JP7677654B2 - Mobile control system and mobile object - Google Patents

Description

This specification discloses technology related to a mobile control system and a mobile object.

Patent Document 1 describes a technology in which a mobile object control system controls multiple mobile objects, each of which is configured to move autonomously, and which cooperates with each other to perform tasks such as spraying pesticides, aerial photography, high-altitude inspection, and transportation. In the mobile object control system of Patent Document 1, a management device that manages multiple mobile objects receives status information indicating the status of each mobile object from each mobile object, and instructs each mobile object on an action based on the respective status information.

Patent No. 6931504

The system in Patent Document 1 had the problem that unless each of the multiple mobile objects and the management device maintained a state in which communication was possible (online state), the behavior of each mobile object could not be adjusted according to the progress of the mission.

The technology disclosed in this specification can be realized in the following forms.
One aspect disclosed in the present specification is a mobile object control system for causing a plurality of mobile objects, each of which is configured to be capable of moving autonomously, to cooperate with the plurality of mobile objects to accomplish a mission, wherein each of the plurality of mobile objects includes a wireless module configured to be capable of transmitting and receiving data via wireless communication with another mobile object among the plurality of mobile objects, a driving device configured to drive a mechanism configured to be capable of changing at least one of a position and an attitude of the mobile object, a sensor module that generates observation data observable in the mobile object, a processor, and a memory that stores program instructions. Each of the plurality of moving bodies stores shared data that continues to store the observation data generated by each of the plurality of moving bodies when performing the mission by repeatedly sharing the observation data generated by the moving body and the observation data generated by the other moving bodies among the plurality of moving bodies using the wireless module at a first timing common to the plurality of moving bodies, and repeatedly determines, based on the shared data, an action to be taken by each of the plurality of moving bodies to cooperatively perform the mission at a second timing common to the plurality of moving bodies, using an algorithm common to the plurality of moving bodies; and controls at least one of the driving device and the sensor module in the moving body based on the action to be taken by the moving body determined by the common algorithm. In this form, the observation data generated by the sensor module in each of the plurality of moving bodies includes photographing data of the surroundings from the moving body and data indicating the position and attitude of the moving body. Each of the plurality of moving bodies is a node that constitutes a blockchain network, and the observation data generated by each of the plurality of moving bodies is shared by the blockchain. According to this form of mobile object control system, the photographic data and data generated by each of the multiple moving objects can be shared among each of the multiple moving objects while adjusting the behavior of each moving object according to the progress of the mission, without the need to maintain an online state allowing communication between each of the multiple moving objects and the management device.

(1) One aspect disclosed in this specification is a mobile object control system including a plurality of mobile objects, each of which is configured to be capable of moving autonomously. In this mobile object control system, each of the plurality of mobile objects includes a wireless module configured to be capable of transmitting and receiving data via wireless communication with other mobile objects among the plurality of mobile objects that are different from the mobile object in question; a driving device that drives a mechanism configured to be capable of changing at least one of the position and attitude of the mobile object; a sensor module that generates observation data based on at least one of physical and chemical phenomena observable in the mobile object; a processor; and a memory that stores program instructions. Each of the multiple moving bodies shares the observation data generated in the moving body and the observation data generated in the other moving bodies among the multiple moving bodies using the wireless module by executing the program instructions by the processor; repeatedly determines the action to be taken by each of the multiple moving bodies to accomplish the mission to be performed by the multiple moving bodies in cooperation with each other based on the observation data of the moving body and the other moving bodies shared among the multiple moving bodies using an algorithm common to the multiple moving bodies; and controls at least one of the drive device and the sensor module in the moving body based on the action to be taken by the moving body determined by the common algorithm. With this form of mobile body control system, the action of each moving body can be adjusted according to the progress of the mission without the need to maintain an online state in which communication is possible between each of the multiple moving bodies and a management device.

