JP7320489B2 - MOBILE MANAGEMENT SYSTEM AND CONTROL METHOD THEREOF AND MANAGEMENT SERVER - Google Patents

Description

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

US Patent Application Publication No. 2015/0339931 discloses systems, methods and apparatus that enable flight in response to restricted flight zones (abstract). In US Patent Application Publication No. 2015/0339931, the position of an unmanned aerial vehicle (UAV) is compared to restricted flight zones. If necessary, the UAV will take action to avoid entering a no-fly zone.

As noted above, U.S. Patent Application Publication No. 2015/0339931 compares the location of the UAV to restricted flight areas and, if necessary, the UAV takes steps to avoid entering the no fly area. Take (Summary). However, the specification of US Patent Application Publication No. 2015/0339931 does not consider the characteristics of the aircraft. Such a problem applies 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 problems, and is a management system capable of providing more suitable services considering the attributes of a plurality of mobiles including autonomous mobiles, its control method, and management. It aims to provide a server.

A management system according to the present invention includes:
an autonomous mobile body having an autonomous control unit for moving from a starting point to a destination;
a mobility management unit that communicates with the autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the autonomous mobile body,
at least two multiple route options between said origin and said destination for one of said vehicles, or at least two multiple routes between said origin and said destination for each of said multiple vehicles. One moving route is selected from the options based on the moving evaluation value calculated for each of the plurality of route options.

According to the invention, at least two multiple route options between the origin and the destination for one mobile, or at least two multiple routes between the origin and the destination for each of the multiple mobiles. One movement route is selected from the options based on the movement evaluation value calculated for each of the plurality of route options. This makes it possible to select one movement route in consideration of the attributes of a plurality of moving bodies or the attributes of a plurality of route options. Therefore, it is possible to provide services more preferably by considering the attributes of a plurality of moving bodies.

The movement management unit may acquire a service request received from an external device or generated by itself, and select one movement route from the plurality of route options according to the service request. As a result, it becomes possible to select a moving route according to the service request.

Said services may include, for example, package delivery, transportation of people, emergency applications, photography, advertising, security surveillance, surveying and entertainment. The emergency applications include, for example, disaster response, lifesaving or crime response. Said entertainment includes, for example, music concerts, sports or festivals.

The management system may include a map information database storing map information and a moving body database storing individual information or type information of the plurality of moving bodies. Further, the map information database may include unit division information, which is attribute information for each geographical unit division, as the map information. Further, the mobility management unit may select an individual or type of the mobile object corresponding to a service request received from an external device or judged to be necessary by the mobility management unit itself. Furthermore, the mobility management unit may calculate at least one route option from a departure point to a destination corresponding to the service request for each individual or type of the mobile object based on the map information. . In addition, for each of the route options, the movement management unit determines the distance from the departure point to the destination based on the unit classification information and the individual information or the type information from the departure point to the destination. A sum of movement evaluation values may be calculated. Further, the movement management unit determines a target moving body that actually moves or a type thereof among the moving bodies, and a moving route that the target moving body uses among the route options, based on the sum of the movement evaluation values. can be selected.

According to the present invention, for each route option, the total travel evaluation value from the departure point to the destination is calculated based on the unit classification information and individual information or type information. Also, the target moving body that actually moves or its type among the moving bodies and the movement route that the target moving body uses from among the plurality of route options are selected based on the total movement evaluation value. This makes it possible to select a moving object suitable for the requested service and movement from the departure point to the destination, taking into account both the unit segment information and the individual information or type information of the moving object. Therefore, it becomes possible to provide services more preferably.

Further, the individual information includes, for example, the type of mobile object (drone, vehicle, etc.), fuel consumption, maximum speed, years of operation, total travel distance, maximum load weight, maximum size of loadable cargo, size of loadable cargo, etc. Any one or more of the number, the maximum number of people available, and the current location of the mobile can be used.

When a second service request is received after receiving the first service request and before executing the service of the first service request, the destination corresponding to the second service request corresponds to the first service request. When included in the movement route, the movement management unit may preferentially use the target mobile body corresponding to the first service request as the target mobile body corresponding to the second service request. This allows efficient processing of multiple services.

The plurality of mobile bodies may include a drone as the autonomous mobile body and a delivery vehicle as the mobile body or the autonomous mobile body. Further, the movement management unit may select the delivery vehicle when delivering a large-sized package having a first dimension or larger by itself. Further, the movement management unit may select the drone when delivering a small package smaller than the first dimension by itself. Furthermore, when a delivery request requiring delivery of the small parcel is accepted in a state in which a delivery schedule for the large parcel by the delivery vehicle has been set, the delivery destination of the small parcel corresponds to the delivery of the large parcel. When included in the movement route, the movement management unit may cause the delivery vehicle to deliver the small parcel together with the large parcel. This makes it possible to efficiently deliver a plurality of parcels (large parcels and small parcels).

The management system may include a traffic management unit that manages entry of the plurality of moving bodies into the restricted entry area. Further, the movement management unit may calculate the movement evaluation value by weighting each of the plurality of route options based on the position information of the restricted entry area requiring entry permission by the traffic management unit. As a result, it is possible to make it difficult to be included in the movement route by weighting and calculating the movement evaluation value so that it is difficult to be included in the movement route for the restricted entry area that requires entry permission by the traffic management department. Become.

The management system may comprise a traffic information provider that provides traffic information regarding the location and extent of traffic. Further, the movement management unit may calculate the movement evaluation value by weighting each of the plurality of route options based on the traffic flow information. This makes it possible to consider the traffic flow when selecting the target moving body and the movement route.

A control method for a management system according to the present invention includes:
an autonomous mobile body having an autonomous control unit for moving from a starting point to a destination;
A control method for a management system comprising: a mobility management unit that communicates with the autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the autonomous mobile body,
at least two multiple route options between said origin and said destination for one of said vehicles, or at least two multiple routes between said origin and said destination for each of said multiple vehicles. One moving route is selected from the options based on the moving evaluation value calculated for each of the plurality of route options.

A management server according to the present invention communicates with an autonomous mobile body having an autonomous control unit for moving from a departure point to a destination, and manages movement of a plurality of mobile bodies including the autonomous mobile body. ,
at least two multiple route options between said origin and said destination for one of said vehicles, or at least two multiple routes between said origin and said destination for each of said multiple vehicles. One moving route is selected from the options based on the moving evaluation value calculated for each of the plurality of route options.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide a service more suitably in consideration of the attributes of a plurality of mobile bodies including an autonomous mobile body.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole block diagram which shows the outline|summary of the management system which concerns on one Embodiment of this invention. 4 is a flow chart showing an outline of delivery of a product ordered by a customer by a mobile body (drone or vehicle) in the embodiment. It is a flow chart which shows the whole flow of service management control of the embodiment. FIG. 4 is a flowchart (details of S76 in FIG. 3) for calculating a target mobile body and a movement route by the service management server in the embodiment; FIG. FIG. 3 is an explanatory diagram of route options used in the embodiment; 5 is a flowchart (details of S94 in FIG. 4) for calculating the total travel cost for each of the route options in the embodiment; FIG. 10 is a diagram illustrating calculation of the total movement cost when the candidate moving object is a drone in the embodiment; FIG. 4 is a diagram illustrating calculation of a total travel cost when the candidate mobile object is a vehicle in the embodiment;

A. One embodiment <A-1. Configuration>
[A-1-1. overall structure]
FIG. 1 is an overall configuration diagram showing an overview of a management system 10 according to one embodiment of the present invention. The management system 10 includes a plurality of customer terminals 20, at least one service management server 22 (hereinafter also referred to as "service server 22"), and at least one traffic management server 24 (hereinafter also referred to as "traffic server 24"). ) and a plurality of moving bodies 26 . The service server 22 and the traffic server 24 constitute a mobility management unit 28 . The moving body 26 includes a plurality of drones 30 and a plurality of vehicles 32 (hereinafter also referred to as "delivery vehicles 32").

