JP6970237B2 - Management system, management program and management method - Google Patents

Description

The present invention relates to a management system, a management program, and a management method for transporting luggage by an air vehicle using facilities such as a railway station.

In recent years, the number of parcel delivery services handled has increased, and traffic congestion due to an increase in physical distribution has become a problem. In addition, the labor shortage due to the decrease in drivers and the aging of the population is accelerating, and the construction of a method for delivering goods quickly and reliably is recognized as one of the important issues for economic recovery and improvement of the lives of residents. There is. Therefore, transportation using an unmanned aerial vehicle (aircraft) such as a drone, which has a different transportation route from the vehicle, is being considered.

For example, Patent Document 1 describes the technology of a multi-level transportation center for unmanned aerial vehicles designed to be suitable for takeoff and landing of an air vehicle. The multi-story transport center for unmanned aerial vehicles described in Patent Document 1 is a multi-story transport center that can be provided in a city center and / or other densely populated urban areas. It also has one or more landing positions and one or more maneuvering positions to accommodate the UAV where at least a portion of the goods from the transport center may be transported to a location related to the customer. , It is described that it is utilized for transportation using UAV.

Further, Patent Document 2 describes a management device capable of easily and safely flying an unmanned vehicle by creating a flight path using a range in which a railway line owned by a railway operator is laid. The first input means has a first input means, a storage means, a second input means, and a creation means, the first input means inputs railway operation information including an operation schedule of a vehicle traveling on the railway, and the storage means is a storage means. The railway line information indicating the range of the railway facility where the railway line is laid is stored, and the second input means inputs the flight section information indicating the starting point and the destination point when navigating the unmanned vehicle on the railway line. Based on the railroad track information and the railroad operation information corresponding to the flight section information, the generation means autonomously autonomously performs the unmanned vehicle in the section indicated by the flight section information during the time when the vehicle does not travel. A management device for creating a navigation plan for navigation is described.

Japanese Patent No. 6518014 Japanese Unexamined Patent Publication No. 2020-006916

However, when the goods are collected in the multi-story transportation center for unmanned aerial vehicles described in Patent Document 1 and transported by UAV from there, the whole transportation from the collection of the goods to the arrival at the destination is carried out. There was a problem that took a lot of time.

That is, even when the multi-layer transportation center for unmanned aerial vehicles described in Patent Document 1 is used, the goods are collected at the nearest transportation center of the transportation destination by using the transportation equipment in the same manner as the normal transportation flow. When transporting goods to the transportation center by airplane, ship, railroad, etc., they will be unloaded at the stops such as airports and stations, transshipped to large trucks, etc. and transported to the transportation center. There was a problem that it took a long time due to the large number of movements.

In addition, since a space for temporarily storing goods is required as a transportation center, there is a problem that a relatively large-scale facility is required.

Further, Cited Document 2 does not disclose, in particular, a method for creating a preferable transportation plan when a collection / delivery base is provided integrally or adjacent to a station.

The present invention has been made in view of the above circumstances, and solves the problem of providing a novel management technique for carrying out transportation using a collection / delivery base provided integrally with or adjacent to a station. It should be an issue.

In order to solve the above problems, the present invention is a management system for transporting luggage using an air vehicle that autonomously flies based on flight control data.
The management system includes an operation information receiving unit, a transportation plan creating unit, a flight control data creating unit, and a base information storage unit.
The base information storage unit stores base information for a plurality of collection and delivery bases located along the railroad track.
The operation information receiving unit is configured to be able to receive train operation information.
The transportation plan creation unit is configured to be able to create a transportation plan with the collection and delivery base as a goal, including movement on a railroad track at least in the flight route, using the operation information.
The flight control data creating unit creates the flight control data for the flying object to fly autonomously based on the transportation plan.

Further, the present invention is a management program for transporting luggage using an air vehicle that autonomously flies based on flight control data.
The computer functions as an operation information receiving unit, a transportation plan creating unit, a flight control data creating unit, and a base information storage unit.
The base information storage unit stores base information for a plurality of collection and delivery bases located along the railroad track.
The operation information receiving unit is configured to be able to receive train operation information.
The transportation plan creation unit is configured to be able to create a transportation plan with the collection and delivery base as a goal, including movement on a railroad track at least in the flight route, using the operation information.
The flight control data creating unit creates the flight control data for the flying object to fly autonomously based on the transportation plan.

Further, the present invention is a management method for transporting luggage by using an air vehicle that autonomously flies based on flight control data.
The management system executes the operation information reception step, the transportation plan creation step, and the flight control data creation step.
Multiple collection and delivery bases are located along the track,
The operation information receiving step is configured to be able to receive train operation information.
The transportation plan creation step is configured to be able to create a transportation plan with the collection and delivery base as a goal, including movement on a railroad track at least in the flight route, using the operation information.
The flight control data creation step creates the flight control data for the flying object to fly autonomously based on the transportation plan.

With such a configuration, it is possible to create a transportation plan with the goal of a collection and delivery base provided integrally with or adjacent to the station, and to make the aircraft fly autonomously.

In a preferred embodiment of the present invention, the base information storage unit stores, as the base information, information that can grasp the collection and delivery bases that exist along the railroad track and are adjacent to each other in the railroad direction.
When the collection / delivery base set as the goal in the created transportation plan has stopped accepting collection, the transportation plan creation unit has set the goal at an adjacent base which is another collection / delivery base adjacent to the collection / delivery base. Create a transportation plan.
With such a configuration, it is possible to have the aircraft transport the cargo to the adjacent base, which is the collection and delivery base for evacuating the cargo, based on the updated transportation plan.

In a preferred embodiment of the present invention, the transportation plan creating unit has a plurality of transportation plans that have been created with the collection / delivery base in which the collection / delivery reception has been stopped as a goal, and further, the transportation plan has been canceled. When the collection and delivery base has a plurality of the adjacent bases, the transportation plan with each of the adjacent bases as a goal is created with a predetermined quantity.

