WO2023189613A1 - Dispositif de traitement d'informations - Google Patents

Dispositif de traitement d'informations Download PDF

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Publication number
WO2023189613A1
WO2023189613A1 PCT/JP2023/010145 JP2023010145W WO2023189613A1 WO 2023189613 A1 WO2023189613 A1 WO 2023189613A1 JP 2023010145 W JP2023010145 W JP 2023010145W WO 2023189613 A1 WO2023189613 A1 WO 2023189613A1
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WO
WIPO (PCT)
Prior art keywords
drone
landing
destination
land
order
Prior art date
Application number
PCT/JP2023/010145
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English (en)
Japanese (ja)
Inventor
圭祐 中島
広樹 石塚
昌志 安沢
真幸 森下
Original Assignee
株式会社Ｎｔｔドコモ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｎｔｔドコモ filed Critical 株式会社Ｎｔｔドコモ
Publication of WO2023189613A1 publication Critical patent/WO2023189613A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Definitions

  • the present invention relates to technology for landing multiple aircraft at a common destination.
  • Patent Document 1 describes a mechanism in which a landing pad is provided in a landing zone of a drone's destination and the drone is guided to the landing pad using a visual support device, an optical support device, or a radio support device.
  • each of these drones may accidentally try to land at a common destination at a common time.
  • the landing operations of these drones compete, and as a result, there is a risk that the drones will collide with each other during the landing operations of each drone, or that the luggage held by the drones may be damaged.
  • An object of the present invention is to resolve conflicts in the landing operations of multiple aircraft landing at a common destination.
  • FIG. 1 is a block diagram showing an example of the configuration of a drone management system 1 according to an embodiment of the present invention. It is a block diagram showing an example of the hardware configuration of drone 10 concerning the same embodiment. It is a block diagram showing an example of the hardware configuration of server device 30 concerning the same embodiment. 3 is a block diagram showing an example of a functional configuration of a server device 30.
  • FIG. 3 is a diagram illustrating data stored in a storage unit 34 of a server device 30.
  • FIG. It is a diagram illustrating the positional relationship between the landing area and the landing position of the drone 10 at the destination. It is a diagram illustrating the positional relationship between the landing area and the landing position of the drone 10 at the destination.
  • FIG. 1 is a block diagram showing an example of the configuration of a drone management system 1 according to an embodiment of the present invention.
  • the drone management system 1 includes a plurality of (two in FIG. 1) drones 10a and 10b that fly in the air and deliver cargo to a destination, an operation management device 20a that manages the operation of the drone 10a, and an operation control device 20a that manages the operation of the drone 10b.
  • a traffic control device 20b that performs management, and a server device that performs processing to avoid conflict between the landing operations of the plurality of drones 10a and 10b when the drones 10a and 10b land at a common destination in a common time zone.
  • 30, and a wireless communication network 40 that communicably connects each of these devices.
  • the drones 10a and 10b are unmanned flying objects that fly in the air.
  • the drone 10 flies from a departure/arrival point called a base or hub to a destination with cargo loaded thereon, and delivers the cargo to the destination.
  • a drone 10 the plurality of drones 10a and 10b will be collectively referred to as a drone 10.
  • the operation management device 20a stores flight plan information regarding the flight date and time, flight route, and flight altitude of the drone 10a, and baggage information regarding the baggage to be delivered by the drone 10a, and remotely controls the drone 10a according to the flight plan information.
  • the remote control by the operation management device 20a is mainly performed between the above-described departure and arrival point and the destination area of the drone 10a, or between the areas above the plurality of destination areas of the drone 10a. Flight is performed under autonomous control by the drone 10a itself in the area between the destination area and the landing area of the drone 10a. There may be a plurality of drones whose operation is managed by the operation management device 20a.
  • the operation management device 20b stores flight plan information regarding the flight date and time, flight route, and flight altitude of the drone 10b, and baggage information regarding the baggage to be delivered by the drone 10b. remotely control the drone 10b according to the instructions.
  • the remote control by the operation management device 20b is mainly performed between the above-mentioned departure and arrival point and the destination area of the drone 10b, or between a plurality of destination areas of the drone 10b.
  • the flight is performed under autonomous control by the drone 10b itself in the area between the destination area and the landing area of the drone 10b.
  • the plurality of traffic management devices 20a and 20b will be collectively referred to as the traffic management device 20.
  • the section above the departure and landing place of the drone 10 and the destination depends on the remote control by the operation control device 20, and the section between the above destination and the landing position of the drone 10 depends on the remote control by the operation control device 20.
  • This is achieved through autonomous flight by the drone itself, but it is not limited to this example.
  • the drone 10 may autonomously fly the entire area between the departure and landing points and the landing position of the destination without relying on remote control by the operation control device 20, or The aircraft may fly in accordance with the remote control of the operation control device 20 in all sections between the positions.
  • the drone 10a and the drone 10b are operated by different entities.
  • the operation management device 20a cannot know the flight plan information or baggage information of the drone 10b
  • the traffic management device 20b cannot know the flight plan information or baggage information of the drone 10a.
  • the drones 10a and 10b may accidentally try to land at a common destination during a common time period, and at this time a conflict between the landing operations of these drones 10a and 10b may occur.
  • the entity responsible for the operation management of the drone 10a and the drone 10b is the same, generally, the operations of the drones 10a and 10b are controlled so that the drones 10a and 10b do not land at the same destination during the same time period. Since the flight plan information will be created, it is considered that there will be no conflict between the landing operations of these drones 10a and 10b.