In FIG. 1, only one customer terminal 20, service server 22, traffic server 24, drone 30 and delivery vehicle 32 are shown. In the management system 10 , the drone 30 or the delivery vehicle 32 (hereinafter also referred to as “target moving body 26 tar”) delivers the product G based on the order information Iodr of the product G input via the customer terminal 20 .

Communication is possible between the customer terminal 20 and the service server 22 and between the service server 22 and the traffic server 24 via the Internet 40 . Further, communication is possible between the service server 22 and the drone 30 and between the service server 22 and the delivery vehicle 32 via the Internet 40 and the radio relay station 42 .

[A-1-2. Customer terminal 20]
The customer terminal 20 (external device) is a terminal that receives an order from a customer for the product G handled by the service server 22 . The customer terminal 20 is composed of, for example, a personal computer or a smart phone.

[A-1-3. Service management server 22]
The service management server 22 is a server managed by a specific company, and performs order management, inventory management, and delivery management for the company. In the order management, an order (request for service) from the customer terminal 20 is accepted. In the inventory management, inventory management of the product G is performed. In the delivery management, delivery of the product G (movement of a plurality of moving bodies 26) is managed. As shown in FIG. 1 , the service server 22 includes an input/output unit 50 , a communication unit 52 , a calculation unit 54 and a storage unit 56 .

The communication unit 52 can communicate with the customer terminal 20 , the traffic server 24 , the drone 30 , the delivery vehicle 32 and the like via the Internet 40 .

The calculation unit 54 includes a central processing unit (CPU) and operates by executing programs stored in the storage unit 56 . Some of the functions executed by the calculation unit 54 can also be implemented using a logic IC (Integrated Circuit). The computing unit 54 can also be configured by hardware (circuit components) as part of the program. The computing unit 54 of the present embodiment executes service management control for managing the receipt of orders for the product G and delivery by the mobile unit 26 . Service management control will be described later with reference to FIG.

The storage unit 56 stores programs and data used by the calculation unit 54, and includes a random access memory (hereinafter referred to as "RAM"). A volatile memory such as a register and a nonvolatile memory such as a hard disk or flash memory can be used as the RAM. In addition to the RAM, the storage unit 56 may also have a read-only memory (ROM).

The storage unit 56 includes an order database 70 (hereinafter referred to as "order DB 70"), an inventory database 72 (hereinafter referred to as "inventory DB 72"), a mobile database 74 (hereinafter referred to as "mobile DB 74"), and a 1 map database 76 (hereinafter referred to as "first map DB 76") and a delivery database 78 (hereinafter referred to as "delivery DB 78").

The order DB 70 accumulates information (order information Io) regarding orders received via each customer terminal 20 . The inventory DB 72 accumulates information on inventory (inventory information Is). The mobile object DB 74 accumulates individual information Ii regarding the drone 30 and the delivery vehicle 32 used for delivery. The individual information Ii includes, for example, identification information (identification ID) of the mobile object, type (drone, vehicle, etc.), maximum loading weight, and maximum size of loadable luggage. In addition, the individual information Ii may include any one or more of fuel consumption, maximum speed, years of operation, total distance traveled, number of loads that can be loaded, maximum number of users, and current position of the moving object.

The first map DB 76 accumulates map information (first map information Imap1) for delivery by the moving body 26 . The first map information Imap1 includes a reference cost Cref (reference evaluation value), which is an evaluation value regarding the passage of the moving body 26 defined for each geographical unit division. In addition, the first map information Imap1 includes position information of restricted entry areas requiring entry permission by the traffic management section 100 of the traffic server 24 .

The delivery DB 78 accumulates information (delivery information Idl) regarding the delivery of the ordered product G. The delivery information Idl also includes information about the drone 30 that delivers the product G.

[A-1-4. Traffic management server 24]
The traffic management server 24 manages information (traffic information It) on traffic (flight) of the plurality of drones 30 and traffic (running) of the plurality of delivery vehicles 32 . For example, when the traffic server 24 receives a flight permission application for the drone 30 from the service server 22, the traffic server 24 determines whether or not to permit the flight permission application, and sends permission or non-permission to the service server 22 according to the determination result. Notice. In addition, the traffic server 24 notifies the service server 22 of various types of information (environmental information Ic, which will be described later) regarding the drone 30 and the delivery vehicle 32 .

As shown in FIG. 1 , the traffic management server 24 includes an input/output unit 90 , a communication unit 92 , a calculation unit 94 and a storage unit 96 . The communication unit 92 can communicate with the customer terminal 20 , the service server 22 and the like via the Internet 40 .

The calculation unit 94 includes a CPU and operates by executing a program stored in the storage unit 96 . A part of the functions executed by the calculation unit 94 can also be implemented using a logic IC. The computing unit 94 can also be configured by hardware (circuit components) as part of the program.

As shown in FIG. 1 , the computing unit 94 has a traffic management unit 100 and a traffic flow information providing unit 102 . The traffic management unit 100 manages the entry of a plurality of mobile bodies 26 into the restricted entry area. The traffic flow information providing unit 102 provides traffic flow information Its regarding the position and degree of traffic flow. The traffic flow information Its includes congestion information.

The storage unit 96 stores programs and data used by the calculation unit 94, and includes a RAM. Also, the storage unit 96 may have a ROM in addition to the RAM. The storage unit 96 has a second map database 110 (hereinafter referred to as "second map DB 110") and a flight schedule database 112 (hereinafter referred to as "flight schedule DB 112").

The second map DB 110 accumulates map information (second map information Imap2) regarding traffic (flight) of the drone 30 and traffic (driving) of the delivery vehicle 32 . The flight schedule DB 112 accumulates information (flight schedule information Isc) regarding the flight schedule of each drone 30 .

[A-1-5. Drone 30]
(A-1-5-1. Outline of Drone 30)
The drone 30 (autonomous mobile body) of the present embodiment is for product delivery, and operates the warehouse 200 (FIG. 5) according to a delivery command (flight command) received from the service server 22 via the Internet 40 and the wireless relay station 42. to the delivery destination Pdtar. The drone 30 may also be used in other applications, as described below.

As shown in FIG. 1 , the drone 30 has a drone sensor group 130 , a communication device 132 , a drone control device 134 and a propeller driving section 136 .

(A-1-5-2. Drone sensor group 130)
The drone sensor group 130 has sensors such as a first global positioning system sensor (first GPS sensor), a speedometer, an altimeter, a gyro sensor, and a first camera (none of which are shown). A first GPS sensor detects the current position Pdcur of the drone 30 . The speedometer detects the flight speed Vd [km/h] of the drone 30 .

