Distributed system, unmanned mobile body, distributed device, and method

Abstract

To provide a technique for safely moving an unmanned mobile body in an area where communication with an operation management system is not good.SOLUTION: A distributed system 1 includes a plurality of distributed devices 10 that are distributed in an area through which an unmanned mobile body can pass. Each distributed device 10 is capable of communicating with the unmanned mobile body located in a surrounding area of the device itself and with at least one of the other distributed devices. Each distributed device 10 includes: an acquisition part 11 that acquires surrounding area information detected in the surrounding area; an update part 12 that updates a planned travel route of the unmanned mobile body in the surrounding area based on information regarding an obstacle indicated by the surrounding area information; and a provision part 13 that provides the updated travel route to the unmanned mobile body or to an operation management system, which manages movement of the unmanned mobile body and is indirectly connectable via at least one of the other distributed devices.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a distribution system, a distribution device, and a method. [Background technology]

[0002] Patent document 1 describes an airspace management system that sets flight permissions for each airspace segment that divides the airspace of an unmanned aerial vehicle based on telemetry information received from the unmanned aerial vehicle, determines a flight path based on the flight permissions for each airspace segment, and transmits flight control information based on the flight path to the unmanned aerial vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-129533 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, the unmanned aerial vehicle needs to communicate with an airspace management system during flight. Therefore, if the airspace includes an area with poor communication conditions, the unmanned aerial vehicle cannot be flown safely. Furthermore, similar issues arise when the technology described in Patent Document 1 is applied to unmanned mobile vehicles, not just unmanned aerial vehicles.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and one exemplary purpose thereof is to provide a technology for safely moving an unmanned vehicle in an area where communication conditions are poor. [Means for solving the problem]

[0006] A distributed system according to one exemplary aspect of the present disclosure is a distributed system including a plurality of distributed devices, which are dispersedly arranged in an area through which unmanned mobile bodies can pass, and each distributed device is capable of communicating with unmanned mobile bodies included in the surrounding area of ​​the device itself and with at least one other distributed device, and each distributed device is equipped with an acquisition means for acquiring surrounding area information detected in the surrounding area, an update means for updating the planned movement route of the unmanned mobile body in the surrounding area based on information regarding obstacles indicated by the surrounding area information, and a provision means for providing the updated movement route to the operation management system, which is indirectly connectable to the unmanned mobile body or via the at least one other distributed device and manages the movement of the unmanned mobile body.

[0007] An unmanned mobile body according to an exemplary aspect of the present disclosure is equipped with a communication means capable of communicating with a distribution device included in the above-mentioned distribution system, and is equipped with a movement control means for controlling the movement of the mobile body based on the movement route provided from the distribution device or from the operation management system.

[0008] A distribution device according to one exemplary aspect of the present disclosure is one of a plurality of distribution devices dispersed in an area through which an unmanned mobile body can pass, and is capable of communicating with unmanned mobile bodies and at least one other distribution device included in the surrounding area of ​​the device itself, and is equipped with an acquisition means for acquiring surrounding area information detected in the surrounding area, an update means for updating the planned movement route of the unmanned mobile body in the surrounding area based on information regarding obstacles indicated by the surrounding area information, and a provision means for providing the updated movement route to the operation management system that is indirectly connectable to the unmanned mobile body or via the at least one other distribution device and manages the movement of the unmanned mobile body.

[0009] A method according to one exemplary aspect of the present disclosure is a method executed by a distributed system including a plurality of distributed devices dispersed in an area through which unmanned mobile bodies can pass, wherein each distributed device is capable of communicating with unmanned mobile bodies included in the surrounding area of ​​the distributed device and at least one other distributed device, and includes an acquisition process in which at least one processor provided in each distributed device acquires surrounding area information detected in the surrounding area; an update process in which the at least one processor updates a planned movement route for the unmanned mobile body in the surrounding area based on information about obstacles indicated by the surrounding area information; and a provision process in which the at least one processor provides the updated movement route to an operation management system that can be indirectly connected to the unmanned mobile body or via the at least one other distributed device and that manages the movement of the unmanned mobile body.

[0010] Another method according to an exemplary aspect of the present disclosure is a method executed by one of a plurality of distributed devices dispersed in an area through which an unmanned mobile body can pass, wherein the distributed device is capable of communicating with unmanned mobile bodies and at least one other distributed device included in the surrounding area of ​​the device, and includes an acquisition process in which at least one processor of the distributed device acquires surrounding area information detected in the surrounding area; an update process in which the at least one processor updates a planned movement route for the unmanned mobile body in the surrounding area based on information about obstacles indicated by the surrounding area information; and a provision process in which the at least one processor provides the updated movement route to an operation management system that can be indirectly connected to the unmanned mobile body or via the at least one other distributed device and that manages the movement of the unmanned mobile body. [Effects of the Invention]