(2) The mobile object control system of the above-mentioned embodiment may further include a management device configured to be able to communicate with each of the multiple mobile objects and managing the multiple mobile objects. In this mobile object control system, the actions of the multiple mobile objects determined by the common algorithm may include an action of tolerating an offline state in which the management device cannot communicate with each of the multiple mobile objects, and at least one of the multiple mobile objects attempts to resume communication with the management device after the offline state is reached. According to this embodiment of the mobile object control system, even if the management device is in an offline state in which it cannot communicate with each of the multiple mobile objects, at least one mobile object can resume communication with the management device, thereby allowing the management device to use observation data that the mobile object shared with another mobile object while in the offline state.

(3) In the mobile object control system of the above-described form, the actions of the multiple mobile objects determined by the common algorithm may include allowing at least one of the multiple mobile objects to be in an offline state in which it cannot communicate with another mobile object different from the mobile object, and the mobile object that has entered the offline state to attempt to resume communication with the other mobile object. According to this form of mobile object control system, the mobile object that was in the offline state resumes communication with the other mobile object, so that observation data generated by the offline mobile object while it was in the offline state can be shared with the other mobile object.

(4) In the mobile object control system of the above-described form, the actions of the multiple mobile objects determined by the common algorithm may include an action of relaying data by at least one of the multiple mobile objects so that communication is possible between other mobile objects different from the mobile object. According to this form of mobile object control system, the activity range of the multiple mobile objects that maintain an online state with each other can be locally expanded.

(5) The mobile object control system of the above-mentioned embodiment may further include a management device configured to be able to communicate with each of the plurality of mobile objects and managing the plurality of mobile objects. In this mobile object control system, the actions of the plurality of mobile objects determined by the common algorithm may include an action of at least one of the plurality of mobile objects relaying data so that communication can be made between another mobile object different from the mobile object and the management device. According to this embodiment of the mobile object control system, it is possible to expand the range of activities of the plurality of mobile objects that maintain communication between the other mobile object and the management device via at least one mobile object.

(6) In the mobile object control system of the above-described form, the actions of the multiple mobile objects determined by the common algorithm may include an action of searching for the mobile object with which communication has been interrupted by another mobile object that is different from the mobile object with which communication has been interrupted, based on the observation data shared by the mobile object with which communication has been interrupted before communication was interrupted. According to this form of mobile object control system, the observation data obtained by the search action by the other mobile object can be used to recover the mobile object with which communication has been interrupted.

(7) In the mobile object control system of the above-described form, each of the multiple mobile objects repeatedly determines, at a common timing for the multiple mobile objects, an action to be taken by each of the multiple mobile objects based on the observation data of the mobile object and the other mobile objects shared among the multiple mobile objects, using the common algorithm, as a result of the program instructions being executed by the processor; and the next common timing determined by the common algorithm may be adjusted depending on the quality of the wireless communication among the multiple mobile objects. With this form of mobile object control system, it is possible to achieve both efficient mission execution and suppression of communication anomalies.

(8) In the mobile object control system of the above-described embodiment, each of the multiple mobile objects may be a node constituting a blockchain network, and the observation data generated by each of the multiple mobile objects may be shared by the blockchain. According to this embodiment of the mobile object control system, the blockchain can prevent tampering with and loss of observation data in the multiple mobile objects.

(9) The mobile object control system of the above-mentioned embodiment may further include a management device configured to be able to communicate with each of the multiple mobile objects and managing the multiple mobile objects. In this mobile object control system, the management device is a node that constitutes the blockchain network together with each of the multiple mobile objects, and the observation data generated by each of the multiple mobile objects may be shared by the blockchain. According to this embodiment of the mobile object control system, the blockchain can prevent tampering with and loss of observation data in the management device as well as the multiple mobile objects.

(10) In the mobile object control system of the above-mentioned form, the multiple mobile objects may be multiple unmanned aerial vehicles. The missions may include at least one of search, disaster investigation, ecological investigation, aerial photography, delivery, pesticide spraying, bird and animal extermination, surveying, surveillance, and reconnaissance. According to this form of mobile object system, when performing various missions using multiple unmanned aerial objects, the behavior of each unmanned aerial object can be adjusted according to the progress of the mission without the need to maintain an online state that enables communication between each of the multiple unmanned aerial objects and a management device.

The technology disclosed in this specification can be realized in various forms other than a mobile object control system. For example, the technology disclosed in this specification can be realized in the form of a mobile object, a management device, computer programs therefor, and a method for managing multiple mobile objects.

