。例えば、Ａ地域に配達する場合、サービスサーバ２２は、現在Ａ地域に配置されているドローン２６を抽出する。 In step S74, the service server 22 extracts the target drone 26tar used for delivery of the product G based on the delivery information Id. For example, regional limitation is performed from the drone 26 based on the delivery location included in the delivery information Id. For example, when delivering to the A area, the service server 22 extracts the drone 26 currently arranged in the A area.
　また、配送情報Ｉｄに含まれる商品Ｇの寸法及び重量に基づいて、ドローン２６の中から各個体の性能（属性）に基づく限定を行う。例えば、商品Ｇが第１寸法以上の大型荷物である場合、大型のドローン２６を抽出し、小型のドローン２６を除外する。一方、商品Ｇが第１寸法より小さい小型荷物である場合、大型及び小型両方のドローン２６を抽出する。なお、本実施形態では、第１寸法よりも小さい小型荷物を単体で配送する場合、基本的には、小型のドローン２６が選択される。 Also, based on the size and weight of the product G included in the delivery information Id, a limitation based on the performance (attribute) of each individual from the drone 26 is performed. For example, when the commodity G is a large luggage having a size greater than or equal to the first dimension, the large drone 26 is extracted and the small drone 26 is excluded. On the other hand, when the commodity G is a small luggage smaller than the first dimension, both large and small drones 26 are extracted. In the present embodiment, when a small package smaller than the first dimension is delivered alone, the small drone 26 is basically selected.
　ステップＳ７５において、サービスサーバ２２は、対象ドローン２６ｔａｒの予定経路ＲＴｐを算出する。その際、サービスサーバ２２は、第１地図ＤＢ１０６に記憶されている飛行制限領域Ｒｌｉｍを用いる。例えば、出発地Ｐｓｔから配送目的地Ｐｄｔａｒまでの最短空中経路ＲＴｍｉｎに飛行制限領域Ｒｌｉｍが含まれない場合、最短空中経路ＲＴｍｉｎを予定経路ＲＴｐとする。最短空中経路ＲＴｍｉｎに飛行制限領域Ｒｌｉｍが含まれる場合、飛行制限領域Ｒｌｉｍの制限内容に応じた予定経路ＲＴｐを設定する。 In step S75, the service server 22 calculates the planned route RTp of the target drone 26tar. At that time, the service server 22 uses the flight restriction area Rlim stored in the first map DB 106. For example, when the flight restriction region Rlim is not included in the shortest aerial route RTmin from the departure point Pst to the delivery destination Pdtar, the shortest aerial route RTmin is set as the scheduled route RTp. When the flight restriction region Rlim is included in the shortest aerial route RTmin, the scheduled route RTp corresponding to the restriction content of the flight restriction region Rlim is set.
　飛行制限領域Ｒｌｉｍは、ドローン２６の飛行が制限される領域であり、飛行禁止領域Ｒｂａｎ及び条件付き飛行許可領域Ｒａｌｗを含む。飛行禁止領域Ｒｂａｎは、ドローン２６の飛行が禁止されている領域である。また、条件付き飛行許可領域Ｒａｌｗは、所定の条件（飛行許可条件ＣＮａｌｗ）が満たされる場合のみドローン２６の飛行が許可され、飛行許可条件ＣＮａｌｗが満たされない場合、ドローン２６の飛行が禁止される領域である。飛行許可条件ＣＮａｌｗとしては、例えば時間帯又は特定用途（緊急用途等）が含まれる。 The flight restriction area Rlim is an area where the flight of the drone 26 is restricted, and includes a flight prohibition area Rban and a conditional flight permission area Ralw. The flight prohibited area Rban is an area where the flight of the drone 26 is prohibited. Further, the conditional flight permission area Ralw is an area where the flight of the drone 26 is permitted only when a predetermined condition (flight permission condition CNalw) is satisfied, and when the flight permission condition CNalw is not satisfied, the flight of the drone 26 is prohibited. It is. As the flight permission condition CNalw, for example, a time zone or a specific use (emergency use or the like) is included.
　飛行制限領域Ｒｌｉｍは、３次元方向（前後方向、左右方向及び上下方向）で定義する。或いは、２次元方向（前後方向及び左右方向）で飛行制限領域Ｒｌｉｍを定義してもよい。飛行制限領域Ｒｌｉｍを３次元方向で定義した場合、例えば、前後方向及び左右方向（緯度及び経度で規定される現在位置Ｐｄｃｕｒ）のみではなく、上下方向（高度Ｈ）も含めて飛行制限領域Ｒｌｉｍが設定される。 The flight restriction area Rlim is defined in a three-dimensional direction (front-rear direction, left-right direction, and up-down direction). Alternatively, the flight restriction region Rlim may be defined in a two-dimensional direction (front-rear direction and left-right direction). When the flight restriction region Rlim is defined in a three-dimensional direction, for example, the flight restriction region Rlim includes not only the front-rear direction and the left-right direction (current position Pdcur defined by latitude and longitude) but also the vertical direction (altitude H). Is set.
　飛行制限領域Ｒｌｉｍには、被観測情報Ｉｏｂに基づいて設定された領域も含まれる。被観測情報Ｉｏｂに基づく飛行制限領域Ｒｌｉｍの設定については、図５を参照して後述する。 The flight restriction area Rlim includes an area set based on the observed information Iob. The setting of the flight restriction region Rlim based on the observed information Iob will be described later with reference to FIG.
　最短空中経路ＲＴｍｉｎに飛行禁止領域Ｒｂａｎが含まれる場合、飛行禁止領域Ｒｂａｎを避けた空中経路のうち最短となる経路を予定経路ＲＴｐとする。また、最短空中経路ＲＴｍｉｎに条件付き飛行許可領域Ｒａｌｗが含まれ且つ飛行許可条件ＣＮａｌｗが満たされる場合、サービスサーバ２２は、最短空中経路ＲＴｍｉｎを予定経路ＲＴｐとする。さらに、最短空中経路ＲＴｍｉｎに条件付き飛行許可領域Ｒａｌｗが含まれ且つ飛行許可条件ＣＮａｌｗが満たされない場合、サービスサーバ２２は、条件付き飛行許可領域Ｒａｌｗを避けた空中経路のうち最短となる経路を予定経路ＲＴｐとする。 When the flight prohibition region Rban is included in the shortest aerial route RTmin, the shortest route out of the aerial routes avoiding the flight prohibition region Rban is set as the scheduled route RTp. Further, when the conditional flight permission region Ralw is included in the shortest aerial route RTmin and the flight permission condition CNalw is satisfied, the service server 22 sets the shortest aerial route RTmin as the planned route RTp. Furthermore, when the conditional flight permission area Ralw is included in the shortest aerial route RTmin and the flight permission condition CNalw is not satisfied, the service server 22 schedules the shortest path among the aerial paths that avoid the conditional flight permission area Ralw. The route is RTp.