[0011] According to one exemplary aspect of the present disclosure, an exemplary effect is achieved in that a technology can be provided for safely moving an unmanned vehicle in an area where communication conditions with a traffic management system are poor. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram illustrating a configuration of a distributed system according to the present disclosure. [Figure 2] FIG. 1 is a flow diagram illustrating the flow of a method according to the present disclosure. [Figure 3] 1 is a block diagram illustrating a configuration of a distribution device according to the present disclosure. [Figure 4] 1 is a block diagram illustrating a configuration of a distributed system according to the present disclosure. [Figure 5] FIG. 2 is a block diagram illustrating a configuration of a distribution device according to the present disclosure. [Figure 6] FIG. 2 is a block diagram illustrating a configuration of a distribution device according to the present disclosure. [Figure 7] 1 is a block diagram showing the configuration of an unmanned moving body according to the present disclosure. [Figure 8] FIG. 1 is a flow diagram illustrating the flow of a method according to the present disclosure. [Figure 9] FIG. 1 is a flow diagram illustrating the flow of a method according to the present disclosure. [Figure 10] FIG. 1 is a diagram illustrating an example of application of a distributed system according to the present disclosure. [Figure 11] 1 is a diagram schematically illustrating a configuration example of a dispersion device 1 according to the present disclosure. [Figure 12] FIG. 2 is a block diagram showing the hardware configuration of a computer that functions as each device according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0013] The following are examples of embodiments of the present invention. However, the present invention is not limited to the exemplary embodiments shown below, and various modifications are possible within the scope of the claims. For example, embodiments obtained by appropriately combining the technologies (part or all of the products or methods) employed in the exemplary embodiments shown below may also be included in the scope of the present invention. Furthermore, embodiments obtained by appropriately omitting some of the technologies employed in the exemplary embodiments shown below may also be included in the scope of the present invention. Furthermore, the effects mentioned in the exemplary embodiments shown below are examples of effects expected in the exemplary embodiments, and do not define the scope of the present invention. In other words, embodiments that do not exhibit the effects mentioned in the exemplary embodiments shown below may also be included in the scope of the present invention.

[0014] First Exemplary Embodiment A first exemplary embodiment, which is an example of an embodiment of the present invention, will be described in detail with reference to the drawings. This exemplary embodiment is the basic form of each exemplary embodiment described later. The scope of application of each technology employed in this exemplary embodiment is not limited to this exemplary embodiment. That is, each technology employed in this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical obstacles arise. Furthermore, each technology shown in the drawings referenced to explain this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical obstacles arise.

[0015] (Configuration of Distributed System 1) The configuration of the distributed system 1 will be described with reference to FIG. 1. FIG. 1 is a block diagram showing the configuration of the distributed system 1. As shown in FIG. 1, the distributed system 1 includes a plurality of distributed devices 10. Although FIG. 1 shows three distributed devices 10, the number of distributed devices 10 included in the distributed system 1 may be any number as long as it is plural, and is not limited to three. The plurality of distributed devices 10 are distributed and placed in an area through which an unmanned mobile object can pass. Here, the unmanned mobile object may be, for example, an unmanned mobile object that flies in the air, or an unmanned mobile object that travels on land, on water, underwater, etc. For example, the movement of the unmanned mobile object may be managed by a traffic management system, but the movement does not necessarily have to be managed by a traffic management system.

[0016] Each distributed device 10 is capable of communicating with unmanned mobile objects included in the surrounding area of ​​the device itself and at least one other distributed device 10. Here, for example, if the movement of unmanned mobile objects is managed by a traffic control system, it is desirable that at least one of the multiple distributed devices 10 is capable of communicating with the traffic control system or with a relay device that can communicate with the traffic control system. This allows each distributed device 10 to be indirectly connected to the traffic control system via at least one other distributed device 10 with which it can communicate. However, this does not apply to unmanned mobile objects that do not require a traffic control system.

[0017] 1 shows an example in which the communication path formed by multiple distribution devices 10 is a single road, but the communication path is not limited to a single road and may include branch points, intersections, junctions, etc. In other words, while FIG. 1 shows an example in which the number of other distribution devices with which a certain distribution device 10 can communicate is one or two, the number may be three or more.

[0018] Each distribution device 10 includes an acquisition unit 11, an update unit 12, and a provision unit 13. The acquisition unit 11 is an example of a configuration that realizes acquisition means. The update unit 12 is an example of a configuration that realizes update means. The provision unit 13 is an example of a configuration that realizes provision means.

[0019] The acquisition unit 11 acquires surrounding area information detected in the surrounding area. The surrounding area information may include, for example, photographed images taken in the surrounding area and three-dimensional spatial information measured in the surrounding area. The acquisition unit 11 may also acquire the surrounding area information from various sensors (e.g., cameras, 3D sensors, etc.) connected to the device itself, or may acquire the surrounding area information from unmanned moving objects present in the surrounding area.

[0020] Furthermore, when the surrounding area information is acquired from an unmanned mobile body, the unmanned mobile body may be an unmanned mobile body whose travel route is to be updated by the update unit 12 described later, or may be an unmanned mobile body different from the target unmanned mobile body. Furthermore, the surrounding area information that can be acquired from the unmanned mobile body may be, for example, information detected by various sensors mounted on the unmanned mobile body.

[0021] The update unit 12 updates the planned movement route of the unmanned mobile unit in the surrounding area based on information about obstacles indicated in the surrounding area information. For example, the update unit 12 may update the planned movement route of the unmanned mobile unit based on the planned position of the unmanned mobile unit at each future time point and the position of obstacles at each future time point. In this case, the "planned position of the unmanned mobile unit at each future time point" may be calculated from the "planned movement route" of the unmanned mobile unit in the surrounding area, or may be included in the "planned movement route." Note that the planned movement route of the unmanned mobile unit in the surrounding area may be obtained from a traffic management system, or may be obtained from the unmanned mobile unit itself, or a device that directly controls the unmanned mobile unit.

