JP7094741B2 - Mobile management system, its control method, and management server - Google Patents

Description

The present invention relates to a management system for managing the movement of a plurality of moving objects, a control method thereof, and a management server.

Patent Document 1 discloses a system, a method and a device capable of flying according to a flight restricted area (summary). In Patent Document 1, the position of an unmanned aerial vehicle (UAV) is compared with a restricted flight area. If necessary, the UAV will take steps to avoid entering the no-fly zone. Examples of flight restricted areas include airports ([0003], [0004]).

US Patent Application Publication No. 2015/0339931

As described above, in Patent Document 1, the position of the UAV is compared with the flight restricted area, and if necessary, the UAV takes measures to avoid entering the flight prohibited area (summary). Examples of flight restricted areas include airports ([0003], [0004]).

For flight restricted areas, it is possible to set multiple degrees of "restriction". For example, regarding the route to school where elementary school students are commuting to school, it is possible to prohibit flight only while commuting to school. In addition, it is conceivable that flights will be prohibited only during and before and after the concert at the outdoor concert venue and its surroundings. In other words, it is possible to dynamically change the flight restricted area (flight restricted area) according to the time zone or the number of people.

However, Patent Document 1 does not seem to consider dynamically changing the flight restricted area or the flight restricted place as the flight restricted point. These issues apply not only to flying objects but also to other autonomous moving objects (automobiles, ships, etc.) that move autonomously.

The present invention has been made in consideration of the above-mentioned problems, and provides a moving object management system, a control method thereof, and a management server capable of suitably performing dynamic changes in flight restricted locations. With the goal.

The management system according to the present invention is
At least one autonomous mobile unit with an autonomous control unit for moving from the starting point to the destination, and
It is provided with a movement management unit that communicates with the autonomous mobile body via a communication device and manages the movement of a plurality of mobile bodies including the autonomous mobile body.
The movement management unit receives external event information from an external device, which is information about an external event that is a temporary event or event performed between the departure place and the destination, and the movement management unit receives the external event information from the external device, and the movement management unit is based on the external event information. It is characterized by including a dynamic plan change unit that dynamically changes the movement plan or operation state of the autonomous moving body.

According to the present invention, the movement plan or operation state of the autonomous moving body is changed based on the external event information regarding the external event which is a temporary event or event performed between the starting point and the destination of the autonomous moving body. This makes it possible to reflect the influence of the external event on the movement plan or operation state of the autonomous moving body. Therefore, it is possible to preferably perform a dynamic change of the flight restricted place.

The external event information may include the degree of congestion of the external event or the traffic volume associated with the external event. This makes it possible to accurately reflect the influence of the external event on the movement plan or operation state of the autonomous moving body.

The external event information may include valuation information of goods existing at the venue of the external event. As a result, for example, when an expensive item is placed at the venue of an external event, it can be reflected in the movement plan or operation state of the autonomous moving body.

When the external event information is received from the external device, the movement management unit determines the temporary movement restriction place as an area or a point where the movement of the autonomous moving body is temporarily restricted based on the external event information. It may be set. Further, the movement management unit may change the movement plan or the operation state of the autonomous moving body based on the temporary movement restriction location. This makes it possible to change the movement plan or operating state of the autonomous moving body in consideration of the temporary movement restricted place.

The management system may include a priority database accumulating mobile priority, which is a priority for each individual or each type of the plurality of mobiles. Further, the movement management unit may change the movement plan or the operation state of the autonomous moving body based on the moving body priority. This makes it possible to reflect the moving body priority in the moving plan or operating state of the autonomous moving body.

When calculating the scheduled route of the autonomous moving body, the movement management unit calculates the candidate of the scheduled route, and on the candidate of the scheduled route, the scheduled movement time or the scheduled movement time zone of the autonomous moving body is set. When the external event is performed, the scheduled travel time or the scheduled travel time zone may be shifted to calculate the scheduled route. This makes it possible to move the autonomous moving body while avoiding external events in time.
The candidate route may be the shortest route from the departure point to the destination.
The external event information may include information including the degree of congestion transmitted from the application terminal applying for the external event, or the communication amount of the communication terminal indicating the degree of congestion at the place of the external event.
The external event information includes the information including the degree of congestion transmitted from the application terminal for applying for the external event, and the management system permits or disapproves the application for the external event transmitted from the application terminal. A determination unit for determining permission may be further provided.
When the determination unit permits the application, the determination unit may send a permission notification to the application terminal.
The application terminal may have a display unit on which an application screen including a point input image of the external event is displayed.
The point input image may be an image for the applicant of the external event to input a point where the external event is desired to be performed.
The scheduled route of the autonomous moving body may be further displayed on the application screen.
It may further have a storage unit in which the external event information is stored.

The control method according to the present invention is
At least one autonomous mobile unit with an autonomous control unit for moving from the starting point to the destination, and
It is a control method of a management system including a movement management unit that communicates with the autonomous mobile body via a communication device and manages the movement of a plurality of mobile bodies including the autonomous mobile body.
The dynamic plan change unit of the movement management unit is
Receives external event information from an external device, which is information about an external event that is a temporary event or event that takes place between the departure point and the destination.
It is characterized in that the movement plan or operation state of the autonomous moving body is dynamically changed based on the external event information.

The management server according to the present invention communicates with at least one autonomous mobile body provided with an autonomous control unit for moving from a departure point to a destination, and manages the movement of a plurality of mobile bodies including the autonomous mobile body. It ’s a thing,
The management server receives external event information from an external device, which is information about an external event that is a temporary event or event performed between the departure place and the destination, and autonomously based on the external event information. It is characterized by including a dynamic plan change unit that dynamically changes the movement plan or operation state of the moving body.

According to the present invention, it is possible to suitably perform a dynamic change of a flight restricted place.

It is an overall block diagram which shows the outline of the management system which concerns on one Embodiment of this invention. In the above-described embodiment, it is a flowchart which shows the outline when the product ordered from the customer is delivered by the delivery drone. It is a flowchart of the control at the time of order of the said embodiment. It is a flowchart (detail of S75 of FIG. 3) which calculates a planned route in the control at the time of order of the said embodiment. FIG. 5A is a first explanatory diagram illustrating the calculation of the route evaluation value in the embodiment, and FIG. 5B is a second explanatory diagram illustrating the calculation of the route evaluation value in the embodiment. It is a figure which shows the example of the said planned route set by the control at the time of order of the said embodiment. In the above-described embodiment, it is a flowchart which shows the outline of the flow when the application for the external event is made to the traffic management server. It is a flowchart of the external event-related control in the said embodiment. It is a figure which shows an example of the external event application screen in the said embodiment. It is a figure which shows an example of the change of the event area image in the said embodiment.

A. One Embodiment <A-1. Configuration>
[A-1-1. overall structure]
FIG. 1 is an overall configuration diagram showing an outline of a management system 10 according to an embodiment of the present invention. The management system 10 includes a plurality of ordering terminals 20, at least one service management server 22 (hereinafter, also referred to as “service server 22”), and at least one traffic management server 24 (hereinafter, also referred to as “traffic server 24”). It has a plurality of delivery drones 26, a plurality of application terminals 28, a plurality of entertainment drones 30, a plurality of remote controllers 32, and at least one communication management server 34. The service server 22 and the traffic server 24 constitute a movement management unit 40.

FIG. 1 shows only one ordering terminal 20, a service server 22, a transportation server 24, a delivery drone 26, an application terminal 28, an entertainment drone 30, a remote controller 32, and a communication management server 34. In the management system 10, the delivery drone 26 delivers the product G based on the order information Iodor of the product G input via the order terminal 20.