FIG. 1 is an explanatory diagram showing a configuration of a mobile object control system. FIG. 2 is an explanatory diagram showing a detailed configuration of a moving body. FIG. 2 is an explanatory diagram showing a detailed configuration of a management device. 13 is a flowchart showing a mission acceptance process executed by the management device. 13 is a flowchart showing a data sharing process executed by each of a plurality of moving objects. 13 is a flowchart showing a mission execution process executed by each of a plurality of moving bodies. FIG. 1 is an explanatory diagram showing an example of actions taken by a plurality of moving objects; FIG. 1 is an explanatory diagram showing an example of actions taken by a plurality of moving objects; FIG. 1 is an explanatory diagram showing an example of actions taken by a plurality of moving objects; FIG. 1 is an explanatory diagram showing an example of actions taken by a plurality of moving objects; FIG. 1 is an explanatory diagram showing an example of actions taken by a plurality of moving objects;

Figure 1 is an explanatory diagram showing the configuration of a mobile object control system 10. The mobile object control system 10 is a system that controls multiple mobile objects 100 to cooperatively perform a mission MS. In this embodiment, the mission MS that can be performed by multiple mobile objects 100 is a search for a person or object.

The mobile object control system 10 includes multiple mobile objects 100 and a management device 200. Each of the multiple mobile objects 100 is an unmanned aerial vehicle (drone) configured to be autonomously mobile. The management device 200 is a computer that manages the multiple mobile objects 100. In the description of this embodiment, the reference number "100" is used to collectively indicate multiple mobile objects, and a reference number obtained by adding a subnumber to the reference number "100" is used to individually indicate a specific mobile object among the multiple mobile objects. In the example of FIG. 1, the number of mobile objects 100 is n, and mobile objects 100-1, 100-2, 100-3, ..., 100-n are illustrated.

In the mobile object control system 10, each of the multiple mobile objects 100 is configured to be able to communicate with the other mobile objects 100 and the management device 200 in a peer-to-peer (P2P) manner. In the mobile object control system 10, each of the multiple mobile objects 100 is basically operated within a communication area CA within which it can communicate with the other mobile objects 100 and the management device 200 in a P2P manner. Depending on the progress of the mission MS, the multiple mobile objects 100 are configured to be able to adjust the behavior of each mobile object 100 without having to maintain an online state in which communication is possible with the management device 200. In other words, the multiple mobile objects 100 are configured to be able to perform the mission MS even when they are offline from the management device 200.

Figure 2 is an explanatory diagram showing the detailed configuration of the moving body 100. The moving body 100 includes a processor 110, a memory 120, a wireless module 130, a camera module 140, a flight controller 150, a battery 160, a power distribution board 170, a plurality of drive motors 180, and a plurality of propellers 185.

The processor 110 of the moving body 100 controls each part of the moving body 100 by executing a plurality of program instructions contained in the flight control program 122 and the data sharing program 124 stored in the memory 120. The number of processors 110 may be one or more.

The memory 120 of the mobile body 100 stores data handled by the processor 110. The number of memories 120 may be one or more. The memory 120 stores a flight control program 122 and a data sharing program 124, which describe program instructions to be executed by the processor 110. The flight control program 122 is a computer program for accomplishing the mission MS by flying the mobile body 100 using the camera module 140 and the flight controller 150. The data sharing program 124 is a computer program for achieving data sharing between other mobile bodies 100 and the management device 200 using the wireless module 130.

The memory 120 is configured to be capable of storing observation data 126 and shared data 128. The observation data 126 is data generated based on at least one of physical and chemical phenomena observable in the moving body 100. The observation data 126 includes image data of the surroundings captured by the camera module 140 from the moving body 100, and flight data indicating the position and attitude of the moving body 100 measured by the flight controller 150.