[0022] Furthermore, for example, information about obstacles indicated by the surrounding area information can be obtained by analyzing the surrounding area information. The analysis may be performed by the distribution device 10 or by another device that can communicate with the distribution device 10. Here, the obstacle may be an immobile object such as a building, a mountain, a utility pole, etc., or an object or living thing that may move, such as any mobile object, person, animal, etc. The obstacle may also be another unmanned mobile object.

[0023] The information about the obstacle indicated by the surrounding area information may include the position of the obstacle in the surrounding area. The information about the obstacle may also include information about the shape and size of the obstacle. Furthermore, for example, if the obstacle is likely to move, the information about the obstacle may also include the position of the obstacle at each future point in time.

[0024] For example, the update unit 12 may update the movement path of the unmanned mobile body when it determines that an obstacle will affect the movement path of the unmanned mobile body. "An obstacle will affect the movement path of the unmanned mobile body" may mean, for example, that the unmanned mobile body may collide with an obstacle, or that the movement of the unmanned mobile body will pose a danger to the obstacle. A specific example of "the movement of the unmanned mobile body will pose a danger to the obstacle" is, for example, that an unmanned mobile body flying in the air may pose a danger that "the unmanned mobile body may fall" onto an obstacle (e.g., a person) below the unmanned mobile body. In this case, it is desirable for the unmanned mobile body to avoid passing over the obstacle below. Therefore, the obstacle below will affect the movement path of the unmanned mobile body.

[0025] The providing unit 13 provides the updated travel route to the unmanned mobile body or to a traffic management system that can be indirectly connected via at least one other distributed device and that manages the movement of the unmanned mobile body. Here, in the case of an unmanned mobile body that does not require a traffic management system, the providing unit 13 may provide the travel route directly to the unmanned mobile body.

[0026] Furthermore, in the case of an unmanned mobile object managed by a traffic management system, the providing unit 13 provides the traffic management system with an updated travel route. Here, if a distributed device 10 cannot communicate with the traffic management system, the providing unit 13 requests another distributed device 10 that can communicate with the distributed device 10 to provide the travel route to the traffic management system by transmitting the updated travel route. If the requested other distributed device 10 can communicate with the traffic management system or relay device, it transmits the travel route to the traffic management system. Furthermore, if the requested other distributed device 10 cannot communicate with the traffic management system or relay device, it can request another distributed device 10 with which it can communicate to provide the travel route to the traffic management system by transmitting the travel route. In this way, a travel route updated by any distributed device 10 can be provided to the traffic management system via one or more distributed devices 10 in sequence.

[0027] If the updated travel route is adopted by the traffic management system, it is provided to the unmanned mobile unit from the traffic management system. At this time, if the traffic management system and the unmanned mobile unit can communicate, the traffic management system transmits the updated travel route to the unmanned mobile unit. On the other hand, if the traffic management system and the unmanned mobile unit cannot communicate, the updated travel route is provided sequentially via one or more distribution devices 10. Specifically, the traffic management system transmits the travel route to be provided to the unmanned mobile unit to a distribution device 10 that can communicate with the traffic management system itself, or to a distribution device 10 that can be connected via a relay device. A distribution device 10 that receives the travel route transmits the travel route to the unmanned mobile unit if the unmanned mobile unit can communicate with the distribution device 10 itself. Furthermore, if the unmanned mobile unit cannot communicate with the distribution device 10 that receives the travel route, the distribution device 10 may transmit the travel route to another distribution device 10 that can communicate with the distribution device itself, thereby requesting that the travel route be provided to the unmanned mobile unit.

[0028] (Effect of distributed system 1) As described above, the distributed system 1 includes multiple distributed devices 10 distributed in an area through which unmanned mobile units can pass. Each distributed device 10 can communicate with unmanned mobile units in its surrounding area and at least one other distributed device 10. Each distributed device 10 includes the acquisition unit 11, update unit 12, and provision unit 13 described above. Therefore, according to the distributed system 1, the planned travel route for the unmanned mobile unit is updated based on information about obstacles in each surrounding area of ​​each distributed device 10 distributed in an area through which the unmanned mobile unit can pass. Furthermore, the updated travel route is provided to the unmanned mobile unit or provided via an indirect connection to the traffic management system. Therefore, even if communication conditions are poor in an area through which the unmanned mobile unit can pass, the travel route can be updated and provided to the unmanned mobile unit in real time, thereby achieving the effect of enabling the unmanned mobile unit to move safely.

[0029] (Method S1 flow) The distributed system 1 configured as described above executes method S1. Each distributed device 10 may be configured, for example, by a computer including at least one processor. Furthermore, if the computer includes a memory, the memory stores a program for causing the computer to function as the distributed device 10. The flow of method S1 will be described with reference to FIG. 2. FIG. 2 is a flow diagram showing the flow of method S1. As shown in FIG. 2, method S1 includes an acquisition process S11, an update process S12, and a provision process S13.

[0030] In the acquisition process S11, at least one processor (for example, the acquisition unit 11) included in each distribution device 10 acquires surrounding area information detected in the surrounding area.

[0031] In the update process S12, at least one processor (for example, update unit 12) included in each distribution device 10 updates the planned movement route of the unmanned moving body in the surrounding area based on the information about obstacles indicated by the surrounding area information.

[0032] In the provision process S13, at least one processor (e.g., provision unit 13) provided in each distribution device 10 provides the updated travel route to the unmanned mobile body or to an operation management system that can be indirectly connected to the unmanned mobile body via at least one other distribution device and that manages the movement of the unmanned mobile body.