In addition, a flight permit application for the entertainment drone 30 is made from the application terminal 28 to the transportation server 24. If the flight permit application is approved, the user of the entertainment drone 30 can fly the entertainment drone 30 via the remote controller 32 according to the permitted conditions. The scheduled route RTp of the delivery drone 26 is changed in accordance with the external event E such as the flight of the entertainment drone 30.

Communication is possible via the Internet 60 between the ordering terminal 20 and the service server 22, between the service server 22 and the traffic server 24, between the traffic server 24 and the application terminal 28, and between the traffic server 24 and the communication management server 34. be. Further, communication is possible between the service server 22 and the delivery drone 26 via the Internet 60 and the wireless relay station 62. Communication is possible between the entertainment drone 30 and the remote controller 32 via wireless communication (radio wave communication or the like).

[A-1-2. Ordering terminal 20]
The ordering terminal 20 is a first external device that accepts an order from a first user (orderer) for the product G handled by the service server 22. The ordering terminal 20 is composed of, for example, a personal computer or a smartphone. The ordering terminal 20 has a first display unit 70.

[A-1-3. Service management server 22]
The service management server 22 is a server managed by a specific company, and manages orders, inventory management, and delivery management of the company. In order management, an order (service request) from the order terminal 20 is accepted. In inventory management, inventory management of product G is performed. In the delivery management, the delivery of the product G (movement of a plurality of delivery drones 26) is managed.

As shown in FIG. 1, the service server 22 includes an input / output unit 80, a communication unit 82, a calculation unit 84, and a storage unit 86. The communication unit 82 can communicate with the ordering terminal 20, the transportation server 24, the delivery drone 26, etc. via the Internet 60.

The arithmetic unit 84 includes a central processing unit (CPU) and operates by executing a program stored in the storage unit 86. Some of the functions executed by the arithmetic unit 84 can also be realized by using a logic IC (Integrated Circuit). The arithmetic unit 84 may also configure a part of the program with hardware (circuit parts).

The calculation unit 84 has a delivery management unit 90 and a flight control unit 92. The delivery management unit 90 manages the delivery of the product G. The flight control unit 92 controls the flight of the delivery drone 26. The delivery management unit 90 has a dynamic plan change unit 100 that dynamically changes the movement plan and operation state of each delivery drone 26 based on the external event information Iee (described later). The dynamic programming change unit 100 has a route calculation unit 110 that calculates the planned route RTp of each delivery drone 26.

The storage unit 86 stores programs and data used by the arithmetic unit 84, and includes a random access memory (hereinafter referred to as “RAM”). As the RAM, a volatile memory such as a register and a non-volatile memory such as a hard disk and a flash memory can be used. Further, the storage unit 86 may have a read-only memory (ROM) in addition to the RAM.

The storage unit 86 includes an order database 120 (hereinafter referred to as “order DB 120”), an inventory database 122 (hereinafter referred to as “inventory DB 122”), a mobile database 124 (hereinafter referred to as “mobile DB 124”), and a first. It has one map database 126 (hereinafter referred to as "first map DB 126") and a delivery database 128 (hereinafter referred to as "delivery DB 128").

The order DB 120 stores information (order information Iodor) regarding an order received via each order terminal 20. The inventory DB 122 stores information about inventory (inventory information Istk). The mobile DB 124 stores the individual information Ii regarding the delivery drone 26. Further, the individual information Ii includes, for example, the identification information (identification ID) of the delivery drone 26, the type (small size, large size, etc.), the maximum load weight, and the maximum size of the load that can be loaded. In addition, the individual information Ii may include any one or more of the number of packages that can be loaded, the maximum number of people that can be used, the fuel consumption, the maximum speed, the number of years of operation, the total distance traveled, and the current position of the delivery drone 26.

The first map DB 126 stores map information (first map information Imap1) for delivery by the delivery drone 26. The first map information Imap1 includes location information of an approach restricted area that requires entry permission by the traffic server 24.

The delivery DB 128 stores information (delivery information Id) regarding the delivery of the ordered product G. The delivery information Id also includes information about the delivery drone 26 that delivers the product G.

[A-1--4. Traffic management server 24]
The traffic management server 24 manages information (traffic information It) related to traffic (flight) of a plurality of moving objects (delivery drone 26, entertainment drone 30, etc.). For example, when the traffic server 24 receives a flight permit application for each moving object from the service server 22 or the application terminal 28, the traffic server 24 determines whether or not to permit the flight permit application, and permits or disallows the flight permit application according to the determination result. Is notified to the service server 22 or the application terminal 28. Further, the traffic server 24 notifies the service server 22 or the application terminal 28 of various information about the mobile body.

As shown in FIG. 1, the traffic management server 24 includes an input / output unit 130, a communication unit 132, a calculation unit 134, and a storage unit 136. The communication unit 132 can communicate with the service server 22, the application terminal 28, the communication management server 34, and the like via the Internet 60.

The arithmetic unit 134 includes a CPU and operates by executing a program stored in the storage unit 136. Some of the functions executed by the arithmetic unit 134 can also be realized by using a logic IC. The arithmetic unit 134 may also configure a part of the program with hardware (circuit parts).

As shown in FIG. 1, the arithmetic unit 134 has an event-related control unit 150 that executes event-related control. The event-related control is a control in which the traffic server 24 responds when an application for an external event E is made via the application terminal 28.

The storage unit 136 stores the program and data used by the calculation unit 134, and includes a RAM. Further, the storage unit 136 may have a ROM in addition to the RAM. The storage unit 136 includes a second map database 160 (hereinafter referred to as “second map DB 160”), a flight schedule database 162 (hereinafter referred to as “flight schedule DB 162”), and an external event database 164 (hereinafter referred to as “external event DB 164”). Or it has "event DB 164").

The second map DB 160 stores map information (second map information Imap2) related to traffic (flight) of a plurality of moving objects (delivery drone 26, entertainment drone 30, etc.). The flight schedule DB 162 stores information (flight schedule information Isc) regarding the flight schedule of each moving body. The event DB 164 stores information about the external event E (external event information Iee).

[A-1-5. Delivery drone 26]
(A-1-5-1. Outline of delivery drone 26)
The delivery drone 26 (autonomous mobile body) is for product delivery, and is delivered from the departure point Pst (warehouse, etc.) according to the delivery command (flight command) received from the service server 22 via the Internet 60 and the wireless relay station 62. Deliver the product G to the destination Pdtar.

As shown in FIG. 1, the delivery drone 26 has a first sensor group 170, a first communication device 172, a first drone control device 174, and a first propeller drive unit 176.

(A-1-5-2. First sensor group 170)
The first sensor group 170 includes a first camera, a first global positioning system sensor (hereinafter referred to as “first GPS sensor”), a speedometer, an altimeter, a gyro sensor (none of which is shown) and the like.

The first camera is arranged at the lower part of the main body of the delivery drone 26, and outputs the image information Image 1 regarding the peripheral image obtained by capturing the periphery of the delivery drone 26. The first camera is a video camera that shoots moving images. Alternatively, the first camera may be capable of capturing both moving images and still images, or only still images. The orientation of the first camera (the posture of the first camera with respect to the main body of the delivery drone 26) can be adjusted by a camera actuator (not shown). Alternatively, the position of the first camera may be fixed with respect to the main body of the delivery drone 26.