　なお、最短空中経路ＲＴｍｉｎ上に飛行制限領域Ｒｌｉｍが複数存在する場合、それぞれの飛行制限領域Ｒｌｉｍについて通過する場合と迂回する場合に場合分けして予定経路ＲＴｐを算出する。また、予定経路ＲＴｐは、対象ドローン２６ｔａｒが商品Ｇの配送に用いる経路であり、往路と復路を含む。 In addition, when there are a plurality of flight restriction areas Rlim on the shortest aerial route RTmin, the planned route RTp is calculated separately depending on whether each flight restriction area Rlim passes or detours. The planned route RTp is a route used by the target drone 26tar to deliver the product G, and includes a forward route and a return route.
　ステップＳ７６において、サービスサーバ２２は、対象ドローン２６ｔａｒに対して配送指令を送信する。配送指令は、予定経路ＲＴｐを含む。ステップＳ７６は、図２のステップＳ２５に対応する。 In step S76, the service server 22 transmits a delivery command to the target drone 26tar. The delivery command includes the planned route RTp. Step S76 corresponds to step S25 in FIG.
［Ａ－２－２．被観測情報Ｉｏｂの反映時（被観測情報反映制御）］
（Ａ－２－２－１．被観測情報Ｉｏｂの反映時の全体的な流れ）
　図４は、本実施形態において被観測情報Ｉｏｂを反映する際の全体的な流れを示すフローチャートである。図４では、大まかな流れのみを示していることに留意されたい。 [A-2-2. When reflecting observed information Iob (observed information reflection control)]
(A-2-2-1. Overall flow when reflecting observed information Iob)
FIG. 4 is a flowchart showing an overall flow when reflecting the observed information Iob in the present embodiment. Note that in FIG. 4 only a rough flow is shown.
　ステップＳ１０１において、周辺端末２８は、ユーザ（観測者）の操作に応じて被観測情報Ｉｏｂを受け付ける。具体的には、周辺端末２８は、ユーザの操作に応じて被観測情報入力画面を表示部１６８に表示する。被観測情報入力画面は、サービス管理サーバ２２から取得したものである。また、被観測情報入力画面は、被観測情報Ｉｏｂの入力欄を含む。 In step S101, the peripheral terminal 28 receives the observed information Iob according to the operation of the user (observer). Specifically, the peripheral terminal 28 displays an observed information input screen on the display unit 168 in accordance with a user operation. The observed information input screen is acquired from the service management server 22. The observed information input screen includes an input field for observed information Iob.
　上記のように、被観測情報Ｉｏｂは、観測者（人）が観測したドローン２６の情報である。被観測情報Ｉｏｂは、否定的被観測情報Ｉｏｂｎｅｇと、被観測場所Ｌｏｂと、被観測時刻Ｔｏｂ（又は被観測時間帯）と、対象ドローン２６ｔａｒの識別ＩＤとを含む。被観測情報Ｉｏｂの送信要求があった場合、周辺端末２８は、ユーザからの被観測情報Ｉｏｂを含む反映要求信号Ｓｒｅｆｒｅｑをサービス管理サーバ２２に送信する。 As described above, the observed information Iob is information of the drone 26 observed by the observer (person). The observed information Iob includes negative observed information Iobneg, observed location Lob, observed time Tob (or observed time zone), and identification ID of the target drone 26tar. When there is a transmission request for the observed information Iob, the peripheral terminal 28 transmits a reflection request signal Srefreq including the observed information Iob from the user to the service management server 22.
　サービスサーバ２２の処理に移る。ステップＳ１１１において、サービスサーバ２２は、周辺端末２８が受け付けた被観測情報Ｉｏｂに基づいて、経路制限条件ＣＮｒｔｌが成立したか否かを判定する。経路制限条件ＣＮｒｔｌは、ドローン２６の予定経路ＲＴｐについて新たな制限を課すか否かを判定する条件である。経路制限条件ＣＮｒｔｌとしては、例えば、否定的被観測情報Ｉｏｂｎｅｇの受信回数Ｎｒが回数閾値ＴＨｎｒ以上になったことを用いることができる。或いは、否定的被観測情報Ｉｏｂｎｅｇの送信人数Ｎｓが人数閾値ＴＨｎｓ以上になったことを用いてもよい。受信回数Ｎｒ又は送信人数Ｎｓを用いる場合、否定的な評価の程度に応じた重み付けを行ってもよい。 Move on to processing of the service server 22. In step S111, the service server 22 determines whether or not the route restriction condition CNrtl is satisfied based on the observed information Iob received by the peripheral terminal 28. The route restriction condition CNrtl is a condition for determining whether or not a new restriction is imposed on the planned route RTp of the drone 26. As the route restriction condition CNrtl, for example, the fact that the reception frequency Nr of the negative observed information Iobneg is equal to or greater than the frequency threshold value THnr can be used. Alternatively, it may be used that the number Ns of transmissions of the negative observation information Iobneg is equal to or greater than the number threshold THns. When the number of receptions Nr or the number Ns of transmissions is used, weighting according to the degree of negative evaluation may be performed.
　経路制限条件ＣＮｒｔｌが成立した場合（Ｓ１１１：ＴＲＵＥ）、ステップＳ１１２に進む。経路制限条件ＣＮｒｔｌが成立しない場合（Ｓ１１１：ＦＡＬＳＥ）、今回の被観測情報Ｉｏｂの取得に伴う処理を終了する。ステップＳ１１２において、サービスサーバ２２は、被観測場所Ｌｏｂに新たな飛行制限領域Ｒｌｉｍを設定する。 When the route restriction condition CNrtl is satisfied (S111: TRUE), the process proceeds to step S112. If the route restriction condition CNrtl is not satisfied (S111: FALSE), the process associated with the acquisition of the current observed information Iob is terminated. In step S112, the service server 22 sets a new flight restriction area Rlim in the observed location Lob.