The altimeter detects a ground altitude H (hereinafter also referred to as “altitude H”) [m] as a distance from the ground below the drone 30 . The gyro sensor detects the angular velocity ω [rad/sec] of the drone 30 . The angular velocity ω includes an angular velocity Y with respect to the vertical axis (yaw Y), an angular velocity Pi with respect to the lateral axis (pitch Pi), and an angular velocity R with respect to the longitudinal axis (roll R).

The first camera is arranged below the main body of the drone 30 and acquires first image information Iimage1 around the drone 30 . The 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 direction of the first camera (posture of the first camera with respect to the main body of the drone 30) can be adjusted by a camera actuator (not shown). Alternatively, the position of the first camera with respect to the main body of the drone 30 may be fixed.

(A-1-5-3. Communication device 132)
The communication device 132 is capable of radio communication with the radio relay station 42 and the like, and includes, for example, a radio communication module. The communication device 132 can communicate with the service server 22 and the like via the wireless relay station 42 and the Internet 40 .

(A-1-5-4. Drone control device 134)
The drone control device 134 (autonomous control unit) controls the drone 30 as a whole, such as flight and photography of the drone 30 . The drone control device 134 autonomously moves (flies) the drone 30 from the departure point Pst to the destination Ptar. The drone control device 134 includes an input/output unit, a computing unit, and a storage unit (not shown).

(A-1-5-5. Propeller driving unit 136)
Propeller drive unit 136 has a plurality of propellers and a plurality of propeller actuators. The propeller actuator has, for example, an electric motor.

[A-1-6. Delivery vehicle 32]
(A-1-6-1. Outline of delivery vehicle 32)
The delivery vehicle 32 (mobile body, autonomous mobile body) of the present embodiment is for product delivery, and moves to the warehouse 200 in response to a delivery command (driving command) received from the service server 22 via the Internet 40 and the wireless relay station 42 . (FIG. 5) to the delivery destination Pdtar. As will be described later, delivery vehicle 32 may be used for other purposes.

As shown in FIG. 1 , the delivery vehicle 32 has a vehicle sensor group 150 , a communication device 152 , a vehicle control device 154 , a driving device 156 , a braking device 158 and a steering device 160 .

(A-1-6-2. Vehicle sensor group 150)
Vehicle sensor group 150 has a second global positioning system sensor (second GPS sensor), a vehicle speed sensor, a second camera, radar, and LIDAR (Light Detection And Ranging). A second GPS sensor detects the current position Pvcur of the delivery vehicle 32 . The vehicle speed sensor detects the vehicle speed Vv [km/h] of the delivery vehicle 32 .

The second camera acquires second image information Iimage2 that captures the surroundings (front, sides, and rear) of the delivery vehicle 32 . The radar outputs radar information Iradar indicating reflected waves of electromagnetic waves transmitted around (forward, sideways, and rearward) of the delivery vehicle 32 . The LIDAR continuously emits a laser in all directions of the delivery vehicle 32, measures the three-dimensional position of the reflection point based on the reflected wave, and outputs it as three-dimensional information Ilidar.

(A-1-6-3. Communication device 152)
The communication device 152 is capable of radio communication with the radio relay station 42 and the like, and includes, for example, a radio communication module. The communication device 152 can communicate with the service server 22 and the like via the wireless relay station 42 and the Internet 40 .

(A-1-6-4. Vehicle control device 154)
The vehicle control device 154 controls the entire delivery vehicle 32 such as acceleration/deceleration and steering of the delivery vehicle 32 . The vehicle control device 154 autonomously moves (runs) the delivery vehicle 32 from the departure point Pst to the destination Ptar. Vehicle control device 154 includes an input/output unit, a computing unit, and a storage unit (not shown).

The vehicle control device 154 executes automatic driving control to drive the delivery vehicle 32 to the destination Ptar without requiring driving operations (acceleration, deceleration and steering) by the driver. )including.

(A-1-6-5. Driving device 156)
The driving device 156 has a traveling driving source (an engine, a traveling motor, etc.) and a driving electronic control unit (hereinafter referred to as "drive ECU"), which are not shown. The drive ECU adjusts the travel drive force of the delivery vehicle 32 by controlling the travel drive source based on the operation amount of the accelerator pedal or a command from the vehicle control device 154 .

(A-1-6-6. Braking device 158)
The brake device 158 has a brake motor (or hydraulic mechanism), a brake member, and a brake electronic control unit (hereinafter referred to as "brake ECU"), which are not shown. The braking device 158 may control engine braking by the engine and/or regenerative braking by the traction motor. The braking ECU controls the braking force of the delivery vehicle 32 by operating a brake motor or the like based on the operation amount of the brake pedal or a command from the vehicle control device 154 .

(A-1-6-7. Steering device 160)
The steering device 160 has an electric power steering (EPS) motor (not shown) and an EPS electronic control unit (hereinafter referred to as "EPS ECU"). The EPS ECU controls the steering angle of the delivery vehicle 32 by controlling the EPS motor according to the operation of the steering wheel by the driver or the command from the vehicle control device 154 .

<A-2. Control of the present embodiment>
[A-2-1. Overview at the time of delivery]
FIG. 2 is a flow chart showing an outline of delivery of a product G ordered by a customer by a mobile body 26 (drone 30 or vehicle 32) in this embodiment. Note that FIG. 2 only shows a rough flow.

In step S11, the customer terminal 20 accepts an order according to the customer's operation. Specifically, the customer terminal 20 displays an order screen on a display unit (not shown) according to the customer's operation. The data for the order screen is acquired from the service management server 22 . Further, when displaying the ordering screen, the service server 22 confirms the stock quantity of the product G to be ordered. If the item is out of stock, the service server 22 also displays a message to that effect. When an order is placed, the customer terminal 20 receives the order from the customer and transmits the order to the service management server 22 .

The processing of the service server 22 is started. In step S21, the service server 22 calculates the target moving body 26tar and the moving route RTm according to the order information Iodr received by the customer terminal 20. FIG. The target moving body 26tar and the moving route RTm may be calculated before placing an order, and fixed at the time of placing the order. Details of step S21 will be described later with reference to FIG. In step S22, the service server 22 determines whether or not the moving route RTm requires permission from the traffic server 24 (in other words, whether or not the moving route RTm includes a portion requiring permission from the traffic server 24). is determined based on the first map information Imap1. The portions that require permission from the traffic server 24 include flight restricted areas 202 (FIG. 5), which will be described later.

If the permission of the traffic server 24 is required (S22: TRUE), a permission application for the moving route RTm is transmitted to the traffic management server 24 in step S23. The identification number of the target moving body 26 (drone 30) is attached to the permission application. After transmitting the permission application, the service server 22 monitors whether or not the result notification from the traffic management server 24 is received in step S24.

The processing of the traffic management server 24 is started. The traffic management server 24, which has received the permission application (S23) from the service server 22, determines in step S31 whether the received permission application should be permitted or not permitted. For example, if the travel route RTm includes a temporary no-fly zone, the traffic server 24 disallows the permission application. Also, if one or more other drones 30 (other drones) are scheduled to pass through part of the movement route RTm at the same time as the drone itself (own drone), the traffic server 24 disallows the permission application. . On the other hand, if there is no reason for not permitting flight of the drone 30 on the movement route RTm, the traffic server 24 permits the permission application.