The first GPS sensor outputs the position information Ipdcur regarding the current position Pdcur of the delivery drone 26. The speedometer detects the flight speed Vd [km / h] of the delivery drone 26. The altimeter detects the altitude above ground level H (hereinafter, also referred to as “altitude H”) [m] as the distance to the ground below the delivery drone 26. The gyro sensor detects the angular velocity ω [rad / sec] of the delivery drone 26. The angular velocity ω includes an angular velocity Y (yaw Y) with respect to the vertical axis, an angular velocity P (pitch P) with respect to the left and right axes, and an angular velocity Ro (roll Ro) with respect to the front-rear axis.

(A-1-5-3. First communication device 172)
The first communication device 172 is capable of radio wave communication with a radio relay station 62 or the like, and includes, for example, a radio wave communication module. The first communication device 172 can communicate with the service server 22 and the like via the wireless relay station 62 and the Internet 60.

(A-1-5-4. First drone control device 174)
The first drone control device 174 (autonomous control unit) controls the entire delivery drone 26, such as flight and shooting of the delivery drone 26. The first drone control device 174 autonomously moves (flies) the delivery drone 26 from the departure point Pst to the destination Ptar. The first drone control device 174 includes an input / output unit, a calculation unit, and a storage unit (not shown).

(A-1-5-5.5. First propeller drive unit 176)
The first propeller drive unit 176 has a plurality of propellers and a plurality of propeller actuators. The propeller actuator has, for example, an electric motor.

[A-1-6. Application terminal 28]
The application terminal 28 is a second external device that applies for a flight permit for the entertainment drone 30 to the transportation server 24. Further, the application terminal 28 can confirm the flight schedule and the like of each aircraft even when the flight permit application is not made. The application terminal 28 is composed of, for example, a personal computer or a smartphone. The application terminal 28 has a second display unit 180.

[A-1-7. Entertainment drone 30 and remote controller 32]
The entertainment drone 30 (autonomous mobile body) is for entertainment or hobby, and flies according to the user's operation with respect to the remote controller 32. The entertainment drone 30 has a second sensor group (not shown), a second communication device, a second drone control device, a second propeller drive unit, and the like. The remote controller 32 operates the flight of the entertainment drone 30 via wireless communication (radio wave communication or the like) with the second communication device.

[A-1-8. Communication management server 34]
The communication management server 34 manages communication in a specific area, and has an input / output unit, a communication unit, a calculation unit, and a storage unit (not shown). The communication management server 34 of the present embodiment monitors the communication amount Qc at the location Lee of the external event E. The communication volume Qc is detected by the radio waves of the mobile phone and the smartphone (neither shown) used at the location Lee of the external event E. The communication amount Qc is used as an index indicating the degree of congestion Dcr of the place Lee.

<A-2. Control of this embodiment>
[A-2-1. At the time of ordering and delivery]
(A-2-1-1. Outline of flow at the time of ordering and delivery)
FIG. 2 is a flowchart showing an outline when the product G ordered by the customer is delivered by the delivery drone 26 in the present embodiment. In step S11, the ordering terminal 20 accepts an order according to the operation of the customer.

Specifically, the ordering terminal 20 displays the ordering screen on the first display unit 70 according to the operation of the customer. The data on the ordering screen is obtained from the service management server 22. Further, when displaying the ordering screen, the service server 22 confirms the inventory quantity of the product G to be ordered. If it is out of stock, the service server 22 also displays that fact. When there is an order, the ordering terminal 20 receives the order from the customer and transmits it to the service management server 22.

Move on to the processing of the service server 22. In step S21, the service server 22 calculates the delivery drone 26 (hereinafter, also referred to as “target drone 26 tar”) and the scheduled route RTp that actually deliver according to the order information Iodor received by the order terminal 20. The delivery drone 26 and the planned route RTp may be calculated before ordering and may be confirmed at the time of ordering. Further information regarding the calculation of the planned route RTp will be described later.

In step S22, whether or not the service server 22 requires the permission of the traffic server 24 for the planned route RTp (in other words, whether or not the portion requiring the permission of the traffic server 24 is included in the planned route RTp). Is determined based on the first map information Imap1. The portion that requires the permission of the traffic server 24 includes, for example, the flight restricted area Rlim.

When the permission of the traffic server 24 is required (S22: TRUE), the permission application for the planned route RTp is transmitted to the traffic management server 24 in step S23. The permission application is given an identification ID of the target delivery drone 26. After transmitting the permission application, in step S24, the service server 22 monitors whether or not the result notification from the traffic management server 24 has been received.

Move on to the processing of the traffic management server 24. The traffic management server 24 that has received the permission application (S23) from the service server 22 determines in step S31 whether the received permission application is permitted or disapproved. For example, if the planned route RTp includes a temporary flight prohibited area Rban, the traffic server 24 disallows the permission application. In addition, if one or more other flying objects (other aircraft) such as the delivery drone 26 are scheduled to pass through a part of the scheduled route RTp at the same time as themselves (own aircraft), the transportation server 24 applies for permission. Is disallowed. On the other hand, if there is no reason not to allow the delivery drone 26 to fly on the planned route RTp, the transportation server 24 permits the permission application.

When permitting the permission application (S31: TRUE), in step S32, the traffic management server 24 transmits a permission notification to the service server 22. When the permission application is not permitted (S31: FALSE), in step S33, the traffic management server 24 transmits a disapproval notification to the service server 22. The reason for the disapproval (for example, the planned route RTp passes through the flight prohibited area Rban, the position of the flight prohibited area Rban, etc.) is also added to the disapproval notification.

The process of the service server 22 is started again. If the result received from the traffic management server 24 indicates permission (S24: TRUE), the process proceeds to step S25. If the result received from the traffic management server 24 indicates disapproval (S24: FALSE), the process returns to step S21. Then, the service server 22 calculates a new scheduled route RTp according to the reason for the disapproval included in the result. For example, when the reason for the disapproval is that the planned route RTp passes through the flight prohibited area Rban, the service server 22 calculates a new planned route RTp that avoids the flight prohibited area Rban (S21). Then, the service server 22 applies for a flight permit again as needed (S23).

In step S25, the service server 22 transmits a delivery command to the delivery drone 26 that delivers the product G. The delivery command includes information on the planned route RTp. The movement route RTf is a route (outbound route) from the departure point Pst, which is the current position Pdcur of the delivery drone 26 (for example, a warehouse (not shown)) to the delivery destination Pdtar, and a route from the delivery destination Pdtar to the return destination Prtar (for example,). Return trip) is included.

When the delivery drone 26 needs to stop at a warehouse, a sales office, etc. for delivery, the planned route RTp may include a route from the current position Pdcur to the warehouse, etc. Alternatively, when the delivery drone 26 needs to stop at a warehouse or the like for delivery, the route to the warehouse, the sales office or the like may be set as the planned route RTp. In that case, a route to the delivery destination Pdtar and a route to the return destination Pratar (return route) may be set as the new scheduled route RTp. As will be described later, the delivery command can be transmitted by another method instead of being directly transmitted from the service server 22 to the delivery drone 26.

Move on to the processing of each delivery drone 26. The delivery drone 26 monitors whether or not a delivery command (S25) has been received from the service server 22. Upon receiving the delivery command, the delivery drone 26 starts delivery control in step S51 of carrying the product G from the warehouse or the sales office to the delivery destination Pdtar and then returning to the return destination Pratar.

(A-2-1-2. Control at the time of ordering by the service management server 22)
(A-2-1-2-1. Outline of control at the time of ordering)
FIG. 3 is a flowchart of the control at the time of receiving an order according to the present embodiment. As described above, the order control is a control for managing the order for the product G and the delivery by the delivery drone 26, and is executed by the calculation unit 84 of the service server 22.