The shared data 128 is data that stores observation data 126 of the own machine and other machines that is shared among the multiple moving bodies 100. In this embodiment, each of the multiple moving bodies 100 is a node that constitutes a blockchain network, and the shared data 128 is a blockchain that stores the observation data 126 generated by each of the multiple moving bodies 100. In this embodiment, the management device 200 is also a node that constitutes the blockchain network together with each of the multiple moving bodies 100, and shares the observation data 126 generated by each of the multiple moving bodies 100 through the blockchain. In this embodiment, the shared data 128 also stores data indicating the contents of the mission MS in addition to the observation data 126 generated by each of the multiple moving bodies 100.

The wireless module 130 of the mobile body 100 is an electronic component configured to be able to communicate with other mobile bodies 100 and the management device 200 in a peer-to-peer (P2P) manner via wireless communication. The wireless module 130 is configured integrally with a wireless chip, peripheral circuits, a controller, and software. The wireless communication by the wireless module 130 may be wireless communication conforming to the wireless LAN standard, or wireless communication conforming to a mobile phone network.

The camera module 140 of the moving body 100 is a sensor module configured to capture the surrounding scenery observed from the moving body 100. The camera module 140 is configured integrally with an image sensor, peripheral circuits, a controller, and software. In this embodiment, the camera module 140 functions as a visible light camera and an infrared camera.

The flight controller 150 of the moving body 100 is an electronic component configured to be able to control the output of multiple drive motors 180 based on control signals from the processor 110 in order to realize autonomous flight of the moving body 100. The flight controller 150 is configured to integrally include various sensors, peripheral circuits, a controller, and software. The flight controller 150 is equipped with an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an air pressure sensor, and a GNNS (Global Navigation Satellite System) sensor as various sensors for measuring the flight state (attitude, position, etc.) of the moving body 100. The flight controller 150 is configured to be able to measure the remaining battery capacity of the battery 160 via the power distribution board 170. The flight controller 150 functions as a sensor module that generates data measuring the flight state of the moving body 100 and data measuring the remaining battery capacity of the battery 160 as observation data observable in the moving body 100.

The battery 160 of the moving body 100 is a storage battery that serves as the power source for the multiple drive motors 180. In this embodiment, the battery 160 is a lithium-ion secondary battery. The power distribution board 170 of the moving body 100 distributes the power of the battery 160 to each of the multiple drive motors 180 based on a control signal from the flight controller 150.

The multiple drive motors 180 in the moving body 100 are drive devices that output a rotational force that rotates the propellers 185 based on the power from the battery 160. The multiple propellers 185 in the moving body 100 are mechanisms configured to be able to change at least one of the position and attitude of the moving body 100 by converting the rotational force of the drive motors 180 into a propulsive force. In this embodiment, one moving body 100 is provided with four drive motors 180 and four propellers 185, and one drive motor 180 drives one propeller.

Figure 3 is an explanatory diagram showing the detailed configuration of the management device 200. The management device 200 includes a processor 210, a memory 220, a communication module 230, an output device 240, and an input device 250.

The processor 210 of the management device 200 controls each part of the management device 200 by executing a plurality of program instructions contained in the flight management program 222 and the data sharing program 224 stored in the memory 220. The number of processors 210 may be one or more.

The memory 220 of the management device 200 stores data handled by the processor 210. The number of memories 220 may be one or more. The memory 220 stores a flight management program 222 that describes program instructions to be executed by the processor 210, and a data sharing program 224. The flight management program 222 is a computer program for managing the execution of a mission MS by multiple mobile bodies 100. The data sharing program 224 is a computer program for realizing data sharing between multiple mobile bodies 100 using the communication module 230.

The memory 220 is configured to store mission data 226 and shared data 228. The mission data 226 is data indicating the content of the mission MS to be performed by the multiple mobile bodies 100.

The shared data 228 is data common to the shared data 128 shared among the multiple mobile bodies 100. In this embodiment, the management device 200 is a node that constitutes a blockchain network together with each of the multiple mobile bodies 100, and shares the observation data 126 generated by each of the multiple mobile bodies 100 via the blockchain. In this embodiment, the shared data 228 stores the mission data 226 in addition to the observation data 126 generated by each of the multiple mobile bodies 100.

