WO2023223781A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

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Publication number
WO2023223781A1
WO2023223781A1 PCT/JP2023/016249 JP2023016249W WO2023223781A1 WO 2023223781 A1 WO2023223781 A1 WO 2023223781A1 JP 2023016249 W JP2023016249 W JP 2023016249W WO 2023223781 A1 WO2023223781 A1 WO 2023223781A1
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WO
WIPO (PCT)
Prior art keywords
door
movable range
drone
destination
control device
Prior art date
Application number
PCT/JP2023/016249
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English (en)
Japanese (ja)
Inventor
真幸 森下
広樹 石塚
昌志 安沢
圭祐 中島
Original Assignee
株式会社Ｎｔｔドコモ
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Filing date
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Application filed by 株式会社Ｎｔｔドコモ filed Critical 株式会社Ｎｔｔドコモ
Publication of WO2023223781A1 publication Critical patent/WO2023223781A1/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
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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

Definitions

  • the present invention relates to a technology for delivering cargo to a destination by means of a flying vehicle.
  • Patent Document 1 describes a mechanism in which a landing pad is provided in a landing zone of a delivery destination of a drone, and the drone is guided to the landing pad using a visual support device, an optical support device, or a radio support device.
  • Patent Document 1 The system described in Patent Document 1 has a problem in that dedicated equipment called landing pads must be provided at all destinations to which packages are delivered.
  • the present invention was made in view of the above-mentioned background, and an object of the present invention is to prevent a flying vehicle or baggage delivered by the flying vehicle from coming into contact with a door provided at a destination.
  • the present invention includes a movable range calculation unit that calculates a movable range when a door provided at a destination of an aircraft opens and closes, and a range that includes the calculated movable range to prohibit entry of the aircraft.
  • a control device is provided, comprising: a setting section for setting a prohibited range.
  • the present invention it is possible to prevent a flying vehicle or baggage delivered by the flying vehicle from coming into contact with a door provided at the destination.
  • FIG. 1 is a block diagram showing an example of the configuration of a drone control 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 50 concerning the same embodiment. It is a block diagram showing an example of the functional composition of drone 10 concerning the same embodiment. It is a figure which illustrates the movable range when a door is a sliding door. It is a figure which illustrates the movable range when a door opens inward. It is a figure which illustrates the movable range when a door opens outward and opens to the right. It is a figure which illustrates the movable range when a door opens outward and opens to the left. FIG.
  • FIG. 3 is a diagram illustrating a movable range when the door opens outward and opens both ways.
  • FIG. 3 is a diagram illustrating a relationship between a door movable range and a drone-prohibited range. It is a flowchart illustrating the procedure of processing by the drone 10 according to the embodiment. It is a figure which illustrates the door information which the server apparatus 50 memorize
  • FIG. 1 is a block diagram showing an example of the configuration of a drone control system 1 according to an embodiment of the present invention.
  • the drone control system 1 is connected to a drone 10 that flies in the air and delivers a package to a destination, a user terminal 30 used by a user who is the destination of the package, a wireless communication network 40, and a wireless communication network 40. and a server device 50.
  • the wireless communication network 40 is a system that implements wireless communication, and may be, for example, equipment compliant with a 4th generation mobile communication system or equipment compliant with a 5th generation mobile communication system.
  • FIG. 1 shows one drone 10, one user terminal 30, one wireless communication network 40, and one server device 50, there may be a plurality of each.
  • the drone 10 is an unmanned flying object that flies in the air.
  • the drone 10 flies from a departure/arrival point called a base or hub to a destination with a load loaded thereon, and then delivers the load to the destination by landing at the destination.
  • the user terminal 30 is, for example, a communicable computer such as a smartphone, a tablet, or a personal computer.
  • the user terminal 30 is a smartphone, and functions as a communication terminal for a user receiving the package to access the server device 50 via the wireless communication network 40.
  • the server device 50 stores flight plan information regarding the flight date and time, flight route, and flight altitude of the drone 10, and baggage information regarding the baggage to be delivered by the drone 10, and remotely controls the drone 10 according to the flight plan information.