If the permission application is permitted (S31: TRUE), the traffic management server 24 transmits a permission notification in step S32. If the permission application is not permitted (S31: FALSE), the traffic management server 24 transmits a non-permission notification to the service server 22 in step S33. The reason for disapproval (for example, the movement route RTm passes through the no-fly area, the location of the no-fly area, etc.) is also added to the disapproval notification.

The processing of the service server 22 is resumed. 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 non-permission (S24: FALSE), the process returns to step S21. Then, the service server 22 calculates a new movement route RTm according to the reason for disapproval included in the result. For example, if the reason for disapproval is that the movement route RTm passes through the no-fly area, the service server 22 calculates a new movement route RTm that avoids the no-fly area (S21). Then, the service server 22 applies for flight permission again as necessary (S23).

In step S25, the service server 22 transmits a delivery command to the target moving body 26tar to which the product G is to be delivered. The delivery command includes information on the moving route RTm. The movement route RTm is a route (outbound route) from the departure point Pst, which is the current position Pcur (for example, the warehouse 200 (FIG. 5)) of the target moving object 26tar to the delivery destination Pdtar, and from the delivery destination Pdtar to the return destination Prtar. including the route (return trip) of

If the target moving object 26tar needs to stop by the warehouse 200 or the like for delivery, the moving route RTm may include a route from the current position Pdcur to the warehouse 200 or the like. Alternatively, if the target moving object 26tar needs to stop by the warehouse 200 or the like for delivery, the route to the warehouse 200 or the like may be set as the movement route RTm. In that case, a route to the delivery destination Pdtar and a route (return route) to the return destination Prtar may be set as the new movement route RTm. As will be described later, the delivery command can be sent by another method instead of being directly sent from the service server 22 to the target mobile unit 26tar.

Processing of each moving object 26 is started. The mobile unit 26 monitors whether or not it has received a delivery command (S25) from the service server 22. FIG. In step S51, the moving body 26 that has received the delivery command starts delivery control to carry the product G from the warehouse 200 to the delivery destination Pdtar and then return to the return destination Prtar.

[A-2-2. Service management control]
(A-2-2-1. Overall Flow of Service Management Control)
FIG. 3 is a flow chart showing the overall flow of service management control in this embodiment. As described above, the service management control is control for managing the receipt of orders for the product G and the delivery by the mobile unit 26, and is executed by the calculation unit 54 of the service server 22. FIG.

In step S71 of FIG. 3, the service server 22 determines whether or not the product G has been ordered. As described above, the customer terminal 20 accepts an order according to the customer's operation and transmits the order information Iodr to the service server 22 (S11 in FIG. 2). Therefore, when the service server 22 receives the order information Iodr from the customer terminal 20, it determines that the product G has been ordered. If the order has been received (S71: TRUE), the process proceeds to step S72. If no order has been received (S71: FALSE), step S71 is repeated.

In step S72, the service server 22 determines whether or not the product G ordered this time can be delivered simultaneously with the product G already ordered (simultaneous delivery possibility determination). Simultaneous delivery propriety determination will be described later.

If simultaneous delivery is possible as a result of the simultaneous delivery possibility determination (S73: TRUE), the service server 22 sets the simultaneous delivery flag FLG to "1" in step S74. If simultaneous delivery is not possible (S73: FALSE), the service server 22 sets the simultaneous delivery flag FLG to "0" in step S75. After step S74 or S75, the process proceeds to step S76.

In step S76, the service server 22 calculates the target moving body 26tar and the moving route RTm. The target moving body 26tar is a moving body (the drone 30 or the delivery vehicle 32) that delivers the product G. Also, the moving route RTm is a route used by the target moving body 26tar to deliver the product G, and includes an outward route and a return route. Details of the calculation of the target moving body 26tar and the moving route RTm will be described later with reference to FIG.

In step S77, the service server 22 transmits a delivery command to the target mobile unit 26tar. Step S77 corresponds to step S25 in FIG.

(A-2-2-2. Simultaneous Delivery Possibility Judgment (S72 in Fig. 3))
Next, simultaneous delivery availability determination (S72 in FIG. 3) will be described. As described above, in the simultaneous delivery determination, it is determined whether or not the product G (second product G2) ordered this time can be delivered together with the product G (first product G1) already ordered.

The service server 22 determines that simultaneous delivery is possible when the delivery destination Pdtar of the second product G2 is on the movement route RTm for delivery of the first product G1. Alternatively, the service server 22 may determine that simultaneous delivery is possible when the delivery destination Pdtar of the second product G2 is within a predetermined distance from the movement route RTm for delivery of the first product G1.

(A-2-2-3. Calculation of target moving body 26tar and moving route RTm)
FIG. 4 is a flowchart (details of S76 in FIG. 3) for the service management server 22 to calculate the target mobile object 26tar and the moving route RTm in this embodiment. FIG. 5 is an explanatory diagram of the route option RTop used in this embodiment. In FIG. 5, route options RTop1 and RTop2 of the drone 30 and route options RTop3 and RTop4 of the delivery vehicle 32 are shown as the route options RTop from the departure point Pst where the warehouse 200 is located to the delivery destination Pdtar.

The route option RTop1 is the shortest aerial route from the departure point Pst to the delivery destination Pdtar. The route option RTop2 is the shortest route avoiding the restricted flight area 202 among the aerial routes from the departure point Pst to the delivery destination Pdtar. The route option RTop3 is the shortest ground route from the departure point Pst to the delivery destination Pdtar. The route option RTop4 is the shortest route avoiding the congested area 204 among ground routes from the departure point Pst to the delivery destination Pdtar.

In step S91 of FIG. 4, the service server 22 acquires the delivery information Id necessary for calculating the target mobile unit 26tar and the moving route RTm. The delivery information Id includes the delivery location, delivery deadline, dimensions, weight, and the like of the product G (package).

In step S92, the service server 22 extracts the mobile bodies 26 that can be used for delivery of the product G (hereinafter referred to as "candidate mobile bodies 26 can") based on the delivery information Id. Candidate mobile units 26 can include one or the other of drone 30 and delivery vehicle 32 .

Based on the delivery place included in the delivery information Id, the moving body 26 is regionally limited. For example, when delivering to the A area, the service server 22 extracts the drones 30 and the delivery vehicles 32 currently located in the A area.

Also, based on the size and weight of the product G included in the delivery information Id, the performance (attribute) of each individual in the moving body 26 is limited. For example, if the product G is a large parcel having a first dimension or larger, the delivery vehicle 32 is extracted and the drone 30 is excluded. On the other hand, if the product G is a small parcel smaller than the first dimension, both the drone 30 and the delivery vehicle 32 are extracted. Note that, in the present embodiment, the drone 30 is basically selected when a small parcel smaller than the first dimension is to be delivered alone.

In step S93, the service server 22 calculates a route option RTop for each candidate mobile object 26can. For example, if the candidate mobile object 26can is the drone 30, the shortest aerial route from the departure point Pst to the delivery destination Pdtar is set as the route option RTop (for example, the route option RTop1 in FIG. 5). However, if the flight prohibition area is included on the shortest air route (for example, if the flight restriction area 202 in FIG. 5 is the flight prohibition area), the shortest air route avoiding the flight prohibition area is selected as the route option. RTop (for example, route option RTop2 in FIG. 5).

