Control device and control method for moving object, and moving object

Abstract

To provide a control device and a control method of a moving object that can accommodate various types of delays, such as a communication delay, and a moving object.SOLUTION: A control device 1 generates a virtual space based on a behavior of each UAV2 within a UAV group in real space, and controls the behavior of each UAV2 in real space based on the behavior of each UAV2 in the virtual space. The control device 1 comprises: a specifying unit that specifies a future movement path and a past movement path of one UAV2 in the virtual space; a virtual moving object control unit that controls the behavior of the other UAV2 to prevent the other UAV2 from crossing the future and past movement paths in the virtual space; and a real moving object control unit that controls the behavior of the other UAV2 in real space, based on the behavior of the other UAV2 in the virtual space.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device and a control method for a moving body such as an unmanned aerial vehicle (UAV), and to the moving body. [Background technology]

[0002] Various control methods have been proposed for treating multiple moving objects as a group and for causing each moving object in the group to operate in a coordinated manner. For example, Patent Document 1 discloses a method for determining the behavior of a group of moving objects in a virtual space by simulation and controlling the behavior of the group of moving objects in real space based on the results of the simulation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-188893 [Patent Document 2] Patent No. 6065130 specification Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology for controlling a group of moving objects as described above, various delays occur, such as communication delays between each moving object and the control device that controls the moving object, response delays in each moving object, etc. Therefore, it is necessary to ensure that each moving object can operate appropriately even under conditions in which such delays occur.

[0005] The present invention has been made in consideration of the above circumstances, and its main object is to provide a control device and control method for a mobile body, and a mobile body, that can achieve stable group control even when various delays such as communication delays occur. [Means for solving the problem]

[0006] In order to solve the above problems, one aspect of the present invention provides a mobile body control device that generates a virtual space based on the behavior in real space of each mobile body included in a group of mobile bodies, and controls the behavior of each mobile body in the real space based on the behavior of each mobile body in the virtual space, and includes an identification unit that identifies a future movement path in the virtual space of one mobile body included in the group of mobile bodies, a virtual mobile body control unit that controls the movement of other mobile bodies included in the group of mobile bodies in the virtual space so that the other mobile bodies do not pass through the future movement path of the one mobile body, and a real mobile body control unit that controls the behavior of the other mobile bodies in the real space in accordance with the behavior of the other mobile bodies in the virtual space.

[0007] Another aspect of the present invention is a moving body control device that generates a virtual space based on the behavior in real space of each moving body included in a group of moving bodies, and controls the behavior of each moving body in the real space based on the behavior of each moving body in the virtual space, and includes an identification unit that identifies a past movement path in the virtual space of one of the moving bodies included in the group of moving bodies, a virtual moving body control unit that controls the behavior of other moving bodies included in the group of moving bodies in the virtual space so that the other moving bodies do not pass through the past movement path of the one moving body, and a real moving body control unit that controls the behavior of the other moving bodies in the real space in accordance with the behavior of the other moving bodies in the virtual space.

[0008] Another aspect of the present invention provides a mobile body control device that generates a virtual space based on the behavior in real space of each mobile body included in a group of mobile bodies, and controls the behavior of each mobile body in the real space based on the behavior of each mobile body in the virtual space, and includes an identification unit that identifies a future movement path and a past movement path in the virtual space of one mobile body included in the group of mobile bodies, a virtual mobile body control unit that controls the behavior of other mobile bodies included in the group of mobile bodies in the virtual space so that the other mobile bodies do not pass through the future movement path and the past movement path of the one mobile body, and a real mobile body control unit that controls the behavior of the other mobile bodies in the real space in accordance with the behavior of the other mobile bodies in the virtual space.

[0009] In the above aspect, the virtual moving body control unit may further include an update unit that updates the past movement path of the one moving body by excluding a movement path that the one moving body has passed through in real space from the past movement path of the one moving body, and the virtual moving body control unit may control the behavior of the other moving body so that the other moving body does not pass through the updated past movement path.

[0010] In addition, in the above aspect, the virtual space may be generated by regarding each moving object as a particle and simulating its behavior using a particle method, and the identification unit may identify the trajectory of the particle in the virtual space as the movement path.