The communication module 230 of the management device 200 is an electronic component configured to be able to communicate with each of the multiple mobile objects 100 via P2P. The communication module 230 is configured integrally with a communication chip, peripheral circuits, a controller, and software. The communication network between the management device 200 and the mobile object 100 may include wired communication along the way as long as the final connection with the mobile object 100 is wireless communication, and the communication by the communication module 230 may be wired communication or wireless communication. In this embodiment, the communication by the communication module 230 is wireless communication that complies with the wired LAN standard, and the communication network between the management device 200 and the mobile object 100 is configured by a wired LAN, the Internet, a wireless LAN, and a mobile phone network.

The output device 240 of the management device 200 is a user interface that outputs information to the administrator of the mobile control system 10. The output device 240 includes a display that displays the progress and results of the mission MS.

The input device 250 of the management device 200 is a user interface that accepts information input from the administrator of the mobile control system 10. The input device 250 includes a keyboard and mouse that accept instructions for the mission MS.

Figure 4 is a flowchart showing the mission acceptance process executed by the management device 200. The mission acceptance process in Figure 4 is a process for accepting instructions for a mission MS from the administrator of the mobile control system 10. The management device 200 repeatedly executes the mission acceptance process in Figure 4 at a predetermined timing by the processor 210 executing program instructions included in the flight management program 222 and the data sharing program 224.

After starting the mission acceptance process of FIG. 4, the management device 200 determines whether or not the mission MS can be accepted (step S212). In this embodiment, the management device 200 determines that the mission MS can be accepted when a predetermined number of mobile bodies 100 are waiting within the communication area CA. If the mission MS cannot be accepted (step S212: NO), the management device 200 ends the mission acceptance process of FIG. 4.

If the mission MS can be accepted (step S212: "YES"), the management device 200 displays a reception screen (not shown) for accepting instructions for the mission MS on the output device 240 (step S214), and waits until instructions for the mission MS are input by the administrator of the mobile control system 10 using the input device 250 (step S216: "NO").

When an instruction for a mission MS is input by the administrator of the mobile control system 10 using the input device 250 (step S216: "YES"), the management device 200 instructs the multiple mobile bodies 100 to carry out the mission MS received from the administrator of the mobile control system 10 (step S218). In this embodiment, the management device 200 shares mission data 226 indicating the contents of the mission MS with the multiple mobile bodies 100, and the mission data 226 is stored in the shared data 128, 228, which is a blockchain. When the mission MS is a search, the mission data 226 includes various information such as the search target, search area, search period, and measures to be taken when discovered. After instructing the multiple mobile bodies 100 on the mission MS (step S218), the management device 200 ends the mission acceptance process of FIG. 4.

Figure 5 is a flowchart showing the data sharing process executed by each of the multiple moving bodies 100. The data sharing process in Figure 5 is a process for sharing observation data 126 generated by each of the multiple moving bodies 100 among the multiple moving bodies 100. The moving body 100 repeatedly executes the data sharing process in Figure 5 at a predetermined timing by the processor 110 executing program instructions included in the flight control program 122 and the data sharing program 124.

After starting the data sharing process of FIG. 5, the mobile body 100 accumulates various pieces of information observed by the mobile body 100 as observation data 126 (step S112). In this embodiment, the mobile body 100 accumulates various pieces of information acquired from the camera module 140 and the flight controller 150 as observation data 126.

After accumulating various information as observation data 126 (step S112), the mobile body 100 determines whether it is a sharing execution timing TS, which is the timing for executing sharing of the observation data 126 with other mobile bodies 100 (step S114). The sharing execution timing TS is set to a common timing among multiple mobile bodies 100. In this embodiment, the interval between the sharing execution timings TS is 10 seconds, and in other embodiments, it may be less than 10 seconds or more than 10 seconds. If it is not the sharing execution timing TS (step S114: "NO"), the mobile body 100 ends the data sharing process of FIG. 5.

If it is the sharing execution timing TS (step S114: "YES"), the mobile body 100 shares the observation data 126 of the mobile body 100 and the other mobile bodies among the multiple mobile bodies 100 (step S116). In this embodiment, the mobile body 100 shares the observation data 126 of the mobile body 100 and the other mobile bodies with the multiple mobile bodies 100, and the observation data 126 generated by each of the multiple mobile bodies 100 is stored in the shared data 128, which is a blockchain, in each of the multiple mobile bodies 100. When the mobile body 100 is online with the management device 200, the mobile body 100 shares the observation data 126 of the mobile body 100 and the other mobile bodies with the management device 200, and the observation data 126 generated by each of the multiple mobile bodies 100 is stored in the shared data 228, which is a blockchain, in the management device 200. After sharing the observation data 126 (step S116), the mobile body 100 ends the data sharing process of FIG. 5.