In a preferred embodiment of the present invention, the transportation plan creating unit preferentially creates the transportation plan with a certain adjacent base as a goal in order to consolidate the plurality of the packages into a certain adjacent base.

In a preferred embodiment of the present invention, in order to distribute the load of the plurality of luggages at the adjacent bases, the transportation plan creating unit uses the transportation plan with the plurality of the adjacent bases as a goal in the quantity of the luggages. It is created with equal distribution according to the above, or it is created with the allocation according to the resources of the adjacent bases based on the base information.
With such a configuration, it is possible to carry out transportation according to the resources and conditions of each adjacent base, which is a collection and delivery base for evacuating luggage, and to distribute the luggage to distribute the load of each adjacent base. ..

In a preferred embodiment of the present invention, the transportation planning unit creates the transportation plan for autonomous flight in the railway equipment territory based on the area including the area where the air vehicle can fly in the railway equipment territory.
The area includes a service area that is close to or may be in contact with the train operated by the aircraft.
The transportation planning unit determines the flight timing that can pass through the operation area based on the operation information and the operation area.
With such a configuration, it is possible to create an appropriate transportation plan when the flight body is made to fly in the territory of the railway equipment by using the operation information.

In a preferred embodiment of the present invention, when the transportation plan creation unit registers a transportation plan common to the registered transportation plans, the operation determined in the registered transportation plan is used by the collection / delivery base as a start and a goal. Based on the flight timing that can pass through the area, the flight timing of the common transportation plan is determined, and based on the operation information, it is determined whether or not the flight timing is appropriate.
With such a configuration, it is possible to efficiently create a transportation plan having a common start and goal based on the calculated flight plan.

According to the present invention, it is possible to provide a novel management technique for carrying out transportation using a collection / delivery base provided integrally with or adjacent to a station.

Other issues, features and advantages will become apparent by reading the embodiments described below for carrying out the invention as taken up with the drawings and the claims.

It is a schematic diagram for demonstrating the transportation method which concerns on this invention. It is a figure which shows an example of the collection and delivery base integrated with the station which concerns on one Embodiment of this invention. It is a schematic diagram which shows the movement at the time of loading a load into the flying object which concerns on one Embodiment of this invention. It is a system block diagram of the management system which concerns on one Embodiment of this invention. It is a hardware block diagram of the flight management system which concerns on one Embodiment of this invention. It is a processing flowchart of transportation plan making which concerns on one Embodiment of this invention. It is a processing flowchart of the related transportation plan making which concerns on one Embodiment of this invention. It is a processing flowchart in the case where the collection reception is stopped in the predetermined collection and delivery base which concerns on one Embodiment of this invention.

Hereinafter, the transportation management system according to the embodiment will be described with reference to FIGS. 1 to 8. The embodiments shown below are examples of the present invention, and the present invention is not limited to the following embodiments, and various configurations can be adopted.

For example, in the present embodiment, the configuration, operation, and the like of the management system will be described, but devices having the same configuration, methods for executing them, computer programs installed in the computer, and the like can also exert the same effects. The program may be stored in a non-transient recording medium such as a CD-ROM.

First, the transportation method according to the present invention will be described in detail with reference to FIG.
FIG. 1 is a schematic diagram for explaining a transportation method. In FIG. 1, reference numeral 104 is a railroad track, and a plurality of station STs exist along the railroad track 104. In the illustrated example, stations ST11, ST21, and ST31 exist along the line 104. Further, the line 104 branches at the station ST21, and the station ST22 and the station ST23 exist along the line.

The code DS indicates a collection / delivery base for transporting cargo. Here, a part or all of the collection / delivery base DS may be integrated with the station ST or may be attached to the station ST. In other words, some or all collection and delivery base DSs may be configured to be mutually accessible only via the territory of track 104 or other railroad equipment. Further, the collection / delivery base DS may exist other than along the line 104.

In FIG. 1, the collection / delivery base DS11 exists at the station ST11, the collection / delivery base DS21 exists at the station ST21, and the collection / delivery base DS31 exists at the station ST31. Similarly, the collection / delivery base DS22 exists at the station ST22, the collection / delivery base DS23 exists at the station ST23, and the collection / delivery base DS2X exists at the station ST2X. These collection / delivery base DS groups may include a collection / delivery base (collection / delivery base DS01 in the illustrated example) existing at a place other than along the railway line.

In the present embodiment, the flying object UV flies within the territory of the railway equipment including the track 104, and particularly transports luggage for the purpose of the collection / delivery base DS integrated with or annexed to the station ST. As a result, the cargo is collected at the collection / delivery base DS by other means such as the flying object UV or transportation. Further, the package is transported from the collection / delivery base DS to another collection / delivery base DS or delivered to the delivery destination of the package by other means such as the flying object UV or transportation.

The symbol UV indicates an air vehicle. The flying object UV is a moving body that autonomously flies in order to transport a cargo, and at least a destination for transporting the cargo can be set. In FIG. 1, the solid line arrow indicates the movement of the air vehicle UV within the railroad equipment territory, and the broken line portion means the movement of the air vehicle UV outside the railroad equipment territory. Further, the collection / delivery base DS to which the base end of the arrow is connected means the departure collection / delivery base DS, and the collection / delivery base DS to which the tip (end) of the arrow is connected means the collection / delivery base DS as a transportation destination.