[0011] One aspect of the present invention provides a method for controlling moving bodies, which generates a virtual space based on the behavior in real space of each moving body included in a group of moving bodies, and controls the behavior of each moving body in the real space based on the behavior of each moving body in the virtual space, and includes the steps of: identifying a future movement path in the virtual space of one moving body included in the group of moving bodies; controlling the behavior of another moving body included in the group of moving bodies in the virtual space so that the other moving body does not pass through the future movement path of the one moving body; and controlling the behavior of the other moving body in the real space in accordance with the movement of the other moving body in the virtual space.

[0012] Another aspect of the present invention is a method for controlling a moving body, which generates a virtual space based on the behavior in real space of each moving body included in a group of moving bodies, and controls the behavior of each moving body in the real space based on the behavior of each moving body in the virtual space, and includes the steps of: identifying a past movement path in the virtual space of one moving body included in the group of moving bodies; controlling the behavior of another moving body included in the group of moving bodies in the virtual space so that the other moving body does not pass through the past movement path of the one moving body; and controlling the behavior of the other moving body in the real space in accordance with the behavior of the other moving body in the virtual space.

[0013] A moving body of one embodiment of the present invention is a moving body included in a moving body group that generates a virtual space based on the behavior in real space of each moving body included in the moving body group and controls the behavior of the moving body in the real space based on the behavior of each moving body in the virtual space, and is equipped with an identification unit that identifies future movement paths of other moving bodies included in the moving body group in the virtual space, a virtual moving body control unit that controls the behavior of the moving body in the virtual space so as not to pass through the future movement paths of the other moving bodies, and a real moving body control unit that controls the behavior of the moving body in the real space in accordance with the behavior of the moving body in the virtual space.

[0014] Another aspect of the present invention is a moving body that is included in a group of moving bodies and generates a virtual space based on the behavior in real space of each moving body included in the group of moving bodies, and controls the behavior of the moving body in the real space based on the behavior of each moving body in the virtual space, and is equipped with an identification unit that identifies past movement paths of other moving bodies included in the group of moving bodies in the virtual space, a virtual moving body control unit that controls the behavior of the moving body in the virtual space so as not to pass through the past movement paths of the other moving bodies, and a real moving body control unit that controls the behavior of the moving body in the real space in accordance with the behavior of the moving body in the virtual space. [Effects of the Invention]

[0015] According to the present invention, it is possible to realize appropriate operation of a mobile body while allowing for communication delays and the like. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing the configuration of a control system. [Figure 2] FIG. 2 is a functional block diagram showing the configuration of a control unit included in the control device. [Figure 3] A diagram showing the concept of the movement path of each UAV in virtual space. [Figure 4] Block diagram showing the configuration of a UAV. [Figure 5] 1 is a flowchart showing the procedure of a control process executed by a control device, a UAV in real space, and a positioning system. [Figure 6A] A diagram showing the concept of the movement path of each UAV2 in the virtual space identified by the identification unit. [Figure 6B] A diagram showing the concept of the movement path of each UAV2 in the virtual space identified by the identification unit. [Figure 7] FIG. 2 is an explanatory diagram conceptually showing the configuration of a group of moving objects. [Figure 8] FIG. 2 is a functional block diagram showing the configuration of a control unit provided in the UAV. [Figure 9] 1 is a flowchart showing the procedure of a control process executed by a UAV in real space. DETAILED DESCRIPTION OF THE INVENTION

[0017] Preferred embodiments of the present invention will be described below with reference to the drawings. Note that the following embodiments are merely examples of methods and devices for embodying the technical concept of the present invention, and the technical concept of the present invention is not limited to the following. Various modifications can be made to the technical concept of the present invention within the technical scope described in the claims.

[0018] (Embodiment 1) In this embodiment, a control device is provided that communicates with multiple UAVs included in a group of moving objects, and each UAV operates according to instructions from the control device. The control device uses a so-called digital twin to generate a virtual space (cyberspace) based on the behavior of each moving object in real space (physical space), and controls the behavior of each moving object in real space based on the behavior of each moving object obtained in the virtual space. The configuration and operation of each device included in this embodiment will be described below.

