WO2020189702A1 - Système de gestion, procédé de commande et programme associé, et objet mobile autonome - Google Patents

Système de gestion, procédé de commande et programme associé, et objet mobile autonome Download PDF

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Publication number
WO2020189702A1
WO2020189702A1 PCT/JP2020/011894 JP2020011894W WO2020189702A1 WO 2020189702 A1 WO2020189702 A1 WO 2020189702A1 JP 2020011894 W JP2020011894 W JP 2020011894W WO 2020189702 A1 WO2020189702 A1 WO 2020189702A1
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WIPO (PCT)
Prior art keywords
moving body
priority
autonomous
management system
machine
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PCT/JP2020/011894
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English (en)
Japanese (ja)
Inventor
伊藤洋
長井誠
飯島賢大
Original Assignee
本田技研工業株式会社
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Priority to JP2021507386A priority Critical patent/JPWO2020189702A1/ja
Publication of WO2020189702A1 publication Critical patent/WO2020189702A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • U.S. Patent Application Publication No. 2015/0339931 discloses a system, method, and device capable of flying according to a restricted flight area (summary).
  • UAV unmanned aerial vehicle
  • the position of an unmanned aerial vehicle (UAV) is compared to a restricted flight area. If necessary, the UAV will take steps to avoid entering the no-fly zone.
  • U.S. Patent Application Publication No. 2015/0339931 compares the location of the UAV with the no-fly zone, and if necessary, the UAV takes action to avoid entering the no-fly zone. Take (summary).
  • US Patent Application Publication No. 2015/0339931 does not consider the positional relationship between the flying objects. Such a problem applies not only to an air vehicle but also to other autonomous moving bodies (ships, automobiles, etc.) that move autonomously.
  • the management system communicates with a plurality of moving bodies including an autonomous moving body including an autonomous control unit for autonomously moving via a communication device, and manages the movement of the plurality of moving bodies.
  • a management system including a movement management unit, wherein the autonomous moving body has priority regarding movement between the autonomous moving body and another moving body which is a moving body different from the autonomous moving body among the plurality of moving bodies.
  • the superiority or inferiority acquisition unit acquires the superiority or inferiority acquisition unit that acquires the subordinate relationship and the superiority or inferiority acquisition unit that the autonomous moving body is inferior to the other moving body, the current position of the other moving body or the other It is characterized by including a proximity suppressing unit that suppresses the proximity of the autonomous moving body to a future position of the moving body.
  • the control method of the management system is the control method of the management system that manages the movement of a plurality of moving bodies including the autonomous moving body including the autonomous control unit for autonomously moving.
  • a step of acquiring a priority / subordinate relationship regarding movement between another moving body which is a moving body different from the autonomous moving body among a plurality of moving bodies and the autonomous moving body, and the autonomous moving body is the other moving body.
  • the proximity of the autonomous moving body to the current position of the other moving body or the future position of the other moving body when the inferiority to the relative is obtained in the step of acquiring the priority / subordinate relationship. It has a step of suppressing.
  • the program according to still another aspect of the present invention is a moving body different from the autonomous moving body among a plurality of moving bodies including an autonomous moving body having an autonomous control unit for autonomously moving the computer.
  • the step of acquiring the priority / subordinate relationship regarding the movement of the moving body and the autonomous moving body and in the step of acquiring the priority / subordinate relationship that the autonomous moving body is inferior to the other moving body.
  • the step of suppressing the proximity of the autonomous moving body to the current position of the other moving body or the future position of the other moving body is executed.
  • the autonomous moving body is an autonomous moving body including an autonomous control unit for autonomously moving, and is a moving body different from the autonomous moving body among a plurality of moving bodies.
  • the superiority / inferiority acquisition unit acquires the priority / inferiority relationship regarding the movement of the other moving body and the autonomous moving body
  • the superiority / inferiority acquiring unit acquires that the autonomous moving body is inferior to the other moving body. It is characterized by including a proximity suppressing unit that suppresses the proximity of the autonomous moving body to the current position of the other moving body or the future position of the other moving body.
  • it is a flowchart showing an outline from the ordering of a customer to the start of delivery of a product by a drone.
  • It is a flowchart which shows the overall flow of the flight control of the said embodiment.
  • It is a flowchart of own machine information broadcast processing of the said embodiment.
  • It is a figure which shows the example of the relationship between the aircraft classification and the geographical unit classification which is allowed to enter.
  • It is a flowchart which shows the example of the operation when the priority / subordination degree is the same.
  • FIG. 1 is an overall configuration diagram showing an outline of a management system 10 according to an embodiment of the present invention.
  • the management system 10 includes a plurality of customer terminals 20, at least one service management server 22 (hereinafter, also referred to as “service server 22”), and at least one traffic management server 24 (hereinafter, also referred to as “traffic server 24”). ) And a plurality of drones (autonomous moving body, moving body) 26.
  • the service server 22 and the traffic server 24 constitute a movement management unit 28.
  • the movement management unit 28 communicates with the plurality of drones 26 via a communication device (not shown) and manages the movement of the plurality of drones 26.
  • FIG. 1 shows only one customer terminal 20, a service server 22, and a transportation server 24.
  • the drone 26 delivers the product G based on the order information of the product G input via the customer terminal 20.
  • Communication is possible between the customer terminal 20 and the service server 22 and between the service server 22 and the transportation server 24 via the Internet 30. Further, the service server 22 and the drone 26 can communicate with each other via the Internet 30 and the wireless relay station 32. Communication between the drones 26 is possible via optical communication and radio wave communication.
  • the customer terminal 20 is a terminal that accepts orders from customers for the product G handled by the service server 22.
  • the customer terminal 20 is composed of, for example, a personal computer or a smartphone.
  • the service management server 22 manages orders, inventory management, and delivery management for a specific company.
  • the service management server 22 includes a calculation unit 51 and a storage unit 53.
  • the arithmetic unit 51 may include a central processing unit (CPU: Central Processing Unit), an FPGA (Field-Programmable Gate Array), and the like.
  • the calculation unit 51 can operate by executing the program stored in the storage unit 53. Some of the functions realized by the calculation unit 51 can also be realized by using a logic IC (Integrated Circuit).
  • the arithmetic unit 51 may also configure a part of the above program by hardware (circuit components).
  • the storage unit 53 can store programs, data, and the like used by the calculation unit 51.
  • the storage unit 53 may include a volatile memory (not shown) and a non-volatile memory (not shown).
  • volatile memory examples include RAM (Random Access Memory).
  • RAM Random Access Memory
  • the volatile memory can be used, for example, as a register or the like.
  • non-volatile memory examples include a ROM (Read Only Memory), a flash memory, a hard disk drive, and the like.
  • the storage unit 53 includes an order database 50 (hereinafter referred to as “order DB 50”), an inventory database 52 (hereinafter referred to as “inventory DB 52”), a drone database 54 (hereinafter referred to as “drone DB 54”), and a first map. It has a database 56 (hereinafter referred to as “first map DB 56") and a delivery database 58 (hereinafter referred to as “delivery DB 58").
  • the order DB 50 accumulates information (order information Io) regarding the order received via each customer terminal 20.
  • the inventory DB 52 accumulates information related to inventory (inventory information Is).