[0033] (Effect of Method S1) As described above, the method S1 employs a configuration including the above-described acquisition process S11, update process S12, and provision process S13. Therefore, the method S1 can achieve the same effects as the distributed system 1.

[0034] (Configuration and effects of dispersion device 10) Fig. 3 is a block diagram showing the configuration of the distribution device 10. As shown in Fig. 3, the distribution device 10 is one of a plurality of distribution devices 10 distributed in an area where unmanned mobile objects can pass, and is capable of communicating with unmanned mobile objects included in the surrounding area of ​​the distribution device itself and at least one other distribution device 10, and is equipped with the above-mentioned acquisition unit 11, update unit 12, and provision unit 13. Therefore, the distribution device 10 has the same effects as the distribution system 1.

[0035] Furthermore, for example, when the distribution device 10 is configured by a computer having at least one processor, the at least one processor executes a method including the above-described acquisition process S11, update process S12, and provision process S13, as shown in Fig. 2. This method achieves the same effects as the method S1.

[0036] Second Exemplary Embodiment A second exemplary embodiment, which is one example of an embodiment of the present invention, will be described in detail with reference to the drawings. Components having the same functions as those described in the above exemplary embodiment will be assigned the same reference numerals, and their description will be omitted as appropriate. The scope of application of each technology employed in this exemplary embodiment is not limited to this exemplary embodiment. That is, each technology employed in this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical hindrance occurs. Furthermore, each technology shown in each drawing referenced to explain this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical hindrance occurs.

[0037] (Configuration of distributed system 1A) The configuration of the distributed system 1A will be described with reference to FIG. 4. FIG. 4 is a block diagram showing the configuration of the distributed system 1A. The distributed system 1A includes multiple distribution devices 10A-1, 10A-2, 10A-3, 10A-4, .... Hereinafter, when there is no need to particularly distinguish between the distribution devices 10A-1, 10A-2, 10A-3, 10A-4, ..., each will also be referred to as a distribution device 10A. Note that while FIG. 4 shows four distribution devices 10A, the number of distribution devices 10A included in the distributed system 1A may be two or more and is not limited to four.

[0038] The distribution device 10A is distributed over an area where the unmanned mobile bodies 2-1, 2-2, ... can pass through. When there is no need to particularly distinguish between the unmanned mobile bodies 2-1, 2-2, ..., they will also be simply referred to as unmanned mobile bodies 2. The number of unmanned mobile bodies 2 that can pass through the area is not limited to the number shown in the figure, and may be one, or three or more.

[0039] The areas through which the unmanned mobile body 2 can pass include areas where it is difficult to connect to the network NW1. The network NW1 may include a fixed line such as optical fiber, or a wireless network provided by a mobile communication carrier. Examples of wireless networks include, but are not limited to, 3G (third generation mobile communication system), 4G (fourth generation mobile communication system) / LTE (Long Term Evolution), and 5G (fifth generation mobile communication system).

[0040] Of the multiple distribution devices 10A, at least one distribution device 10A-x (x = 1, 4 in the example of Figure 4) is located in an area that can be connected to the network NW1. If the network NW1 includes a fixed line, the distribution device 10A-x may be connected to the fixed line via a router or the like. Also, of the multiple distribution devices 10A, the distribution device 10A-y (x ≠ y, y = 2, 3 in the example of Figure 4) is located in an area where it is difficult to connect to the network NW1. The number of distribution devices 10A-x and 10A-y each only needs to be 1 or more and is not limited to the number shown in the figure.

[0041] Each of the distribution devices 10A can be connected to the network NW2. The network NW2 is a wireless network that can be easily installed even in areas where it is difficult to connect to the network NW1. From the viewpoint of rapid construction of a communication area, it is desirable that the network NW2 be a network that uses a frequency band that does not require a radio station license. Furthermore, from the viewpoint of communication costs, it is desirable that the network NW2 be cheaper than the network NW1. Furthermore, from the viewpoint of stability of communication quality, it is desirable that the network NW2 is less likely to deteriorate even when multiple devices are connected. An example of the network NW2 is, for example, an LPWA (Low Power Wide Area network), but is not limited to this. For example, another example of the network NW2 is a network that uses a frequency band such as the 5.7 GHz (gigahertz) band.

[0042] Each distribution device 10A can communicate with, for example, an unmanned mobile object 2 included in the surrounding area of ​​the distribution device 10A via the network NW2. Each distribution device 10A can also communicate with at least one other distribution device 10A included in the surrounding area via the network NW2. Hereinafter, "at least one other distribution device 10A" that can communicate via the network NW2 will also be referred to as "adjacent distribution device 10A." Note that FIG. 4 shows an example in which the communication path formed by the multiple distribution devices 10A is a single road; however, as described above for the multiple distribution devices 10, the communication path is not limited to a single road. Furthermore, the arrangement order of the distribution devices 10A-x and 10A-y is not limited to the order shown. For example, the distribution device 10A-1 that can be connected to the network NW1 does not necessarily have to be located at the end of the communication path.

[0043] The distribution device 10A-x can communicate with at least one of the traffic management systems 3-1, 3-2, ..., and the prediction model storage device 5. When there is no need to distinguish between the traffic management systems 3-1, 3-2, ..., they are also simply referred to as the traffic management system 3. Although two traffic management systems are shown in FIG. 4, the number of traffic management systems is not limited to two, and may be one, or three or more.