The flying object UV1 in the illustrated example departs from the collection / delivery base DS11 (station ST11), autonomously flies in the railway equipment territory along the track 104, and transports the cargo to the collection / delivery base DS31 (station ST31). Similarly, the aircraft UV2 departs from the collection / delivery base DS2X (station ST2X), autonomously flies in the railway equipment territory along the track 104, and transports the cargo to the collection / delivery base DS21 (station ST21). The aircraft UV3 departs from the collection and delivery base DS01 that exists outside the railway equipment territory, invades the railway equipment territory (railway 104) between the collection and delivery base DS21 and the collection and delivery base DS31, and then enters the railway equipment territory along the railway equipment 104. Will autonomously fly and transport the luggage to the collection and delivery base DS21 (station ST21).

It is preferable to select a flying object UV having specifications that allow cargo to be loaded from below and that can fly independently to the destination and carry the cargo. It is preferable that the flying object UV has a hardware configuration and a functional configuration for performing position control such as a camera and a GPS module as appropriate. Further, in the management system, it is naturally possible to use a plurality of flying object UVs having different specifications in consideration of the distance to the transportation destination, the weight of the transported object, and the like.

Next, the collection and delivery base according to the present invention will be described in detail with reference to FIG.
FIG. 2 is a diagram showing an example of a collection / delivery base DS integrally configured with the station ST. The collection / delivery base DS (station ST) has a stop 111 where transportation equipment (train 112 operating on the track 104 in the illustrated example) stops and a concourse section 121 where passengers move in order to provide a function as the station ST. In addition, a delivery area (sorting area 131 and port 141) provided above the bus stop is provided to provide a function as a collection / delivery base DS. The transportation device can be used to provide a function as a collection / delivery base DS by transporting a cargo.

The collection / delivery base DS further includes a transportation means 113 and an elevator 115 for moving the luggage B from the transportation equipment to the delivery place. The transportation means 113 autonomously travels the luggage B loaded and unloaded from the train 112 on the platform 114 and the like, and carries the luggage B to the delivery site via the elevator 115. It is preferable that the transportation means 113 is programmed so as not to hit passengers P, objects, or the like when autonomously traveling on the platform 114. That is, it is preferable that the moving means 113 has an obstacle avoiding means.

The elevator 115 is an elevator dedicated to moving the luggage B. If at least a part of the home 114 also serves as a home used by passengers, the home 114 may also be provided with an elevator 116 used by the passenger P to move between the home 114 and the concourse section 121. preferable. The elevator 116 cannot be used for moving the luggage B, and may only allow transportation to and from the concourse section 121 provided on the upper floor or the lower floor of the home 114.

The elevator 115 is an opening / closing means for opening the door by detecting that the luggage B or the transportation means 113 is approaching, an alarm means for sounding an alarm when the passenger P gets on by mistake, and a passenger P when getting on by mistake. It is preferable to have one or more stopping means that do not move from the floor. Further, it is preferable that the elevator 115 does not stop at the concourse portion 121 but directly connects to the delivery place (specifically, the sorting place 131 described later). That is, it is preferable that the elevator 115 communicates with the stop 111 (home 114) and the delivery place.

The delivery place is provided above the stop 111, and is provided with a sorting place 131 for sorting luggage B and a port 141 in which the flying object UV is parked. The delivery place may be on the floor immediately above the stop 111, or may have a concourse section 121 or the like in between, and further, as shown in the illustrated example, between the stop 111 or the concourse section 121 and the delivery place. Another floor may be provided.

The sorting place 131 is a place for sorting the cargo B according to various conditions such as the delivery destination, the size, and the scheduled delivery date. The sorting place 131 has an arrangement unit 133 for arranging the sorted luggage B, and a delivery place moving means 132 for moving the luggage B to the arrangement unit 133. The arrangement unit 133 includes a lifter for loading the luggage B into the flying object UV.

The arrangement unit 133 is provided so as to be located directly below the place where the flying object UV is parked, and at least a part of the plurality of arrangement units 133 is a board surface having a plurality of squares for individually arranging the luggage B. It is arranged in a shape. The number and size of squares can be determined according to the number and size of the target luggage B and the specifications of the flying object UV to be used, and there are squares of different sizes and shapes in a certain sorting area 131. It may be placed.

When the transportation means 113 moves with the luggage B to the sorting place 131 by the elevator 115, the delivery place transportation means 132 receives the luggage B from the transportation means 113 and moves to the arrangement unit 133 determined based on various conditions. It is a means for arranging the luggage B. As a preferred embodiment of the present invention, the delivery place moving means 132 can exemplify a robot arm, a material hand, and a negative pressure pad, and it is preferable to suspend them from the ceiling and fix them movably. As a moving method, by making it movable vertically and horizontally, it is possible to simplify the movement and reduce the possibility of failure.

The arrangement portion 133 is moved up and down by a lifter. The lifter lifts the luggage B upward while the luggage B is arranged in the arrangement portion 133 and the flying object UV is on standby above. The lifter may lift the luggage B when the luggage B is placed and stand by on the spot until the flying object UV is in the standby state. However, considering power consumption and the like, the lifter may be used as described above. It is preferred to lift the luggage B and load it into the vehicle UV from below when both B and the vehicle UV are ready.

The port 141 is a place where the flying object UV is parked, and is preferably the rooftop portion of the collection / delivery base DS (station ST) or the top floor having an open portion to which the flying object UV can pass. The port 141 includes a loading unit 144 for loading the load B into the aircraft UV, a guiding means 142 capable of guiding the aircraft UV while flying around the delivery site, and rain or wind to guide the aircraft UV. A roof portion 143 is provided for protection from the like. More preferably, the port 141 has charging means 146 capable of charging the flying object UV.

The loading unit 144 is a place where the flying object UV is parked and waits until the luggage B is loaded by the lifter. The loading portion 144 is formed in a board shape by a plurality of squares like the arranging portion 133. The loading portion 144 is provided so that each square coincides with the square of the arrangement portion 133 in the vertical direction. That is, the flying object UV is parked at the position where the luggage B arranged in the arrangement unit 133 is lifted by the lifter.