  • the drone DB 54 stores information (drone information Id) about the drone 26 used for delivery.
  • the first map DB 56 accumulates map information (first map information Imap1) for delivery by the drone 26.
  • the delivery DB 58 stores information (delivery information Idl) regarding the delivery of the ordered product G.
  • the delivery information Idl also includes information about the drone 26 that delivers the product G.
  • the traffic management server 24 manages information (traffic information It) regarding traffic (flight) of a plurality of drones 26. For example, when the traffic server 24 receives the flight permission application of the drone 26 from the service server 22, it determines whether or not to permit the flight permission application, and permits or disallows the flight permission application to the service server 22 according to the determination result. Notice.
  • the traffic management server 24 includes a calculation unit 61 and a storage unit 63.
  • the arithmetic unit 61 may include a central processing unit, an FPGA, and the like.
  • the calculation unit 61 can operate by executing the program stored in the storage unit 63. Some of the functions realized by the arithmetic unit 61 can also be realized by using a logic IC.
  • the arithmetic unit 61 may also configure a part of the above program by hardware.
  • the storage unit 63 can store programs, data, and the like used by the calculation unit 61.
  • the storage unit 63 may include a volatile memory (not shown) and a non-volatile memory (not shown). Examples of the volatile memory include RAM.
  • the volatile memory can be used, for example, as a register or the like. Examples of the non-volatile memory include a ROM, a flash memory, a hard disk drive, and the like.
  • the storage unit 63 has a second map database 60 (hereinafter referred to as “second map DB 60") and a flight schedule database 62 (hereinafter referred to as “flight schedule DB 62").
  • the second map DB 60 stores map information (second map information Imap2) related to the traffic (flight) of the drone 26.
  • the flight schedule DB 62 accumulates information (flight schedule information Isc) regarding the flight schedule of each drone 26.
  • the flight schedule information Isc also includes information on priority / subordination (priority rank, priority) R.
  • the priority / subordination degree R is between the drone 26 itself (hereinafter, also referred to as “own machine 26e”) and another drone 26 (hereinafter, also referred to as “other machine 26o”) when a plurality of drones 26 approach each other. Prescribe the priority of. In FIG. 1, the upper drone 26 is shown as the own machine 26e, and the lower drone 26 is shown as the other machine 26o. In the present embodiment, the priority / subordination degree R is used by each of the own aircraft (drone) 26e and the other aircraft (drone) 26o to set the flight path RTf, but the priority / subordination degree R is used for other purposes as described later. You may.
  • the movement management unit 28 is provided with a superiority / inferiority determination unit 64.
  • the superiority / inferiority determination unit 64 may determine the priority / subordination degree R for each movement of the plurality of drones 26 based on the individual information of the drones 26.
  • the superiority or inferiority determination unit 64 can be realized by executing the program stored in the storage unit 63 by the calculation unit 61.
  • FIG. 1 shows a case where the superiority / inferiority determination unit 64 is provided in the traffic management server 24, but the present invention is not limited to this.
  • the individual information may include, for example, aircraft information determined based on the usage of the plurality of drones 26.
  • the aircraft information may include, for example, the aircraft classification (classification).
  • FIG. 5 is a diagram showing an example of the relationship between the aircraft classification and the geographical unit classification in which entry is permitted.
  • the aircraft classification for example, there may be a first type, a second type, and a third type, but the aircraft classification is not limited to this.
  • the geographical unit division there may be a geographical unit division A, a geographical unit division B, a geographical unit division C, a geographical unit division D, and a geographical unit division E, but the geographical unit division is limited to these. It's not something.
  • Geographical unit division A is, for example, a densely populated area and a densely populated area.
  • the geographical unit division B is, for example, on a road and a railroad track.
  • the geographical unit division C is, for example, an urban area.
  • Geographical unit division D is, for example, fields and non-urban areas.
  • the geographical unit division E is, for example, a freeway, a river, and a safety measure area.
  • the first type of aircraft is prohibited from entering the geographical unit divisions A to C.
  • the first type of aircraft is conditionally permitted to enter the geographical unit division D, for example.
  • the first type of aircraft is allowed to enter the geographical unit division E without limitation, for example.
  • an airframe for private use may be applicable.
  • an airframe used for commercial delivery, non-commercial delivery, commercial photography, non-commercial photography, etc. may fall under the first type of aircraft.
  • the second type of aircraft is prohibited from entering the geographical unit category A.
  • the second type of aircraft is conditionally permitted to enter, for example, geographical unit divisions B and C.
  • the second type of aircraft is allowed to enter the geographical unit divisions D and E without limitation, for example.
  • the second type of airframe may be, for example, a general public airframe.
  • an airframe used for patrol monitoring by the police may correspond to a second type airframe.
  • the third type of aircraft is conditionally allowed to enter the geographical unit divisions A and B.
  • the third type of aircraft is allowed to enter the geographical unit divisions C to E without limitation.
  • the third type of airframe may be, for example, an airframe for emergency public use.
  • an airframe used for disaster response, lifesaving, crime response, etc. may correspond to a type 3 aircraft.
  • the second type corresponds to, for example, the normal aircraft classification
  • the third type corresponds to, for example, the emergency aircraft classification.
  • the usage of the drone 26 belonging to the third type, that is, the emergency aircraft classification is highly urgent with respect to the usage of the drone 26 belonging to the second type, that is, the normal aircraft classification.
  • the second and third types belong to, for example, the first aircraft category (first category).
  • the first type belongs to, for example, the second aircraft category (second category).
  • the usage of the drone 26 belonging to the first aircraft category is highly public with respect to the usage of the drone 26 belonging to the second aircraft category.
  • the second aircraft category can be at least divided into, for example, a commercial aircraft category (commercial category) not shown and a non-commercial aircraft category (non-commercial category) not shown.
  • the drone 26 belonging to the commercial aircraft category can be used for commercial purposes.
  • the drone 26 belonging to the non-commercial aircraft category can be used for non-commercial use.
  • the superiority / inferiority determination unit 64 has a higher priority than the priority / subordination degree R for determining the aircraft information regarding the aircraft classification for the drone 26 which is the first aircraft classification and the aircraft information regarding the aircraft classification for the drone 26 which is the second aircraft classification.
  • the subordination degree R can be determined.
  • high priority / subordination means that priority is given to those with a relatively low priority / subordination R and no subordination. In other words, "high priority / subordination” means high priority, that is, low subordination. “Low priority / subordination” means that the one with a relatively high priority / subordination R is not prioritized and is subordinated. In other words, "low priority / subordination” means low priority, that is, high subordination.
  • the individual information may include, for example, geographic information determined based on the geographic unit divisions that are allowed to enter the drone 26.
  • Examples of the geographical unit division include, but are not limited to, the geographical unit divisions A to E as described above with reference to FIG.
  • the individual information may include, for example, passenger information determined based on the presence or absence of passengers on the drone 26.
  • the superiority / inferiority determination unit 64 may determine a priority / subordination degree R higher than that of the drone 26 whose passenger information is passenger-free, with respect to the drone 26 whose passenger information is passenger-free.
  • the individual information may include, for example, the loading information determined based on the value of the loading of the drone 26.
  • the superiority / inferiority determination unit 64 may determine the priority / subordination degree R higher than that of the drone 26 whose loading information is lower than the first value and which is the second value, with respect to the drone 26 whose loading information is the first value. ..