  • FIG. 2 is a diagram showing an example of the hardware configuration of the drone 10.
  • the drone 10 physically includes a processor 1001, a memory 1002, a storage 1003, a communication device 1004, an input device 1005, an output device 1006, a positioning device 1007, a sensor 1008, a flight drive mechanism 1009, a luggage loading mechanism 1010, and these are connected. It is configured as a computer device including a bus for In addition, in the following description, the word "apparatus" can be read as a circuit, a device, a unit, etc.
  • the hardware configuration of the drone 10 may be configured to include one or more of each device shown in the figure, or may be configured not to include some of the devices.
  • the processor 1001 for example, operates an operating system to control the entire computer.
  • the processor 1001 may be configured by a central processing unit (CPU) that includes interfaces with peripheral devices, a control device, an arithmetic unit, registers, and the like. Further, for example, a baseband signal processing unit, a call processing unit, etc. may be realized by the processor 1001.
  • CPU central processing unit
  • a baseband signal processing unit, a call processing unit, etc. may be realized by the processor 1001.
  • the processor 1001 reads programs (program codes), software modules, data, etc. from at least one of the storage 1003 and the communication device 1004 to the memory 1002, and executes various processes in accordance with the programs.
  • programs program codes
  • software modules software modules
  • data etc.
  • the functional blocks of the drone 10 may be realized by a control program stored in the memory 1002 and operated in the processor 1001.
  • Various types of processing may be executed by one processor 1001, or may be executed simultaneously or sequentially by two or more processors 1001.
  • Processor 1001 may be implemented by one or more chips. Note that the program may be transmitted to the drone 10 via the wireless communication network 40.
  • the memory 1002 is a computer-readable recording medium, and may be configured of at least one of ROM, EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), RAM, etc.
  • Memory 1002 may be called a register, cache, main memory, or the like.
  • the memory 1002 can store executable programs (program codes), software modules, etc. for implementing the method according to the present embodiment.
  • the storage 1003 is a computer-readable recording medium, such as an optical disk such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, a magneto-optical disk (such as a compact disk, a digital versatile disk, or a Blu-ray disk). (registered trademark disk), smart card, flash memory (eg, card, stick, key drive), floppy disk, magnetic strip, etc.
  • Storage 1003 may also be called an auxiliary storage device.
  • Storage 1003 stores various programs and data groups.
  • the above processor 1001, memory 1002, and storage 1003 function as a control device that controls the flight of the drone 10.
  • the input device 1005 is an input device that accepts input from the outside, and includes, for example, keys, switches, microphones, and the like.
  • the output device 1006 is an output device that performs output to the outside, and includes, for example, a display device such as a liquid crystal display, a speaker, and the like. Note that the input device 1005 and the output device 1006 may have an integrated configuration.
  • the positioning device 1007 is hardware that measures the position of the drone 10, and is, for example, a GPS (Global Positioning System) device.
  • the drone 10 flies from its departure and landing place to the destination over the sky based on positioning by the positioning device 1007.
  • the sensor 1008 includes a distance sensor, a gyro sensor, a direction sensor, a lidar (light detection and ranging) sensor, an image sensor, or the like. These are used to control the flight of the drone.
  • the flight drive mechanism 1009 is a mechanism for the drone 10 to fly, and includes hardware such as a motor, a shaft, a gear, and a propeller.
  • the cargo loading mechanism 1010 is a mechanism for loading and unloading cargo on the drone 10, and includes hardware such as a motor, a winch, wires, gears, a locking mechanism, and a hanging mechanism.
  • Each device such as the processor 1001 and the memory 1002 is connected by a bus for communicating information.
  • the bus may be configured using a single bus, or may be configured using different buses for each device.
  • the drone 10 also includes hardware such as a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), and a field programmable gate array (FPGA).
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • PLD programmable logic device
  • FPGA field programmable gate array
  • a part or all of each functional block may be realized by the hardware.
  • processor 1001 may be implemented using at least one of these hardwares.
  • FIG. 3 is a diagram showing the hardware configuration of the server device 30.
  • the hardware configuration of the server device 30 may be configured to include one or more of each device shown in FIG. 3, or may be configured not to include some of the devices. Further, the server device 30 may be configured by communicatively connecting a plurality of devices each having a different housing.
  • the server device 30 is physically configured as a computer device including a processor 3001, a memory 3002, a storage 3003, a communication device 3004, a bus connecting these, and the like. Each function in the server device 30 is performed by loading predetermined software (programs) onto hardware such as a processor 3001 and a memory 3002, so that the processor 3001 performs calculations, controls communication by a communication device 3004, and controls communications by a communication device 3004. This is realized by controlling at least one of data reading and writing in the storage 3003. Each of these devices operates using power supplied from a power source (not shown). Note that in the following description, the word "apparatus" can be read as a circuit, a device, a unit, etc.
  • the processor 3001 for example, operates an operating system to control the entire computer.
  • the processor 3001 may be configured by a central processing unit (CPU) that includes interfaces with peripheral devices, a control device, an arithmetic unit, registers, and the like. Further, for example, a baseband signal processing unit, a call processing unit, etc. may be realized by the processor 3001.
  • CPU central processing unit
  • a baseband signal processing unit, a call processing unit, etc. may be realized by the processor 3001.