FIG. 3 is a schematic view showing a movement when loading a load into the flying object UV. In the figure, the ceiling portion of the sorting area 131 is shown as a cross section. In the illustrated example, the loading section 144 (ceiling portion of the sorting area 131, above the arranging section 133) is open, the cargo B is lifted by the lifter, and the cargo B can be loaded into the flying object UV. NS. The loading portion 144 preferably includes a door portion 145 that can be opened and closed by sliding or axial movement. The door portion 145 is preferably opened when the luggage B is loaded into the flying object UV. As shown in the illustrated example, since the flying object UV is parked, it is preferable to secure a space in which the flying object UV can be arranged and to open only the portion through which the luggage B passes.

The charging means 146 is a means for appropriately charging the flying object UV parked in the loading section 144, and a charging port or the like may be permanently provided in the loading section 144, or charging using a cable or the like may be used. .. Further, the charging means 146 may be any method as long as it can charge the flying object UV, and is appropriately selected depending on the equipment of the delivery site such as contact type and non-contact type, the environment of the electric system, the specifications of the flying object UV, and the like. Is preferable.

The guiding means 142 guides the flying object UV to the departure position (departure area) or the loading unit 144 of the delivery route at the time of takeoff when the flying object UV starts delivery and at the time of landing of the flying object UV which has completed delivery. Is a possible means. It is assumed that the position of the flying object UV being delivered will be controlled by GPS (registered trademark), etc., but around the delivery site, GPS (registered trademark) disconnection due to interference of various signals or closed space, etc. It is assumed that this makes it difficult to control the flying object UV.

Therefore, a method for controlling the flying object UV, which is different from the method for controlling the flying object UV during flight (delivery), is preferable. For example, a guidance method using a laser, a guidance method using an AR marker or a QR code (registered trademark), and the like can be exemplified. The illustrated laser guidance method is effective for both takeoff and landing guidance of the flying object UV, and the guidance method using an AR marker or QR code (registered trademark) is particularly effective for landing. Is. In this way, the flying object UV may be guided to a desired position by appropriately combining a plurality of guidance methods.

It should be noted that the method is not limited to the illustrated guidance method, and an appropriate method for guiding the flying object UV may be selected. Further, when the station ST is used as the collection / delivery base DS as described in the present specification, the electricity used by the train 112 can be used to supply the UV to the flying object. That is, electric power may be supplied for charging from transportation equipment (train 112, etc.) or other railway equipment.

The roof portion 143 is preferably formed if necessary depending on the place where the port 141 is installed and the surrounding environment. Since the flying object UV is a machine, it is not preferable to expose it to an environment such as rain, wind, sand, or dust. Therefore, it is preferable to cover at least the loading portion 144 with the roof portion 143.

Subsequently, the details of the computer processing in the management system according to the present invention will be described with reference to FIG.
FIG. 4 is a system configuration diagram of the management system. As shown in FIG. 4, the management system 100 includes a flight management device 1, a base management device 102, a communication network NW, and an air vehicle UV. The flight management device 1, the operation management system 101, the base management device 102, the luggage management system 103, and the flying object UV are connected via a communication network NW constructed by connecting communication lines to each other.

The flight management device 1 is a server device for managing the transportation of cargo. The flight management device 1 is composed of one server device or a plurality of server device groups. The functions of one or more server devices constituting the flight management device 1 are realized by a server computer that executes various information processing and a computer program. In addition, based on the operation information (train schedule, real-time running status of the train) including the operation schedule of the vehicle traveling on the railway provided by the operation management system 101, the flight is performed when there is no train 112 traveling on the track 104. By flying the body UV, the vehicle UV can be navigated within the territory of the railway facility including the land where the track 104 is laid.

The operation management system 101 has operation information of trains operating on the track 104, and transmits the operation information to the flight management device 1. The operation management system 101 is composed of one server device or a plurality of server device groups. The functions of one or more server devices constituting the operation management system 101 are realized by a server computer that executes various information processing and a computer program.

The base management device 102 is a device for managing the collection / delivery base DS. In the present embodiment, the base management device 102 is a computer device for managing material handling and luggage for each base at each collection / delivery base DS. In this embodiment, the status of collection reception is set to the communication network NW. It is configured to be transmittable to the flight management device 1 via. The status of the pickup reception indicates whether or not the flying object UV can bring the luggage to the collection / delivery base. For example, the pickup reception is being accepted, the pickup reception is canceled, and the like. .. Here, the canceled state is, for example, a case where the delivery place transportation means 132 such as material handling and other equipment (for example, the transportation means 113, the elevator 115, the lifter, etc.) are inspected when they fail.

The site management device 102 may be configured by one server device or a plurality of server device groups, and may include a client terminal device for inputting information to the server device as needed. The functions of one or more computer devices constituting the site management device 102 are realized by a computer that executes various information processing and a computer program. The site management device 102 may be a general-purpose computer device such as a PC, a tablet terminal, or a smartphone.

The cargo management system 103 holds the cargo information of the cargo to be transported, and transmits the cargo information to the flight management device 1. The baggage management system 103 is composed of one server device or a plurality of server device groups. The functions of one or more server devices constituting the baggage management system 103 are realized by a server computer that executes various information processing and a computer program.

The communication network NW includes a wireless or wired WAN (Wide Area Network), a LAN (Local Area Network), the Internet, a mobile wireless communication network, a public telephone network, a railway communication network, and the like. A large number of base stations are housed in the mobile wireless communication network. Further, as a communication network for railways, there is a system that communicates with a mobile body, for example, through a base station arranged along a railway line or a cable wired along the railway line. Therefore, the flying object UV flying in the territory of the railway equipment communicates with the flight management device 1 or the flight management device 1 and the base management device 102 even during flight through the mobile radio communication network and / or the railway communication network. can do.