  • the state information is, for example, moving altitude information indicating the moving altitude of the drone 26.
  • the superiority / inferiority determination unit 64 determines the priority / subordination degree R lower than that of the drone 26 whose movement altitude information is the first movement altitude and which is the second movement altitude whose movement altitude information is lower than the first movement altitude. Can be decided.
  • the performance information is, for example, the maximum output information indicating the maximum output of the propeller drive unit (propulsion device) 108 provided in the drone 26.
  • the superiority / inferiority determination unit 64 determines the priority / subordination degree R of the drone 26 whose maximum output information is the first maximum output, which is lower than that of the drone 26 whose maximum output information is lower than the first maximum output. Can be decided.
  • the movement management unit 28 is further provided with a superiority / inferiority correction unit 66.
  • the superiority / inferiority correction unit 66 can correct the priority / subordination degree R when there are a plurality of drones 26 having the same priority / subordination degree R determined by the superiority / inferiority determination unit 64.
  • the superiority / inferiority correction unit 66 can be realized by executing the program stored in the storage unit 63 by the arithmetic unit 61.
  • FIG. 1 shows a case where the superiority / inferiority correction unit 66 is provided in the traffic management server 24, but the present invention is not limited to this.
  • the superiority / inferiority correction unit 66 can perform the following processing. That is, in the superiority / inferiority correction unit 66, the time in which the priority / subordination degree R is determined is the first time, and the time in which the priority / subordination degree R of the drone 26 is determined is later than the first time.
  • the priority / subordination degree R can be modified so that it is higher than the priority / subordination degree R of the drone 26 which is the time of 2.
  • the movement management unit 28 is further provided with a monitoring unit 68.
  • the monitoring unit 68 can confirm that the drone 26 has received the priority / subordination degree R.
  • the monitoring unit 68 can be realized by executing the program stored in the storage unit 53 by the arithmetic unit 51.
  • FIG. 1 shows a case where the monitoring unit 68 is provided in the service management server 22, but the present invention is not limited to this.
  • the sensor group 100 includes a global positioning system sensor 110 (hereinafter referred to as “GPS sensor 110”), a speedometer 112, an altimeter 114, a gyro sensor 116, and a camera 118.
  • GPS sensor 110 detects the current position Pdcur of the drone 26.
  • the speedometer 112 detects the flight speed Vd [km / h] of the drone 26.
  • the optical communication device 102 is capable of optical communication (first wireless communication) with another device 26o.
  • the "light” referred to here may include not only visible light but also infrared light.
  • the optical communication device 102 includes, for example, an infrared irradiation device and an infrared light receiving device.
  • the radio wave communication device 104 (communication device) is capable of radio wave communication (second wireless communication) with the wireless relay station 32, another device 26o, and the like.
  • the "radio wave” referred to here may include millimeter wave, submillimeter wave, terahertz wave, centimeter wave and the like.
  • the radio wave communication device 104 includes, for example, a radio wave communication module.
  • the radio wave communication device 104 can communicate with the service server 22 and the like via the wireless relay station 32 and the Internet 30.
  • the radio wave communication device 104 can function as a receiving unit (superior / inferiority receiving unit) that receives the priority / subordination degree R determined by the superiority / inferiority determining unit 64. At least one of the radio wave communication device 104 and the optical communication device 102 can function as a transmission unit that transmits the priority / subordination degree R received by the reception unit. At least one of the radio wave communication device 104 and the optical communication device 102 can function as a request signal transmitting unit that transmits a request signal for requesting the other device 26o to transmit the priority / inferiority R of the other device 26o.
  • the drone control device 106 controls the entire drone 26, such as flight and shooting of the drone 26. As shown in FIG. 1, the drone control device 106 includes an input / output unit 120, a calculation unit 122, and a storage unit 124.
  • the arithmetic unit 122 may include a central processing unit, an FPGA, and the like.
  • the calculation unit 122 operates by executing a program stored in the storage unit 124. Some of the functions executed by the arithmetic unit 122 can also be realized by using a logic IC.
  • the program may be supplied from the service server 22 or the like via the radio communication device 104.
  • the arithmetic unit 122 may also configure a part of the program with hardware (circuit components).
  • the calculation unit 122 includes a flight control unit 130, a superiority / inferiority comparison unit 132, and a superiority / inferiority change unit 134.
  • the flight control unit 130, the superiority / inferiority comparison unit 132, and the superiority / inferiority change unit 134 can be realized by executing the program stored in the storage unit 124 by the calculation unit 122.
  • the flight control unit 130 executes flight control to control the flight of the drone 26.
  • the flight control unit 130 can move the drone 26 autonomously.
  • the storage unit 124 stores programs, data, etc. used by the calculation unit 122.
  • the storage unit 124 may include a volatile memory (not shown) and a non-volatile memory (not shown). Examples of the volatile memory include RAM.
  • the volatile memory can be used, for example, as a register or the like. Examples of the non-volatile memory include a ROM, a flash memory, a hard disk drive, and the like.
  • the propeller drive unit 108 includes a plurality of propellers 150a, 150b, 150c, 150d (hereinafter collectively referred to as "propeller 150") and a plurality of propeller actuators 152a, 152b, 152c, 152d (hereinafter collectively referred to as "propeller actuator 152"). .) And.
  • the propeller actuator 152 has, for example, an electric motor. When the electric motor is an alternating current type, the propeller actuator 152 may have an inverter that converts direct current into alternating current.
  • the number of propellers 150 (rotor blades) and propeller actuators 152 may be other than four.
  • step S23 the service server 22 transmits a flight permission application for the temporary route RTp to the traffic management server 24.
  • An identification number for the target drone 26tar will also be given to the flight permit application.
  • step S24 the service server 22 monitors whether or not the result notification from the traffic management server 24 has been received.
  • step S31 the traffic management server 24 determines whether or not the flight permission application has been received from the service server 22.
  • the flight permission application is received (S31: TRUE)
  • the process proceeds to step S32. If the flight permit application is not received (S31: FALSE), step S31 is repeated.
  • the traffic management server 24 determines whether the received flight permission application is permitted or not permitted. For example, if the provisional route RTp includes the no-fly zone of the drone 26, the traffic server 24 disallows the flight permit application. Further, when one or more other aircraft 26o are scheduled to pass a part of the temporary route RTp at the same time as the own aircraft 26e, the traffic server 24 disallows the flight permission application. On the other hand, if there is no reason not to allow the drone 26 to fly in the provisional route RTp, the traffic server 24 permits the flight permission application.
  • the traffic management server 24 When permitting the flight permit application (S33: TRUE), the traffic management server 24 transmits the permit notification in step S34. Prior to the transmission of the permission notification, the traffic management server 24 issues a priority / subordination degree R and includes it in the permission notification. As described above, the priority / subordination degree R defines the priority order between the own machine 26e and the other machine 26o when the own machine 26e and the other machine 26o approach each other.
  • step S35 the traffic management server 24 transmits a disapproval notification to the service server 22.
  • the reason for the disapproval (for example, the provisional route RTp passes through the no-fly zone, the position of the no-fly zone, etc.) is also added to the disapproval notification.