  • the remote control by the server device 50 is mainly carried out between the above-described departure and landing point and the destination area of the drone 10 or between a plurality of destinations of the drone 10.
  • the flight between the destination area and the landing position of the drone 10 is performed under autonomous control by the drone itself. Specifically, the drone 10 determines the landing position at the destination, lands at the landing position, performs an unloading operation to separate the cargo, and rises again to the sky above the destination. Thereafter, the drone 10 is remotely controlled by the server device 50 and flies to the departure and landing place or the next destination.
  • the section above the departure and landing place of the drone 10 and the destination depends on the remote control by the server device 50
  • the section between the above destination and the landing position of the drone 10 depends on the section above the destination and the landing position of the drone 10.
  • This is achieved through autonomous flight, but is not limited to this example.
  • the drone 10 may autonomously fly the entire area between the departure and landing points and the destination landing position without relying on remote control by the server device 50, or The flight may be performed under remote control of the server device 50 in all sections between.
  • a certain range that includes the movable range of the door provided at the destination of the drone 10 when the door opens and closes is set as a prohibited range in which the drone 10 is prohibited from entering.
  • 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.
  • Each function in the drone 10 is performed by loading predetermined software (programs) onto hardware such as the processor 1001 and the memory 1002, so that the processor 1001 performs calculations, controls communication by the communication device 1004, and controls the memory 1002 and the memory 1002. This is realized by controlling at least one of data reading and writing in the storage 1003, and by controlling the positioning device 1007, the sensor 1008, the flight drive mechanism 1009, and the luggage loading mechanism 1010.
  • 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 processor 1001, memory 1002, and storage 1003 described above function as an example of the control device of the present invention.
  • the communication device 1004 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.
  • the communication device 1004 is configured to include a high frequency switch, a duplexer, a filter, a frequency synthesizer, etc. in order to realize frequency division duplexing and time division duplexing.
  • a transmitting/receiving antenna, an amplifier section, a transmitting/receiving section, a transmission path interface, etc. may be realized by the communication device 1004.
  • the transmitting and receiving unit may be physically or logically separated into a transmitting unit and a receiving unit.
  • 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 that functions as an altitude measuring means of the drone 10 and a means for checking the status of the landing position, a gyro sensor and a direction sensor that function as an attitude measuring means of the drone 10, an image sensor that functions as an imaging means, and the like.
  • 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 50.
  • the hardware configuration of the server device 50 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 50 may be configured by communicatively connecting a plurality of devices each having a different housing.
  • the server device 50 is physically configured as a computer device including a processor 5001, a memory 5002, a storage 5003, a communication device 5004, a bus connecting these, and the like.
  • Each function in the server device 50 is performed by loading predetermined software (programs) onto hardware such as a processor 5001 and a memory 5002, so that the processor 5001 performs calculations, controls communication by a communication device 5004, and controls communication by a communication device 5004. This is realized by controlling at least one of data reading and writing in the storage 5003.
  • Each of these devices is operated by power supplied from a power source (not shown).
  • the word "apparatus" can be read as a circuit, a device, a unit, etc.
  • the processor 5001 controls the entire computer by operating an operating system, for example.
  • the processor 5001 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 5001.
  • CPU central processing unit
  • a baseband signal processing unit, a call processing unit, etc. may be realized by the processor 5001.
  • the processor 5001 reads programs (program codes), software modules, data, etc. from at least one of the storage 5003 and the communication device 5004 to the memory 5002, and executes various processes in accordance with the programs.
  • programs program codes
  • software modules software modules
  • data etc.
  • the functional blocks of the server device 50 may be realized by a control program stored in the memory 5002 and operated on the processor 5001.
  • Various types of processing may be executed by one processor 5001, or may be executed by two or more processors 5001 simultaneously or sequentially.
  • Processor 5001 may be implemented by one or more chips.