  • the processor 3001 reads programs (program codes), software modules, data, etc. from at least one of the storage 3003 and the communication device 3004 into the memory 3002, and executes various processes in accordance with the programs.
  • programs program codes
  • software modules software modules
  • data etc.
  • As the program a program that causes a computer to execute at least a part of the operations described below is used.
  • the functional blocks of the drone 10 may be realized by a control program stored in the memory 3002 and operated in the processor 3001.
  • Various types of processing may be executed by one processor 3001, or may be executed by two or more processors 3001 simultaneously or sequentially.
  • Processor 3001 may be implemented by one or more chips.
  • the memory 3002 is a computer-readable recording medium, and may be configured with at least one of ROM, EPROM, EEPROM, RAM, etc., for example.
  • Memory 3002 may be called a register, cache, main memory, or the like.
  • the memory 3002 can store executable programs (program codes), software modules, etc. for implementing the method according to the present embodiment.
  • the communication device 3004 is hardware (transmission/reception device) for communicating between computers via the wireless communication network 40, and is also referred to as a network device, network controller, network card, communication module, etc., for example.
  • Each device such as the processor 3001 and the memory 3002 is connected by a bus for communicating information.
  • the bus may be configured using a single bus, or may be configured using different buses for each device.
  • the server device 30 may be configured to include hardware such as a microprocessor, digital signal processor, ASIC, PLD, FPGA, etc., and a part or all of each functional block may be realized by the hardware.
  • processor 3001 may be implemented using at least one of these hardwares.
  • the hardware configuration of the traffic management device 20 is similar to that of the server device 30.
  • FIG. 4 is a diagram showing an example of the functional configuration of the server device 30.
  • the functions of the acquisition section 31, the detection section 32, the landing order determination section 33, the storage section 34, the landing position determination section 35, and the output section 36 are realized by the cooperation of each of the hardware described above. Ru.
  • the acquisition unit 31 acquires various data from the drone 10 and the operation management device 20 via the wireless communication network 40. For example, the acquisition unit 31 acquires from each drone 10 via the wireless communication network 40 a drone ID that identifies the drone and a drone ID that identifies nearby drones at the destination of the drone 10. The acquisition unit 31 also acquires data necessary for avoiding competing landing operations of a plurality of drones 10 at the destination of each drone 10 from each operation management device 20 via the wireless communication network 40. The data acquired by the acquisition unit 31 from the drone 10 and the operation management device 20 is stored in the storage unit 34.
  • FIG. 5 is a diagram illustrating data acquired from the operation management device 20 and stored in the storage unit 34.
  • the management entity ID that identifies the entity responsible for operation management of each drone 10 the drone ID that identifies each drone 10
  • the package ID that identifies the package that each drone delivers and the attributes of each package ( Baggage attributes (including type, size, weight, and priority) are stored in association with each other.
  • Baggage attributes including type, size, weight, and priority
  • the drone ID, baggage ID, and baggage attributes associated with the management entity ID "R01" are data acquired by the acquisition unit 31 from the operation management device 20a
  • the drone ID, baggage ID, and baggage attributes associated with the management entity ID "R02" are data acquired by the acquisition unit 31 from the operation management device 20a
  • the ID, luggage ID, and luggage attribute are data acquired by the acquisition unit 31 from the operation management device 20b.
  • the priority included in the baggage attributes can be assigned arbitrarily or based on certain rules by the requestor who requested delivery of the baggage or by the operation management entity. For example, a package that the requester wants to deliver quickly or a package that the operation management entity wants to deliver with priority is given "1", meaning a higher priority, and other packages are given a higher priority. "0", meaning low priority, is assigned.
  • the data illustrated in FIG. 5 is extracted from the flight plan information and baggage information stored in each traffic management device 20 and sent to the server device 30, and is transmitted between each traffic management device 20 and the server device 30. Content is always in sync. In other words, when flight plan information and baggage information are registered or updated in each operation management device 20, the storage contents shown in FIG. 5 are also registered or updated in the server device 30 without delay.
  • the detection unit 32 detects that a plurality of drones 10 land at a common destination in a common time zone, based on the data acquired from each drone 10 by the acquisition unit 31.
  • the landing order determining unit 33 determines the order in which each of the drones 10 that are detected to land at a common destination in a common time zone will land at the destination. Specifically, the landing order determining unit 33 allows each drone 10 to land at the destination based on the baggage attributes (baggage type, size, weight, and priority) of the baggage to be delivered by each drone 10. Decide on the order. For example, the landing of the drone 10 holding baggage of food type is prioritized over the landing of other drones, or the landing of the drone 10 holding baggage larger than a threshold value is given priority over the landing of other drones.
  • the baggage attributes baggage type, size, weight, and priority
  • the landing order determining unit 33 stores an algorithm for determining the landing order of the drone 10 by compositely combining the type, size, weight, and priority of the luggage included in the luggage attributes, The landing order of each drone 10 is determined according to the algorithm.
  • any reference to elements using the designations "first,” “second,” etc. does not generally limit the amount or order of those elements. These designations may be used herein as a convenient way of distinguishing between two or more elements. Thus, reference to a first and second element does not imply that only two elements may be employed therein or that the first element must precede the second element in any way.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