  • the flight route RTf may include the route from the current position Pdcur to the warehouse 70 or the like.
  • the route to the warehouse 70 or the like may be set as the flight route RTf.
  • a route to the delivery destination Pdtar and a route to the return destination Prtar may be set as the new flight route RTf.
  • the delivery command can be transmitted by another method instead of being directly transmitted from the service server 22 to the target drone 26tar.
  • step S52 the drone 26 (target drone 26tar) transmits a reception confirmation to the service server 22.
  • step S53 the drone 26 (target drone 26tar) starts flight control of carrying the product G from the warehouse 70 to the delivery destination Pdtar and returning to the return destination Pratar. Flight control will be described later with reference to FIG.
  • FIG. 3 is a flowchart showing the overall flow of flight control according to the present embodiment.
  • the flight control is a control for controlling the flight of the drone 26 (target drone 26tar), and is executed by the flight control unit 130 of the drone control device 106.
  • step S72 the flight control unit 130 determines whether or not the other aircraft information Iod broadcast by the other drone 26 (other aircraft 26o) has been received.
  • the other machine information Id is the own machine information Ied for the other machine 26o.
  • the other aircraft information Iod includes the current position Podcur of the other aircraft 26o, the individual number IDo, and the priority / subordination degree R.
  • each drone 26 has an optical communication device 102 and a radio wave communication device 104.
  • the flight control unit 130 receives the other aircraft information Iod via either optical communication or wireless communication, it determines that the other aircraft information Iod has been received.
  • the process proceeds to step S73. If the other machine information Iod has not been received (S72: FALSE), the process proceeds to step S78.
  • step S73 the flight control unit 130 determines the priority / subordination degree R of the other aircraft 26o included in the received other aircraft information Iod, that is, the other priority / subordination degree, and the priority / subordination degree R of the own aircraft 26e, that is, the self-priority / subordination. Compare with degree.
  • the flight control unit 130 maintains the flight path RTf in step S75 (own aircraft priority mode). If the priority / subordination degree R of the own machine 26e is not higher than the priority / subordination degree R of the other machine 26o (S74: FALSE), the process proceeds to step S76.
  • step S76 the flight control unit 130 calculates the avoidance route RTes for avoiding the other aircraft 26o (other aircraft priority mode).
  • the avoidance route RTes is a route that temporarily changes (detours) the flight route RTf in order to avoid the other aircraft 26o. Then, the flight control unit 130 flies its own aircraft 26e along a new flight path RTf including the avoidance path RTes.
  • the flight control unit 130 changes the avoidance route RTes according to the priority / subordination degree R. Specifically, the flight control unit 130 sets the avoidance path RTes in the horizontal direction, the upward direction, or the downward direction according to the priority / subordination degree R. For example, the drone 26 having the highest priority / subordination degree R maintains the flight path RTf (S75 in FIG. 3). The drone 26 having the second highest priority / subordination degree R sets the avoidance route RTes in the horizontal direction. The drone 26 having the third highest priority / subordination degree R sets the avoidance route RTes upward. The drone 26 having the fourth highest priority / subordination degree R sets the avoidance route RTes downward.
  • step S77 the flight control unit 130 notifies the service server 22 of the avoidance route RTes of the own aircraft 26e.
  • the service server 22 monitors the flight of the drone 26 for the new flight path RTf including the received avoidance path RTes (see S27 in FIG. 2).
  • step S78 of FIG. 3 the flight control unit 130 determines whether or not the own aircraft 26e has reached the destination Ptar. If the drone 26 has not reached the delivery destination Pdtar, the destination Ptar is the delivery destination Pdtar. Further, when the delivery to the delivery destination Pdtar is completed, the destination Ptar is the return destination Pratar (usually the warehouse 70). As will be described later, when another delivery command is received from the service server 22 during the return or the like, another warehouse for receiving the new product G may be set as the destination Ptar. When the destination Ptar is reached (S78: TRUE), the process proceeds to step S79.
  • step S79 the flight control unit 130 determines whether or not there is the next destination Ptarnext.
  • the current flight control is terminated.
  • the drone 26 performs the following processing. That is, in such a case, after receiving the new product G, the drone 26 delivers and returns along the new flight path RTf notified from the service server 22.
  • step S80 the flight control unit 130 sets the next destination Ptarnext as a new destination Ptarnew. For example, when the delivery destination Pdtar is reached, the return destination Ptar, which is the next destination Pttarnext, is set as a new destination Pttar. Alternatively, when the pickup destination Pptar is set on the way to the delivery destination Pdtar, the flight control unit 130 sets the pickup destination Pptar as the next destination Pptarnext after delivery to the delivery destination Pdtar.
  • step S81 When returning to step S78 and not reaching the destination Ptar (S78: FALSE), in step S81, whether or not the flight control unit 130 has received the new flight path RTf and the priority / subordination degree R from the service server 22. To judge. In order to distinguish it from the current flight path RTf, the new flight path RTf here is also referred to as a command path RTcom.
  • a new command path RTcom and priority / subordination degree R are received (S81: TRUE)
  • the process proceeds to step S82.
  • the new command path RTcom or the priority / subordination degree R is not received (S81: FALSE)
  • the process returns to step S71.
  • step S82 the flight control unit 130 sets the destination Ptar (hereinafter, also referred to as “command destination Pcom”) included in the new command route RTcom as the next destination Ptarnext or the new destination Ptar.
  • the new command destination Pcom is set as the next destination Ptarnext. That is, the command destination Pcom is used as the destination Ptar after reaching the delivery destination Pdtar.
  • a new command destination Pcom is immediately set as a new destination Ptar. Therefore, the flight path RTf of the drone 26 is changed immediately.
  • step S83 the flight control unit 130 transmits a reception confirmation of the new command location Pcom to the service server 22.
  • the service server 22 handles the reception confirmation from the drone 26 in step S83 in step S26 of FIG.
  • FIG. 4 is a flowchart of the own machine information broadcast process of the present embodiment.
  • the own aircraft information broadcast process is a process in which the drone 26 broadcasts the own aircraft information Ied, and is executed by the flight control unit 130 as a part of the flight process in step S71 of FIG.
  • step S91 of FIG. 4 the flight control unit 130 determines whether or not the condition for starting the broadcast of the own aircraft information Ied (broadcast start condition) is satisfied.
  • the broadcast start condition for example, it can be used that the drone 26 (target drone 26 tar) has started flight.
  • other conditions for example, the altitude H becomes equal to or higher than the first altitude threshold THh1 may be used as the broadcast start condition.
  • the broadcast start condition is satisfied (S91: TRUE)
  • the process proceeds to step S92. If the broadcast start condition is not satisfied (S91: FALSE), step S91 is repeated.
  • step S92 the flight control unit 130 broadcasts the own aircraft information Ied (including the priority / subordination degree R) to the vicinity of the own aircraft 26e.
  • the flight control unit 130 broadcasts the own aircraft information Ied (including the priority / subordination degree R) to the vicinity of the own aircraft 26e.
  • both the optical communication device 102 and the radio wave communication device 104 broadcast the own device information Ied.