In step S71 of FIG. 3, the service server 22 causes the ordering terminal 20 to display the ordering screen in response to the request from the ordering terminal 20. In other words, the service server 22 transmits the data of the ordering screen to the ordering terminal 20 in response to the request from the ordering terminal 20. The ordering terminal 20 that has received the data on the ordering screen causes the first display unit 70 to display the ordering screen.

In step S72, the service server 22 determines whether or not the product G has been ordered. As described above, the ordering terminal 20 accepts the order according to the operation of the customer and transmits the ordering information Iodor to the service server 22 (S11 in FIG. 2). Therefore, when the service server 22 receives the ordering information Iodor from the ordering terminal 20, it determines that the product G has been ordered. When the order is received (S72: TRUE), the process proceeds to step S73. If no order has been received (S72: FALSE), the process returns to step S71.

In steps S73 to S75, the service server 22 calculates the delivery drone 26 (target drone 26tar) that actually delivers and its planned route RTp. That is, in step S73, the service server 22 acquires the delivery information Id necessary for calculating the target drone 26tar and the planned route RTp. The delivery information Id includes the delivery location, delivery deadline, dimensions, weight, etc. of the product G (luggage).

In step S74, the service server 22 selects the delivery drone 26 (target drone 26tar) used for delivery of the product G based on the delivery information Id. For example, the delivery drone 26 is locally limited based on the delivery location included in the delivery information Id. For example, when delivering to the area A, the service server 22 extracts the delivery drone 26 currently located in the area A.

Further, based on the dimensions and weight of the product G included in the delivery information Id, the delivery drone 26 is limited based on the performance (attribute) of each individual. For example, when the product G is a large package having the first dimension or more, the large delivery drone 26 is extracted and the small delivery drone 26 is excluded. On the other hand, when the product G is a small package smaller than the first dimension, both the large and small delivery drones 26 are extracted. In the present embodiment, when delivering a small package smaller than the first dimension by itself, basically, the small delivery drone 26 is selected.

In step S75, the service server 22 calculates the planned route RTp of the target drone 26tar. At that time, the service server 22 uses the flight restriction area Rlim stored in the first map DB 126. For example, when the flight restriction area Rlim is not included in the shortest air route RTmin from the departure point Pst to the delivery destination Pdtar, the shortest air route RTmin is set as the planned route RTp. When the flight restricted area Rlim is included in the shortest aerial route RTmin, the planned route RTp according to the restriction content of the flight restricted area Rlim is set.

The flight restricted area Rlim is an area where the flight of the delivery drone 26 is restricted, and includes a flight prohibited area Rban and a conditional flight permitted area Ralw. The flight prohibited area Rban is an area where the delivery drone 26 is prohibited from flying. Further, in the conditional flight permission area Ralw, the flight of the delivery drone 26 is permitted only when a predetermined condition (flight permission condition CNalw) is satisfied, and when the flight permission condition CNalw is not satisfied, the flight of the delivery drone 26 is prohibited. Area. The flight permit condition CNalw includes, for example, a time zone or a specific use (emergency use, etc.).

The flight restriction area Rlim is defined in three-dimensional directions (front-back direction, left-right direction, and up-down direction). Alternatively, the flight restriction region Rlim may be defined in the two-dimensional directions (front-back direction and left-right direction). When the flight restricted area Rlim is defined in the three-dimensional direction, for example, the flight restricted area Rlim includes not only the front-back direction and the left-right direction (current position Pdcur defined by latitude and longitude) but also the vertical direction (altitude H). Set.

When the flight prohibited area Rban is included in the shortest aerial route RTmin, the shortest route among the aerial routes avoiding the flight prohibited area Rban is set as the planned route RTp. Further, when the shortest aerial route RTmin includes the conditional flight permission area Ralw and the flight permission condition CNalw is satisfied, the service server 22 sets the shortest aerial route RTmin as the scheduled route RTp. Further, when the shortest aerial route RTmin includes the conditional flight permission area Ralw and the flight permission condition CNalw is not satisfied, the service server 22 plans the shortest route among the aerial routes avoiding the conditional flight permission area Ralw. Let the route RTp.

When there are a plurality of flight restricted area Rlims on the shortest aerial route RTmin, the planned route RTp is calculated separately for the case of passing through each flight restricted area Rlim and the case of detouring. The planned route RTp is a route used by the target drone 26tar for delivery of the product G, and includes an outward route and a return route.

In step S76, the service server 22 transmits a delivery command to the delivery drone 26. The delivery command includes the planned route RTp. Step S76 corresponds to step S25 in FIG.

(A-2-1-2-2. Calculation of planned route RTp (S75 in FIG. 3))
(A-2-1-2-2-1. Outline of calculation of planned route RTp)
FIG. 4 is a flowchart (details of S75 in FIG. 3) for calculating the planned route RTp (outbound route) in the control at the time of receiving an order in the present embodiment. In step S91, the service server 22 sets the scheduled delivery time Tpd based on the delivery deadline of the delivery information Id and the like. In step S92, the route option RTop is calculated based on the departure point Pst and the delivery destination Pdtar. The route option RTop is a route connecting the departure point Pst and the delivery destination Pdtar (a route between the departure point Pst and the delivery destination Pdtar), and is positioned as a primary candidate for the planned route RTp.

In addition, "between the departure place Pst and the delivery destination Pdtar" is not only a linear route (or the shortest route) connecting the departure place Pst and the delivery destination Pdtar in the two-dimensional plane map, but also a curved route (or a curved route). Detour) can be included. In other words, the route option RTop can be set as any route that can be used as a route connecting the departure point Pst and the delivery destination Pdtar.

First, the service server 22 sets the shortest aerial route RTmin from the departure point Pst to the delivery destination Pdtar as the route option RTop. However, when the flight prohibited area Rban is included in the shortest aerial route RTmin, the shortest route among the aerial routes avoiding the flight prohibited area Rban is set as the route option RTop.

When the flight restricted area Rlim other than the flight prohibited area Rban is included in the shortest aerial route RTmin, the shortest route (detour route) among the shortest aerial route RTmin and the aerial route avoiding the flight restricted area Rlim. Both are route option RTops. If there are two or more flight restricted area Rlims other than the flight prohibited area Rban on the shortest aerial route RTmin, the route option RTop is used for each case of passing or detouring for each flight restricted area Rlim. ..

In step S93, the service server 22 calculates the route evaluation value Q for each of the route option RTops. The route evaluation value Q is an evaluation value for calculating a route candidate RTcan (or a planned route RTp). In the present embodiment, the lower the route evaluation value Q, the better the route option RTop. The method of calculating the route evaluation value Q will be described later with reference to FIGS. 5A and 5B.

In step S94, the service server 22 selects the route option RTop having the smallest route evaluation value Q as the route candidate RTcan. The route candidate RTcan is a secondary candidate for the planned route RTp.

In step S95, the service server 22 calculates the scheduled transit time Tpp in which the delivery drone 26 passes through each point of the route candidate RTcan. In step S96, the service server 22 determines whether or not the external event area Ree exists on the route candidate RTcan at the scheduled passage time Tpp (in other words, the route candidate RTcan is the external event area at the scheduled passage time Tpp) at each point. Whether or not it is included in Ree) is determined. It is also possible to use a scheduled transit time zone (scheduled travel time zone) instead of the scheduled transit time Tpp.

When the external event area Ree does not exist on the route candidate RTcan at the scheduled passage time Tpp (S96: TRUE), the service server 22 sets the route candidate RTcan as the scheduled route RTp in step S97. When the external event area Ree exists on the route candidate RTcan at the scheduled passage time Tpp (S96: FALSE), the process proceeds to step S98.