[0044] (Traffic Management System 3) The traffic control system 3 is a system that manages the movement routes of unmanned mobile bodies 2. For example, the unmanned mobile bodies 2 under management are determined for each traffic control system 3. For example, the traffic control system 3-1 may manage the unmanned mobile body 2-1, and the traffic control system 3-2 may manage the unmanned mobile body 2-2. However, the number of unmanned mobile bodies 2 managed by one traffic control system 3 is not limited to one, and may be multiple. The traffic control system 3 determines or updates the movement routes of the unmanned mobile bodies 2 under its management. In addition, the traffic control system 3 is capable of communicating with the unmanned mobile body base system 4.

[0045] Here, the unmanned mobile object platform system 4 accepts applications for permission regarding the movement of the unmanned mobile object, and if permission is granted by a predetermined authority that determines whether or not permission is granted, sends information indicating the permission to the requesting party. For example, if the unmanned mobile object is an aerial vehicle, permission from a public authority is required to fly the unmanned mobile object along its movement route. In this case, the unmanned mobile object platform system 4 is managed by the public authority. Note that in the case of a type of unmanned mobile object 2 that does not require permission from a predetermined authority, or in the case of a control method for the unmanned mobile object 2 that does not require permission from a predetermined authority, the operation management system 3 can determine or update the movement route of the unmanned mobile object 2 without connecting to the unmanned mobile object platform system 4.

[0046] The traffic management system 3 transmits to the unmanned mobile body base system 4 an application for permission to move the unmanned mobile body 2 under its management along a determined or updated movement route. Furthermore, when the traffic management system 3 receives information indicating permission from the unmanned mobile body base system 4, it transmits movement control information to the unmanned mobile body 2 for moving the unmanned mobile body 2 along the permitted movement route. Here, when the unmanned mobile body 2 under its management is passing through an area where it can connect to the network NW1, the traffic management system 3 transmits the movement control information to the unmanned mobile body 2 via the network NW1. Furthermore, when the unmanned mobile body 2 under its management is passing through an area where it is difficult to connect to the network NW1, the traffic management system 3 transmits the movement control information to a distribution device 10A-x that can connect to the network NW1. As a result, the movement control information is transmitted from the distribution device 10A-x to the unmanned mobile body 2 via one or more distribution devices 10A-y and then via the network NW2.

[0047] (Prediction model storage device 5) The prediction model storage device 5 stores a prediction model to be distributed to the distribution device 10A. The prediction model is a model that receives surrounding area information as input and outputs information about obstacles. For example, the input to the prediction model may be a captured image included in the surrounding area information. Furthermore, for example, the output from the prediction model may be information indicating the area of ​​an obstacle included as a subject in the captured image. The prediction model is generated by machine learning using training data. Furthermore, the prediction model may be updated by machine learning using additional training data. The updated prediction model is distributed to the distribution device 10A. Note that surrounding area information used as additional training data may be collected from the distribution device 10A.

[0048] (Configuration of dispersion devices 10A-x and 10A-y) The configuration of the distribution devices 10A-x and 10A-y will be described with reference to Figs. 5 and 6. Fig. 5 is a block diagram showing the configuration of the distribution device 10A-x. As shown in Fig. 5, the distribution device 10A-x includes a control unit 110, a storage unit 120, a sensor 130, a first communication unit 140, and a second communication unit 150. The first communication unit 140 is an example of a configuration that realizes a first communication unit. The second communication unit 150 is an example of a configuration that realizes a second communication unit.

[0049] FIG. 6 is a block diagram showing the configuration of the distribution device 10A-y. As shown in FIG. 6, the distribution device 10A-y has a configuration similar to that of the distribution device 10A-x shown in FIG. 5, but differs in that it does not include the first communication unit 140. Note that, as an example, "not including the first communication unit 140" includes, but is not limited to, not including hardware components or software modules for implementing the first communication unit 140. For example, "not including the first communication unit 140" includes a case where the distribution device includes hardware components and software modules for implementing the first communication unit 140, but does not function as the first communication unit 140 because it is located in an area where it is difficult to connect to the network NW1.

[0050] The first communication unit 140 is capable of communicating with the traffic management system 3. In other words, the distribution device 10A-x equipped with the first communication unit 140 is an example of a "first distribution device equipped with a first communication means capable of communicating with the traffic management system." Specifically, the first communication unit 140 is configured by a communication interface connected to the network NW1.

[0051] Below, we will explain each functional block common to the distribution devices 10A-x and 10A-y. The second communication unit 150 is different from the first communication unit 140 and is capable of communicating with the unmanned mobile body 2 and at least one other distribution device 10A. Specifically, the second communication unit 150 is configured by a communication interface that connects to the network NW2.

[0052] The control unit 110 controls each unit of the distribution device 10A. The memory unit 120 stores various data used by the control unit 110. For example, the memory unit 120 stores a prediction model distributed from the prediction model storage device 5. The sensor 130 is a sensor that detects surrounding area information. Specific examples of sensors include, but are not limited to, a camera and a 3D camera. The following description focuses on an example in which the sensor 130 is a camera. Note that the number of sensors 130 is not limited to one, and may be multiple. Furthermore, the sensor 130 is not limited to being built into the distribution device 10A, and may be connected to the distribution device 10A.

[0053] The control unit 110 includes an acquisition unit 11, an update unit 12, a provision unit 13, a prediction unit 14, and an identification unit 15. The identification unit 15 is an example of a configuration that realizes an identification means.