  • step S93 the flight control unit 130 determines whether or not to change the priority / subordination degree R. For example, when the new command path RTcom and the priority / subordination degree R are received in step S81 of FIG. 3 (S81: TRUE) and immediately changed to the new flight path RTf, the flight control unit 130 changes the priority / subordination degree R. Then it is determined. Further, when moving to the collection destination Pptar after reaching the delivery destination Pptar, the flight control unit 130 determines that the priority / subordination degree R is changed. On the other hand, when the new command route RTcom and the priority / subordination degree R are received in step S81 of FIG.
  • step S94 the flight control unit 130 changes the priority / subordination degree R.
  • step S94 or when the priority / subordination degree R is not changed S93: FALSE
  • the process proceeds to step S95.
  • step S95 the flight control unit 130 determines whether or not the condition for ending the broadcast of the own aircraft information Ied (broadcast end condition) is satisfied.
  • the broadcast end condition for example, it can be used that the drone 26 (target drone 26 tar) has landed.
  • other conditions for example, the altitude H becomes the second altitude threshold THh2 or less
  • the second altitude threshold value THh2 is set in the range of 0 or more and the first altitude threshold value THh1 or less.
  • the bird avoidance process is a process for avoiding birds when they are present on the flight path RTf.
  • the image Id of the camera 118 is used to detect the bird.
  • the flight control unit 130 notifies the service server 22.
  • the service server 22 that has received the notification does not output an error even if the target drone 26tar temporarily deviates from the flight path RTf.
  • each of the plurality of drones 26 broadcasts the priority / subordination degree R of the own machine 26e (S92 in FIG. 4). Then, when the priority / subordination degree R broadcast by the other aircraft 26o is received (S72: TRUE in FIG. 3), each drone 26 compares the priority / subordination degree R of the own aircraft 26e with the priority / subordination degree R of the other aircraft 26o. (S73). Then, the behavior of the own machine 26e with respect to the other machine 26o is set according to the comparison result (S74 to S77).
  • each drone 26 controls the flight control unit 130 based on the priority / subordination degree R of the own aircraft 26e and the priority / subordination degree R of the other aircraft 26o.
  • each drone 26 can autonomously set its own action (route selection, etc.) without establishing mutual communication with the other aircraft 26o. Therefore, for example, even if it is difficult to establish mutual communication with another aircraft 26o, or if the flight path RTf shifts due to environmental factors such as weather and birds, the actions of the plurality of drones 26 are preferably set. It becomes possible to do.
  • the plurality of drones 26 are in the own machine priority mode in which the own machine 26e is prioritized over the other machine 26o, or other than the own machine 26e, based on the comparison result of the priority subordination degree R.
  • Select the other machine priority mode that gives priority to the machine 26o S75, S76 in FIG. 3.
  • the drone 26 that has selected the own aircraft priority mode sets the flight path RTf (movement route) of the own aircraft 26e by giving priority to the own aircraft 26e over the other aircraft 26o (S75).
  • the drone 26 that has selected the other aircraft priority mode sets the flight path RTf of the own aircraft 26e by giving priority to the other aircraft 26o over the own aircraft 26e (S76).
  • control interference can be prevented by controlling each of the plurality of drones 26 based on the common rule.
  • the movement management unit 28 updates the priority / subordination degree R of the drone 26 (autonomous moving body) for each flight route RTf (movement route) (S22 to FIG. 2). S25, S31 to S34). Further, when the updated priority / subordination degree R is transmitted to the drone 26 (S25 in FIG. 2), the service server 22 monitors whether or not the reception confirmation is received from the drone 26 (S26). As a result, when the priority / subordination degree R is dynamically updated, it is possible to reliably update the priority / subordination degree R.
  • the plurality of drones 26 are configured to broadcast the priority / subordination degree R using optical communication and radio wave communication (FIG. 1).
  • the information transmission between the own machine 26e and the other machine 26o can be made redundant, and reliable information transmission can be achieved.
  • the drone 26 of the above embodiment was for delivery (FIGS. 1 and 2).
  • the present invention is not limited to this, for example, from the viewpoint of setting the behavior of the own aircraft 26e with respect to the other aircraft 26o according to the comparison result of the priority / subordination degree R.
  • the drone 26 can also be used for emergency purposes, advertising, 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 aircraft, or other than the aircraft.
  • the present invention may be applied to an autonomous moving body of the above.
  • the invention can be applied to helicopters, ships or self-driving cars.
  • the drone 26 of the above embodiment flew in response to a delivery command (flight command) from the service server 22 (Fig. 2).
  • a delivery command flight command
  • the present invention is not limited to this, for example, from the viewpoint of setting the behavior of the own aircraft 26e with respect to the other aircraft 26o according to the comparison result of the priority / subordination degree R.
  • an optical communication device 102 and a radio wave communication device 104 are provided as communication devices (FIG. 1).
  • the present invention is not limited to this, for example, from the viewpoint of direct or indirect wireless communication between the own unit 26e and the other unit 26o.
  • only one of the optical communication device 102 and the radio wave communication device 104 may be provided.
  • the propeller 150 is used as a rotary blade that produces lift (FIG. 1).
  • other rotors for example, a rotor for a helicopter
  • an air vehicle for example, a vertical take-off and landing aircraft (VTOL)
  • VTOL vertical take-off and landing aircraft
  • the movement management unit 28 of the above embodiment includes a service server 22 and a traffic management server 24 (FIG. 1). However, it is not limited to this, for example, from the viewpoint of managing the movement of a plurality of drones 26 (or autonomous moving bodies).
  • the movement management unit 28 may be configured from only the service server 22.
  • each flight control unit 130 broadcasts its own aircraft information Ied without specifying the other aircraft 26o (S71 in FIG. 3).
  • the present invention is not limited to this, for example, from the viewpoint of transmitting the own machine information Ied to the other machine 26o.
  • each flight control unit 130 may transmit the own aircraft information Ied after specifying the other aircraft 26o to receive the own aircraft information Ied (for example, after giving the identification information of the other aircraft 26o). Good.
  • the present invention is not limited to this, for example, from the viewpoint of setting the behavior of the own aircraft 26e with respect to the other aircraft 26o according to the comparison result of the priority / subordination degree R.
  • the avoidance amount of the own machine 26e can be reduced and the avoidance amount of the other machine 26o can be increased.
  • the change of the flight path RTf was set according to the comparison result of the priority / subordination degree R of the own aircraft 26e and the other aircraft 26o (S75 and S76 in FIG. 3).
  • the present invention is not limited to this, for example, from the viewpoint of setting the behavior of the own aircraft 26e with respect to the other aircraft 26o according to the comparison result of the priority / subordination degree R.
  • the own aircraft 26e maintains or accelerates the flight speed Vd and the other aircraft It is also possible for 26o to decelerate.
  • the description has been made on the premise that the priority / subordination degree R of the own machine 26e and the other machine 26o is not equal (see S74 in FIG. 3), but the description is not limited to this, and the own machine 26e and the other machine A configuration in which the priority / subordination degree R of 26o is the same is also possible.
  • the own machine 26e and the other machine 26o communicate wirelessly, and either the own machine 26e or the other machine 26o follows a predetermined rule, that is, a predetermined priority / subordination degree determination axis (judgment axis, evaluation axis). May be decided whether to prioritize.
  • the relationship of three freezing can be mentioned.
