WO2019181898A1 - Système de gestion de corps mobile, procédé de commande pour système de gestion de corps mobile, et serveur de gestion pour système de gestion de corps mobile - Google Patents

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

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Publication number
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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English (en)
Japanese (ja)
Inventor
伊藤洋
長井誠
大舘正太郎
惣野崇
藤原明彦
松本恒平
廣瀬史也
Original Assignee
本田技研工業株式会社
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Priority to JP2020507813A priority Critical patent/JP6859487B2/ja
Publication of WO2019181898A1 publication Critical patent/WO2019181898A1/fr

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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.

Abstract

L'invention concerne un système de gestion de corps mobile, un procédé de commande pour le système de gestion de corps mobile et un serveur de gestion pour le système de gestion de corps mobile qui permettent de réaliser des changements dynamiques à des emplacements restreints de vol d'une manière appropriée. Un système de gestion (10) comporte une partie d'acquisition d'informations observées (28) et une partie de réglage de plan dynamique (80). La partie d'acquisition d'informations observées (28) acquiert des informations observées (Iob) concernant un premier corps mobile autonome (26tar) qui ont été recueillies en observant le premier corps mobile autonome (26tar) depuis la périphérie du premier corps mobile autonome (26tar). Sur la base des informations observées (Iob) acquises par la partie d'acquisition d'informations observées (28), la partie de réglage de plan dynamique (80) règle un plan de mouvement pour l'état de fonctionnement du premier corps mobile autonome (26tar) ou d'un second corps mobile autonome (26otr) qui peut approcher le point auquel les informations observées (Iob) ont été acquises. La partie de réglage de plan dynamique (80) est comprise, par exemple, dans un serveur de gestion (22).
PCT/JP2019/011308 2018-03-19 2019-03-19 Système de gestion de corps mobile, procédé de commande pour système de gestion de corps mobile, et serveur de gestion pour système de gestion de corps mobile WO2019181898A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008308154A (ja) * 2007-05-24 2008-12-25 Honeywell Internatl Inc 無人航空機の探知を低減するための飛行経路計画
US9422055B1 (en) * 2015-09-02 2016-08-23 Amazon Technologies, Inc. Unmanned aerial vehicle motor driving randomization for noise abatement
JP2016184288A (ja) * 2015-03-26 2016-10-20 富士重工業株式会社 飛行経路作成装置、飛行経路作成方法及び飛行経路作成プログラム
US20170076610A1 (en) * 2015-03-31 2017-03-16 SZ DJI Technology Co., Ltd Open platform for flight restricted region
WO2018020607A1 (fr) * 2016-07-27 2018-02-01 株式会社オプティム Système, procédé et programme de commande de véhicules aériens sans pilote

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008308154A (ja) * 2007-05-24 2008-12-25 Honeywell Internatl Inc 無人航空機の探知を低減するための飛行経路計画
JP2016184288A (ja) * 2015-03-26 2016-10-20 富士重工業株式会社 飛行経路作成装置、飛行経路作成方法及び飛行経路作成プログラム
US20170076610A1 (en) * 2015-03-31 2017-03-16 SZ DJI Technology Co., Ltd Open platform for flight restricted region
US9422055B1 (en) * 2015-09-02 2016-08-23 Amazon Technologies, Inc. Unmanned aerial vehicle motor driving randomization for noise abatement
WO2018020607A1 (fr) * 2016-07-27 2018-02-01 株式会社オプティム Système, procédé et programme de commande de véhicules aériens sans pilote

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