In step S98, the service server 22 determines whether or not the scheduled delivery time Tpd cannot be changed. Specifically, when the delivery time zone TSd as the time zone for delivering the product G is determined, it is determined whether or not the scheduled delivery time Tpd is delayed and the delivery time zone TSd is deviated. When the scheduled delivery time Tpd can be changed (S98: FALSE), in step S99, the service server 22 changes the scheduled delivery time Tpd and returns to step S92. In step S92, the route option RTop is calculated based on the changed scheduled delivery time Tpd.

When the scheduled delivery time Tpd cannot be changed (S98: TRUE), in step S100, the service server 22 sets the route candidate RTcan having the smallest route evaluation value Q as the scheduled route RTp. As will be described later, it is also possible to calculate the route evaluation value Q for routes other than the above.

(A-2-1-2-2-2. Calculation of route evaluation value Q (S93 in FIG. 4))
As described above, the route evaluation value Q (hereinafter, also referred to as “evaluation value Q”) is an evaluation value for calculating the planned route RTp. In this embodiment, the lower the evaluation value Q, the better the route option RTop.

The evaluation value Q is calculated by the following formula (1).
Q = ∫C (x, y, t) * R (x, y, t) dt (1)

In the above equation (1), x and y indicate the longitude (X coordinate) and the latitude (Y coordinate) when the first map information Imap1 is shown on the two-dimensional plane. Further, t indicates a time (Z coordinate). The longitude x and the latitude y are determined every time t as points on the route option RTop. C is a cost indicating the valuation amount of the article existing in the place Lee of the external event E. The cost C is a function of x, y, t. The cost C is calculated based on the external event information Iee input by the user (event planner or the like) of the application terminal 28. For example, when the external event E is an outdoor event of a sports car, the cost C becomes large reflecting the cost of each sports car.

R of the formula (1) is a risk when the delivery drone 26 passes through the external event area Ree. Risk R is a function of x, y, t. The risk R is calculated based on the external event information Iee. The external event information Iee here includes information input to the application terminal 28 by the user (event planner) of the application terminal 28 and information acquired by the service server 22 from the communication management server 34. The external event information Iee from the communication management server 34 includes the communication amount Qc at the location Lee of the external event E. The communication amount Qc is used as an index indicating the degree of congestion Dcr in the place Lee.

5A and 5B are first and second explanatory diagrams illustrating the calculation of the route evaluation value in the embodiment. 5A and 5B show the cost C and the risk R at a specific time point (time t = t1). In the actual first map DB 126, the cost C and the risk R corresponding to the longitude x and the latitude y are stored for each of the time t.

In FIGS. 5A and 5B, since the Z axis corresponds to the time t, the route option RTop moves to the upper side of the Z axis as the time t advances. Each circle 200 in FIG. 5A shows the cost C corresponding to the external event E. The closer to the center of each circle 200, the higher the cost C. Further, each circle 202 in FIG. 5B shows the risk R corresponding to the external event E. The closer to the center of each circle 202, the higher the risk R.

FIG. 6 is a diagram showing an example of a planned route RTp set by the order-order control of the present embodiment. In FIG. 6, the departure point Pst and the delivery destination Pdtar of the delivery drone 26 are shown. Further, there is an external event area Ree between the departure point Pst and the delivery destination Pdtar.

"Between the departure point Pst and the delivery destination Pdtar" here is not only on the straight route (shortest route) connecting the departure point Pst and the delivery destination Pdtar on the two-dimensional plane map, but also on the curved route (detour). Can also be included. In other words, if the external event area Ree exists on any route that can be used as a route connecting the departure point Pst and the delivery destination Pdtar, "an external event area is located between the departure point Pst and the delivery destination Pdtar." Ree exists. "

In addition, even if all the routes that can be used do not pass directly above the external event area Ree and the external event area Ree exists in the vicinity of any of the routes, "the departure point Pst and the delivery destination Pdtar" There is an external event area Ree in between. " "Neighborhood" depends on whether the movement of the delivery drone 26 (moving body) affects the external event E or the external event E affects the movement of the delivery drone 26 (moving body). Set.

The external event area Ree here is, for example, the planned flight area of the entertainment drone 30. The shortest aerial route RTmin of the departure point Pst and the delivery destination Pdtar is the route RTp1.

However, at the scheduled passage time Tpp, the external event region Ree exists on the shortest aerial route RTmin (route RTp1). Therefore, the service server 22 sets the route RTp2 avoiding the external event area Ree as the scheduled route RTp of the delivery drone 26. On the other hand, when the external event area Ree no longer exists on the shortest aerial route RTmin due to the end of the usage time of the external event area Ree, the service server 22 selects the route RTp1 as the scheduled route RTp of the delivery drone 26. can do.

For example, from the viewpoint of giving priority to the entertainment drone 30 (drone for personal use) over the delivery drone 26 (drone for business use), the external event area Ree can be handled by another method. For example, the external event area Ree for the entertainment drone 30 may be set as the flight prohibited area Rban for the delivery drone 26 regardless of the scheduled delivery time Tpd.

[A-2-2. When applying for external event E]
(A-2-2-1. Outline of the flow when applying for external event E)
FIG. 7 is a flowchart showing an outline of the flow when an application for an external event E is made to the traffic management server 24 in the present embodiment. In step S201, the application terminal 28 accepts the application for the external event E according to the operation of the user (applicant).

Specifically, the application terminal 28 displays the external event application screen 300 (FIG. 9) on the second display unit 180 according to the operation of the user. The data Das of the external event application screen 300 (hereinafter, also referred to as “application screen 300”) is acquired from the traffic server 24. Further, the traffic server 24 displays the external event area Ree on the application screen 300. When there is an application for the external event E (specifically, an input of the external event information Iee and a transmission request operation), the application terminal 28 transmits the external event information Iee to the traffic server 24. The external event information Iee includes the location Lee of the external event E, the time Te or time zone TS when the external event E is performed, and the degree of congestion Dcr (the number of people involved in the external event E).

Move on to the processing of the traffic management server 24. The traffic server 24, which has received the application (S201) for the external event E from the application terminal 28, determines in step S211 whether the received application is permitted or disapproved. For example, if the location Lee of the external event E is in the event prohibited area Reban, the traffic server 24 disallows the application. Further, if the applied location Lee of the external event E already overlaps with the location Lee of another external event E, the traffic server 24 disallows the application. On the other hand, if there is no reason not to approve the external event E, the transportation server 24 approves the application.

When the application is not permitted (S211: FALSE), in step S212, the traffic server 24 transmits a disapproval notification to the application terminal 28. The reason for the disapproval (for example, the location Lee of the external event E is in the event prohibited area Reban, the position of the event prohibited area Reban, etc.) is also added to the disapproval notification. The application terminal 28 that has received the disapproval notice displays the content of the disapproval notice on the second display unit 180 (S202). The user (applicant) who sees this display considers the content of the disapproval notice and applies for the external event E again as necessary (S201).

When permitting the application (S213: TRUE), in step S213, the traffic server 24 transmits a permission notification to the application terminal 28. The application terminal 28 that has received the permission notification displays the content of the permission notification on the second display unit 180 (S203). Further, in step S214, the traffic server 24 transmits the external event information Iee as the permission content to the service server 22.

The service server 22 to which the external event information Iee is transmitted is a service server 22 that manages the delivery drone 26 that is affected by the scheduled route RTp by the permission of the application. Whether or not the planned route RTp is affected by the permission of the application is determined based on the flight schedule information Isc of the flight schedule DB 162. However, when there is only one service server 22, it is not necessary for the transportation server 24 to select the service server 22.