  • the trilemma relationship is a relationship in which three things have one person who is good at each other and one person who is not good at each other, and as a result, all three cannot move. That is, the trilemma is a relationship in which the option S is superior to the option T, the option T is superior to the option U, and the option U is superior to the option S.
  • rock-paper-scissors between the own machine 26e and another machine 26o can be used.
  • FIG. 6 is a flowchart showing an example of operation when the priority and subordination degrees are the same.
  • the process shown in FIG. 6 can be performed, for example, when the priority / subordination degree R of the own machine 26e and the priority / subordination degree R of the other machine 26o are equivalent in step S73 of FIG.
  • step S101 the own machine 26e transmits a request signal to the other machine 26o for requesting that the priority / subordination between the own machine 26e and the other machine 26o is determined based on a predetermined rule.
  • a request signal may include information indicating on what rule the priority / subordination of the own machine 26e and the other machine 26o is determined.
  • the own machine 26e and the other machine 26o determine the priority / subordination between the own machine 26e and the other machine 26o by selecting the options having a trilemma relationship.
  • the first option, the second option, and the third option which are in a trilemma relationship, have the following relationships.
  • the first option has a higher priority and subordination than the second option.
  • the second option has a higher priority and subordination than the third option.
  • the third option has a higher priority and subordination than the first option.
  • step S102 the other machine 26o transmits a consent signal indicating consent to perform the priority / subordination between the own machine 26e and the other machine 26o based on the predetermined rule to the own machine 26e. After that, the process proceeds to step S103.
  • step S103 the own machine 26e and the other machine 26o transmit and receive a timing signal for timing.
  • the timing signal is emitted from at least one of the own machine 26e and the other machine 26o. Transmission and reception of the timing signal can be performed continuously, for example, but is not limited thereto. After that, the transition to steps S104 and S105 occurs.
  • step S104 the own machine 26e selects one of a plurality of options having a trilemma relationship.
  • the first determination value is determined.
  • the first determined value in the example shown in FIG. 6 is an option selected by the own machine 26e from a plurality of options having a trilemma relationship.
  • the first determination value may be determined, for example, by the flight control unit 130 provided in the own aircraft 26e.
  • step S105 the other machine 26o selects one of a plurality of options having a trilemma relationship.
  • the second determination value is determined.
  • the second determined value in the example shown in FIG. 6 is an option selected by the other machine 26o from a plurality of options having a trilemma relationship.
  • the second determination value can be determined, for example, by the flight control unit 130 provided in the other aircraft 26o. Note that step S104 and step S105 do not have to be performed at the same timing. After that, the process proceeds to steps S106 and S107.
  • step S106 the own machine 26e transmits a signal indicating the first decision value determined in step S104 to the other machine 26o. That is, the own machine 26e transmits information indicating the option selected in step S104 to the other machine 26o.
  • step S107 the other machine 26o transmits a signal indicating the second decision value determined in step S105 to the own machine 26e. That is, the other machine 26o transmits information indicating the option selected in step S105 to the own machine 26e. It is preferable that steps S106 and S107 are simultaneously performed at predetermined timings based on the timing signal described above.
  • the other machine 26o makes a second decision so as to exceed the first decision value transmitted from the own machine 26e to the other machine 26o. This is because the value can be determined and it lacks fairness. Further, when the timing at which step S107 is performed is before the timing at which step S106 is performed, the own machine 26e is the first so as to exceed the second determination value transmitted from the other machine 26o to the own machine 26e. This is because it lacks fairness because it can determine the determined value of. After that, the transition to steps S108 and S109 occurs.
  • step S108 the own machine 26e compares the first determined value determined by the own machine 26e with the second determined value determined by the other machine 26o, and thus the superiority or inferiority of the own machine 26e and the other machine 26o. To judge. Such a determination can be made, for example, by the flight control unit 130 provided in the own aircraft 26e.
  • step S109 the other aircraft 26o compares the second determined value determined by the other aircraft 26o with the first determined value determined by the own aircraft 26e, and thus the superiority or inferiority of the other aircraft 26o and the own aircraft 26e. To judge. Such a determination can be made, for example, by the flight control unit 130 provided in the other aircraft 26o. It should be noted that step S108 and step S109 do not have to be performed at the same timing.
  • the priority and subordination between the own machine 26e and the other machine 26o can be determined based on a predetermined rule. If the options selected by the own machine 26e and the options selected by the other machine 26o are the same, steps S104 to S109 are repeated. That is, when the first determined value determined by the own machine 26e and the second determined value determined by the other machine 26o are the same, steps S104 to S109 are repeated. After that, the process proceeds to step S74 shown in FIG. In this way, the flight control unit 130 is controlled based on the superiority or inferiority relationship between the first determined value determined by the own aircraft 26e and the second determined value determined by the other aircraft 26o.
  • the priority / subordination degree R of the own machine 26e determined by the superiority / inferiority determination unit 64 and the priority / subordination degree R of the other machine 26o determined by the superiority / inferiority determination unit 64 are equivalent, as described above.
  • the case where the processing is performed has been described as an example, but the present invention is not limited to this.
  • the above processing may be performed.
  • FIG. 7 is a flowchart showing another example in the case where the priority and subordination degrees are the same.
  • the process shown in FIG. 7 can be performed, for example, when the priority / subordination degree R of the own machine 26e and the priority / subordination degree R of the other machine 26o are equivalent in step S73 of FIG.
  • steps S101 and S102 are the same as steps S101 and S102 described above with reference to FIG. 6, the description thereof will be omitted.
  • step S111 the own machine 26e transmits a signal for proposing the scheduled transmission time, which is the scheduled time for transmitting the determination result, to the other machine 26o. That is, the own machine 26e transmits the scheduled transmission time information indicating the scheduled transmission time to the other machine 26o. After that, the process proceeds to step S112.
  • step S112 the other machine 26o transmits a signal indicating that the scheduled transmission time proposed by the own machine 26e is accepted to the own machine 26e. After that, the transition to steps S104 and S105 occurs.
  • the scheduled transmission time information may be transmitted from the other machine 26o to the own machine 26e.
  • the signal indicating that the scheduled transmission time proposed by the other machine 26o is accepted is transmitted from the own machine 26e to the other machine 26o.
  • steps S104 to S109 are the same as steps S104 to S109 described above with reference to FIG. 6, description thereof will be omitted.
  • step S104 to S109 are repeated. After that, the process proceeds to step S74 shown in FIG.
  • the first determined value determined by the own machine 26e and the second determined value determined by the other machine 26o may be transmitted to each other at a timing based on the scheduled transmission time information.
  • the priority / subordination degree R of the own machine 26e determined by the superiority / inferiority determination unit 64 and the priority / subordination degree R of the other machine 26o determined by the superiority / inferiority determination unit 64 are equivalent, as described above.
  • the case where the processing is performed has been described as an example, but the present invention is not limited to this.
  • the above processing may be performed.
  • FIG. 8 is a flowchart showing an example of operation when the priority and subordination degrees are the same.
  • the state information of the own machine 26e is set as the first decision value, and the state information of the other machine 26o is set as the second decision value.
  • the remaining capacity of the propulsion energy source of the drone 26 is used as the state information will be described as an example, but the present invention is not limited to this.
  • the process shown in FIG. 8 can be performed, for example, when the priority / subordination degree R of the own machine 26e and the priority / subordination degree R of the other machine 26o are equivalent in step S73 of FIG.