[0019] FIG. 1 is a diagram showing the configuration of a control system according to this embodiment. In this embodiment, a group of UAVs is exemplified as a group of moving objects to be controlled. A control device 1, each UAV 2 included in the group of UAVs, and a positioning system 3 are connected to each other so as to be able to communicate via wireless communication. In the following description, a UAV 2 in real space may be referred to as UAV 2p, and a UAV 2 in virtual space may be referred to as UAV 2c.

[0020] The positioning system 3 is a system for measuring the position of each UAV 2, and transmits behavior data of each UAV 2 indicating the positioning results to the control device 1. The control device 1 determines the position of each UAV 2 in real space based on this behavior data. Note that the control device 1 may be configured to directly acquire behavior data from each UAV 2 without providing such a positioning system 3.

[0021] The control device 1 includes a computer including a CPU, RAM, ROM, non-volatile memory, an input / output interface, etc. The CPU executes information processing in accordance with a program loaded into the RAM, thereby realizing the operations described below.

[0022] 1, the control device 1 includes a control unit 11 and a wireless communication unit 12. The wireless communication unit 12 is configured with a communication module for wirelessly communicating with each UAV 2 and the positioning system 3.

[0023] 2 is a functional block diagram showing the configuration of the control unit 11 provided in the control device 1. As shown in FIG. 2, the control unit 11 includes an identification unit 101, an update unit 102, a virtual UAV control unit 103, and a real UAV control unit 104.

[0024] The identification unit 101 identifies the movement path of each UAV 2 in the virtual space. This movement path is obtained based on the result of simulating the behavior of each UAV 2 in the virtual space. In this embodiment, a particle method is used as the simulation method. Specifically, in addition to the SPH (Smoothed Particle Hydrodynamics) method, which is a representative particle method, particle methods such as the MPS (Moving Particle Simulation) method and the DEM (Discrete Element Method) can be used. However, simulation methods other than the particle method can also be used.

[0025] By regarding each UAV 2 as a particle, its behavior can be simulated using a particle method. In this case, the identification unit 101 captures the trajectory of the particle as the movement path of each UAV 2 and identifies it. FIG. 3 is a diagram showing the concept of the movement path of each UAV 2 in virtual space, expressed as a two-dimensional plan view. As shown in FIG. 3, UAVs 2c1 to 2c3 in virtual space are each located on a movement path P. This movement path P is composed of the trajectory of each particle 10. Note that in FIG. 3 and similar drawings, for convenience of explanation, particles corresponding to the current positions of UAVs 2c1 to 2c3 are replaced with figures representing UAVs 2c1 to 2c3.

[0026] In the example shown in Figure 3, each UAV 2c1-2c3 moves from left to right in the drawing. Of each movement route P, the part to the right of the current position of UAV 2c1-2c3 corresponds to a future movement route (hereinafter referred to as a "future route"), and the part to the left of the current position corresponds to a past movement route (hereinafter referred to as a "past route"). In this embodiment, the movement of UAV 2 in real space is controlled using these future routes and past routes.

[0027] The update unit 102 updates the past route by deleting the route that the UAV2p has taken in real space from the past routes of the UAV2c identified by the identification unit 101. This update makes it possible to prevent the past route from expanding endlessly as the UAV2c moves.

[0028] The virtual UAV control unit 103 controls the behavior of the UAV2c on the movement path in the virtual space, and the real UAV control unit 104 controls the behavior of the UAV2p in the real space according to the behavior of the UAV2c.

[0029] Figure 4 is a block diagram showing the configuration of UAV 2. UAV 2 is a small flying object such as a multicopter, and is equipped with a computer including a CPU, RAM, ROM, non-volatile memory, and an input / output interface. The CPU executes information processing according to a program loaded into the RAM, thereby realizing the operations described below.