[0054] The acquisition unit 11 is configured similarly to the acquisition unit 11 included in the distribution device 10, and is also configured as follows: The acquisition unit 11 acquires, as an example of surrounding area information, an image captured by a camera, which is an example of a sensor 130. The acquisition unit 11 also acquires, as an example of surrounding area information, an image captured by an unmanned mobile body 2 present in the surrounding area.

[0055] The acquisition unit 11 may also acquire surrounding area information acquired by another adjacent distribution device 10A on the communication path via the second communication unit 150 from the other adjacent distribution device 10A. The acquisition unit 11 may also acquire surrounding area information acquired by another adjacent distribution device 10A via the other adjacent distribution device 10A. Note that the number of other distribution devices 10A from which surrounding area information is acquired, counting from the adjacent distribution device 10A as the first one (how many hops or how many relay destinations) from the own device, can be arbitrarily set. This allows the acquisition unit 11 to acquire not only surrounding area information detected in the surrounding area of ​​the own device, but also surrounding area information detected in the surrounding areas of other distribution devices 10A. As a result, the acquisition unit 11 can acquire surrounding area information detected in an area larger than the surrounding area of ​​the own device.

[0056] The acquisition unit 11 also acquires, from the traffic control system 3, the planned movement route in the surrounding area for each of the multiple unmanned mobile bodies 2. For example, the acquisition unit 11 may acquire the planned movement route for at least one unmanned mobile body 2 from each of the multiple traffic control systems 3. For example, the acquisition unit 11 may acquire the planned movement route for each of the multiple unmanned mobile bodies 2 from at least one traffic control system 3. For example, the acquisition unit 11 may acquire information indicating the planned movement route before the unmanned mobile body 2 starts moving. For example, the acquisition unit 11 may acquire the movement route that can be updated while the unmanned mobile body 2 is moving, in real time or at regular intervals. Specific examples of the source of the movement route and the information included in the movement route are as described for the distributed system 1.

[0057] For example, the acquisition unit 11 of the distribution device 10A-x can acquire the movement routes of each unmanned mobile body 2 transmitted from the traffic control system 3 via the network NW1. Furthermore, the acquisition unit 11 of the distribution device 10A-x transmits the movement routes of the plurality of unmanned mobile bodies 2 received from the traffic control system 3 to an adjacent distribution device 10A via the network NW2 and to another distribution device 10A via the adjacent distribution device 10A. In this way, the acquisition unit 11 of the distribution device 10A-y can acquire the movement routes of the plurality of unmanned mobile bodies 2 transmitted from the traffic control system 3.

[0058] Furthermore, the acquisition unit 11 acquires a prediction model distributed from the prediction model storage device 5 and stores it in the storage unit 120. If a prediction model is already stored in the storage unit 120, the acquired prediction model may replace the prediction model.

[0059] For example, the acquisition unit 11 of the distributed device 10A-x can acquire a prediction model distributed from the prediction model storage device 5 via the network NW1. Furthermore, the acquisition unit 11 of the distributed device 10A-x transmits the prediction model distributed from the prediction model storage device 5 to an adjacent distributed device 10A via the network NW2 and to another distributed device 10A via the adjacent distributed device 10A. This allows the acquisition unit 11 of the distributed device 10A-y to acquire the prediction model distributed from the prediction model storage device 5.

[0060] The prediction unit 14 uses a prediction model to predict information about an obstacle indicated by the surrounding area information. Here, the "information about the obstacle" to be predicted may be the predicted position of the obstacle after movement. For example, the input to the prediction model may be photographed images included in multiple pieces of surrounding area information acquired at different times. In this case, the output from the prediction model may be information indicating the predicted position of an obstacle included in each photographed image and detected to be the same obstacle.

[0061] The identification unit 15 identifies, as a communication failure area, an area surrounding another distributed device 10A among the multiple distributed devices 10A where a failure has occurred. For example, if communication with an adjacent distributed device 10A using the network NW2 changes from a possible state to an impossible state, the identification unit 15 determines that a failure has occurred in the adjacent distributed device 10A. The identification unit 15 also identifies, as a communication failure area, an area surrounding the adjacent distributed device 10A. The identification unit 15 may also notify the other distributed device 10A of the identified communication failure area via the other adjacent distributed device 10A with which communication is possible. In this way, the identification unit 15 can acquire communication failure areas identified by the other distributed devices 10A in addition to the communication failure areas identified by the own device.

[0062] The update unit 12 is configured similarly to the update unit 12 included in the distribution device 10, and is also configured as follows: The update unit 12 updates the movement route of at least one of the multiple unmanned mobile bodies 2 based on the planned movement route in the surrounding area for each of the multiple unmanned mobile bodies 2 and information on obstacles indicated by the surrounding area information.

[0063] For example, the update unit 12 selects the movement route of the unmanned mobile body 2 to be updated from among the planned movement routes of multiple unmanned mobile bodies 2, and updates the movement route of the selected unmanned mobile body 2 by referring to the movement routes of the unmanned mobile bodies 2 that were not selected. As a specific example, the update unit 12 may update the movement route of the unmanned mobile body 2 to be updated so that it does not come close to or come into contact with the movement routes of other unmanned mobile bodies 2 during the same time period. This makes it possible to update the movement route of a certain unmanned mobile body 2 by taking into account the movement routes of the other unmanned mobile bodies 2, enabling the unmanned mobile body to move more safely.