Further, when the shortest aerial route includes a restricted flight area other than the no-fly area (for example, when the flight restricted area 202 in FIG. 5 is a restricted flight area other than the no-fly area), the shortest aerial path and the flight Both of the shortest routes (detour routes) among aerial routes avoiding the restricted area are set as the route option RTop. Therefore, in the case of the example of FIG. 5, if the flight restriction area 202 in FIG. RTop2) is set as a route option RTop. If there are two or more flight restriction areas other than the no-fly zone on the shortest aerial route, the route option RTop is divided into cases of passing through each of the flight restriction areas and detours.

Also, when the candidate mobile object 26can is the delivery vehicle 32, the shortest ground route (route option RTop3 in FIG. 5) from the departure point Pst to the delivery destination Pdtar is set as the route option RTop. Also, consider a case where traffic flow information Its (congestion information) is stored in the first map DB 76 and congestion is occurring on the shortest ground route or is predicted to occur. In this case, in addition to the shortest ground route, the next shortest ground route (route option RTop4 in FIG. 5) among the ground routes that can avoid traffic congestion is also set as the route option RTop. Therefore, in the example of FIG. 5, the route (route option RTop3) as the shortest ground route and the route (route option RTop4) as the detour route are set as the route options RTop.

As described above, when the delivery destination Pdtar of the currently ordered product G (second product G2) is on the movement route RTm for delivery of the already ordered product G (first product G1) (see FIG. 3 (S73: TRUE), and the simultaneous delivery flag FLG is set to "1" (S74). When the simultaneous delivery flag FLG is "1", the service server 22 sets the route option RTop only for the route from the movement route RTm for delivery of the first product G1 to the delivery destination Pdtar of the second product G2. calculate. As a result, the route option RTop of the second product G2 to be delivered together with the first product G1 can be compared with the route option RTop of the second product G2 not to be delivered simultaneously. Therefore, simultaneous delivery is likely to be selected.

Returning to FIG. 4, in step S94, the service server 22 calculates the total T of the movement costs C (movement evaluation values) for each of the route options RTop. A method of calculating the total T will be described later with reference to FIGS. 6 to 8. FIG.

In step S95, the service server 22 selects the route option RTop with the smallest total T of the movement costs C as the movement route RTm. In step S96, the service server 22 selects the mobile object 26 corresponding to the moving route RTm as the target mobile object 26tar. As described above, the route option RTop is set for each candidate mobile unit 26can (S93 in FIG. 4). Therefore, the moving body 26 corresponding to the moving route RTm (route option RTop) can be identified.

(A-2-2-4. Calculation of total T of movement cost C)
FIG. 6 is a flowchart (details of S94 in FIG. 4) for calculating the total T of the travel costs C for each of the route options RTop in this embodiment. In step S<b>101 , the service server 22 transmits information on the target moving object 26 tar and the moving route RTm to the traffic server 24 , and acquires environmental information Ic corresponding to these information from the traffic server 24 . The environment information Ic is information about the environment of the moving route RTm. The environmental information Ic includes flight restriction information Ifl and weather information Icl.

The flight restriction information Ifl obtained from the traffic server 24 is a temporarily issued flight restriction, and includes information on the content of the flight restriction and its position (area). Temporary flight restrictions are, for example, restrictions due to traffic, weather or accidents on the travel route RTm. The flight restriction information Ifl from the traffic server 24 is acquired by the service server 22 storing the information that the traffic server 24 broadcasts at regular intervals in the storage unit 56 (first map DB 76) and using it. is also possible.

In step S<b>102 , the service server 22 acquires traffic flow information Its from the traffic server 24 . The traffic flow information Its is information about the position and degree of traffic flow such as current or future congestion. If the information is about future traffic jams, the probability of occurrence may be included. Also, the traffic flow information Its may be positioned as part of the environment information Ic and acquired in step S101.

In step S<b>103 , the service server 22 transmits information on the target moving body 26 tar and the moving route RTm to the traffic server 24 and acquires moving route risk information Irr from the traffic server 24 . The moving route risk information Irr is information indicating the content and position of the risk Rrr (moving route risk Rrr) on the moving route RTm. The content of the moving route risk Rrr includes, for example, the rate of occurrence of traffic accidents. The movement route risk information Irr may be positioned as part of the environment information Ic and acquired in step S101.

In step S104, the service server 22 calculates product delivery risk information Irgd regarding the product G to be delivered this time. The product delivery risk information Irgd is information on the risk Rgd (product delivery risk Rgd) that occurs according to the content of the product G. FIG. For example, the risk Rgd is increased as the weight of the product G increases. Also, the risk Rgd is increased as the size of the product G increases. Furthermore, the risk Rgd is increased as the price of the product G increases. Furthermore, if the product G is fragile, the risk Rgd is increased.

In step S<b>105 , the service server 22 reads from the first map DB 76 flight-permitted section information Isfa regarding the section Sfa for which flight permission has already been obtained (flight-permitted section Sfa) among the flight-restricted sections Sfl included in the movement route RTm.

In step S106, the service server 22 reads the individual information Ii of the candidate mobile body 26can corresponding to the route option RTop from the mobile body DB74. In step S<b>107 , the service server 22 reads the attribute information (unit segment information Isu) of each unit segment Su included in the route option RTop from the mobile body DB 74 .

The unit section Su is a unit of section having a common use. Specifically, when the candidate moving object 26can is the drone 30, it is delimited by the use category or the like in the first map information Imap1. Also, when the candidate moving object 26can is the delivery vehicle 32, it is separated as an edge between nodes. An example of the unit division information Isu will be described with reference to FIGS. 7 and 8. FIG.

In step S108, the service server 22 converts the movement cost C (movement evaluation value) for each unit section Su included in the route option RTop to each of the information Ic, Its, Irr, Irgd, Isfa, and Ii obtained in steps S101 to S107. , Isu.

As described above, when the simultaneous delivery flag FLG is "1", the service server 22 only determines the route from the movement route RTm for delivery of the first product G1 to the delivery destination Pdtar of the second product G2 , route option RTop. Therefore, when the simultaneous delivery flag FLG is "1", the service server 22 calculates the travel cost Calculate C. As a result, the route option RTop of the second product G2 to be delivered together with the first product G1 can be compared with the route option RTop of the second product G2 not to be delivered simultaneously. Therefore, simultaneous delivery is likely to be selected.

Consider a case where, after accepting a first service request, a second service request is accepted before executing the service of the first service request. In such a case, if the destination Ptar corresponding to the second service request is included in the moving route RTm corresponding to the first service request, the target moving object 26tar corresponding to the first service request is not matched to the second service request. It is preferentially used as the target moving body 26tar.

As a more specific example, consider a case where a delivery request requiring delivery of a small package is accepted in a state where a delivery schedule for a large package by the delivery vehicle 32 has already been set. In such a case, if the delivery destination Pdtar of the small parcel is included in the moving route RTm corresponding to the delivery of the large parcel, the small parcel will be delivered by the delivery vehicle 32 together with the large parcel.

A calculation example of the movement cost C for each unit section Su will be described later with reference to FIGS. 7 and 8. FIG.

In step S109 of FIG. 6, the service server 22 calculates the total T of the movement costs C by adding the movement costs C for each unit section Su.