  • step S103 is executed without executing steps S101 and S102. Since step S103 is the same as step S103 described above with reference to FIG. 6, the description thereof will be omitted. After that, the transition to steps S111 and S112 occurs.
  • step S111 the own machine 26e transmits the first determined value to the other machine 26o.
  • the state information about the own machine 26e is set as the first determination value.
  • the state information transmitted from the own machine 26e to the other machine 26o is the remaining capacity information indicating the remaining capacity of the propulsion energy source of the own machine 26e will be described as an example, but the present invention is not limited to this. Absent.
  • the other machine 26o transmits the second determined value to the own machine 26e.
  • the state information regarding the other machine 26o is set as the second determination value.
  • the state information transmitted from the other machine 26o to the own machine 26e is the remaining capacity information indicating the remaining capacity of the propulsion energy source of the other machine 26o
  • the present invention is not limited to this. Absent. After that, the transition to steps S113 and S114 occurs.
  • step S113 the own machine 26e recognizes the priority and subordination between the own machine 26e and the other machine 26o by comparing the first decision value and the second decision value. That is, the own machine 26e recognizes the priority and subordination between the own machine 26e and the other machine 26o by comparing the state information about the own machine 26e with the state information about the other machine 26o.
  • step S114 the other machine 26o recognizes the priority and subordination between the other machine 26o and the own machine 26e by comparing the first decision value and the second decision value. That is, the other machine 26o recognizes the priority and subordination between the other machine 26o and the own machine 26e by comparing the state information about the other machine 26o with the state information about the own machine 26e.
  • the priority / subordination degree R of the own machine 26e determined by the superiority / inferiority determination unit 64 and the priority / subordination degree R of the other machine 26o determined by the superiority / inferiority determination unit 64 are equivalent, as described above.
  • the case where the processing is performed has been described as an example, but the present invention is not limited to this.
  • the above processing may be performed.
  • the present invention is not limited to this.
  • individual information other than the state information may be transmitted.
  • the process shown in FIG. 9 can be performed, for example, when the priority / subordination degree R of the own machine 26e and the priority / subordination degree R of the other machine 26o are equivalent in step S73 of FIG.
  • steps S121 and S122 are executed without executing steps S101, S102 and S103.
  • step S121 the own machine 26e determines whether or not the distance between the own machine 26e and the other machine 26o is less than a predetermined distance. When the distance between the own machine 26e and the other machine 26o is equal to or greater than a predetermined distance (NO in step S121), step S121 is repeated. If the distance between the own machine 26e and the other machine 26o is less than a predetermined distance (YES in step S121), the process proceeds to step S111.
  • steps S111 to S114 are the same as steps S111 to S114 described above with reference to FIG. 8, the description thereof will be omitted.
  • the state information indicating the state of the drone 26 may be transmitted.
  • the present invention is not limited to this.
  • the option selected by the own machine 26e from the plurality of options having a trilemma relationship may be set as the first determination value.
  • the second determination value is the state information relating to the other machine 26o has been described as an example, but the present invention is not limited to this.
  • the option selected by the other machine 26o from the plurality of options having a trilemma relationship may be used as the second determination value.
  • FIG. 10 is a flowchart showing an example of operation when the priority and subordination degrees are the same.
  • FIG. 10 shows an example in which negotiation is performed on what kind of rule is used to determine the priority and subordination.
  • FIG. 10 shows an example in which the priority / subordination is determined based on the state information, but the present invention is not limited to this.
  • the process shown in FIG. 10 can be performed, for example, when the priority / subordination degree R of the own machine 26e and the priority / subordination degree R of the other machine 26o are equivalent in step S73 of FIG.
  • step S131 negotiation of what kind of rule is used to determine the priority / subordination is performed between the own machine 26e and the other machine 26o. After that, the process proceeds to step S103.
  • steps S111 to S114 are the same as steps S111 to S114 described above with reference to FIG. 8, the description thereof will be omitted.
  • the negotiation of what kind of rule is used to determine the priority / subordination is performed between the own machine 26e and the other machine 26o. It may be.
  • the present invention is not limited to this.
  • the option selected by the own machine 26e from the plurality of options having a trilemma relationship may be set as the first determination value.
  • the second determination value is the state information relating to the other machine 26o has been described as an example, but the present invention is not limited to this.
  • the option selected by the other machine 26o from the plurality of options having a trilemma relationship may be used as the second determination value.
  • the priority / subordination degree R of the own machine 26e determined by the superiority / inferiority determination unit 64 and the priority / subordination degree R of the other machine 26o determined by the superiority / inferiority determination unit 64 are equivalent, as described above.
  • the case where the processing is performed has been described as an example, but the present invention is not limited to this.
  • the above processing may be performed.
  • At least one of the own machine 26e and the other machine 26o may communicate with the service server 22 and acquire a new priority / subordination degree R to be temporarily applied.
  • a new priority / subordination degree R is given when the drone 26 is made to deliver a plurality of times (S81 in FIG. 3).
  • a new priority / subordination degree R may be given to other situations.
  • a new priority / subordination degree R (and a new flight path RTf) may be given to the drone 26 that is patrolling the sky for the purpose of security monitoring in order to deliver the package. Even in such a case, it is preferable that the service server 22 receives the reception confirmation from the drone 26 (S26 in FIG. 2).
  • the movement management unit 28 may be provided with a control content determination unit 67 that determines the control content based on the priority / subordination degree R determined by the superiority / inferiority determination unit 64.
  • FIG. 12 is an overall configuration diagram showing an example in the case where the movement management unit is provided with a control content determination unit.
  • the control content determination unit 67 determines the control content based on the priority / subordination degree R of the drone 26e and the priority / subordination degree R of the drone 26o.
  • the movement management unit 28 transmits the control content determined by the control content determination unit 67 to the drone 26.
  • the control content determined by the control content determination unit 67 may be transmitted to the drone 26.
  • the mutual actions of the plurality of drones 26 can be preferably set.
  • both the own machine 26e and the other machine 26o are drones, that is, autonomous moving bodies has been described as an example, but the present invention is not limited to this.
  • the other aircraft 26o may be a non-autonomous moving body on which the pilot is on board.
  • the flight control unit 130 broadcasts the priority / subordination degree R
  • the own machine 26e may transmit the request signal for requesting the transmission of the priority / subordination degree R of the other machine 26o to the other machine 26o. Then, based on the request signal, the other machine 26o may transmit the priority / subordination degree R to the own machine 26e.
  • the request signal transmitting unit for transmitting such a request signal can be realized by, for example, at least one of the radio wave communication device 104 and the optical communication device 102, as described above.
  • FIG. 13 is an overall configuration diagram showing an outline of the management system according to the modified embodiment.
  • the calculation unit 122 includes a flight control unit 130, a superiority / inferiority acquisition unit 136, a proximity suppression unit 138, a movement restriction unit 140, and a position prediction unit 142.
  • the flight control unit 130, the superiority / inferiority acquisition unit 136, the proximity suppression unit 138, and the movement restriction unit 140 can be realized by executing the program stored in the storage unit 124 by the calculation unit 122.
  • the calculation unit 122 may be further provided with the superiority / inferiority comparison unit 132, the superiority / inferiority change unit 134, and the like described above using FIG.