　ステップＳ１１３において、サービスサーバ２２は、予定経路ＲＴｐの変更が必要なドローン２６があるか否かを判定する。ステップＳ１１３において対象となるドローン２６は、被観測情報Ｉｏｂに対応するドローン２６（対象ドローン２６ｔａｒ）のみではなく、被観測情報Ｉｏｂの取得地点に接近し得る他のドローン２６（以下「他のドローン２６ｏｔｒ」ともいう。）も含まれる。例えば、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの予定経路ＲＴｐ上に、新たな飛行制限領域Ｒｌｉｍが存在する場合、予定経路ＲＴｐの変更が必要であると判定する。 In step S113, the service server 22 determines whether or not there is a drone 26 that needs to change the planned route RTp. In step S113, the target drone 26 is not limited to the drone 26 (target drone 26tar) corresponding to the observed information Iob, but may be another drone 26 that can approach the acquisition point of the observed information Iob (hereinafter “other drone 26otr”). Is also included.). For example, if a new flight restriction region Rlim exists on the planned route RTp of the target drone 26tar or another drone 26otr, it is determined that the planned route RTp needs to be changed.
　予定経路ＲＴｐの変更が必要なドローン２６が存在する場合（Ｓ１１３：ＴＲＵＥ）、ステップＳ１１４において、予定経路ＲＴｐの変更が必要なドローン２６について、新たな予定経路ＲＴｐ（又は修正経路）を算出する。予定経路ＲＴｐの変更が必要なドローン２６が存在しない場合（Ｓ１１３：ＦＡＬＳＥ）、今回の被観測情報Ｉｏｂの取得に伴う処理を終了する。 If there is a drone 26 that requires a change in the planned route RTp (S113: TRUE), a new planned route RTp (or a corrected route) is calculated for the drone 26 that requires a change in the planned route RTp in step S114. When there is no drone 26 that needs to change the planned route RTp (S113: FALSE), the process associated with the acquisition of the observed information Iob this time is terminated.
　図４のステップＳ１１５、Ｓ１１６、Ｓ１１７、Ｓ１２１、Ｓ１２２、Ｓ１２３は、図２のステップＳ２２、Ｓ２３、Ｓ２４、Ｓ３１、Ｓ３２、Ｓ３３と同様である。ステップＳ１１７において交通管理サーバ２４から受信した結果が許可を示す場合（Ｓ１１７：ＴＲＵＥ）、ステップＳ１１８に進む。 4 are the same as steps S22, S23, S24, S31, S32, and S33 of FIG. 2. Steps S115, S116, S117, S121, S122, and S123 of FIG. When the result received from the traffic management server 24 in step S117 indicates permission (S117: TRUE), the process proceeds to step S118.
　ステップＳ１１８において、サービスサーバ２２は、新たな予定経路ＲＴｐに対応するドローン２６（対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ）に対して経路変更指令を送信する。経路変更指令には、新たな予定経路ＲＴｐの情報が含まれる。ステップＳ１３０において、経路変更指令を受信したドローン２６（対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ）は、現在の予定経路ＲＴｐを、経路変更指令に含まれる新たな予定経路ＲＴｐに変更する。 In step S118, the service server 22 transmits a route change command to the drone 26 (target drone 26tar or other drone 26otr) corresponding to the new planned route RTp. The route change command includes information on a new planned route RTp. In step S130, the drone 26 (target drone 26tar or other drone 26otr) that has received the route change command changes the current planned route RTp to a new planned route RTp included in the route change command.
（Ａ－２－２－２．サービス管理サーバ２２による被観測情報反映制御）
　図５は、本実施形態の被観測情報反映制御（以下「反映制御」ともいう。）のフローチャートである。上記のように、反映制御は、周辺端末２８を介してユーザから送信された被観測情報Ｉｏｂによってドローン２６の移動計画又は動作状態を変更する制御であり、サービスサーバ２２の演算部６４が実行する。 (A-2-2-2. Observed information reflection control by the service management server 22)
FIG. 5 is a flowchart of observed information reflection control (hereinafter also referred to as “reflection control”) of the present embodiment. As described above, the reflection control is control for changing the movement plan or operation state of the drone 26 based on the observed information Iob transmitted from the user via the peripheral terminal 28, and is executed by the calculation unit 64 of the service server 22. .
　図５のステップＳ１５１において、サービスサーバ２２は、周辺端末２８からの要求に応じて、周辺端末２８に被観測情報入力画面を表示させる。換言すると、サービスサーバ２２は、周辺端末２８からの要求に応じて、被観測情報入力画面のデータを周辺端末２８に送信する。被観測情報入力画面のデータを受信した周辺端末２８は、表示部１６８に被観測情報入力画面を表示させる。 In step S151 of FIG. 5, the service server 22 displays an observed information input screen on the peripheral terminal 28 in response to a request from the peripheral terminal 28. In other words, the service server 22 transmits data of the observed information input screen to the peripheral terminal 28 in response to a request from the peripheral terminal 28. The peripheral terminal 28 that has received the observed information input screen data causes the display unit 168 to display the observed information input screen.
　ステップＳ１５２において、サービスサーバ２２は、周辺端末２８から被観測情報Ｉｏｂを受信したか否かを判定する。被観測情報Ｉｏｂの受信があった場合（Ｓ１５２：ＴＲＵＥ）、ステップＳ１５３に進む。被観測情報Ｉｏｂの受信がない場合（Ｓ１５２：ＦＡＬＳＥ）、ステップＳ１５１に戻る。 In step S152, the service server 22 determines whether or not the observed information Iob is received from the peripheral terminal 28. When the observed information Iob is received (S152: TRUE), the process proceeds to step S153. If the observed information Iob is not received (S152: FALSE), the process returns to step S151.
　ステップＳ１５３において、サービスサーバ２２は、被観測情報Ｉｏｂ（特に、被観測場所Ｌｏｂ、被観測時刻Ｔｏｂ及びドローン２６の特徴）に基づいて対象ドローン２６ｔａｒを特定する。特定された対象ドローン２６ｔａｒの識別ＩＤは、被観測情報Ｉｏｂに含められる。ステップＳ１５４において、サービスサーバ２２は、被観測情報Ｉｏｂ（対象ドローン２６ｔａｒの識別ＩＤを含む。）を被観測情報ＤＢ１１０に登録する。 In step S153, the service server 22 identifies the target drone 26tar based on the observed information Iob (particularly, the observed location Lob, the observed time Tob, and the characteristics of the drone 26). The identification ID of the identified target drone 26tar is included in the observed information Iob. In step S154, the service server 22 registers the observed information Iob (including the identification ID of the target drone 26tar) in the observed information DB 110.