In this embodiment, a case where a flight path is set for an air vehicle UV mainly by a mobile wireless communication network and / or a railroad communication network will be illustrated. For example, a wireless LAN (communication network) in a collection / delivery base DS will be illustrated. A flight path may be set for the flying object UV by NW) or the like. Here, examples of the method of performing wireless communication with the flying object UV at the collection / delivery base DS include Wi-fi (registered trademark) and Bluetooth (registered trademark).

The air vehicle UV is, for example, position data generated by using GNSS (Global Navigation Satellite System) based on the flight control data corresponding to the navigation plan generated by the flight management device 1, for example, GPS (Global Positioning). Position / time data generated from System) signals, track tracks (rails), electric wires erected above the tracks (eg trolley lines, etc.), other railway equipment, railway equipment (eg overhead wire pillars and overhead ground lines) and railways. Achieve autonomous flight in a designated flight section based on one or more of the marks such as AR markers installed in the facility territory. Therefore, the flying object UV not only uses position data generated from GPS signals for autonomous flight, but also detects the distance to surrounding objects based on the captured image and uses it for flight control. You can also do it.

FIG. 5 is a hardware configuration diagram of the flight management system 1. As shown in FIG. 5, the flight management system 1 includes a control unit 10, a storage unit 20, and a communication unit 30.

The control unit 10 includes one or more processors such as a CPU, and by executing the management program, OS, and other applications according to the present invention, the control unit 10 (processor) performs the entire operation processing of the flight management device 1. To control.

The storage unit 20 is an HDD, ROM, RAM, etc., and stores the management program according to the present invention, data used when the control unit 10 executes processing based on the program, and the like. The control unit 10 executes the process based on the management program stored in the storage unit 20, thereby realizing the functional configuration described later.

The communication unit 30 executes communication control with the communication network NW, and performs an input necessary for operating the flight management device 1 and an output related to the operation result.

Similarly, the base management device 102 also includes a control unit, a storage unit, an input unit, an output unit, and a communication unit as a hardware configuration. When the status of the pickup reception (particularly, the status indicating the cancellation status of the pickup reception) is specified via the input unit, the control unit sends the flight management device 1 to the collection / delivery base DS via the communication network NW. Identification information and the specified status data are transmitted.

The control unit of the site management device 102 includes one or more processors such as a CPU, and controls the entire operation processing of the site management device 102. The storage unit of the site management device 102 is an HDD, ROM, RAM, or the like, and stores a program and data or the like used when the control unit executes processing based on the program. The input unit of the site management device 102 is a touch panel, a mouse, a keyboard, or the like, and inputs an operation request by the user to the control unit. The output unit of the site management device 102 is a display or the like, and displays the processing result or the like of the control unit. The communication unit of the site management device 102 controls communication with the communication network.

As shown in FIG. 5, the flight management device 1 includes an operation information receiving unit 11, a cargo information receiving unit 12, a transportation plan creating unit 13, and a flight control data creating unit 14 as functional configurations. In this, information processing by software (stored in the storage unit 20) is specifically realized by hardware (control unit 10, etc.).

Further, the storage unit 20 includes a base information storage unit 21, an air vehicle storage unit 22, a train information storage unit 23, a luggage information storage unit 24, and a transportation plan storage unit 25. A part or all of these are stored in a device other than the storage unit 20 of the flight management device 1 (for example, a DB server executed by the flight management device 1 or capable of communicating with the flight management device 1) for flight management. It may be acquired from the device 1 as needed and stored in the storage unit 20 transiently or non-transiently for use. For example, a part or all of these may be stored in a separate table or the like, or the contained information may be stored in a separate storage medium. Of these information, static information may be stored as a master, and dynamic information may be stored as a transaction.

The base information storage unit 21 stores base information for a plurality of collection and delivery bases located along the railroad track. The base information includes the location information regarding the location of the collection / delivery base DS and the resource information of the collection / delivery base DS. The location information includes the coordinates of the collection / delivery base DS (point, or a two- or three-dimensional closed area), and at least the collection / delivery base DS (integrated with the collection / delivery base DS) that exists along the line 104 and is adjacent in the direction of the line 104. , The station adjacent to the station ST adjacent to the collection and delivery base DS) has information that can be grasped.

The resource information is information on the amount of luggage (quantity and / or weight, etc.) that can be accepted by the collection / delivery base DS. In the present embodiment, a static resource value is given to each collection / delivery base DS according to the area of the equipment (arrangement unit 133, etc.) for collecting the luggage in the collection / delivery base DS. For example, as a static value, a resource value may be given based on the maximum value of the amount of luggage that can be accommodated, or a dynamic resource value that takes into account the amount of luggage accepted for each collection / delivery base DS, etc. You may give it.

The coordinates of the collection / delivery base DS may be the coordinates at which the flying object UV is parked (multiple coordinates if there are multiple parking locations). For example, the flying object UV parks the aircraft at the collection / delivery base DS. It may be the coordinates of the starting point for starting.

The flying object storage unit 22 has flying object information regarding the flying object UV. The flight body information includes, for example, performance information regarding the performance of the flight body UV (flyable distance (flyable time), load capacity) and state information regarding the state of the flight body UV (position information and a housed collection / delivery base). Has the location of DS, etc., status such as during transportation / standby, remaining battery level).

The operation information receiving unit 11 is configured to be able to receive train operation information. In the present embodiment, the operation information receiving unit 11 receives the operation information from the operation management system 101 and stores it in the train information storage unit 23.

The train information storage unit 23 stores information about the train. In the present embodiment, as information about the train, the train operation information and the area information indicating the area where the flying object UV can fly are stored. The operation information includes information (diagram, real-time train running status) indicating at what time the train is running on the route.