The service server 22 that has received the external event information Iee from the traffic server 24 determines in step S221 whether or not the scheduled route RTp needs to be changed. Then, when it is determined that the change is necessary, the service server 22 calculates a new scheduled route RTp. The method for calculating the new planned route RTp is basically the same as in FIG. However, the calculation of the new planned route RTp is performed by newly adding the external event area Ree based on the external event E indicated by the external event information Iee. The new external event area Ree will be treated as one of the flight restricted areas Rlim. The external event information Iee notified from the traffic server 24 is registered in the first map DB 126.

In step S222, the service server 22 transmits a change command notifying the new scheduled route RTp to the delivery drone 26. Upon receiving the change command (new scheduled route RTp) from the service server 22, the delivery drone 26 changes the scheduled route RTp in step S231 and delivers along the new scheduled route RTp.

(A-2-2-2. External event-related control by the traffic management server 24)
(A-2-2-1. Outline of external event-related control)
FIG. 8 is a flowchart of the external event-related control in the present embodiment. As described above, the external event-related control is a control in which the traffic server 24 responds when an application for the external event E is made via the application terminal 28, and the event-related control unit 150 of the traffic server 24 takes action. Run. In step S251, the traffic server 24 determines whether or not there is a request for transmission of the application screen data Das of the external event E. If there is no transmission request (S251: FALSE), the process proceeds to step S252.

In step S252, the traffic server 24 performs data update processing. The data update process is a process for updating the application screen data Das. In the present embodiment, the external event area Ree is set according to the time Te or the time zone TSe of the external event E. Therefore, by the data update process, the traffic server 24 reflects the latest state of the external event area Ree based on the external event information Iee. In addition, in the external event information Iee here, in addition to the information stored in the external event DB 164 (location Lee of the external event E, time Te when the external event E is performed, time zone TS, priority PR, etc.) , Information newly acquired from the communication management server 34 (communication amount Qc, etc.) is also included. After step S252, the process returns to step S251.

When there is a transmission request for the application screen data Das of the external event E (S251: TRUE), in step S253, the traffic server 24 transmits the application screen data Das to the application terminal 28 that has transmitted the transmission request. The application screen 300 will be described later with reference to FIGS. 9 and 10.

In step S254, the traffic server 24 determines whether or not the application for the external event E has been received via the application terminal 28 (in other words, whether or not the external event information Iee has been received). When the application for the external event E is received (S254: TRUE), the process proceeds to step S255. If the application for the external event E is not received (S254: FALSE), step S254 is repeated.

In step S255, the traffic server 24 determines whether or not the application is permitted. Specifically, it is determined whether or not any flight schedule information Isc (or an air vehicle such as a delivery drone 26) stored in the flight schedule DB 162 is affected by the permission of the application. If there is an aircraft affected by the permission of the application (hereinafter referred to as "comparative aircraft"), the traffic server 24 will use the priority PR of the comparative aircraft and the entertainment used by the external event E (or external event E). Priority PR of flying objects such as drone 30) is compared. The priority PR of the external event E is included in the external event information Iee received from the application terminal 28.

If the priority PR of the comparative aircraft is higher than the priority PR of the external event E (or entertainment drone 30, etc.) or if both are the same, the transportation server 24 does not allow the application. On the other hand, if the priority PR of the comparative aircraft is lower than the priority PR of the external event E (or entertainment drone 30, etc.), the transportation server 24 permits the application. The transportation server 24 may communicate with the service server 22 before permitting the flight application of the entertainment drone 30, change the planned route RTp of the delivery drone 26, and then permit the flight application of the entertainment drone 30.

In the present embodiment, the priority PR of the entertainment drone 30 is set higher than the priority PR of the delivery drone 26. Therefore, even if the flight application for the delivery drone 26 has already been permitted by the transportation server 24, if a new flight application for the entertainment drone 30 is made, the flight application for the entertainment drone 30 is permitted, with exceptions. Will be done. The exception here is, for example, when the estimated time Tp until the delivery drone 26 reaches the location Lee of the external event E is equal to or less than the time threshold THtp.

When the application is not permitted (S255: FALSE), in step S256, the traffic server 24 transmits a disapproval notification to the application terminal 28. The reason for the disapproval (for example, the location Lee of the external event E is in the event prohibited area Reban, the position of the event prohibited area Reban, etc.) is also added to the disapproval notification. The application terminal 28 that has received the disapproval notice displays the content of the disapproval notice on the second display unit 180. The user (applicant) who sees this display considers the content of the disapproval notice and applies for the external event E again as necessary (S201).

When permitting the application (S255: TRUE), in step S257, the traffic server 24 transmits a permission notification to the application terminal 28. The application terminal 28 that has received the permission notification displays the content of the permission notification on the second display unit 180. In step S258, the traffic server 24 registers the external event information Eye received in step S254 in the event DB 164. At that time, the traffic server 24 sets an external event area Ree (temporary movement restriction place) based on the external event information Iee (see the event area images 312a to 312g of FIG. 9 to be described later).

In step S259, the traffic server 24 transmits the external event information Iee as the permission content to the service server 22. The service server 22 to which the external event information Iee is transmitted is a service server 22 that manages the delivery drone 26 that is affected by the scheduled route RTp by the permission of the application. However, if there is only one service server 22 included in the management system 10, there is no need to select it.

(A-2-2-2-2. External event application screen 300)
FIG. 9 is a diagram showing an example of the external event application screen 300 in the present embodiment. The application screen 300 is displayed on the second display unit 180 of the application terminal 28 based on the application screen data Das from the traffic server 24. The application screen 300 includes an event point input image 302 and an event information input field (not shown).

The event point input image 302 includes a stationary limited area image 310, an event area image 312a, 312b, 312c, 312d, 312e, 312f, 312g, and an event occurrence time zone image 314a, 314b, 314c, 314d, 314e, 314f. Includes dashed images 316a, 316b, 316c and the like. Hereinafter, the event area images 312a to 312g are collectively referred to as event area images 312. Further, the event occurrence time zone images 314a to 314f are collectively referred to as event occurrence time zone images 314. Further, the broken line images 316a to 316c are collectively referred to as the broken line images 316.

The steady-state limiting region image 310 is an image showing the steady-state limiting region Rlims, which is a region defined as a stationary flight-restricted region Rlim. As the steady-state restricted area Rlims, for example, an artificial concentrated area, a densely populated area, a road, or a railroad track is used.

FIG. 10 is a diagram showing an example of changes in the event area image 312 in the present embodiment. The event area image 312 is an image showing the location Lee of the external event E. The event area image 312 is displayed on the application screen 300 (event point input image 302) when the time zone TS or time Te of the external event E is reached.

As shown in FIG. 10, the event region image 312 has an inner circle image 320 showing the center of the outer event E and an outer circle image 322 shown concentrically with the inner circle image 320 outside the inner circle image 320. .. As shown in FIG. 10, the outer circle image 322 changes its color according to the degree of congestion Dcr of the external event E. FIG. 10 shows the passage of time from the left side to the right side.

In FIG. 10, the outer circle image 322 changes in the order of blue, yellow, red, yellow, and blue from the left end to the right end. Blue indicates a low degree of congestion Dcr, red indicates a large degree of congestion Dcr, and yellow indicates a medium degree of congestion Dcr. In FIG. 9, the color display of the outer circle image 322 of each event area image 312 is omitted in consideration of legibility.

The event occurrence time zone image 314 (FIG. 9) shows the external event E or the time zone TSe of the flow of people or traffic associated therewith. For example, the event occurrence time zone image 314a shows that the external event E is performed between 12:00 and 13:00.