　ステップＳ１５５において、サービスサーバ２２は、経路制限条件ＣＮｒｔｌが成立したか否かを被観測情報Ｉｏｂに基づいて判定する。上記のように、経路制限条件ＣＮｒｔｌは、ドローン２６の予定経路ＲＴｐについて新たな制限を課すか否かを判定する条件である。経路制限条件ＣＮｒｔｌとしては、例えば、否定的被観測情報Ｉｏｂｎｅｇの受信回数Ｎｒ又は送信人数Ｎｓを用いることができる。経路制限条件ＣＮｒｔｌが成立した場合（Ｓ１５５：ＴＲＵＥ）、ステップＳ１５６に進む。経路制限条件ＣＮｒｔｌが成立しない場合（Ｓ１５５：ＦＡＬＳＥ）、今回の反映制御を終了する。 In step S155, the service server 22 determines whether or not the route restriction condition CNrtl is satisfied based on the observed information Iob. As described above, the route restriction condition CNrtl is a condition for determining whether or not a new restriction is imposed on the planned route RTp of the drone 26. As the route restriction condition CNrtl, for example, the number of receptions Nr or the number Ns of transmissions of the negative observed information Iobneg can be used. When the route restriction condition CNrtl is satisfied (S155: TRUE), the process proceeds to step S156. When the route restriction condition CNrtl is not satisfied (S155: FALSE), the current reflection control is terminated.
　ステップＳ１５６において、サービスサーバ２２は、新たな飛行制限領域Ｒｌｉｍを第１地図ＤＢ１０６に登録する。新たな飛行制限領域Ｒｌｉｍは、被観測場所Ｌｏｂに基づいて設定する。 In step S156, the service server 22 registers a new flight restriction area Rlim in the first map DB 106. The new flight restriction region Rlim is set based on the observed location Lob.
　ステップＳ１５７において、サービスサーバ２２は、新たな飛行制限領域Ｒｌｉｍにより、予定経路ＲＴｐの変更が必要なドローン２６（対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ）があるか否かを判定する。換言すると、新たな飛行制限領域Ｒｌｉｍを通過する予定経路ＲＴｐが存在するか否かを判定する。予定経路ＲＴｐの変更が必要なドローン２６がある場合（Ｓ１５７：ＴＲＵＥ）、ステップＳ１５８に進む。予定経路ＲＴｐの変更が必要なドローン２６がない場合（Ｓ１５７：ＦＡＬＳＥ）、今回の反映制御を終了する。 In step S157, the service server 22 determines whether there is a drone 26 (target drone 26tar or other drone 26otr) that needs to be changed in the planned route RTp by the new flight restriction region Rlim. In other words, it is determined whether or not there is a planned route RTp that passes through the new flight restriction region Rlim. When there is a drone 26 that needs to change the planned route RTp (S157: TRUE), the process proceeds to step S158. If there is no drone 26 that needs to change the planned route RTp (S157: FALSE), the current reflection control is terminated.
　ステップＳ１５８において、予定経路ＲＴｐの変更が必要なドローン２６について、新たな予定経路ＲＴｐ（又は修正経路）を算出する。ここで算出される新たな予定経路ＲＴｐは、例えば、新たな飛行制限領域Ｒｌｉｍを迂回する最短経路とすることができる。 In step S158, a new planned route RTp (or modified route) is calculated for the drone 26 that needs to change the planned route RTp. The new scheduled route RTp calculated here can be, for example, the shortest route that bypasses the new flight restriction region Rlim.
　ステップＳ１５９、Ｓ１６０、Ｓ１６１、Ｓ１６２は、図４のステップＳ１１５、Ｓ１１６、Ｓ１１７、Ｓ１１８で説明したように、図２のステップＳ２２、Ｓ２３、Ｓ２４、Ｓ２５と同様に行う。すなわち、ステップＳ１５９において、サービスサーバ２２は、予定経路ＲＴｐについて交通サーバ２４の許可が必要であるか否か（換言すると、交通サーバ２４の許可が必要な部分が予定経路ＲＴｐに含まれているか否か）を、第１地図情報Ｉｍａｐ１に基づいて判定する。 Steps S159, S160, S161, and S162 are performed in the same manner as steps S22, S23, S24, and S25 in FIG. 2, as described in steps S115, S116, S117, and S118 in FIG. That is, in step S159, the service server 22 determines whether or not the traffic route 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.
　交通サーバ２４の許可が必要である場合（Ｓ１５９：ＴＲＵＥ）、ステップＳ１６０において、予定経路ＲＴｐについての許可申請を、交通管理サーバ２４に対して送信する。 When permission of the traffic server 24 is necessary (S159: TRUE), a permission application for the planned route RTp is transmitted to the traffic management server 24 in step S160.
　許可申請の送信後、ステップＳ１６１において、サービスサーバ２２は、交通管理サーバ２４からの結果通知を受信したか否かを監視する。交通管理サーバ２４から受信した結果が許可を示す場合（Ｓ１６１：ＴＲＵＥ）、ステップＳ１６２に進む。交通管理サーバ２４から受信した結果が不許可を示す場合（Ｓ１６１：ＦＡＬＳＥ）、ステップＳ１５８に戻る。 After transmitting the permission application, in step S161, the service server 22 monitors whether or not the result notification from the traffic management server 24 has been received. When the result received from the traffic management server 24 indicates permission (S161: TRUE), the process proceeds to step S162. If the result received from the traffic management server 24 indicates disapproval (S161: FALSE), the process returns to step S158.
　ステップＳ１６２において、サービスサーバ２２は、新たな予定経路ＲＴｐに対応するドローン２６（対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ）に対して経路変更指令を送信する。経路変更指令には、新たな予定経路ＲＴｐの情報が含まれる。ステップＳ１６３において、サービスサーバ２２は、経路変更するドローン２６に対応する顧客の顧客端末２０に対して、経路変更が行われた旨を通知する。 In step S162, the service server 22 transmits a route change command to the drone 26 (target drone 26tar or other drone 26otr) corresponding to the new planned route RTp. The route change command includes information on a new planned route RTp. In step S163, the service server 22 notifies the customer terminal 20 of the customer corresponding to the drone 26 whose route is changed that the route has been changed.