(A-2-2-5. Calculation example of movement cost C)
FIG. 7 is a diagram illustrating calculation of the total T of the movement costs C when the candidate moving object 26can is the drone 30 in this embodiment. FIG. 8 is a diagram illustrating calculation of the total T of the movement costs C when the candidate moving object 26can is the vehicle 32 in this embodiment. 7 and 8, the horizontal axis is the distance, and the vertical axis is the movement cost C. In FIG.

The origin of the horizontal axis of FIGS. 7 and 8 and the left end of the movement route RTm are the departure point Pst of the target moving object 26tar (the drone 30 or the delivery vehicle 32). Also, the right end of the moving route RTm is the delivery destination Pdtar of the target moving object 26tar (the drone 30 or the delivery vehicle 32). Note that in the actual process, in addition to the route (outbound route) from the departure point Pst to the delivery destination Pdtar, the route (return route) from the delivery destination Pdtar to the return destination Prtar is added. However, the movement cost C may be calculated only for the outward route.

In the example of FIG. 7, there are seven unit segments Su between the departure point Pst of the drone 30 and the delivery destination Pdtar. The first unit section Su (unit section information Isu) is "residential area roof (with roof)". The second unit segment Su is “residential area school site”. The third unit section Su is the "UAV Freeway". The fourth unit segment Su is "on general road". The fifth unit segment Su is "on the railroad track". The sixth unit segment Su is "on the highway". The seventh unit segment Su is "river/field/forest".

In the example of FIG. 8, there are seven unit sections Su between the departure point Pst of the delivery vehicle 32 and the delivery destination Pdtar. The first unit section Su (unit section information Isu) is "general road low traffic (suburb)". The second unit section Su is the "intersection". The third unit segment Su is "urban area, low traffic volume". The fourth unit segment Su is "highway branch/merge". The fifth unit segment Su is "expressway, low traffic volume". The sixth unit segment Su is "expressway heavy traffic". The seventh unit segment Su is "general road, low traffic volume (suburb)".

Each unit section Su has a width corresponding to the distance. Further, the movement cost C is calculated individually for each unit section Su.

As described above, the movement cost C of each unit section Su is calculated based on the information Ic, Its, Irr, Irgd, Isfa, Ii, and Isu obtained in steps S101 to S107 of FIG. Specifically, the service server 22 calculates the movement cost C using the following formula (1) for each unit section Su.
C=Cref*P*D+Cad (1)

In Equation (1), Cref is the reference cost, P is the probability of occurrence, D is the distance for each unit section Su (distance traveled by the target moving object 26tar), and Cad is the additional cost.

The standard cost Cref is a standard risk evaluation value for the unit segment Su. The occurrence probability P is the probability that an accident will occur due to the target moving body 26tar. The additional cost Cad is an evaluation value added when an additional cost (application for flight permission, etc.) is required to pass through the unit section Su. The reference cost Cref and occurrence probability P are set based on flight restriction information Ifl, weather information Icl, traffic flow information Its, movement route risk information Irr, product delivery risk information Irgd, individual information Ii, and unit classification information Isu.

Specifically, when the flight restriction information Ifl indicates that the unit segment Su is in the flight restriction area Sfp, the reference cost Cref is increased. If the movement route risk information Irr indicates that the unit segment Su includes a risk point, the reference cost Cref is increased. If the product delivery risk information Irgd indicates a higher product delivery risk Rgd, the reference cost Cref is increased.

If the type of mobile object 26 indicated by the individual information Ii is a drone 30, the reference cost Cref is set low, and if it is a delivery vehicle 32, the reference cost Cref is set high. When the fuel consumption performance included in the individual information Ii is high, the reference cost Cref is lowered. If the maximum speed included in the individual information Ii is high, the reference cost Cref is lowered. If the number of years of operation or the total travel distance included in the individual information Ii is long, the reference cost Cref is increased.

If the attribute indicated by the unit segment information Isu indicates a place with a high population density, the reference cost Cref is increased.

Also, the worse the weather indicated by the weather information Icl, the higher the probability P of occurrence. When the traffic flow information Its indicates more traffic flows, the occurrence probability P is increased. Note that the weather information Icl and the traffic flow information Its may be used for setting the reference cost Cref instead of setting the occurrence probability P.

The additional cost Cad is set based on the permitted flight section information Isfa. Specifically, when the flight permission section information Isfa indicates that the flight permission section Sfa is included in the unit segment Su, the additional cost Cad is increased. When insurance is applied to each unit segment Su or to each movement of the target moving body 26tar, the additional cost Cad may be set in relation to the application of the insurance. For example, if an insurance payment is required for one movement or for a specific unit section Su with the movement of the target mobile body 26tar, an additional cost Cad may be set according to the insurance payment and its amount.

<A-3. Effect of the present embodiment>
According to this embodiment, at least two route options RTop (for example, RTop1 and RTop2 in FIG. 5) between the departure point Pst and the destination Ptar for one mobile body 26, or a plurality of mobile bodies 26 (for example, the drone 30 and delivery vehicle 32) from at least one route option RTop (for example, RTop1 and RTop3 in FIG. 5) between the departure point Pst and the destination Ptar for each of the route options RTop calculated for each of the route options RTop (movement evaluation value ), one moving route RTm is selected (S95 in FIG. 4). Thereby, one moving route RTm can be selected in consideration of the attributes of a plurality of moving bodies 26 or the attributes of a plurality of route options RTop. Therefore, it is possible to provide services more preferably by considering the attributes of a plurality of mobile units 26 and the like.

In this embodiment, the service server 22 (mobility management unit 28) acquires a service request to be accepted from the customer terminal 20 (external device) (S11, S21 in FIG. 2, S71 in FIG. 3). Then, the service server 22 selects one movement route RTm from a plurality of route options RTop in response to a service request (S21 in FIG. 2, S95 in FIG. 4). As a result, it becomes possible to select a moving route RTm that meets the service request.

In the present embodiment, the management system 10 includes a first map DB 76 (map information database) storing first map information Imap, and a moving body DB 74 storing individual information Ii of a plurality of moving bodies 26 (FIG. 1). ). The first map DB also includes unit section information Isu, which is attribute information for each geographical unit section Su, as first map information Imap1. Further, the service server 22 (mobility management unit 28) selects the individual or type of mobile unit 26 corresponding to the service request received from the customer terminal 20 (external device) (S92 in FIG. 4). Furthermore, the service server 22 calculates at least one route option RTop from the departure point Pst to the destination Ptar corresponding to the service request for each individual or type of the mobile object 26 based on the first map information Imap1. (S93). In addition, for each of the route options RTop, the service server 22 calculates the movement cost C (movement evaluation value) is calculated (S94). Further, the service server 22 selects the target mobile body 26tar that actually moves among the mobile bodies 26 and the movement route RTm that the target mobile body 26tar uses from the route options RTop based on the total T of the movement costs C. (S95, S96).

According to this embodiment, for each route option RTop, the total T of the movement cost C (movement evaluation value) from the departure point Pst to the destination Ptar is calculated based on the unit classification information Isu and the individual information Ii ( 6 to 8). Also, the target mobile body 26tar that actually moves among the mobile bodies 26 and the movement route RTm that the target mobile body 26tar uses from among the plurality of route options RTop are selected based on the total T of the movement costs C (Fig. 4 S94, S95). As a result, it is possible to select the mobile object 26 that is suitable for the requested service and the movement from the departure point Pst to the destination Ptar in consideration of both the unit segment information Isu and the individual information Ii of the mobile object 26. . Therefore, it becomes possible to provide services more preferably.