The broken line image 316 is an image of a broken line connecting the event area images 312. The dashed image 316 shows the flow of people occurring between the locations Lee of the external event E. Therefore, the service server 22 sets the scheduled route RTp so as to avoid the external event area Ree and the broken line. Further, the event occurrence time zone image 314b shows that the flow of people occurs between 21:00 and 23:00 at the position corresponding to the broken line image 316a.

When the application terminal 28 is a personal computer, the user (applicant) of the application terminal 28 moves the cursor to the point where he / she wants to perform the external event E in the event point input image 302, and clicks a mouse (not shown). When the application terminal 28 is a smartphone, the user of the application terminal 28 touches a point on the event point input image 302 where he / she wants to perform an external event E. This makes it possible to input the location Lee of the external event E.

Further, the user (applicant) of the application terminal 28 inputs other external event information Iee in the event information input field (not shown). The other external event information Iee includes, for example, the content CT of the external event E, the time zone TSe, and the time Te. The content CT of the external event E includes, for example, the use of the entertainment drone 30 as a hobby by an individual. Then, when all the external event information Eyes required for the application are input, the external event information Eyes are transmitted from the application terminal 28 to the traffic server 24 by selecting a transmission button (not shown).

<A-3. Effect of this embodiment>
According to the present embodiment, the movement plan or operation state of the delivery drone 26 is changed based on the external event information Iee regarding the external event E performed between the departure point Pst of the delivery drone 26 (autonomous moving body) and the destination Ptar. (S75 in FIG. 3, S96 in FIG. 4, FIG. 6, FIG. 7). This makes it possible to reflect the influence of the external event E on the movement plan or operating state of the delivery drone 26. Therefore, it is possible to preferably perform a dynamic change of the flight restricted place.

In the present embodiment, the external event information Iee includes a time zone TSe (or time Te) at which the external event E is performed and a congestion degree Dcr (number of people involved in the external event E) (S201 in FIG. 7). As a result, the influence of the external event E can be accurately reflected in the movement plan or operation state of the delivery drone 26 (autonomous moving body).

In the present embodiment, the external event information Iee includes the cost C as the evaluation value information of the article existing in the place Lee (venue) of the external event E (FIG. 5A, FIG. 7S201). As a result, for example, when a high-priced article is placed at the location Lee of the external event E, it can be reflected in the movement plan or operation state of the delivery drone 26 (autonomous moving body).

In the present embodiment, when the external event information Iee is received from the application terminal 28 (external device) (S254: TRUE in FIG. 8), the traffic management server 24 (movement management unit 40) receives an external event based on the external event information Iee. The area Ree (temporary movement restriction place) is set (see the event area images 312a to 312g in FIG. 9). Further, the traffic server 24 changes the movement plan or the operation state of the delivery drone 26 (autonomous moving body) based on the external event area Ree (S221 in FIG. 7). This makes it possible to change the movement plan or operating state of the delivery drone 26 in consideration of the external event area Ree.

In the present embodiment, the management system 10 includes a flight schedule DB 162 (priority database) accumulating priority PR (moving body priority) which is a priority for each individual or type of a plurality of moving bodies (FIG. 1). ). Further, the traffic management server 24 (movement management unit 40) changes the movement plan or the operation state of the delivery drone 26 (autonomous moving body) based on the priority PR (S255 in FIG. 8). This makes it possible to reflect the priority PR in the movement plan or operation state of the delivery drone 26 or the like (autonomous moving body).

In the present embodiment, when the service management server 22 (movement management unit 40) calculates the scheduled route RTp of the delivery drone 26 (autonomous mobile body), the delivery drone 26 is placed on the route candidate RTcan as a candidate for the scheduled route RTp. When the external event E is performed at the scheduled passage time Tpp (scheduled movement time) of (S96: FALSE in FIG. 4), the scheduled delivery time Tpd is shifted (S99) to calculate the scheduled route RTp. This makes it possible to move the delivery drone 26 while avoiding the external event E in terms of time.

B. Modifications The present invention is not limited to the above-described embodiment, and it goes without saying that various configurations can be adopted based on the contents described in the present specification. For example, the following configuration can be adopted.

<B-1. Mobile>
In the above embodiment, the autonomous moving body that changes the planned route RTp based on the external event E is the delivery drone 26 (FIGS. 1, 2 and 7). However, the present invention is not limited to this, for example, from the viewpoint of changing the movement plan or operating state of the autonomous moving body based on the external event information Iee. For example, instead of the delivery drone 26, the drone used for human transportation, emergency use, photography, advertising, security monitoring, surveying, etc. may be an autonomous moving body that changes the planned route RTp based on the external event E. It is possible. Alternatively, the present invention may be applied to a flying object other than a drone or an autonomous moving object. For example, it is also possible to apply the present invention to a helicopter or a ship.

In the above embodiment, the entertainment drone 30 is for a hobby controlled by a remote controller 32 manually operated by the user (FIG. 1). However, it is not limited to this, for example, from the viewpoint of the external event E related to the flight permit application. For example, the entertainment drone 30 may be for a light show.

In the above embodiment, the entertainment drone 30 is controlled only by the remote controller 32 manually operated by the user (FIG. 1). However, the entertainment drone 30 may be controlled, for example, by the transportation server 24. In that case, when the delivery drone 26 approaches the entertainment drone 30, the transportation server 24 may stop the flight of the entertainment drone 30. Alternatively, the transportation server 24 may transmit the position information of the entertainment drone 30 in flight to the delivery drone 26 or the service server 22 so that the delivery drone 26 can easily avoid the entertainment drone 30.

<B-2. Movement management unit 40>
The movement management unit 40 of the above embodiment includes a service server 22 and a traffic management server 24 (FIG. 1). However, it is not limited to this, for example, from the viewpoint of managing the movement of a plurality of delivery drones 26 (or autonomous moving bodies). For example, the movement management unit 40 may be configured from only the traffic server 24. Alternatively, in addition to the service server 22 and the traffic management server 24, it is also possible to provide a local control server that manages the flight of the delivery drone 26 or the like by arranging a plurality of servers in each predetermined area. Then, the delivery command from the service server 22 to the delivery drone 26 may be transmitted via the local control server.

The service server 22 of the above embodiment manages the delivery of the product G (FIG. 1). However, the present invention is not limited to this, for example, from the viewpoint of changing the movement plan or operating state of the autonomous moving body based on the external event information Iee. For example, the service server 22 may manage human transportation, emergency use, photography, advertising, security monitoring, surveying, entertainment, personal hobbies, and the like.

<B-3. Order-on-order control (Fig. 3 and Fig. 4)>
In the order-order control of the above embodiment, one route candidate RTcan is selected from the route option RTop (S94 in FIG. 4), and it is determined whether or not there is an external event region Ree on the route candidate RTcan (S94 in FIG. 4). S96), the planned route RTp was calculated (S97, S100). However, the present invention is not limited to this, for example, from the viewpoint of calculating the planned route RTp using the route evaluation value Q. For example, a plurality of route option RTops connecting the departure point Pst and the destination Ptar are calculated for each of the plurality of scheduled delivery times Tpd, the evaluation value Q is calculated for each route option RTop, and the evaluation value Q is the smallest. It may be the planned route RTp.

In the order-order control of the above embodiment, the planned route RTp was calculated using the route evaluation value Q (FIG. 4). However, for example, from the viewpoint of changing the movement plan or operating state of the autonomous moving body based on the external event information Iee, the planned route RTp may be calculated by a method that does not use the evaluation value Q. ..