＜Ａ－３．本実施形態の効果＞
　本実施形態によれば、対象ドローン２６ｔａｒ（第１自律移動体）の周辺から観測した対象ドローン２６ｔａｒの被観測情報Ｉｏｂ（周辺にとっての観測情報）によって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ（被観測情報Ｉｏｂの取得地点に接近し得る第２自律移動体）の移動計画又は動作状態を変更する（図２のＳ２１、図３のＳ７５、図４のＳ１１４、図５のＳ１５８）。これにより、対象ドローン２６ｔａｒがその周辺に与えた影響を、その後の移動計画又は動作状態に反映することが可能となる。従って、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動をより好適に管理することが可能となる。 <A-3. Effects of this embodiment>
According to the present embodiment, the target drone 26tar or other drone 26otr (observed information) according to the observed information Iob (observation information for the periphery) of the target drone 26tar observed from the periphery of the target drone 26tar (first autonomous mobile body). The movement plan or operation state of the second autonomous mobile body that can approach the Iob acquisition point is changed (S21 in FIG. 2, S75 in FIG. 3, S114 in FIG. 4, S158 in FIG. 5). Thereby, it becomes possible to reflect the influence which the object drone 26tar gave to the circumference | surroundings in a subsequent movement plan or operation | movement state. Accordingly, it is possible to more suitably manage the movement of the target drone 26tar or the other drone 26otr.
　本実施形態において、被観測情報Ｉｏｂは、対象ドローン２６ｔａｒ（第１自律移動体）の騒音状態を含む（図４のＳ１０１、図５のＳ１５２）。これにより、対象ドローン２６ｔａｒが周囲に与える騒音状態を考慮して、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ（第２自律移動体）のその後の移動計画又は動作状態を変化させることが可能となる。 In the present embodiment, the observed information Iob includes the noise state of the target drone 26tar (first autonomous mobile body) (S101 in FIG. 4 and S152 in FIG. 5). Accordingly, it is possible to change the subsequent movement plan or operation state of the target drone 26tar or another drone 26otr (second autonomous mobile body) in consideration of the noise state given to the surroundings by the target drone 26tar.
　本実施形態において、被観測情報Ｉｏｂは、対象ドローン２６ｔａｒ（第１自律移動体）の移動に伴って周囲の人（周辺端末２８のユーザ）が受けた不快感を、周囲の人が周辺端末２８に入力した情報を含む（図４のＳ１０１、図５のＳ１５２）。これにより、対象ドローン２６ｔａｒの移動が周囲の人に不快感を与える状況を避けるように又は軽減するように、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ（第２自律移動体）のその後の移動計画又は動作状態を変化させることが可能となる。 In the present embodiment, the observed information Iob indicates that the surrounding person (the user of the peripheral terminal 28) feels uncomfortable feelings as the target drone 26tar (first autonomous mobile body) moves. (S101 in FIG. 4 and S152 in FIG. 5). Accordingly, the subsequent movement plan or operation of the target drone 26tar or other drone 26otr (second autonomous mobile body) is performed so as to avoid or reduce the situation in which the movement of the target drone 26tar causes discomfort to surrounding people. It becomes possible to change the state.
　本実施形態において、サービスサーバ２２（移動管理部３０）は、被観測情報ＤＢ１１０と、経路算出部９２を含む（図１）。被観測情報ＤＢ１１０は、否定的な評価を含む被観測情報Ｉｏｂである否定的被観測情報Ｉｏｂｎｅｇを、否定的な評価を発生させた対象ドローン２６ｔａｒ（第１自律移動体）の地点又は領域である被観測場所Ｌｏｂと共に蓄積する。経路算出部９２は、被観測場所Ｌｏｂを避けるように、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒ（第２自律移動体）の新たな予定経路ＲＴｐを算出する（図２のＳ２１、図３のＳ７５、図４のＳ１１４、図５のＳ１５８）。これにより、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの新たな移動により、新たな否定的な評価が生じることを軽減又は回避することが可能となる。 In this embodiment, the service server 22 (movement management unit 30) includes an observed information DB 110 and a route calculation unit 92 (FIG. 1). The observed information DB 110 is a point or a region of the target drone 26tar (first autonomous mobile body) that has generated the negative evaluation of the negative observed information Iobneg, which is the observed information Iob including the negative evaluation. It accumulates with the observed location Lob. The route calculation unit 92 calculates a new planned route RTp of the target drone 26tar or another drone 26otr (second autonomous mobile body) so as to avoid the observed location Lob (S21 in FIG. 2, S75 in FIG. 3, S114 in FIG. 4 and S158 in FIG. 5). Thereby, it becomes possible to reduce or avoid the occurrence of a new negative evaluation due to a new movement of the target drone 26tar or another drone 26otr.
　本実施形態において、サービスサーバ２２（移動管理部３０）は、被観測情報Ｉｏｂに基づいて、対象ドローン２６ｔａｒ（第１自律移動体）又は他のドローン２６ｏｔｒ（第２自律移動体）の移動を制限する場所又は領域である移動制限場所Ｌｍｌを設定する移動制限部９０を有する（図１）。これにより、毎回、被観測情報Ｉｏｂ自体を考慮して対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの予定経路ＲＴｐを算出する場合と比較して、移動制限場所Ｌｍｌを用いることでサービスサーバ２２の演算負荷を軽減することが可能となる。 In this embodiment, the service server 22 (movement management unit 30) restricts movement of the target drone 26tar (first autonomous mobile body) or another drone 26otr (second autonomous mobile body) based on the observed information Iob. There is a movement restriction unit 90 for setting a movement restriction place Lml, which is a place or area to perform (FIG. 1). Thereby, the calculation load of the service server 22 can be reduced by using the movement restriction place Lml as compared with the case where the planned route RTp of the target drone 26tar or another drone 26otr is calculated in consideration of the observed information Iob itself each time. It becomes possible to reduce.
Ｂ．変形例
　なお、本発明は、上記実施形態に限らず、本明細書の記載内容に基づき、種々の構成を採り得ることはもちろんである。例えば、以下の構成を採用することができる。 B. Modifications It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the description of the present specification. For example, the following configuration can be adopted.