[0030] 4, the UAV 2 includes a drive unit 21, a control unit 22, and a wireless communication unit 23. The drive unit 21 is composed of a rotor, a propeller, etc., and its operation is controlled by the control unit 22. The wireless communication unit 23 is composed of a communication module for wireless communication with the control device 1 and the positioning system 3.

[0031] Next, the operation of the above-mentioned control system will be described. Figure 5 is a flowchart showing the procedure of the control process executed by the control device 1, the UAV 2p in the real space, and the positioning system 3. First, the positioning system 3 acquires behavior data including the position and speed of each UAV 2p (S101) and transmits this to the control device 1 (S102).

[0032] When the control device 1 receives the behavior data (S201), it generates a virtual space based on the behavior data (S202). At this time, the control device 1 simulates the behavior of each UAV 2c in the virtual space using the particle method as described above. As a result, the behavior of each UAV 2c is represented as a flow of particles.

[0033] Next, the control device 1 identifies the movement path of the UAV 2c according to the behavior of the UAV 2c in the virtual space (S203). This corresponds to the processing of the identification unit 101. As described above, this movement path corresponds to the trajectory of the particle in the virtual space, and includes a future path and a past path.

[0034] 6A and 6B are diagrams illustrating the concept of the movement route of each UAV2 in the virtual space identified by the identification unit 101. As in the case of FIG. 3, FIGS. 6A and 6B illustrate a case in which each UAV2c1-2c3 moves from left to right in the drawing. As shown in FIG. 6A, a movement route P is identified for each of the UAV2c1-2c3. Below, focusing on UAV2c1 of UAV2c1-2c3, an example of an operation when controlling the behavior of the other UAVs 2c2 and 2c3 based on a future route P1 and a past route P2 in the movement route P of UAV2c1 is illustrated.

[0035] If there were no delays such as communication delays, the current position of UAV2c1 in virtual space would match the current position of UAV2p1 in real space corresponding to that UAV2c1. However, in reality, such delays occur, and the two current positions do not match. More specifically, when controlling the behavior of UAV2p1 in accordance with the behavior of UAV2c1, communication delays occur when a control instruction is sent to UAV2p1 and response delays occur in UAV2p1. As a result, UAV2c1 advances ahead of UAV2p1, resulting in a discrepancy between the current position of UAV2c1 and the current position of UAV2p1. Therefore, in this embodiment, the control device 1 controls the behavior of UAV2c2 and 2c3 so that the other UAVs 2c2 and 2c3 do not pass through the future route P1 and past route P2, rather than the current position of UAV2c1 on the movement route P.

[0036] For example, in the example shown in Figure 6A, UAV2c3 is temporarily stopped, slowed down, or changed direction so that it does not pass through future path P1. These behaviors of UAV2c3 are realized based on simulation using a particle method. This makes it possible to avoid a collision in real space between UAV2p3, which travels with a delay time behind UAV2c3, and UAV2p1.

[0037] In the example shown in Figure 6A, UAV2c2 is temporarily stopped, slowed down, or changed direction so that UAV2c2 does not pass through past route P2. These behaviors of UAV2c2 are realized based on simulation using a particle method. This makes it possible to avoid a collision in real space between UAV2p1 and UAV2p2, which are traveling with a delay time behind UAV2c1.

[0038] Note that the past route in the movement route is the route that UAV2c traveled in the past, and therefore expands over time. If this state is maintained, the area through which other UAV2c can pass may become narrower, which may cause inconvenience. Therefore, in this embodiment, the range of the past route is limited by excluding the movement route that UAV2p passed through from the past route of UAV2c. This point will be explained with reference to FIGS. 6A and 6B. In FIG. 6A, the past route P2 is formed by four particles 10. When UAV2p1 passes the position of the rearmost particle 10 (the leftmost particle 10 in the figure), this particle 10 is deleted from the past route P2. As a result, as shown in FIG. 6B, the past route P2 is updated to be formed by three particles 10.

[0039] The above update corresponds to steps S204 and S205 in Fig. 5. Based on the behavior data acquired in step S201, the control device 1 determines whether the UAV 2p in the real space has passed through the past route of the UAV 2c in the virtual space identified in step S203 (S204). If it is determined that the UAV 2p has passed through (YES in S204), the control device 1 updates the past route by removing the passed route from the past route (S205). These steps S204 and S205 correspond to the processing of the update unit 102.