The area information indicates the area where the flying object UV can fly within the territory of the railway equipment. It is preferable that the area is continuous so as to be navigable between at least one set of collection / delivery bases among the collection / delivery bases DS that exist along the line 104 and are adjacent to each other in the direction of the line 104.

The area is three-dimensional three-dimensional space closed area data composed of one or a combination of a curve, a curved surface, or a line segment (continuous continuous segment). For example, it may be a two-dimensional closed region formed by a curve or a line segment, and in that case, it is preferable that the flying object UV is equipped with an avoidance means for avoiding obstacles and autonomously flying. ..

The closed space area of the area may include one or a plurality of areas (hereinafter referred to as an operating area) that are close to or may come into contact with a train or the like operated by the flying object UV. The operating area is also preferably an area defined by the same number of dimensions as the area.

In the closed space area of the area, a relay point (passing point, waypoint) to be relayed by the flying object UV may be arbitrarily set. For example, when a closed space area passes through a tunnel, or when a railroad passes through a point where a railroad crosses a plane, an arbitrary relay point is set in front of the tunnel or in front of the intersection, and set as a relay point. It is preferable to set the flying object UV to move to the coordinates (or area). Further, instead of or in addition to the base information, the coordinates and the area of the start point and the goal point of the collection / delivery base DS may be set in the closed space area of the area and used for creating the delivery plan described later.

The baggage information receiving unit 12 is configured to be able to receive baggage information to be delivered. In the present embodiment, the baggage information receiving unit 12 receives baggage information from the baggage management system 103 and stores it in the baggage information storage unit 24.

The cargo information storage unit 24 stores the cargo information. In this embodiment, the package information includes transportation information and property information. The transportation information is information related to transportation associated with the cargo (collection / delivery base DS where the cargo is currently stored, collection / delivery base DS which is the destination address or transportation destination as a relay point, delivery destination and transportation destination (collection / delivery). Arrival date and time at base DS). The property information includes information on the property of the baggage (size, weight, etc. of the baggage). The transportation information may include the status of the luggage (aircraft being transported / truck being transported / being accommodated / delivery completed, etc.).

The transportation plan creation unit 13 is configured to be able to create a transportation plan with the collection and delivery base DS as the goal, including movement on the track at least in the flight route, using the operation information and the base information. The transportation plan creation unit 13 creates a transportation plan for autonomous flight in the railway equipment territory based on the area including the area where the air vehicle can fly in the railway equipment territory.

FIG. 6 is a processing flowchart for creating a transportation plan. In this embodiment, first,
As shown in step S601, the transportation plan creation unit 13 determines the collection / delivery base DS that is the start goal of the transportation plan based on the transportation information (cargo information). The coordinates (coordinate points or areas) of the collection / delivery base DS that is the start point / goal point are given based on the location information included in the base information. The collection / delivery base DS that starts corresponds to the collection / delivery base DS in which luggage exists. The goal collection / delivery base DS is given based on transportation information (baggage information).

Subsequently, as shown in step S602, the area information used for route setting is determined based on the collection / delivery base DS that is the start / goal. The area information may be set based on the collection and delivery bases that exist along the railroad track and are adjacent to each other in the railroad direction, which are grasped based on the base information. Further, the area information itself may be associated with the adjacency relationship between the areas.

Subsequently, as shown in step S603, the transportation plan creation unit 13 can pass the aircraft UV through the operation area based on the operation time of the train included in the operation information and the operation area included in the area information. Determine flight timing. Here, the flight timing is, for example, a time zone. Then, the transportation plan creation unit 13 creates a transportation plan for transporting the cargo while passing through the operation area to the goal point (coordinate point or area) included in the base information. It should be noted that the calculation of the flight timing capable of flying in the operating area included in each area information is performed prior to the creation of the transportation plan, and may be stored in the storage unit 20 in advance.

Subsequently, as shown in step S604, the transportation plan creation unit 13 sets a relay point included in the route. All of the relay points to be set may be associated with the area information. Alternatively, a predetermined number of relay points may be set in addition to the points associated with the area information.

Subsequently, the transportation plan creation unit 13 determines the flight timing that can pass through the operation area based on the operation information and the operation area, and creates a transportation plan for autonomous flight within the railway facility territory. As shown in step S605, the transportation planning unit 13 passes through each relay point in the operation area during the time during which the operation area can be flown, based on the set relay point and the time during which the operation area can be flown. At least the departure time from the relay point immediately before entering the service area is set so as to be performed.

Then, as shown in step S606, the transportation plan creation unit 13 determines the departure date and time from the corresponding start point obtained in step S605. It should be noted that the departure time may be set for other relay points and the transportation may be configured according to the departure time.

Subsequently, as shown in step S607, the transportation plan creation unit 13 determines the flying object UV to be transported based on the state information (flying object information). In the present embodiment, the flying object UV that is accommodated in the collection / delivery base DS as the starting point and whose battery remaining amount is equal to or higher than the threshold value is determined as the flying object UV to be transported. In addition, when the flight body UV exists according to the performance and the flight body UV that appoints transportation is set according to the property information (baggage information) of the luggage, the performance information (flying body information) is further used for transportation. The flying object UV to be performed may be determined. The vehicle UV can be determined at any time. The base management device 102 may specify the flying object UV to which the transportation is to be assigned, and the flight management device 1 may allocate the flying object UV to the transportation plan accordingly.

Further, the flying object UV to be transported does not necessarily have to be accommodated in the collection / delivery base DS as a starting point at the time when the transportation plan creation unit 13 creates the transportation plan, and the air vehicle UV may be moved to another collection / delivery base DS. It may be a contained UV or a transporting UV. For example, start transportation with an aircraft UV that carries out transportation for the purpose of delivering multiple packages that are being transported or are scheduled to be transported in time for the arrival date and time included in the transportation information (baggage information). When optimizing the date and time, it is preferable to use the air vehicle UV existing in the other collection / delivery base DS as a candidate for the air vehicle UV for transporting. Further, when the flying object UV is out of order, the flying object UV may be dispatched from an adjacent collection / delivery base DS or the like.