＜Ｂ－１．移動体＞
　上記実施形態のドローン２６は、配送用であった（図１及び図２）。しかしながら、例えば、被観測情報Ｉｏｂによって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動計画又は動作状態を変更する観点からすれば、これに限らない。例えば、ドローン２６は、人の運送、緊急用途、撮影、広告、セキュリティ監視、測量、エンターテインメント、個人趣味等の用途で用いることも可能である。 <B-1. Mobile>
The drone 26 of the above embodiment was for delivery (FIGS. 1 and 2). However, for example, from the viewpoint of changing the movement plan or operation state of the target drone 26tar or the other drone 26otr according to the observed information Iob, 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.
　上記実施形態では、ドローン２６に本発明を適用した（図１及び図２）。しかしながら、例えば、被観測情報Ｉｏｂによって自律移動体の移動計画又は動作状態を変更する観点からすれば、別種類の飛行体又は自律移動体に本発明を適用してもよい。例えば、自動運転車、ヘリコプタ又は船舶に本発明を適用することも可能である。 In the above embodiment, the present invention is applied to the drone 26 (FIGS. 1 and 2). However, for example, from the viewpoint of changing the movement plan or operation state of the autonomous mobile body according to the observed information Iob, the present invention may be applied to another type of flying body or autonomous mobile body. For example, the present invention can be applied to an autonomous vehicle, a helicopter, or a ship.
＜Ｂ－２．移動管理部３０＞
　上記実施形態の移動管理部３０は、サービスサーバ２２及び交通管理サーバ２４を含んだ（図１）。しかしながら、例えば、複数のドローン２６（又は自律移動体）の移動を管理する観点からすれば、これに限らない。例えば、サービスサーバ２２のみから移動管理部３０を構成してもよい。或いは、サービスサーバ２２及び交通管理サーバ２４に加えて、所定区域毎に複数配置されて、ドローン２６の飛行を管理するローカル管制サーバを設けることも可能である。そして、サービスサーバ２２からドローン２６に対する配送指令は、ローカル管制サーバを介して送信されてもよい。 <B-2. Mobility Management Unit 30>
The mobility management unit 30 of the above 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 30 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.
　上記実施形態のサービスサーバ２２は、商品Ｇの配送を管理した（図１及び図２）。しかしながら、例えば、被観測情報Ｉｏｂによって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動計画又は動作状態を変更する観点からすれば、これに限らない。例えば、サービスサーバ２２は、人の運送、緊急用途、撮影、広告、セキュリティ監視、測量、エンターテインメント、個人趣味等の用途を管理するものであってもよい。 The service server 22 of the above embodiment managed the delivery of the product G (FIGS. 1 and 2). However, for example, from the viewpoint of changing the movement plan or operation state of the target drone 26tar or the other drone 26otr according to the observed information Iob, 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.
＜Ｂ－３．被観測情報Ｉｏｂの反映＞
　上記実施形態では、被観測情報Ｉｏｂに基づいて新たな飛行制限領域Ｒｌｉｍを設定し（図４のＳ１１２、図５のＳ１５６）、これにより、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの予定経路ＲＴｐを変更した（図４のＳ１１４、図５のＳ１５８）。しかしながら、例えば、被観測情報Ｉｏｂによって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動計画又は動作状態を変更する観点からすれば、これに限らない。 <B-3. Reflection of observed information Iob>
In the above embodiment, a new flight restriction region Rlim is set based on the observed information Iob (S112 in FIG. 4 and S156 in FIG. 5), thereby changing the planned route RTp of the target drone 26tar or other drone 26otr. (S114 in FIG. 4 and S158 in FIG. 5). However, for example, from the viewpoint of changing the movement plan or operation state of the target drone 26tar or the other drone 26otr according to the observed information Iob, the present invention is not limited to this.
　例えば、新たな飛行制限領域Ｒｌｉｍの設定に加えて又はこれに代えて、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの動作状態を変更することが可能である。変更する動作状態としては、例えば、対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの飛行速度Ｖｄ又は高度Ｈを用いることができる。すなわち、否定的被観測情報Ｉｏｂｎｅｇとして、騒音状態が指摘されている場合、飛行速度Ｖｄを下げることで又は高度Ｈを上げることが、取り得る対応の１つとなる。 For example, in addition to or instead of setting a new flight restriction region Rlim, it is possible to change the operating state of the target drone 26tar or another drone 26otr. As the operating state to be changed, for example, the flight speed Vd or altitude H of the target drone 26tar or another drone 26otr can be used. That is, when the noise state is pointed out as the negative observed information Iobneg, decreasing the flight speed Vd or increasing the altitude H is one of the possible responses.
　上記実施形態では、周辺端末２８のユーザが被観測情報Ｉｏｂを周辺端末２８（被観測情報取得部）に入力した（図４のＳ１０１）。しかしながら、例えば、対象ドローン２６ｔａｒ（又は第１自律移動体）の周辺から対象ドローン２６ｔａｒを観測した対象ドローン２６ｔａｒの被観測情報Ｉｏｂを取得する観点からすれば、これに限らない。例えば、対象ドローン２６ｔａｒの予定経路ＲＴｐの周辺に対象ドローン２６ｔａｒを観測する観測センサを設けておき、当該観測センサの出力を被観測情報Ｉｏｂとして自動的にサービスサーバ２２に送信してもよい。観測センサとしては、例えば、マイクロフォン又は振動センサを用いることができる。 In the above embodiment, the user of the peripheral terminal 28 inputs the observed information Iob to the peripheral terminal 28 (observed information acquisition unit) (S101 in FIG. 4). However, for example, from the viewpoint of obtaining the observed information Iob of the target drone 26tar obtained by observing the target drone 26tar from the periphery of the target drone 26tar (or the first autonomous mobile body), the present invention is not limited to this. For example, an observation sensor that observes the target drone 26tar may be provided around the planned route RTp of the target drone 26tar, and the output of the observation sensor may be automatically transmitted to the service server 22 as the observed information Iob. As the observation sensor, for example, a microphone or a vibration sensor can be used.