<B-4. External event information Iee>
The external event information Iee of the above embodiment includes the location Lee of the external event E, the time zone TSe (or time Te) at which the external event E is performed, and the degree of congestion Dcr (S201 in FIG. 7). However, the present invention is not limited to this, for example, from the viewpoint of changing the movement plan or operating state of the autonomous moving body based on the external event information Iee. For example, the external event information Iee may not include information other than the place Lee and the time Te or the time zone TSe. Alternatively, in addition to or in place of the degree of congestion Dcr of the person, the traffic volume of the vehicle can be used as the external event information Iee.

<B-5. External event related control (Fig. 8)>
In the above embodiment, a new external event area Ree (temporary movement restriction location) is set based on the external event information Iee (S258 in FIG. 8, event area images 312a to 312g in FIG. 9), thereby delivering a delivery drone. The planned route RTp such as 26 was changed (S96 in FIG. 4, S255 in FIG. 8). However, the present invention is not limited to this, for example, from the viewpoint of changing the movement plan or operating state of the delivery drone 26 or the like (autonomous moving body) by the external event information Iee.

For example, in addition to or in place of setting a new external event area Ree, it is possible to change the operating state of the delivery drone 26 and the like. As the operating state to be changed, for example, the flight speed Vd or the altitude H of the delivery drone 26 or the like can be used. That is, in the external event region Ree, it is also possible to reduce the flight speed Vd or increase the altitude H. As described above, changing the scheduled delivery time Tpd of the delivery drone 26 (S99 in FIG. 4) is also included in one of changing the operating state of the delivery drone 26 and the like.

In the external event-related control of the above embodiment, the flight of the entertainment drone 30 (external event E) is prioritized over the flight of the delivery drone 26 (S255 in FIG. 8). However, the present invention is not limited to this, for example, from the viewpoint of changing the movement plan or operating state of the autonomous moving body based on the external event information Iee. For example, the flight priority PR may be set by an auction by presenting money. Alternatively, the priority PR can be set based on the past trust record (violation history, etc.). Alternatively, it is possible to prioritize emergency transportation or transportation operations or regular operation, and lower the priority PR for temporary flights or special events.

<B-6. External event application screen 300>
The external event application screen 300 (event point input image 302) of the above embodiment has the contents shown in FIG. However, the present invention is not limited to this, for example, from the viewpoint of changing the movement plan or operating state of the autonomous moving body based on the external event information Iee.

For example, the application screen 300 may display the scheduled route RTp of the delivery drone 26. In that case, the application screen 300 may be displayed on an external terminal other than the application terminal 28 (for example, a smartphone (not shown)). As a result, even people who do not use either the delivery drone 26 or the entertainment drone 30 can know the planned route RTp of the delivery drone 26 and the external event area Ree.

<B-7. Others>
In the above embodiment, the flows shown in FIGS. 2 to 4, 7 and 8 are used. However, for example, when the effect of the present invention can be obtained, the content of the flow (order of each step) is not limited to this. For example, the order of steps S257 and S258 in FIG. 8 can be exchanged.

10 ... Management system 22 ... Service management server (management server)
26 ... Delivery drone (autonomous mobile) 28 ... Application terminal (external device)
40 ... Movement management unit 82 ... Communication unit (communication device)
100 ... Dynamic plan change unit 162 ... Flight schedule DB (priority database)
174 ... 1st drone control device (autonomous control unit)
C ... Cost (valuation information of goods existing at the location of an external event)
Dcr ... Congestion degree E ... External event Iee ... External event information Lee ... External event location PR ... Priority (moving object priority) Pst ... Departure point Ptar ... Destination Ree ... External event area (temporary movement restriction location)
RTcan ... Route candidate (planned route candidate)
RTp ... Scheduled route Te ... Time when an external event is held Tpp ... Scheduled transit time (scheduled travel time)
TSe ... Time zone when external events are held

Claims (16)

At least one autonomous mobile unit with an autonomous control unit for moving from the starting point to the destination, and
It is a management system including a movement management unit that communicates with the autonomous mobile body via a communication device and manages the movement of a plurality of mobile bodies including the autonomous mobile body.
The movement management unit receives external event information from an external device, which is information about an external event that is a temporary event or event performed between the departure place and the destination, and the movement management unit receives the external event information from the external device, and the movement management unit is based on the external event information. A management system characterized by having a dynamic plan change unit that dynamically changes the movement plan or operating state of an autonomous moving body. In the management system according to claim 1,
The management system, characterized in that the external event information includes the degree of congestion of the external event or the traffic volume associated with the external event. In the management system according to claim 1 or 2.
The management system, characterized in that the external event information includes valuation information of an article existing at the place of the external event. In the management system according to any one of claims 1 to 3,
When the external event information is received from the external device, the movement management unit receives the external event information.
A temporary movement restriction place as an area or a point where the movement of the autonomous moving body is temporarily restricted is set based on the external event information.
A management system characterized in that the movement plan or the operation state of the autonomous moving body is changed based on the temporary movement restriction location. In the management system according to any one of claims 1 to 4,
The management system includes a priority database accumulating mobile priority, which is a priority for each individual or each type of the plurality of moving bodies.
The movement management unit is a management system characterized in that the movement plan or the operation state of the autonomous moving body is changed based on the moving body priority. In the management system according to any one of claims 1 to 5,
When calculating the scheduled route of the autonomous moving body, the movement management unit calculates the candidate of the scheduled route, and on the candidate of the scheduled route, the scheduled movement time or the scheduled movement time zone of the autonomous moving body is set. A management system characterized in that when the external event is performed, the scheduled travel time or the scheduled travel time zone is shifted to calculate the scheduled route. In the management system according to claim 6,
The candidate for the planned route is a management system that is the shortest route from the departure point to the destination. In the management system according to any one of claims 1 to 7.
The external event information is a management system including information including a degree of congestion transmitted from an application terminal applying for the external event, or a communication amount of a communication terminal indicating the degree of congestion at the place of the external event. In the management system according to claim 8,
The external event information includes the information including the degree of congestion transmitted from the application terminal for applying for the external event.
The management system is
A management system further comprising a determination unit for determining permission or disapproval of an application for the external event transmitted from the application terminal. In the management system according to claim 9,
The determination unit is a management system that sends a permission notification to the application terminal when the application is permitted. In the management system according to any one of claims 8 to 10.
The application terminal is a management system having a display unit for displaying an application screen including a point input image of the external event. In the management system according to claim 11,
The point input image is an image for inputting a point where the applicant for the external event wants to perform the external event, which is a management system. In the management system according to claim 11 or 12.
A management system in which the planned route of the autonomous moving body is further displayed on the application screen. In the management system according to any one of claims 1 to 13.
A management system further having a storage unit in which the external event information is stored. At least one autonomous mobile unit with an autonomous control unit for moving from the starting point to the destination, and
It is a control method of a management system including a movement management unit that communicates with the autonomous mobile body via a communication device and manages the movement of a plurality of mobile bodies including the autonomous mobile body.
The dynamic plan change unit of the movement management unit is
Receives external event information from an external device, which is information about an external event that is a temporary event or event that takes place between the departure point and the destination.
A control method comprising dynamically changing a movement plan or an operating state of the autonomous moving body based on the external event information. A management server that communicates with at least one autonomous mobile body provided with an autonomous control unit for moving from a departure point to a destination, and manages the movement of a plurality of mobile bodies including the autonomous mobile body.
The management server receives external event information from an external device, which is information about an external event that is a temporary event or event performed between the departure place and the destination, and autonomously based on the external event information. A management server comprising a dynamic plan change unit that dynamically changes the movement plan or operation state of a moving object.

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