  • the memory 5002 is a computer-readable recording medium, and may be configured with at least one of ROM, EPROM, EEPROM, RAM, etc., for example.
  • Memory 5002 may be called a register, cache, main memory (main memory), or the like.
  • the memory 5002 can store executable programs (program codes), software modules, etc. to implement the method according to the present embodiment.
  • the storage 5003 is a computer-readable recording medium, such as an optical disk such as a CD-ROM, a hard disk drive, a flexible disk, or a magneto-optical disk (for example, a compact disk, a digital versatile disk, or a Blu-ray (registered trademark) disk). ), smart card, flash memory (eg, card, stick, key drive), floppy disk, magnetic strip, etc.
  • Storage 5003 may also be called an auxiliary storage device.
  • the storage 5003 stores at least programs and data groups for executing various processes as described below.
  • the communication device 5004 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 5001 and the memory 5002 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 50 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 5001 may be implemented using at least one of these hardwares.
  • the hardware configuration of the user terminal 30 includes not only the same configuration as the server device 50 but also the same input device and output device as the drone 10 as a user interface.
  • FIG. 4 is a diagram showing an example of the functional configuration of the drone 10.
  • functions such as an acquisition section 11, a movable range calculation section 12, a setting section 13, and a flight control section 14 are realized.
  • the acquisition unit 11 acquires various data from the positioning device 1007, the sensor 1008, the server device 50, etc.
  • the acquisition unit 11 acquires, for example, instructions regarding remote control of the drone 10 from the server device 50 via the wireless communication network 40. Further, the acquisition unit 11 sets a prohibited area for the drone 10 to deliver cargo at a destination, for example, and acquires data from the sensor 1008 for determining a landing position.
  • this data is image data obtained by capturing an image of a space including a door provided at the destination by an image sensor included in sensor 1008.
  • the movable range calculation unit 12 calculates the movable range when the door provided at the destination of the drone 10 opens and closes. Specifically, the movable range calculation unit 12 detects the appearance or shape of the door using analysis techniques such as pattern matching and feature amount recognition on the image data acquired by the acquisition unit 11, and calculates the detection result. The door information about the door is recognized from the , and the movable range of the door is calculated.
  • the door information here includes information regarding the position of the door, the size of the door, or the opening/closing mechanism of the door.
  • the door position is the position of the door in three-dimensional space.
  • the door size is the length of each side of the door in three-dimensional space. The positions and sizes of these doors can be specified by calculating coordinate values in a three-dimensional space.
  • the opening/closing mechanism of the door refers to whether the door is a sliding door or a swinging door, and if it is a swinging door, whether it opens inward or outward, or whether it is a swinging door, and if it is a door that swings outward, whether it swings to the right.
  • the type of mechanism whether it is left-handed or double-sided.
  • the opening/closing mechanism of such a door depends on whether the shape of the door handle is compatible with a sliding door or a swinging door, and whether the shape of the door handle is compatible with an outward opening or an inward opening. Is the position of the door handle suitable for opening to the right, left, or both sides? Whether the hinge can be observed from the outside of the building (in other words, if it can be observed, it opens outward), and whether the hinge position corresponds to opening to the right, to the left, or to opening on both sides. It can be identified by analyzing whether the
  • the setting unit 13 sets a range including the movable range calculated by the movable range calculation unit 12 as a prohibited range in which the drone 10 is prohibited from entering.
  • FIGS. 5 to 9 are diagrams illustrating the movable range of each door for each door opening/closing structure.
  • FIG. 5 is a diagram illustrating a movable range when the door is a sliding door, and is a plan view when a space including the door D and the wall W is observed from above.
  • the movable range of the door D is linear, so the drone 10 flying near the door D and its door The possibility that door D will come into contact with luggage placed in front of door D is extremely small. Therefore, in this case, a prohibited range for the drone 10 is not particularly set.
  • FIG. 6 is a diagram illustrating the movable range when the door opens inward, and is a plan view when the space including the door D and the wall W is observed from above.
  • the movable range of the door D is inside the building.