　上記実施形態では、被観測情報反映制御の実行主体は、サービスサーバ２２であった（図５）。しかしながら、例えば、被観測情報Ｉｏｂによって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動計画又は動作状態を変更する観点からすれば、これに限らない。例えば、サービスサーバ２２の代わりに交通サーバ２４又は前記ローカル管制サーバが実行主体となってもよい。或いは、対象ドローン２６ｔａｒが被観測情報反映制御を実行してもよい。 In the above embodiment, the execution subject of the observed information reflection control is the service server 22 (FIG. 5). However, for example, from the viewpoint of changing the movement plan or operation state of the target drone 26tar or the other drone 26otr according to the observed information Iob, the present invention is not limited to this. For example, the traffic server 24 or the local control server may be the execution subject instead of the service server 22. Alternatively, the target drone 26tar may execute the observation information reflection control.
　上記実施形態では、被観測情報Ｉｏｂに基づいて移動計画又は動作状態を変更する対象を対象ドローン２６ｔａｒ（第１自律移動体）及び他のドローン２６ｏｔｒ（第２自律移動体）とした（図５のＳ１５７）。しかしながら、例えば、被観測情報Ｉｏｂによって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動計画又は動作状態を変更する観点からすれば、これに限らない。例えば、被観測情報Ｉｏｂに基づいて移動計画又は動作状態を変更する対象は、対象ドローン２６ｔａｒ（第１自律移動体）又は他のドローン２６ｏｔｒ（第２自律移動体）のいずれか一方としてもよい。 In the above embodiment, the target drone 26tar (first autonomous mobile body) and the other drone 26otr (second autonomous mobile body) are set as targets whose movement plan or operation state is changed based on the observed information Iob (FIG. 5). S157). However, for example, from the viewpoint of changing the movement plan or operation state of the target drone 26tar or the other drone 26otr according to the observed information Iob, the present invention is not limited to this. For example, the target whose movement plan or operation state is changed based on the observed information Iob may be either the target drone 26tar (first autonomous mobile body) or another drone 26otr (second autonomous mobile body).
　上記実施形態では、被観測情報Ｉｏｂは、対象ドローン２６ｔａｒ（第１自律移動体）の騒音状態と、対象ドローン２６ｔａｒの移動に伴って周囲が受ける不快感に関する情報とを含んだ（図４のＳ１０１、図５のＳ１５２）。しかしながら、例えば、被観測情報Ｉｏｂによって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動計画又は動作状態を変更する観点からすれば、これに限らない。例えば、被観測情報Ｉｏｂは、対象ドローン２６ｔａｒの騒音状態、又は対象ドローン２６ｔａｒの移動に伴って周囲が受ける不快感に関する情報のいずれか一方のみを含んでもよい。或いは、その他の情報を被観測情報Ｉｏｂに含めてもよい。 In the above embodiment, the observed information Iob includes the noise state of the target drone 26tar (first autonomous mobile body) and information related to discomfort experienced by the surroundings as the target drone 26tar moves (S101 in FIG. 4). , S152 in FIG. However, for example, from the viewpoint of changing the movement plan or operation state of the target drone 26tar or the other drone 26otr according to the observed information Iob, the present invention is not limited to this. For example, the observed information Iob may include only one of the noise state of the target drone 26tar or information related to the discomfort experienced by the surroundings as the target drone 26tar moves. Alternatively, other information may be included in the observed information Iob.
　上記実施形態の被観測情報反映制御では、新たに設定する飛行制限領域Ｒｌｉｍは、固定領域を想定していた（図５のＳ１５６）。しかしながら、例えば、被観測情報Ｉｏｂによって対象ドローン２６ｔａｒ又は他のドローン２６ｏｔｒの移動計画又は動作状態を変更する観点からすれば、これに限らない。例えば、固定領域としての新たな飛行制限領域Ｒｌｉｍに加えて又はこれに代えて、被観測情報Ｉｏｂが入力された周辺端末２８に対応付けて新たな飛行制限領域Ｒｌｉｍを設定することも可能である。 In the observed information reflection control of the above embodiment, the newly set flight restriction area Rlim is assumed to be a fixed area (S156 in FIG. 5). However, for example, from the viewpoint of changing the movement plan or operation state of the target drone 26tar or the other drone 26otr according to the observed information Iob, the present invention is not limited to this. For example, in addition to or instead of the new flight restriction area Rlim as the fixed area, it is also possible to set a new flight restriction area Rlim in association with the peripheral terminal 28 to which the observed information Iob is input. .
　すなわち、スマートフォン等の携帯端末としての周辺端末２８は、ユーザと共に移動する。そのため、ユーザに応じて飛行制限領域Ｒｌｉｍを設定する観点からすれば、新たな飛行制限領域Ｒｌｉｍを固定領域として設定するよりも、ユーザ（又は周辺端末２８）の位置に伴って新たな飛行制限領域Ｒｌｉｍの位置を変化させることが好ましい。そこで、被観測情報Ｉｏｂに基づく新たな飛行制限領域Ｒｌｉｍは、周辺端末２８の位置に応じて変化させてもよい。 That is, the peripheral terminal 28 as a mobile terminal such as a smartphone moves with the user. Therefore, from the viewpoint of setting the flight restriction region Rlim according to the user, the new flight restriction region is set according to the position of the user (or the peripheral terminal 28) rather than setting the new flight restriction region Rlim as a fixed region. It is preferable to change the position of Rlim. Therefore, the new flight restriction region Rlim based on the observed information Iob may be changed according to the position of the peripheral terminal 28.
＜Ｂ－４．その他＞
　上記実施形態では、図２～図５に示すフローを用いた。しかしながら、例えば、本発明の効果を得られる場合、フローの内容（各ステップの順番）は、これに限らない。例えば、図５のステップＳ１６２とＳ１６３の順番を入れ替えることが可能である。 <B-4. Other>
In the above embodiment, the flow shown in FIGS. 2 to 5 is used. However, for example, when the effect of the present invention can be obtained, the content of the flow (the order of each step) is not limited to this. For example, the order of steps S162 and S163 in FIG. 5 can be switched.