[0040] Next, the control device 1 controls the behavior of the other UAVs 2c2 and 2c3 so that they do not pass through the future route P1 and past route P2 of the UAV 2c1 obtained as described above (S206). This corresponds to the processing of the virtual UAV control unit 103.

[0041] Next, the control device 1 transmits a control instruction to each of the UAVs 2p1 to 2p3 to control the behavior of the UAVs 2p1 to 2p3 in the real space according to the behavior of the UAVs 2c1 to 2c3 in the virtual space (S208). This corresponds to the processing of the real UAV control unit 104.

[0042] When UAV2P (UAV2p1 to 2p3) receives a control instruction from the control device 1 (S301), the control unit 22 controls the drive unit 21 to realize behavior in accordance with the instruction (S302). This makes it possible to avoid collisions between UAV2p1 to 2p3 in real space.

[0043] As described above, in this embodiment, even if various delays such as communication delays occur and the current positions of UAV2p in real space and UAV2c in virtual space differ, appropriate behavior can be achieved, thereby achieving stable group control.

[0044] (Embodiment 2) In this embodiment, each of the UAVs included in the group of moving objects autonomously performs cooperative operations. The configuration and operation of each device included in this embodiment will be described below. Note that the description of the same content as in the first embodiment will be omitted as appropriate.

[0045] FIG. 7 is an explanatory diagram conceptually illustrating the configuration of a group of moving objects to be controlled. As shown in FIG. 7, UAVs 2 included in the group of UAVs are capable of communicating with each other individually and are configured to be able to share each other's positions. The position of a UAV 2 is obtained by the GPS function of the UAV 2. However, the position of a UAV 2 may also be obtained by a self-positioning function other than GPS.

[0046] As in the first embodiment, the UAV 2 of this embodiment includes a drive unit 21, a control unit 22, and a wireless communication unit 23. The wireless communication unit 23 includes a communication module for performing V2V (Vehicle-to-Vehicle) communication. The wireless communication unit 23 enables the UAVs 2 to communicate with each other, enabling them to share their positions with each other, for example.

[0047] 8 is a functional block diagram showing the configuration of the control unit 22 provided in the UAV 2. Similar to the control unit 11 of the control device 1 in embodiment 1, the control unit 22 includes an identification unit 201, an update unit 202, a virtual UAV control unit 203, and a real UAV control unit 204. The real UAV control unit 204 controls the behavior of the device itself.

[0048] The operation of UAV2 in this embodiment will be described below. Figure 9 is a flowchart showing the procedure of the control process executed by UAV2p in real space. Note that UAV2p basically performs the same operation as the control device 1 in embodiment 1. Therefore, the description of the same content as in embodiment 1 will be omitted as appropriate.

[0049] First, UAV2p acquires the behavior data of other UAV2p included in the UAV group and its own behavior data (S301), and generates a virtual space based on the behavior data (S302). In this case, the behavior of each UAV2c in the virtual space is simulated using a particle method, as in the first embodiment.

[0050] Next, UAV2p identifies the movement path of UAV2c according to the behavior of UAV2c in the virtual space, as in the case of embodiment 1 (S303). This corresponds to the processing of the identification unit 201. As in the case of embodiment 1, this movement path corresponds to the trajectory of a particle in the virtual space, and includes a future path and a past path.

[0051] Next, based on the behavior data acquired in step S301, UAV2p determines whether UAV2p in the real space has passed through the past route of UAV2c in the virtual space identified in step S303 (S304). If it is determined that UAV2p has passed through (YES in S304), UAV2p updates the past route by removing the passed route from the past route (S305). These steps S304 and S305 correspond to the processing of update unit 202.

[0052] Next, UAV2p controls the behavior of other UAV2c so that it does not pass through the future route and past route of UAV2c obtained as described above (S306). This corresponds to the processing of the virtual UAV control unit 303.