  • the possibility that door D will come into contact with luggage placed in front of door D is extremely small. Therefore, in this case, a prohibited range for the drone 10 is not particularly set.
  • FIG. 7 is a diagram illustrating the movable range when the door opens outward and to the right, and is a plan view when the space including the door D and the wall W is observed from above.
  • the inside of the movable range line A is the movable range of the door D.
  • a range including the movable range of the door is set as a prohibited range for the drone 10.
  • the area inside the no-entry line B which is separated by a certain margin M from the semicircular movable range line A, is set as the no-entry range for the drone 10.
  • the setting unit 13 sets a position within a predetermined distance (for example, several tens of centimeters) from the outer edge of the prohibited area (prohibited line B) as a storage location for the package to be delivered by the drone 10. This is because, considering the effort required by the user to retrieve the luggage, a location outside the movable range of the door and as close to the door as possible is appropriate as a place to store the luggage.
  • FIG. 8 is a diagram illustrating the movable range when the door opens outward and to the left, and is a plan view when the space including the door D and the wall W is observed from above.
  • FIG. 8 when the closed door D is opened to the position of the door D' in the direction of the arrow O, a semicircular shape with the hinge H of the door D as the center and the horizontal length of the door as the radius
  • the inside of the movable range line A is the movable range of the door D.
  • a range including the movable range of the door is set as a prohibited range for the drone 10.
  • the area inside the no-entry line B which is separated by a certain margin M from the semicircular movable range line A, is set as the no-entry range for the drone 10.
  • FIG. 9 is a diagram illustrating the movable range when the door opens outward and opens both ways, and is a plan view of the space including the door D and the wall W observed from above.
  • the horizontal length of the door is set as a radius of 2 with the position of the hinge H of each door D as the center.
  • the inside of the two semicircular movable range lines A is the movable range of the door D.
  • each door D may come into contact with the drone 10 flying near each door D or with luggage placed in front of the door D. Therefore, a range including the movable range of each door is set as a prohibited range for the drone 10.
  • the area inside the no-entry line B which is separated by a certain margin M from the semicircular movable range line A, is set as the no-entry range for the drone 10.
  • the movable range calculation unit 12 detects the appearance or shape of the door from the image data acquired by the acquisition unit 11, and recognizes door information regarding the door (particularly door information regarding the opening/closing mechanism) from the detection result. There may be cases where the recognition accuracy of door information is low. Therefore, when the recognition accuracy of the door information is lower than the threshold value or when it is unrecognizable, the movable range calculation unit 12 assumes that the target door corresponds to all the opening/closing mechanisms and calculates the movable Calculate the range. In this way, no matter what kind of door opening/closing mechanism there is, at least the possible movable range of the door can be calculated.
  • the flight control unit 14 controls the flight drive mechanism 1009 to land the drone 10 at the luggage storage location set by the setting unit 13, and after landing, the flight control unit 14 controls the flight drive mechanism 1009 to land the drone 10.
  • the cargo is controlled and separated from the drone 10, that is, so-called unloading is performed.
  • step S01 the drone 10 starts flying toward its destination from its departure and landing locations, and performs flight control according to remote control from the server device 50 (step S01). Under the control of the server device 50, the drone 10 flies over the destination address specified at the time of requesting delivery of the package.
  • the drone 10 When the drone 10 reaches the sky above the destination, it searches for a door provided at the destination by performing image recognition on image data captured by an image sensor, for example, while gradually descending.
  • the movable range calculation unit 12 analyzes the image data captured by the image sensor using an analysis method such as pattern matching or feature recognition ( Step S03).
  • the movable range calculation unit 12 detects the appearance or shape of the door included in the image data, recognizes door information regarding the door from the detection result, and calculates the movable range of the door (step S04). At this time, as described above, if the recognition accuracy of the door information is lower than the threshold value or if it is unrecognizable, the movable range calculation unit 12 assumes that the target door corresponds to all opening/closing mechanisms. to calculate the range of motion.