Dans la présente invention, les opérations d'un drone 10a et un drone 10b sont commandés par différents sujets, et dans un cas où un dispositif de commande d'opération 20a n'a pas déterminé d'informations de plan de vol ou d'informations de cargaison du drone 10b, et un dispositif de commande d'opération 20b n'a pas déterminé d'informations de plan de vol ou d'informations de cargaison du drone 10a, si les drones 10a et 10b doivent atterrir à une destination partagée pendant une période de temps partagée, un conflit peut se produire entre les opérations d'atterrissage de ces drones. Lors de la détection que les drones 10 vont atterrir à une destination partagée pendant une période de temps partagé, un dispositif serveur 30 détermine l'ordre dans lequel les drones 10 doivent atterrir à la destination, puis délivre des informations concernant l'ordre déterminé à un dispositif de commande qui commande les vols des drones 10.
PCT/JP2023/010145 2022-03-29 2023-03-15 Dispositif de traitement d'informations WO2023189613A1 (fr)

Applications Claiming Priority (2)

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JP2022054312 2022-03-29
JP2022-054312 2022-03-29

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019146576A1 (fr) * 2018-01-23 2019-08-01 株式会社Ｎｔｔドコモ Dispositif de traitement d'informations
WO2020194495A1 (fr) * 2019-03-26 2020-10-01 楽天株式会社 Dispositif de gestion d'atterrissage, procédé de gestion d'atterrissage et système de gestion d'atterrissage
JP2020199818A (ja) * 2019-06-07 2020-12-17 有限会社渥美不動産アンドコーポレーション 配送システム、飛行体、および、コントローラ
JP2020201832A (ja) * 2019-06-12 2020-12-17 ソフトバンク株式会社 管理装置、プログラム、システム及び管理方法
WO2021245844A1 (fr) * 2020-06-03 2021-12-09 日本電気株式会社 Dispositif de détermination d'informations d'atterrissage, système de détermination d'informations d'atterrissage, procédé de détermination d'informations d'atterrissage, et support lisible par ordinateur

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019146576A1 (fr) * 2018-01-23 2019-08-01 株式会社Ｎｔｔドコモ Dispositif de traitement d'informations
WO2020194495A1 (fr) * 2019-03-26 2020-10-01 楽天株式会社 Dispositif de gestion d'atterrissage, procédé de gestion d'atterrissage et système de gestion d'atterrissage
JP2020199818A (ja) * 2019-06-07 2020-12-17 有限会社渥美不動産アンドコーポレーション 配送システム、飛行体、および、コントローラ
JP2020201832A (ja) * 2019-06-12 2020-12-17 ソフトバンク株式会社 管理装置、プログラム、システム及び管理方法
WO2021245844A1 (fr) * 2020-06-03 2021-12-09 日本電気株式会社 Dispositif de détermination d'informations d'atterrissage, système de détermination d'informations d'atterrissage, procédé de détermination d'informations d'atterrissage, et support lisible par ordinateur

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