１０…管理システム
２２…サービス管理サーバ（管理サーバ）
２６ｏｔｒ…他のドローン（第２自律移動体）
２６ｔａｒ…対象ドローン（第１自律移動体）
２８…周辺端末（被観測情報取得部）　３０…移動管理部
６２…通信部（通信装置）　　　　　　８０…動的計画変更部
９０…移動制限部　　　　　　　　　　９２…経路算出部
１１０…被観測情報ＤＢ
１５４…ドローン制御装置（自律制御部）
Ｉｏｂ…被観測情報　　　　　　　　　Ｉｏｂｎｅｇ…否定的被観測情報
Ｌｍｌ…移動制限場所　　　　　　　　Ｌｏｂ…被観測場所
Ｐｓｔ…出発地　　　　　　　　　　　Ｐｔａｒ…目的地
ＲＴｐ…予定経路 10 ... management system 22 ... service management server (management server)
26 trr ... Other drones (second autonomous mobile body)
26 tar ... Target drone (first autonomous mobile body)
28 ... Peripheral terminal (observed information acquisition unit) 30 ... Movement management unit 62 ... Communication unit (communication device) 80 ... Dynamic plan change unit 90 ... Movement restriction unit 92 ... Route calculation unit 110 ... Observed information DB
154 ... Drone control device (autonomous control unit)
Iob: Observed information Iobneg: Negative observed information Lml ... Movement restriction place Lob: Observed place Pst ... Departure point Ptar ... Destination RTp ... Planned route

Claims (7)

  1. 　出発地から目的地まで移動するための自律制御部を備えた第１自律移動体と、
    　通信装置を介して前記第１自律移動体と通信し、前記第１自律移動体を含む複数の移動体の移動を管理する移動管理部と
    　を備える管理システムであって、
    　さらに、前記管理システムは、
    　　前記第１自律移動体の周辺から前記第１自律移動体を観測した前記第１自律移動体の被観測情報を取得する被観測情報取得部と、
    　　前記被観測情報取得部が取得した前記被観測情報に基づいて、前記第１自律移動体又は前記被観測情報の取得地点に接近し得る第２自律移動体の移動計画又は動作状態を変更する動的計画変更部と
    　を備える
    　ことを特徴とする管理システム。     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,
    Furthermore, the management system includes:
    An observed information acquisition unit for acquiring observed information of the first autonomous mobile body that has observed the first autonomous mobile body from the periphery of the first autonomous mobile body;
    Based on the observed information acquired by the observed information acquisition unit, the movement to change the movement plan or operation state of the first autonomous moving object or the second autonomous moving object that can approach the acquisition point of the observed information A management system characterized by comprising a plan change section.
  2. 　請求項１に記載の管理システムにおいて、
    　前記被観測情報は、前記第１自律移動体の騒音状態を含む
    　ことを特徴とする管理システム。     The management system according to claim 1,
    The observed system information includes a noise state of the first autonomous mobile body.
  3. 　請求項１又は２に記載の管理システムにおいて、
    　前記被観測情報は、前記第１自律移動体の移動に伴って周囲の人が受けた不快感を、前記周囲の人が前記被観測情報取得部に入力した情報を含む
    　ことを特徴とする管理システム。     In the management system according to claim 1 or 2,
    The observed information includes discomfort experienced by surrounding people as the first autonomous mobile body moves, and includes information input by the surrounding people to the observed information acquisition unit. system.
  4. 　請求項１～３のいずれか１項に記載の管理システムにおいて、
    　前記移動管理部は、
    　　否定的な評価を含む前記被観測情報である否定的被観測情報を、前記否定的な評価が観測された前記第１自律移動体の被観測場所と共に蓄積する被観測情報データベースと、
    　　前記被観測場所を避けるように、前記第１自律移動体又は前記第２自律移動体の新たな予定経路を算出する経路算出部と
    　を備えることを特徴とする管理システム。     The management system according to any one of claims 1 to 3,
    The mobility management unit
    An observed information database for accumulating negative observed information, which is the observed information including negative evaluation, together with an observed location of the first autonomous mobile body in which the negative evaluation is observed;
    A management system comprising: a route calculation unit that calculates a new planned route of the first autonomous mobile body or the second autonomous mobile body so as to avoid the observed location.
  5. 　請求項１～４のいずれか１項に記載の管理システムにおいて、
    　前記移動管理部は、前記被観測情報に基づいて、前記第１自律移動体又は前記第２自律移動体の移動を制限する場所又は領域である移動制限場所を設定する移動制限部を有する
    　ことを特徴とする管理システム。     The management system according to any one of claims 1 to 4,
    The movement management unit includes a movement restriction unit that sets a movement restriction place that is a place or a region that restricts movement of the first autonomous mobile body or the second autonomous mobile body based on the observed information. Management system featuring.
  6. 　出発地から目的地まで移動するための自律制御部を備えた第１自律移動体と、
    　通信装置を介して前記第１自律移動体と通信し、前記第１自律移動体を含む複数の移動体の移動を管理する移動管理部と
    　を備える管理システムの制御方法であって、
    　前記第１自律移動体の周辺から前記第１自律移動体を観測した前記第１自律移動体の被観測情報を被観測情報取得部で取得するステップと、
    　前記被観測情報取得部が取得した前記被観測情報に基づいて、前記第１自律移動体又は前記被観測情報の取得地点に接近し得る第２自律移動体の移動計画又は動作状態を動的計画変更部で変更するステップと
    　を有することを特徴とする管理システムの制御方法。     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,
    Acquiring observed information of the first autonomous moving body, which has observed the first autonomous moving body from the periphery of the first autonomous moving body, in an observed information acquiring unit;
    Based on the observed information acquired by the observed information acquisition unit, a dynamic plan of the movement plan or operation state of the first autonomous moving object or the second autonomous moving object that can approach the acquisition point of the observed information And a step of changing by the changing unit.
  7. 　出発地から目的地まで移動するための自律制御部を備えた第１自律移動体と通信し、前記第１自律移動体を含む複数の移動体の移動を管理する管理サーバであって、
    　前記管理サーバは、前記第１自律移動体の周辺から前記第１自律移動体を観測した前記第１自律移動体の被観測情報を被観測情報取得部から取得し、前記被観測情報に基づいて、前記第１自律移動体又は前記被観測情報の取得地点に接近し得る第２自律移動体の移動計画又は動作状態を変更する動的計画変更部を備える
    　ことを特徴とする管理サーバ。     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 acquires observed information of the first autonomous mobile body that has observed the first autonomous mobile body from the periphery of the first autonomous mobile body from an observed information acquisition unit, and based on the observed information A management server comprising: a dynamic plan change unit that changes a movement plan or an operation state of the second autonomous mobile body that can approach the acquisition point of the first autonomous mobile body or the observed information.
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