Figure 6 is a flowchart showing the mission execution process executed by each of the multiple moving bodies 100. The mission execution process in Figure 6 is a process for multiple moving bodies 100 to cooperate with each other to execute a mission MS. The moving body 100 repeatedly executes the mission execution process in Figure 6 at a predetermined timing by the processor 110 executing program instructions included in the flight control program 122 and the data sharing program 124.

After starting the mission execution process of FIG. 6, the mobile body 100 determines whether or not there is a mission MS to be executed (step S221). In this embodiment, the mobile body 100 determines whether or not there is a mission MS to be executed based on the mission data 226 included in the shared data 128 stored in the memory 120 of the mobile body 100. If there is no mission MS to be executed (step S221: NO), the mobile body 100 ends the mission execution process of FIG. 6.

If there is a mission MS to be performed (step S221: "YES"), the moving body 100 determines whether it is an action decision timing TA, which is the timing for determining the action that each of the multiple moving bodies should take to perform the mission MS (step S222). The action decision timing TA is set to a synchronized timing between the multiple moving bodies 100. In this embodiment, the interval between the action decision timings TA is 10 seconds, and in other embodiments, it may be less than 10 seconds or more than 10 seconds. If it is not an action decision timing TA (step S222: "NO"), the moving body 100 ends the mission performance processing of FIG. 6.

If it is the action decision timing TA (step S222: "YES"), the moving body 100 reads the shared data 128 from its own memory 120 (step S224). After reading the shared data 128 (step S224), the moving body 100 determines the action that each of the multiple moving bodies 100 should take to perform the mission MS based on the shared data 128 using an algorithm AL common to the multiple moving bodies 100 (step S226). As a result, the actions of the multiple moving bodies 100 determined by each of the multiple moving bodies 100 will be the same. The common algorithm AL is an algorithm for realizing AI (Artificial Intelligence) determination that determines the action that each of the multiple moving bodies 100 should take to perform the mission MS using learned parameters through machine learning.

After each of the multiple moving bodies 100 has determined the action to be taken (step S224), the moving body 100 starts controlling the camera module 140 and the flight controller 150 based on the action to be taken by the own body determined by the common algorithm AL (step S228). In this embodiment, as part of the search, which is the mission MS, the moving body 100 moves to the search area assigned to the own body and performs photographing of the search area. The moving body 100 attempts to identify the search target from the photographed data by performing image analysis on the photographed data. If the search target is identified from the photographed data, the moving body 100 notifies the management device 200 of this fact. After starting control based on the action to be taken by the own body (step S228), the moving body 100 ends the mission execution process of FIG. 6.

Figure 7 is an explanatory diagram showing an example of behavior of multiple mobile bodies 100. The behavior of multiple mobile bodies 100 determined by a common algorithm AL may allow an offline state in which the management device 200 cannot communicate with each of the multiple mobile bodies 100. After the management device 200 becomes offline from the multiple mobile bodies 100, at least one of the multiple mobile bodies 100 attempts to resume communication with the management device 200.

In the example of FIG. 7, the management device 200 is offline from the communication area CA1 where P2P communication is possible between each of the multiple mobile bodies 100. After the management device 200 goes offline from the communication area CA1, the mobile body 100-6 attempts to resume communication with the management device 200 via wireless communication (movement M1 by the mobile body 100-6). As a result, even if the management device 200 goes offline and is unable to communicate with each of the multiple mobile bodies 100, the mobile body 100-6 can resume wireless communication with the management device 200, allowing the management device 200 to use the observation data 126 that the mobile body 100-6 shared with another mobile body 100 while offline.