[0064] Note that a specific example of a method for selecting a target for update from among the movement routes of a plurality of unmanned mobile bodies 2 is, for example, a method of random selection. Another example is a method of selecting one of the movement routes of a plurality of unmanned mobile bodies 2 that may come close to or into contact with each other during the same time period. Another example is a method of selecting a movement route of an unmanned mobile body 2 that may affect an obstacle. Another example is a method of selecting a movement route of an unmanned mobile body 2 in which an obstacle has occurred. Furthermore, the movement route of the unmanned mobile body 2 to be the target for update is not limited to one, and multiple routes may be selected sequentially as targets for update.

[0065] Furthermore, in order to update the planned movement path of the unmanned mobile body 2 in the surrounding area, the update unit 12 refers to the predicted post-movement position of the obstacle as information about the obstacle. This makes it possible to avoid dangers such as collision or contact with a movable obstacle or falling onto a movable obstacle. Furthermore, the update unit 12 updates the movement path so as to bypass the communication failure area identified by the identification unit 15. This makes it possible to avoid a situation in which the unmanned mobile body 2 passes through a communication failure area and movement control becomes impossible. Furthermore, when a failure occurs in the unmanned mobile body 2 itself, the update unit 12 may generate movement control information indicating an instruction to safely stop the unmanned mobile body 2 (for example, an instruction to safely land if the unmanned mobile body 2 is an aerial vehicle) instead of updating the movement path of the unmanned mobile body 2.

[0066] The providing unit 13 is configured similarly to the providing unit 13 included in the distributed device 10, and is also configured as follows. When providing an updated travel route to the traffic management system 3, the providing unit 13 of the distributed device 10A-x provides the updated travel route using the first communication unit 140. Specifically, the providing unit 13 of the distributed device 10A-x provides the travel route updated by the update unit 12 by connecting to the traffic management system 3 via the network NW1 using the first communication unit 140. Furthermore, when the providing unit 13 of the distributed device 10A-x receives an updated travel route in another distributed device 10A-y from the adjacent distributed device 10A-y, the providing unit 13 transmits the updated travel route to the traffic management system 3 via the network NW1. As a result, when providing an updated travel route to the traffic management system 3, the providing unit 13 of the distributed device 10A-y provides the updated travel route via the distributed device 10A-x that is directly or indirectly connected to the distributed device 10A-y using the second communication unit 150.

[0067] That is, the movement route updated by the update unit 12 of the distribution device 10A-y is provided to the traffic control system 3 via the distribution device 10A-x that is directly or indirectly connected to the distribution device 10A-y. As a result, even for an unmanned mobile body 2 that passes through a peripheral area where it is difficult to connect to the network NW1, a movement route updated in consideration of the peripheral area information detected in the peripheral area can be provided to the traffic control system 3.

[0068] The providing unit 13 may also receive movement control information for the unmanned mobile body 2 from the traffic management system 3 from another adjacent distribution device 10A. For example, in the area surrounding the distribution device 10A-y, it is difficult to connect to the network NW1, so the unmanned mobile body 2 in the surrounding area is likely unable to receive movement control information from the traffic management system 3. In such a case, the movement control information for the unmanned mobile body 2 from the traffic management system 3 is first received by the distribution device 10A-x, and then, as necessary, is received by the corresponding distribution device 10A-y via one or more distribution devices 10A. The providing unit 13 of the distribution device 10A-y transmits the received movement control information to the unmanned mobile body 2. In other words, the providing unit 13 of the distribution device 10A-y relays the movement control information transmitted from the traffic management system 3 to the unmanned mobile body 2. Note that when permission from a predetermined authority is required, the movement control information transmitted by the traffic management system 3 is generated based on the movement route permitted by the unmanned mobile body infrastructure system 4. However, this is not limited to the case where permission from a predetermined authority is not required. As a result, even in an area where it is difficult to connect to the network NW1, movement control information can be transmitted from the operation management system 3 to the unmanned moving body 2, allowing it to pass through the area.

[0069] (Configuration of Unmanned Vehicle 2) The configuration of the unmanned mobile body 2 will be described with reference to Fig. 7. Fig. 7 is a block diagram showing the configuration of the unmanned mobile body 2. The unmanned mobile body 2 includes a control unit 210, a memory unit 220, a first communication unit 240, a second communication unit 250, a sensor 230, a drive unit 260, and a movement mechanism 270.

[0070] The control unit 210 controls each unit of the unmanned mobile body 2. The memory unit 220 stores various data used by the control unit 210. For example, the memory unit 220 may store identification information of the unmanned mobile body 2. The first communication unit 240 communicates with the traffic management system 3 by connecting to the network NW1. However, the first communication unit 240 does not function when the unmanned mobile body 2 is passing through an area where connection to the network NW1 is difficult. The second communication unit 250 can communicate with the distribution device 10A by connecting to the network NW2. The second communication unit 250 is an example of a configuration that realizes communication means provided in the unmanned mobile body 2. The sensor 230 detects surrounding area information in the surrounding area of ​​the unmanned mobile body 2. For example, the sensor 230 may be a camera that captures images of the surrounding area of ​​the unmanned mobile body 2, a 3D camera that measures three-dimensional spatial information, or the like, but is not limited to these. The drive unit 260 drives a movement mechanism 270 that moves the unmanned mobile body 2.

[0071] The control unit 210 includes an information providing unit 21 and a movement control unit 22. The movement control unit 22 is an example of a configuration that realizes a movement control means. The information providing unit 21 transmits surrounding area information detected by the sensor 230 to the connectable distribution device 10A via the network NW2 by the second communication unit 250.