  • the setting unit 13 sets a range including the movable range calculated by the movable range calculating unit 12 as a prohibited range into which the drone 10 is prohibited from entering (step S05). Further, the setting unit 13 sets a position within a predetermined distance from the outer edge of the prohibited area as a storage location for the cargo to be delivered by the drone 10.
  • the flight control unit 14 controls the flight drive mechanism 1009 and the luggage loading mechanism 1010 to land the drone 10 at the set storage location (step S06), and performs unloading to separate the luggage from the drone 10 (step S07). .
  • the flight control unit 14 performs flight control so that the door and the drone 10 do not come into contact when the drone 10 is flying or landing to place the luggage.
  • the flight control unit 14 controls the drone 10 so that at least part of the drone 10 or the cargo does not enter the prohibited area during the period when the drone 10 is flying or landing to place the cargo. Control.
  • the drone 10 moves to a process for returning to the departure and landing place (or moving to the next destination) (step S08).
  • the invention is not limited to the embodiments described above.
  • the embodiment described above may be modified as follows. Furthermore, two or more of the following modifications may be implemented in combination.
  • the movable range calculation unit 12 recognizes door information regarding the door from the result of detecting the appearance or shape of the door based on image data captured by the image sensor, and calculates the movable range of the door.
  • the data for detecting the appearance or shape of the door is not limited to image data, but can be data obtained by various detection techniques such as, for example, Lidar (Light Detection And Ranging).
  • the movable range calculation unit 12 recognized the door information regarding the door from the result of detecting the appearance or shape of the door based on the image data captured by the image sensor.
  • the method of specifying door information is not limited to the example of the above embodiment.
  • a wireless device may be provided at a predetermined position of a door provided at the destination, and the wireless device may transmit door information regarding the door, and the drone 10 may receive and acquire the door information. .
  • the position of the door may be estimated from the received electric field strength when the drone 10 receives the radio signal.
  • the movable range calculation unit 12 may calculate the movable range of the door based on the door information regarding the door that is provided wirelessly at the destination. In this way, it is possible to obtain more accurate door information (particularly door information regarding the opening/closing mechanism) than when obtaining door information from the appearance or shape of the door.
  • FIG. 12 is a diagram illustrating door information stored by the server device 50.
  • the server device 50 reads the door information corresponding to the destination of the drone 10 or the ID of the door of the destination and transmits it to the drone 10 via the wireless communication network 40, so that the drone 10 acquires the door information and controls the door. Calculate the range of motion.
  • the movable range calculation unit 12 may calculate the movable range of the door based on the information about the door that is stored in association with the destination or the identification information of the door. In this way, it is possible to obtain more accurate door information (particularly door information regarding the opening/closing mechanism) than when obtaining door information from the appearance or shape of the door.
  • the control of the drone 10 is realized by so-called edge computing (control by the drone), cloud computing (control by the server device), or the cooperation of both (control by the drone and the server device), as described in the embodiment. Good too. Therefore, the control device of the present invention may be included in the server device 50 disclosed in the embodiment.
  • the flying object in the present invention is not limited to an unmanned flying object called a drone, but may have any structure or form as long as it is a flying object. Further, although the drone 10 lands at the destination and unloads the cargo, the cargo may be delivered to the destination by a method other than landing (for example, dropping or hanging the cargo).
  • each functional block may be realized by one physically and/or logically coupled device, or may be realized by directly and/or indirectly two or more physically and/or logically separated devices. (for example, wired and/or wireless) and may be realized by these multiple devices.
  • LTE Long Term Evolution
  • LTE-A Long Term Evolution-Advanced
  • SUPER 3G IMT-Advanced
  • 4G 5G
  • FRA Full Radio Access
  • W-CDMA Wideband Code Division Multiple Access
  • GSM Global System for Mobile Communications
  • CDMA2000 Code Division Multiple Access 2000
  • UMB Universal Mobile Broadband
  • IEEE 802.11 Wi-Fi
  • IEEE 802.16 WiMAX
  • IEEE 802.20 UWB (Ultra-WideBand)
  • Bluetooth registered trademark
  • the information or parameters described in this specification may be expressed as absolute values, relative values from a predetermined value, or other corresponding information.