Then, as shown in step S608, the transportation plan creation unit 13 generates a transportation plan and registers it in the transportation plan storage unit 25. An exemplary transport plan in this embodiment includes a start point, a goal point, a relay point, at least the departure date and time of a specific (immediately before entering the operating area) relay point, information for identifying the luggage to be transported, and an air vehicle UV. The identification information, the area information of the flying object UV, and the like are associated with each other.

The flight control data creation unit 14 creates flight control data for the flying object UV to fly autonomously based on the transportation plan. Then, it is output to the communication network NW. In this embodiment, the flight control data is passed to the flying object UV via the mobile wireless communication network and / or the railway communication network (communication network NW).

FIG. 7 is a processing flowchart for creating a related transportation plan. For example, multiple transportation plans targeting the same start point and goal point may occur on the same day. Therefore, an example is given when a transportation plan is generated based on a registered transportation plan.

The transportation plan creation unit 13 is determined in the registered transportation plan when the collection / delivery base DS, which is the start and goal, registers a new transportation plan common to the registered transportation plans in the transportation plan storage unit 25. The flight timing of the new transportation plan is determined based on the flight timing that can pass through the operation area, and further, it is determined whether or not the flight timing of the determined new transportation plan is appropriate based on the operation information.

First, in step S601 of FIG. 6, the transportation plan creation unit 13 determines the collection / delivery base DS which is the start goal of the transportation plan based on the transportation information (cargo information). At this time, as shown in step S701, the transportation plan common to the collection / delivery base DS, which is the start / goal, is searched from the transportation plan storage unit 25. If the common transportation plan has been registered (Yes in step S701), the process proceeds to step S702. In addition, when searching, other information such as the estimated delivery date may be used as appropriate. When there is no common transportation plan (No in step S701), the processes after step S602 in FIG. 6 are executed to create a transportation plan.

Next, as shown in step S702, it is determined whether or not the operation area determined in step S603 can pass through. For example, in a registered transportation plan, when the departure date and time of a specific relay point (immediately before entering the operation area) is advanced or delayed by a predetermined time, it is determined whether or not the operation area can be passed. If it is possible to pass (Yes in step S702), the process proceeds to step S703. For example, if this departure date and time is delayed by 30 seconds, it is verified whether the service area can be passed within the time, and if it can be passed, the departure time at each point is also delayed by a certain time, so that the created transportation plan can be created. Available. If it cannot pass (No in step S702), the processes after step S602 in FIG. 6 are executed to create a transportation plan.

Then, as shown in step S703, it is determined whether or not the flying object UV to be transported exists (whether there is a vacancy). If there is an aircraft UV to be transported (Yes in step S703), the transport plan is registered based on the registered transport plan, as shown in step S704. When the flying object UV does not exist (No in step S703), the processes after step S602 in FIG. 6 are executed to create a transportation plan.

FIG. 8 is a processing flowchart when the collection reception is canceled at the predetermined collection / delivery base. The control unit 10 of the flight management device 1 is configured to be able to receive the stator information in the state where the collection reception is canceled from the base management device 102. When the collection / delivery base DS set as the goal in the created transportation plan has stopped accepting collection, the transportation plan creation unit 13 transports the collection / delivery base DS and the adjacent base, which is another collection / delivery base adjacent to the collection / delivery base DS, as the goal. Make a plan.

First, as shown in step S801, when a notification that the collection reception has been canceled is received from a certain collection / delivery base DS, the goal is the collection / delivery base whose status has been canceled as shown in step S802. The created transportation plan is searched from the transportation plan storage unit 25.

In addition, the transportation plan creation unit 13 determines the collection / delivery base DS to be the evacuation destination to be grasped based on the base information. In the present embodiment, the collection / delivery base that is the evacuation destination is referred to as an adjacent base in the sense of a collection / delivery base that is adjacent to the collection / delivery base that has been canceled. As shown in step S803, it is possible to at least grasp the collection / delivery base DS (integrated with the collection / delivery base DS or the adjacent station of the station ST adjacent to the collection / delivery base DS) that exists along the line 104 and is adjacent in the direction of the line 104. The adjacent base is determined based on the location information (base information) including the information. In the example of FIG. 1, for example, the adjacent bases of the collection / delivery base DS21 (station ST21) are the collection / delivery bases DS11, DS31, and DS22.

Then, as shown in step S804, the transportation plan searched in step S802 is updated to the transportation plan with the adjacent base as the goal. Here, the transportation plan to be updated is a transportation plan in which the flying object UV is being transported, but for example, a transportation plan before transportation may be partially or completely updated.

The transportation plan creation unit 13 has a plurality of transportation plans that have been created with the goal of the collection / delivery base DS in the state where the collection reception is stopped, and further, the collection / delivery base DS in the state where the collection reception is stopped has a plurality of adjacent bases. If you have one, you can create a transportation plan with each adjacent base as the goal, with a predetermined quantity. As described above, when a plurality of adjacent bases exist, the collection / delivery base DS (adjacent base), which is the goal in the updated transportation plan, may be determined by, for example, any of the following methods.

The transportation planning unit 13 receives the current position of the flying object UV being transported, and can set the adjacent base closest to the current position as a goal candidate. Here, it is preferable to verify whether it is possible to fly to the adjacent base as a candidate based on the time that can pass through the operating area. As a result of the verification, if it is determined that the passage cannot be passed, the same verification may be performed for the second candidate (that is, the adjacent base closest to the second).