Figure 8 is an explanatory diagram showing an example of behavior of multiple mobile bodies 100. The behavior of multiple mobile bodies 100 determined by a common algorithm AL may allow at least one of the multiple mobile bodies 100 to be in an offline state in which it cannot communicate with other mobile bodies 100 different from that mobile body 100 and the management device 200. The mobile body 100 that has entered the offline state attempts to resume communication with at least one of the other mobile bodies 100 and the management device 200.

In the example of FIG. 8, mobile body 100-3 is offline from communication area CA2, which allows P2P communication between multiple mobile bodies 100 and management device 200. After mobile body 100-3 goes offline from communication area CA2, mobile body 100-3 attempts to resume communication with another mobile body 100 and management device 200 in communication area CA2 (movement M2 by mobile body 100-3). As a result, mobile body 100-3, which was offline, resumes wireless communication with another mobile body 100 in communication area CA2, and observation data 126 generated while offline by mobile body 100-3 can be shared between another mobile body 100 and management device 200 in communication area CA2.

Figure 9 is an explanatory diagram showing an example of the behavior of multiple mobile bodies 100. The behavior of multiple mobile bodies 100 determined by a common algorithm AL may include an action of at least one of the multiple mobile bodies 100 relaying data so that communication is possible between other mobile bodies 100 different from the mobile body 100. In the example of Figure 9, mobile body 100-2 relays data so that communication is possible between mobile body 100-3 and multiple mobile bodies 100 (excluding mobile bodies 100-2 and 100-3). This allows the activity range of multiple mobile bodies 100 that maintain an online state to be locally expanded (communication area CA3).

Figure 10 is an explanatory diagram showing an example of the behavior of multiple mobile bodies 100. The behavior of multiple mobile bodies 100 determined by a common algorithm AL may include an action of at least one of the multiple mobile bodies 100 relaying data so that communication between another mobile body 100 different from the mobile body 100 and the management device 200 is possible. In the example of Figure 10, mobile bodies 100-5 and 100-6 relay data so that communication between the multiple mobile bodies 100 (excluding mobile bodies 100-5 and 100-6) and the management device 200 is possible. This allows the activity range of the multiple mobile bodies 100 that maintain the online state between the multiple mobile bodies 100 and the management device 200 to be expanded (communication area CA4).

FIG. 11 is an explanatory diagram showing an example of the behavior of a plurality of moving bodies 100. The behavior of a plurality of moving bodies 100 determined by a common algorithm AL may include a behavior of searching for a moving body 100 that has lost communication, by another moving body 100 different from the moving body 100, based on the observation data 126 shared by the moving body 100 that has lost communication before the communication is interrupted. In the example of FIG. 11, the moving body 100-5 is in a state where communication is interrupted due to a problem such as a malfunction or a dead battery. In this case, the moving body 100-1, which was flying near the moving body 100-5 immediately before the communication of the moving body 100-5 was interrupted, searches for the moving body 100-5 based on the observation data 126 shared by the moving body 100-5 before the communication is interrupted (movement M5 by the moving body 100-1). This allows the observation data 126 obtained during the search operation by the mobile unit 100-1 to be used to recover the mobile unit 100-5 with which communication has been cut off.

According to the embodiment described above, each of the multiple moving bodies 100 determines the action that each of the multiple moving bodies 100 should take to execute the mission MS based on the shared data 128 using an algorithm AL common to the multiple moving bodies 100 at a common timing for the multiple moving bodies 100 (step S226 in FIG. 6), and controls the camera module 140 and the flight controller 150 based on the action that the vehicle should take determined by the common algorithm AL (step S228 in FIG. 6). This makes it possible to adjust the action of each moving body 100 according to the progress of the mission MS, without the need to maintain an online state that allows communication between each of the multiple moving bodies 100 and the management device 200.

In addition, each of the multiple mobile bodies 100 is a node that constitutes the blockchain network, and the observation data 126 generated by each of the multiple mobile bodies 100 is shared by the blockchain. This makes it possible to prevent tampering with and loss of the observation data 126 in the multiple mobile bodies 100 by the blockchain.

The management device 200 is a node that constitutes a blockchain network together with each of the multiple mobile bodies 100, and shares the observation data 126 generated by each of the multiple mobile bodies 100 via the blockchain. This makes it possible to prevent tampering with and loss of the observation data 126 in the management device 200 as well as the multiple mobile bodies 100 via the blockchain.