  • determining may encompass a wide variety of operations.
  • “Judgment” and “decision” are, for example, judging, calculating, computing, processing, deriving, investigating, looking up (e.g., table , searching in a database or another data structure), and regarding confirmation (ascertaining) as a “judgment” or “decision.”
  • judgment and “decision” refer to receiving (e.g., receiving information), transmitting (e.g., sending information), input, output, and access.
  • accessing may include regarding it as a “judgment” or “decision.”
  • judgment and “decision” mean that things such as resolving, selecting, choosing, establishing, and comparing are considered to have been “determined” or “determined.” may be included.
  • determination and “determination” may include considering that some action has been “determined” or “determined.”
  • the present invention may be provided as an information processing method or as a program.
  • Such programs may be provided in the form recorded on a recording medium such as an optical disk, or may be provided in the form of being downloaded onto a computer via a network such as the Internet, and being installed and made available for use. It is possible.
  • Software, instructions, etc. may be sent and received via a transmission medium.
  • a transmission medium For example, if the software uses wired technologies such as coaxial cable, fiber optic cable, twisted pair and digital subscriber line (DSL) and/or wireless technologies such as infrared, radio and microwave to When transmitted from a remote source, these wired and/or wireless technologies are included within the definition of transmission medium.
  • wired technologies such as coaxial cable, fiber optic cable, twisted pair and digital subscriber line (DSL) and/or wireless technologies such as infrared, radio and microwave
  • data, instructions, commands, information, signals, bits, symbols, chips, etc. which may be referred to throughout the above description, may refer to voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any of these. It may also be represented by a combination of
  • 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.
  • Drone control system 10: Drone, 11: Acquisition unit, 12: Mobility range calculation unit, 13: Setting unit, 14: Flight control unit, 30: User terminal, 40: Wireless communication network, 50: Server device, 1001 : Processor, 1002: Memory, 1003: Storage, 1004: Communication device, 1005: Input device, 1006: Output device, 1007: Positioning device, 1008: Sensor, 1009: Flight drive mechanism, 1010: Baggage loading mechanism, 50: Server Device, 5001: Processor, 5002: Memory, 5003: Storage, 5004: Communication device, D, D': Door, H: Hinge, W: Wall, O: Direction, A: Movable range line, B: No entry line, M: Margin.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Selon l'invention, une unité de calcul de plage mobile (12) calcule une plage mobile d'ouverture/fermeture d'une porte, qui est disposée à destination d'un drone (10). Spécifiquement, l'unité de calcul de plage mobile (12) détecte l'aspect ou la forme de la porte en utilisant un procédé d'analyse tel qu'une correspondance de motifs ou une reconnaissance de quantité caractéristique pour des données d'image acquises par une unité d'acquisition (11), reconnaît des informations de porte concernant la porte à partir du résultat de détection, et calcule la plage mobile de la porte. Une unité de réglage (13) définit une plage comprenant la plage mobile calculée par l'unité de calcul de plage mobile (12) en tant que région d'interdiction d'entrée où le drone (10) n'a pas le droit d'entrer.
PCT/JP2023/016249 2022-05-20 2023-04-25 Dispositif de commande WO2023223781A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019154983A (ja) * 2018-03-16 2019-09-19 パナソニックＩｐマネジメント株式会社 自律移動型浄化ロボット、浄化システム及び制御装置
JP2019200734A (ja) * 2018-05-18 2019-11-21 富士通株式会社 情報処理プログラム、情報処理方法、および情報処理装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019154983A (ja) * 2018-03-16 2019-09-19 パナソニックＩｐマネジメント株式会社 自律移動型浄化ロボット、浄化システム及び制御装置
JP2019200734A (ja) * 2018-05-18 2019-11-21 富士通株式会社 情報処理プログラム、情報処理方法、および情報処理装置

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