Further, the transportation plan creating unit 13 may preferentially create a transportation plan with a certain adjacent base as a goal in order to consolidate a plurality of packages into a certain adjacent base. Here, all the luggage may be collected in an adjacent base. In this case, the adjacent bases to be aggregated may be specified in advance or at the time of updating, or may be determined based on, for example, resource information.

Further, the transportation plan creation unit 13 creates a transportation plan with a goal of a plurality of adjacent bases in order to distribute the load of the plurality of luggage at the adjacent bases, or prepares the transportation plan evenly according to the quantity of the luggage. Based on the site information, it may be created with the distribution according to the resources of the adjacent site.

Then, as shown in step S805, the flight control data creation unit 14 creates flight control data for the flying object UV to autonomously fly based on the updated transportation plan. Then, it is output to the communication network NW. In the present embodiment, the flight control data is passed to the flight body UV via the mobile radio communication network and / or the railway communication network (communication network NW), and the flight body UV has an updated collection / delivery base. Start transportation based on the transportation plan that was the goal.

1: Flight management device 10: Control unit 11: Operation information reception unit 12: Luggage information reception unit 13: Transportation plan creation unit 14: Flight control data creation unit 20: Storage unit 21: Base information storage unit 22: Flight object storage unit 23: Train information storage unit 24: Luggage information storage unit 25: Transportation plan storage unit 30: Communication unit 100: Management system 101: Operation management system 102: Base management device 103: Luggage management system 104: Line 111: Stop 112: Train 113: Transportation means 114: Home 115: Elevator 116: Elevator 121: Concourse part 131: Sorting place 132: Delivery place Transportation means 133: Arrangement part 141: Port 142: Guidance means 143: Roof part 144: Loading part 145: Door 146: Charging means DS: Collection / delivery base NW: Communication network ST: Station UV: Flying object

Claims (8)

It is a management system for transporting luggage using an air vehicle that autonomously flies based on flight control data.
The management system includes an operation information receiving unit, a transportation plan creating unit, a flight control data creating unit, and a base information storage unit.
The base information storage unit stores base information having information that can grasp the collection and delivery bases that are adjacent to each other in the direction of the railroad track for a plurality of collection and delivery bases located along the railroad track.
The operation information receiving unit is configured to be able to receive train operation information.
The transportation plan creation unit uses the operation information to create a transportation plan that includes movement on a railroad track at least in the flight route and has the collection and delivery base as a goal, and is set as a goal in the created transportation plan. If the collection / delivery base has stopped accepting collection, it is possible to create a transportation plan with the goal of an adjacent base that is another collection / delivery base adjacent to the collection / delivery base.
The flight control data creating unit creates the flight control data for the flying object to fly autonomously based on the transportation plan.
Management system. The transportation plan creation unit has a plurality of the transportation plans that have been created with the goal of the collection / delivery base in the state where the collection / delivery reception is stopped, and further, the plurality of the adjacent transportation plans to the collection / delivery base in the state where the collection / delivery reception is stopped. If there are bases, the transportation plan with each of the adjacent bases as the goal is created with a predetermined quantity.
The management system according to claim 1. The transportation plan creation unit preferentially creates the transportation plan with a certain adjacent base as a goal in order to consolidate the plurality of the packages into a certain adjacent base.
The management system according to claim 2. In order to disperse the load of the plurality of packages at the adjacent bases, the transportation plan creating unit creates the transportation plans with the goals of the plurality of the adjacent bases evenly distributed according to the quantity of the packages. Or, based on the site information, create an allocation according to the resources of the adjacent site.
The management system according to claim 2. The transportation planning unit creates the transportation plan for autonomous flight in the railway equipment territory based on the area including the area where the air vehicle can fly in the railway equipment territory.
The area includes a service area that is close to or may be in contact with the train operated by the aircraft.
The management system according to any one of claims 1 to 4 , wherein the transportation planning unit determines a flight timing capable of passing through the operation area based on the operation information and the operation area. When the start and goal collection and delivery bases register a transportation plan common to the registered transportation plans, the transportation plan creation unit can pass through the operation area determined in the registered transportation plans. Based on the above, the flight timing of the common transportation plan is determined, and based on the operation information, it is determined whether or not the flight timing is appropriate.
The management system according to claim 5. It is a management program for transporting luggage using an air vehicle that autonomously flies based on flight control data.
The computer functions as an operation information receiving unit, a transportation plan creating unit, a flight control data creating unit, and a base information storage unit.
The base information storage unit stores base information having information that can grasp the collection and delivery bases that are adjacent to each other in the direction of the railroad track for a plurality of collection and delivery bases located along the railroad track.
The operation information receiving unit is configured to be able to receive train operation information.
The transportation plan creation unit uses the operation information to create a transportation plan that includes movement on a railroad track at least in the flight route and has the collection and delivery base as a goal, and is set as a goal in the created transportation plan. If the collection / delivery base has stopped accepting collection, it is possible to create a transportation plan with the goal of an adjacent base that is another collection / delivery base adjacent to the collection / delivery base.
The flight control data creating unit creates the flight control data for the flying object to fly autonomously based on the transportation plan.
Management program. It is a management method for transporting luggage using an air vehicle that autonomously flies based on flight control data.
The management system stores the base information that has information that can grasp the collection and delivery bases that are adjacent in the direction of the railroad track for multiple collection and delivery bases located along the railroad track, as well as the operation information reception step and the transportation plan creation step. , running, and flight control data generating step,
The operation information receiving step is configured to be able to receive train operation information.
The transportation plan creation step uses the operation information to create a transportation plan that includes movement on a railroad track at least in the flight route and has the collection / delivery base as a goal, and is set as a goal in the created transportation plan. If the collection / delivery base has stopped accepting collection, it is possible to create a transportation plan with the goal of an adjacent base that is another collection / delivery base adjacent to the collection / delivery base.
The flight control data creation step creates the flight control data for the flying object to fly autonomously based on the transportation plan.
Management method.

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