In this embodiment, when the movement management unit 28 receives the second service request after receiving the first service request and before executing the service of the first service request, the destination Ptar corresponding to the second service request is included in the movement route RTm corresponding to the first service request, the service server 22 (movement management unit 28) replaces the target mobile object 26tar corresponding to the first service request with the target mobile object corresponding to the second service request. 26tar is preferentially used (Figs. 3 and 4). This allows efficient processing of multiple services.

In this embodiment, the plurality of moving bodies 26 includes drones 30 as autonomous moving bodies, and delivery vehicles 32 as moving bodies 26 or autonomous moving bodies (FIG. 1). In addition, the service server 22 (movement management unit 28) selects the delivery vehicle 32 when delivering a large parcel of the first dimension or more by itself, and selects the drone when delivering a small parcel smaller than the first dimension by itself. 30 is selected (S91, S92 in FIG. 4). Furthermore, when a delivery request requiring the delivery of small parcels is received in a state in which the schedule for delivery of large parcels by the delivery vehicle 32 has already been set, the delivery destination Pdtar for the small parcels is changed to the moving route RTm corresponding to the delivery of large parcels. If included, the service server 22 causes the small packages to be delivered together with the large packages by the delivery vehicle 32 (FIGS. 3 and 4). This makes it possible to efficiently deliver a plurality of parcels (large parcels and small parcels).

In this embodiment, the management system 10 includes a traffic management unit 100 that manages entry of a plurality of moving bodies 26 into restricted entry areas (such as the restricted flight area 202 in FIG. 5) (FIG. 1). In addition, the service server 22 (movement management unit 28) weights each of the plurality of route options RTop based on the position information of the entry restricted area that requires entry permission by the traffic management unit 100, and calculates the movement cost C (movement evaluation value ) is calculated (S108 in FIG. 6). As a result, the restricted entry area requiring entry permission by the traffic management unit 100 is weighted so as to be less likely to be included in the moving route RTm, and the moving cost C is calculated, thereby making it less likely to be included in the moving route RTm. becomes possible.

In this embodiment, the management system 10 comprises a traffic flow information provider 102 that provides traffic flow information Its about the location and extent of traffic flow (FIG. 1). Further, the service server 22 (movement management unit 28) weights each of the plurality of route options RTop based on the traffic flow information Its to calculate the movement cost C (movement evaluation value) (S108 in FIG. 6). This makes it possible to consider the traffic flow when selecting the target moving body 26tar and the moving route RTm.

B. MODIFIED EXAMPLES The present invention is not limited to the above-described embodiments, and can of course adopt various configurations based on the descriptions of this specification. For example, the following configuration can be adopted.

<B-1. Autonomous Mobile>
The drone 30 of the above embodiment was for delivery (FIGS. 1 and 2). However, from the viewpoint of calculating a suitable moving route RTm based on, for example, the attributes of the unit section Su and the attributes of the moving body 26, the present invention is not limited to this. For example, the drone 30 can be used for transportation of people, emergency applications, photography, advertising, security surveillance, surveying, entertainment, and the like. The delivery vehicle 32 is also the same.

In the above embodiment, the present invention is applied to the drone 30 and the delivery vehicle 32 (FIGS. 1 and 2). However, for example, from the viewpoint of calculating a suitable movement route RTm based on the attributes of the unit section Su and the attributes of the moving object 26, the present invention may be applied to other types of flying objects or autonomous moving objects. For example, it is also possible to use only one of the drone 30 or the delivery vehicle 32 . Alternatively, instead of the drone 30 or delivery vehicle 32, it is also possible to apply the present invention to a helicopter or ship.

In the above embodiment, both the drone 30 and the delivery vehicle 32 were capable of autonomous movement. However, from the viewpoint of setting the target moving body 26tar and the movement route RTm, for example, considering both the attributes of the unit section Su and the attributes of the moving body 26, this is not the only option. For example, one of the drone 30 and the delivery vehicle 32 may not be able to move autonomously.

The drone 30 and the delivery vehicle 32 of the above embodiment moved according to a delivery command from the service server 22 (FIG. 2). However, from the viewpoint of calculating a suitable moving route RTm based on, for example, the attributes of the unit section Su and the attributes of the moving body 26, the present invention is not limited to this.

<B-2. Movement management unit 28>
The mobility management unit 28 of the above embodiment includes the service server 22 and the traffic management server 24 (FIG. 1). However, for example, from the viewpoint of managing the movements of a plurality of drones 30 or delivery vehicles 32 (or autonomous mobile bodies), the present invention is not limited to this. For example, the mobility management unit 28 may be configured only from the service server 22 . Alternatively, in addition to the service server 22 and the traffic management server 24, it is also possible to provide a plurality of local control servers arranged for each predetermined area to manage the flight of the drone 30 or the travel of the delivery vehicle 32. A delivery command from the service server 22 to the drone 30 or the delivery vehicle 32 may be transmitted via the local control server.

The service server 22 of the above embodiment managed delivery of the product G (FIG. 1). However, for example, from the viewpoint of managing the movements of a plurality of drones 30 or delivery vehicles 32 (or autonomous mobile bodies), the present invention is not limited to this. For example, the service server 22 may manage applications such as transportation of people, emergency applications, filming, advertising, security monitoring, surveying, entertainment, and the like.

The service server 22 of the above embodiment selects the target moving body 26tar and the moving route RTm based on the service request received from the customer terminal 20 (external terminal) (S11, S21 in FIG. 2). However, from the viewpoint of calculating a suitable moving route RTm based on, for example, the attributes of the unit section Su and the attributes of the moving body 26, the present invention is not limited to this. For example, it is also possible to select the target mobile body 26tar and the movement route RTm based on the service request determined by the service server 22 itself to be necessary.

For example, the following services can be considered as services that the service server 22 itself determines to be necessary. That is, when the service server 22 has a function as a monitoring server that monitors security, the service server 22 selects a monitoring area according to an input from a security monitoring sensor (such as a camera) (not shown). Then, the service server 22 selects the drone 30 or the vehicle 32 as the target moving body 26tar to monitor the selected monitoring area. Also, the service server 22 calculates the movement route RTm in relation to the monitored area.

<B-3. Database>
In the above embodiment, the first map DB 76 and mobile object DB 74 are arranged in the service server 22 (FIG. 1). However, from the viewpoint of calculating a suitable moving route RTm based on, for example, the attributes of the unit section Su and the attributes of the moving body 26, the present invention is not limited to this. For example, it is possible to provide the first map DB 76 or the mobile object DB 74 outside the service server 22 (for example, the cloud or the traffic server 24).

<B-4. Calculation of movement cost C (movement evaluation value)>
In the above embodiment, the movement cost C is calculated using the reference cost Cref and the additional cost Cad (S108 in FIG. 6). At that time, the information Ic, Its, Irr, Irgd, Isfa, Ii, and Isu obtained in steps S101 to S107 were used as the reference cost Cref. However, from the viewpoint of calculating the total T of the movement cost C (movement evaluation value) based on the unit classification information Isu and the individual information Ii or type information, the present invention is not limited to this. For example, it is possible to calculate the movement cost C (movement evaluation value) using only the unit segment information Isu and the individual information Ii.