[0053] Next, UAV2p identifies the behavior of its own device based on the behavior of UAV2c corresponding to itself in the virtual space (S307), and the control unit 22 controls the drive unit 21 to realize that behavior (S308). By each UAV2p included in the UAV group performing this control operation, collisions between UAVs 2 can be avoided.

[0054] In the case of this embodiment, as in embodiment 1, even if the current positions of UAV2p in real space and UAV2c in virtual space differ due to various delays, appropriate behavior can be achieved, thereby achieving stable group control.

[0055] (Other embodiments) In the above embodiments, a UAV, which is a small flying object, is described as an example of a moving object, but this is merely an example and other moving objects may be used. For example, a larger flying object, such as a UAV, or a manned flying object, may be used as the controlled object. Of course, moving objects other than flying objects may also be used; specifically, an unmanned vehicle traveling on the ground may be used as the controlled object. [Explanation of symbols]

[0056] 1. Control device 11 Control section 12 Wireless Communication Section 101 Specific section 102 Update section 103 Virtual UAV control unit 104 Actual UAV control unit 2. Mobile vehicles (UAVs) 21 Drive unit 22 Control Unit 201 Specific section 202 Update Department 203 Virtual UAV control unit 204 Actual UAV control unit 23 Radio Communication Department 3. Positioning System P Movement route P1 Future Path P2 Past Route

Claims

1. A mobile object control device that generates a virtual space based on a behavior in real space of each mobile object included in a group of mobile objects, and controls the behavior of each mobile object in the real space based on the behavior of each mobile object in the virtual space, an identification unit that identifies a past movement path in the virtual space of one of the moving objects included in the group of moving objects; a virtual moving object control unit that controls, in the virtual space, behavior of other moving objects included in the group of moving objects so that the other moving objects do not pass through the past movement path of the one moving object; a real moving object control unit that controls the behavior of the other moving object in the real space in accordance with the behavior of the other moving object in the virtual space; a determination unit that determines whether the one moving object in real space has passed through the past movement path of the one moving object; an updating unit that, when it is determined by the determining unit that the one moving object has passed through, updates the past movement path by excluding the movement path that the one moving object has passed through in real space from the past movement path of the one moving object; Equipped with the virtual moving object control unit controls the behavior of the other moving object so as not to pass through the updated past moving path. Control device for a moving object.

2. A method for controlling moving objects, which generates a virtual space based on a behavior in real space of each moving object included in a group of moving objects, and controls the behavior of each moving object in the real space based on the behavior of each moving object in the virtual space, a step (a) of identifying a past movement path in the virtual space of one of the moving objects included in the group of moving objects; (b) controlling, in the virtual space, the behavior of the other moving objects included in the group of moving objects so that the other moving objects do not pass through the past movement path of the one moving object; (c) controlling the behavior of the other moving object in the real space in accordance with the behavior of the other moving object in the virtual space; a step (d) of determining whether or not the one moving object in real space has passed through the past movement path of the one moving object; a step (e) of updating the past movement path of the one moving object by excluding a movement path that the one moving object has passed through in real space from the past movement path of the one moving object when it is determined that the one moving object has passed through in the step (d); and In the step (b), the behavior of the other moving object is controlled so that the other moving object does not pass through the updated past movement path. A method for controlling a moving object.

3. A moving object included in a moving object group generates a virtual space based on a behavior of each moving object included in the moving object group in a real space, and controls a behavior of the own device in the real space based on the behavior of each moving object in the virtual space, an identification unit that identifies past movement paths of other moving objects included in the group of moving objects in the virtual space; a virtual moving object control unit that controls a behavior of the own device in the virtual space so as not to pass through the past moving path of the other moving object; a real moving object control unit that controls the behavior of the device in the real space in accordance with the behavior of the device in the virtual space; a determination unit that determines whether the other moving object in real space has passed through the past movement path of the other moving object; an update unit that updates the past movement path of the other moving body by excluding a movement path that the other moving body has passed through in real space from the past movement path of the other moving body when the determination unit determines that the other moving body has passed through; Equipped with the virtual moving object control unit controls the behavior of the own device so as not to pass through the updated past moving path. A mobile body comprising:

Images