  • the comparison unit 65 described above using FIG. 11 may be further provided in the calculation unit 61.
  • the control content determination unit 67 described above using FIG. 12 may be further provided in the calculation unit 61.
  • the superiority / inferiority acquisition unit 136 acquires the priority / subordination relationship regarding the movement between the own aircraft 26e and the other aircraft 26o.
  • the priority / subordination relationship include, but are not limited to, the priority / subordination degree R described above in the above embodiment.
  • the priority / subordination relationship can be determined based on the individual information of the own machine 26e and the other machine 26o.
  • the priority / subordination relationship may be determined by the movement management unit 28, or may be determined between the own machine 26e and the other machine 26o.
  • the proximity suppression unit 138 determines the current position of the other aircraft 26o or the future position of the other aircraft 26o (future movement route). ) Suppresses the proximity of the own machine 26e. Specifically, in such a case, the proximity suppression unit 138 controls the flight control unit 130 so that the position of the own aircraft 26e does not approach the current position of the other aircraft 26o or the future position of the other aircraft 26o. In such a case, the proximity suppression unit 138 may control the flight control unit 130 so as to maintain the current position of the own aircraft 26e.
  • the proximity suppression unit 138 may control the flight control unit 130 so that the own aircraft 26e moves away from the current position of the other aircraft 26o or the future position of the other aircraft 26o. Such suppression of proximity can be performed in step S76 in the above embodiment.
  • the movement limiting unit 140 is in the movable space 144 (see FIG. 14) selected from the plurality of divided spaces 143.
  • the destination of the own machine 26e is restricted to.
  • the movable space 144 is a space whose size in the vertical direction is smaller than the size in the horizontal direction.
  • 12 divided spaces 143 are illustrated as an example.
  • the position prediction unit 142 can predict the future position of the other aircraft 26o based on the current position of the other aircraft 26o, the current traveling direction of the other aircraft 26o, and the current speed of the other aircraft 26o.
  • the proximity suppression unit 138 controls the moving direction of the own machine 26e so that the vertical component in the moving direction of the other machine 26o and the vertical component in the moving direction of the own machine 26e are opposite to each other. You may do so.
  • the proximity suppression unit 138 may set the movable space 144 in the sky above the area RB and in the altitude range HD. If the movable space 144 is set in this way, the own machine 26e and the other machine 26o can be sufficiently separated from each other, which can contribute to the improvement of safety.
  • the shape of the movable space in the vertical direction may be circular or elliptical.
  • the proximity suppressing unit When a further moving body (26ox), which is a moving body different from any of the autonomous moving body and the other moving body among the plurality of moving bodies, exists in the movable space, the proximity suppressing unit is used. , The approach of the autonomous moving body to the current position of the other moving body or the future position of the other moving body may be suppressed. According to such a configuration, it is possible to contribute to further improvement of safety.
  • the autonomous moving body may further include a position prediction unit (142) that predicts the future position of the other moving body based on the current speed of the other moving body.
  • the proximity suppressing unit is such that the vertical component in the moving direction of the other moving body and the vertical component in the moving direction of the autonomous moving body are opposite to each other.
  • the moving direction may be controlled. According to such a configuration, it is possible to contribute to further improvement of safety.
  • the priority / subordination relationship may be determined based on the aircraft information determined based on the intended use of the moving body.
  • the priority / subordination relationship is determined based on the passenger information determined based on the presence / absence of a occupant of the moving body, and the moving body having the occupant information has the occupant information. It may be given priority over the moving body that is absent.
  • the priority / subordination relationship is determined based on the load information determined based on the value of the load of the moving body, and in the moving body in which the load information is the first value, the load information is the said. It may be prioritized over the moving body having a second value lower than the first value.
  • the priority / subordination relationship is determined based on the moving speed information indicating the moving speed of the moving body, and the moving speed information is the first moving speed of the moving body, and the moving speed information is the first moving. It may be inferior to the moving body having a second moving speed lower than the speed.
  • the priority / subordination relationship is determined based on the remaining capacity information indicating the remaining capacity of the propulsion energy source of the moving body, and the moving body whose remaining capacity information is the first remaining capacity has the remaining capacity information. It may be subordinated to the moving body having a second remaining capacity less than the first remaining capacity.
  • the priority-subordinate relationship is determined based on the maximum speed information determined based on the maximum speed of the moving body, and the moving body having the maximum speed information having the first maximum speed has the maximum speed information of the first. It may be inferior to the moving body having a second maximum speed lower than the maximum speed of 1.
  • the priority / subordination relationship is determined based on the maximum output information determined based on the maximum output of the propulsion device provided in the moving body, and the moving body in which the maximum output information is the first maximum output is described as described above.
  • the maximum output information may be subordinated to the moving body having a second maximum output lower than the first maximum output.
  • the control method of the management system is a control method of a management system that manages the movement of a plurality of moving bodies including an autonomous moving body including an autonomous control unit for autonomously moving, and is among the plurality of moving bodies.
  • the program is a moving body different from the autonomous moving body among a plurality of moving bodies including an autonomous moving body including an autonomous control unit for autonomously moving the computer, and the autonomous moving body.
  • the step of acquiring the priority / subordinate relationship with respect to the movement with and the step of acquiring the priority / subordinate relationship that the autonomous moving body is inferior to the other moving body is acquired, the other moving body is obtained.
  • the step of suppressing the proximity of the autonomous moving body to the current position of the moving body or the future position of the other moving body is executed.
  • the autonomous moving body is an autonomous moving body including an autonomous control unit for autonomously moving, and the autonomous moving body is a moving body different from the autonomous moving body among a plurality of moving bodies.
  • the superiority / inferiority acquisition unit that acquires the priority / inferiority relationship regarding movement with the body
  • the current state of the other moving body It is characterized by including a proximity suppressing unit that suppresses the proximity of the autonomous moving body to the position of the above or the future position of the other moving body.

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

Abstract

La présente invention concerne un système de gestion pouvant régler de manière appropriée le comportement d'un objet mobile, un procédé de commande et un programme associé, et un objet mobile autonome. Un système de gestion (10) est pourvu d'une unité de gestion de mouvement (28) qui communique avec une pluralité d'objets mobiles (26) comprenant un objet mobile autonome (26e) par l'intermédiaire d'un dispositif de communication et gère les mouvements de la pluralité d'objets mobiles. L'objet mobile autonome est pourvu d'une unité d'acquisition de supériorité/subordination (136) destinée à acquérir une relation de supériorité-subordination concernant les mouvements de l'objet mobile autonome et d'un autre objet mobile (26o), et d'une unité de retenue d'approche (138) destinée à retenir l'objet mobile autonome à partir de l'approche de la position actuelle de l'autre objet mobile ou d'une position future de l'autre objet mobile lorsque l'unité d'acquisition de supériorité/subordination acquiert que l'objet mobile autonome est subordonné à l'autre objet mobile.
PCT/JP2020/011894 2019-03-19 2020-03-18 Système de gestion, procédé de commande et programme associé, et objet mobile autonome WO2020189702A1 (fr)

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US12051336B2 (en) 2021-10-04 2024-07-30 Airspeed Systems LLC Autonomous aircraft separation system and method

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