In the above embodiment, the route option RTop with the smallest total T of the movement costs C is used as the movement route RTm (S95 in FIG. 4). However, from the viewpoint of calculating a suitable moving route RTm based on, for example, the attributes of the unit section Su and the attributes of the moving body 26, the present invention is not limited to this. For example, it is possible to define the movement cost C such that the route option RTop with the largest total T of the movement costs C is used as the movement route RTm.

In the above embodiment, the movement cost C (movement evaluation value) of each unit section Su is defined as the sum of the reference cost Cref and the additional cost Cad (S108 in FIG. 6). However, from the viewpoint of calculating a suitable moving route RTm based on, for example, the attributes of the unit section Su and the attributes of the moving body 26, the present invention is not limited to this. For example, it is possible to set a reference cost Cref for each of the information Ic, Its, Irr, Irgd, Isfa, Ii, and Isu acquired in steps S101 to S107, and use the sum of these as the movement cost C. FIG.

In the above embodiment, the individual information Ii of the moving object 26 is used to calculate the moving cost C (S106, S108 in FIG. 6). However, from the viewpoint of calculating a suitable moving route RTm based on, for example, the attributes of the unit section Su and the attributes of the moving body 26, the present invention is not limited to this. For example, instead of or in addition to the individual information Ii of the mobile object 26, it is also possible to use the type information of the mobile object 26. FIG. The type information is information indicating the type of the moving object 26, and for example, "drone" and "delivery vehicle" can be used. Alternatively, it is also possible to use "truck", "wagon" and the like as more detailed types.

10... Management system 20... Customer terminal (external device)
22 ... Service management server (management server)
24 Traffic management server 28 Movement management unit 26 Moving body 26 tar Target moving body 30 Drone (autonomous moving body) 32 Delivery vehicle (autonomous moving body)
52... Communication unit (communication device) 74... Mobile DB
76 First map DB (map database)
100... Traffic management unit 102... Traffic flow information providing unit 134... Drone control device (autonomous control unit)
154... Vehicle control device (autonomous control unit) C... Movement cost (movement evaluation value)
Ic...Environmental information (location information of restricted access area)
Ii... Individual information Imap1... First map information (map information) Isu... Unit classification information Its... Traffic flow information Pst... Departure point Ptar... Destination RTm... Travel route RTop... Route option T... Total travel cost

Claims (7)

an autonomous mobile body having an autonomous control unit for moving from a starting point to a destination;
a movement management unit that communicates with the autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the autonomous mobile body,
at least two multiple route options between said origin and said destination for one of said vehicles, or at least two multiple routes between said origin and said destination for each of said multiple vehicles. selecting one moving route from the options based on the moving cost calculated for each of the plurality of route options ;
The management system is
a map information database storing map information;
a moving body database storing individual information or type information of the plurality of moving bodies;
with
the map information database includes unit division information, which is attribute information for each geographical unit division, as the map information;
The movement management unit
selecting an individual or a type of the moving body corresponding to a service request received from an external device or determined to be necessary by the movement management unit itself;
calculating, based on the map information, at least one route option from a departure point to a destination corresponding to the service request for each individual or type of the mobile object;
for each of the route options, calculating a total travel cost from the departure point to the destination based on the unit classification information and the individual information or the type information from the departure point to the destination;
Management characterized by selecting a target mobile body that actually moves or a type thereof from among the mobile bodies and a moving route that the target mobile body uses from the route options based on the total movement cost. system. The management system of claim 1 , wherein
When a second service request is received after receiving the first service request and before executing the service of the first service request, the destination corresponding to the second service request corresponds to the first service request. When included in the movement route, the movement management unit preferentially uses the target mobile body corresponding to the first service request as the target mobile body corresponding to the second service request. management system. The management system of claim 1 , wherein
The plurality of mobile bodies are
a drone as the autonomous mobile body;
and a delivery vehicle as the moving body or the autonomous moving body,
The movement management unit
When delivering a large parcel of the first dimension or more by itself, select the delivery vehicle,
When delivering a small package smaller than the first dimension by itself, selecting the drone,
When a delivery request requiring delivery of the small parcel is received in a state in which a delivery schedule for the large parcel by the delivery vehicle has been set, the movement route in which the delivery destination of the small parcel corresponds to the delivery of the large parcel. , the movement management unit causes the delivery vehicle to deliver the small package together with the large package. In the management system according to any one of claims 1 to 3 ,
The management system comprises a traffic management unit that manages the entry of the plurality of moving bodies into the entry restricted area,
The movement management unit calculates the movement cost by weighting each of the plurality of route options based on position information of the restricted entry area requiring entry permission by the traffic management unit. . In the management system according to any one of claims 1 to 4 ,
The management system comprises a traffic flow information provider that provides traffic flow information regarding the location and extent of traffic flow,
The management system, wherein the movement management unit calculates the movement cost by weighting each of the plurality of route options based on the traffic flow information. an autonomous mobile body having an autonomous control unit for moving from a starting point to a destination;
A control method for a management system comprising: a mobility management unit that communicates with the autonomous mobile body via a communication device and manages movement of a plurality of mobile bodies including the autonomous mobile body,
at least two multiple route options between said origin and said destination for one of said vehicles, or at least two multiple routes between said origin and said destination for each of said multiple vehicles. selecting one moving route from the options based on the moving cost calculated for each of the plurality of route options ;
The management system is
a map information database storing map information;
a moving body database storing individual information or type information of the plurality of moving bodies;
with
the map information database includes unit division information, which is attribute information for each geographical unit division, as the map information;
The movement management unit
selecting an individual or a type of the moving body corresponding to a service request received from an external device or determined to be necessary by the movement management unit itself;
calculating, based on the map information, at least one route option from a departure point to a destination corresponding to the service request for each individual or type of the mobile object;
for each of the route options, calculating a total travel cost from the departure point to the destination based on the unit classification information and the individual information or the type information from the departure point to the destination;
Management characterized by selecting a target mobile body that actually moves or a type thereof from among the mobile bodies and a moving route that the target mobile body uses from the route options based on the total movement cost. How the system is controlled. A management server that communicates with an autonomous mobile body equipped 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,
at least two multiple route options between said origin and said destination for one of said vehicles, or at least two multiple routes between said origin and said destination for each of said multiple vehicles. selecting one moving route from the options based on the moving cost calculated for each of the plurality of route options ;
The management server is
a map information database storing map information;
a moving body database storing individual information or type information of the plurality of moving bodies;
with
the map information database includes unit division information, which is attribute information for each geographical unit division, as the map information;
The management server is
Selecting the individual or type of mobile object corresponding to a service request received from an external device or judged to be necessary by the management server itself;
calculating, based on the map information, at least one route option from a departure point to a destination corresponding to the service request for each individual or type of the mobile object;
for each of the route options, calculating a total travel cost from the departure point to the destination based on the unit classification information and the individual information or the type information from the departure point to the destination;
Management characterized by selecting a target mobile body that actually moves or a type thereof from among the mobile bodies and a moving route that the target mobile body uses from the route options based on the total movement cost. server.

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