The technology disclosed in this specification is not limited to the above-mentioned embodiments, examples, and modifications, and can be realized in various configurations without departing from the spirit of the invention. For example, among the technical features in the above-mentioned embodiments, examples, and modifications, those that correspond to the technical features in each form described in the Summary of the Invention column can be replaced and combined as appropriate to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, technical features that are not described in this specification as essential can be deleted as appropriate.

The mobile object control system 10 in the above-described embodiment is configured such that the management device 200 instructs the multiple mobile objects 100 on the mission MS, but in other embodiments, it is not necessary to provide the management device 200, and the mission MS may be set in the mobile object 100 at the time of manufacture or startup. The mobile object control system 10 may also be provided with multiple management devices 200.

The missions MS performed by the mobile control system 10 are not limited to searching for people or objects, but may be at least one of disaster investigations, ecological surveys, aerial photography, delivery, pesticide spraying, bird and animal extermination, surveying, surveillance, and reconnaissance. In addition, the mobile body 100 may be equipped with various sensor modules necessary for performing the mission depending on the content of the mission.

Each of the multiple moving bodies 100 may adjust the next action decision timing TA determined by a common algorithm AL according to the quality of wireless communication in the multiple moving bodies 100. When the quality of wireless communication drops below a reference value, each of the multiple moving bodies 100 may set the next action decision timing TA to a timing later than normal timing in order to suppress communication abnormalities, or may set the next action decision timing TA to a timing shorter than normal timing in order to quickly restore communication quality. In this case, in addition to adjusting the action decision timing TA, each of the multiple moving bodies 100 may also adjust the shared execution timing TS in the same manner. This makes it possible to achieve both efficient mission execution and suppression of communication abnormalities.

The moving body 100 is not limited to an unmanned airplane, but may be any moving body capable of autonomous movement, and may be a manned airplane, or an unmanned or manned vehicle or ship. The multiple moving bodies 100 are not limited to a combination of one type of moving body, but may be a combination of two or more types of moving bodies (for example, a combination of an unmanned airplane and an unmanned vehicle).

10...Mobile object control system 100, 100-1 to 100-n...Mobile object 110...Processor 120...Memory 122...Flight control program 124...Data sharing program 126...Observation data 128...Shared data 130...Wireless module 140...Camera module 150...Flight controller 160...Battery 170...Power distribution board 180...Drive motor 185...Propeller 200...Management device 210...Processor 220...Memory 222...Flight management program 224...Data sharing program 226...Mission data 228...Shared data 230...Communication module 240...Output device 250...Input device

Claims (1)

A mobile object control system that includes a plurality of mobile objects each configured to be capable of moving autonomously and causes the plurality of mobile objects to cooperate with each other to perform a mission,
Each of the plurality of moving bodies includes
a wireless module configured to be able to transmit and receive data via wireless communication with another mobile body different from the mobile body among the plurality of mobile bodies;
A driving device that drives a mechanism configured to be able to change at least one of a position and an attitude of the moving body;
A sensor module that generates observation data observable in the moving object;
A processor;
and a memory for storing program instructions, the program instructions being executed by the processor to
the observation data generated in the moving body and the observation data generated in the other moving bodies are repeatedly shared among the plurality of moving bodies using the wireless module at a first timing common to the plurality of moving bodies, thereby storing shared data that continues to store the observation data generated in each of the plurality of moving bodies during the performance of the mission;
repeatedly determining an action to be taken by each of the plurality of moving bodies to cooperatively accomplish the mission based on the shared data using an algorithm common to the plurality of moving bodies at a second timing common to the plurality of moving bodies;
controlling at least one of the drive device and the sensor module in the moving object based on the action to be taken by the moving object determined by the common algorithm;
the observation data generated by the sensor module in each of the plurality of moving bodies includes image data of an image of an environment captured from the moving body and data indicating a position and an attitude of the moving body;
A mobile object control system in which each of the multiple moving objects is a node that constitutes a blockchain network, and the observation data generated by each of the multiple moving objects is shared via the blockchain.

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