[0072] The movement control unit 22 controls the movement of the unmanned mobile body 2 based on a movement route provided from the distribution device 10A or the traffic management system 3. For example, when the unmanned mobile body 2 is passing through an area where it is possible to connect to the network NW1, the movement control unit 22 receives movement control information based on the movement route from the traffic management system 3. Also, for example, when the unmanned mobile body 2 is passing through an area where it is difficult to connect to the network NW1, the movement control unit 22 receives movement control information from the traffic management system 3 from the distribution device 10A via the network NW2. This allows the unmanned mobile body 2 to control the drive unit 260 to move the unmanned mobile body 2 based on the received movement control information, regardless of whether it is possible to connect to the network NW1. As a result, the unmanned mobile body 2 can pass through an area where it is difficult to connect to the network NW1.

[0073] (Method S1A flow) The distributed system 1A configured as described above executes method S1A. Method S1A is an example of a method for updating a planned movement route of an unmanned mobile body 2 in an area where connection to the network NW1 is difficult. FIG. 8 is a flow diagram showing the flow of method S1A. Note that communication between distribution devices 10A-x and 10A-y shown in FIG. 8 may go through one or more other distribution devices 10A-y. However, in the following, for simplicity, explanation of such cases will be omitted. As shown in FIG. 8, method S1A includes steps S101 to S118.

[0074] In step S101, the traffic control system 3 transmits the movement routes of the multiple unmanned mobile bodies 2 to the distribution device 10A-x via the network NW1. Note that, although the description here is that one traffic control system 3 transmits the movement routes of the multiple unmanned mobile bodies 2, each of the multiple traffic control systems 3 may transmit the movement route of at least one unmanned mobile body 2. Furthermore, step S101 is not limited to being that the movement routes of the multiple unmanned mobile bodies 2 are transmitted simultaneously, and may be executed at any time in response to the movement route of each unmanned mobile body 2 being determined or updated.

[0075] In step S102, the acquisition unit 11 of the distribution device 10A-x transmits the received movement routes of the multiple unmanned mobile bodies 2 to the adjacent distribution device 10A via the network NW2. As a result, the movement routes of the multiple unmanned mobile bodies 2 are received by the distribution device 10A-y. In other words, the movement routes of the multiple unmanned mobile bodies transmitted from the traffic management system 3 to the distribution device 10A-y are relayed by the distribution device 10A-x.

[0076] In step S103, the acquisition unit 11 of the distribution device 10A-y acquires the movement routes of the multiple unmanned moving bodies 2.

[0077] In step S104, the acquisition unit 11 of the distribution device 10A-y acquires the surrounding area information from the sensor 130.

[0078] In step S105, the unmanned mobile body 2 detects surrounding area information using the sensor 230, and transmits the detected surrounding area information to the distribution device 10A-y via the network NW2.

[0079] In step S106, the acquisition unit 11 of the distribution device 10A-y acquires the surrounding area information from the unmanned moving body 2 via the network NW2.

[0080] In step S107, the acquisition unit 11 of the distribution device 10A-y acquires the surrounding area information acquired by one or more other distribution devices 10A via the adjacent other distribution devices 10A.

[0081] In step S108, the update unit 12 of the distribution device 10A-y identifies an unmanned mobile body 2 to be updated, among the plurality of unmanned mobile bodies 2, whose movement path is to be updated.

[0082] In step S109, the prediction unit 14 of the distribution device 10A-y predicts the position of the obstacle based on the surrounding area information using a prediction model. In addition, if the obstacle is one that may move, the prediction unit 14 predicts the position of the obstacle after it moves.

[0083] In step S110, if there is another distribution device 10A in which a failure has occurred, the identifying unit 15 identifies the surrounding area of ​​that distribution device 10A as a communication unavailable area.

[0084] In step S111, the update unit 12 updates the planned travel route of the unmanned mobile body 2 to be updated so as to bypass the position of the obstacle indicated by the surrounding area information, the position of the obstacle after it has moved, and the communication-dead area.

[0085] In step S112, the providing unit 13 transmits the updated movement path to the adjacent distribution device 10A via the network NW2, whereby the updated movement path is received by the distribution device 10A-x.

[0086] In step S113, the providing unit 13 of the distribution device 10A-x transmits the travel route received from the distribution device 10A-y to the traffic control system 3 via the network NW1. That is, the updated travel route provided from the distribution device 10A-y to the traffic control system 3 is relayed by the distribution device 10A-x.

[0087] In step S114, the operation control system 3 is assumed to have decided to adopt the updated travel route. In this case, the operation control system 3 transmits a permission application to the unmanned mobile object base system 4, and if permission is granted, receives information indicating permission. Note that if the updated travel route is not adopted in step S114, the processing from step S115 onwards is not executed. Also, if permission from a predetermined organization is required, and information indicating permission is not received, the processing from step S115 onwards is not executed.

[0088] In step S115, the traffic management system 3 transmits movement control information for controlling the movement of the unmanned moving body 2 based on the updated movement route to the distribution device 10A-x via the network NW1.

[0089] In step S116, the provider 13 of the distribution device 10A-x transmits the received mobility control information to the adjacent distribution device 10A via the network NW2, whereby the mobility control information is received by the distribution device 10A-y.

[0090] In step S117, the provider 13 of the distribution device 10A-y transmits the received movement control information to the unmanned mobile body 2 to be updated via the network NW2. That is, in steps S116 to S117, the movement control information transmitted from the traffic management system 3 to the unmanned mobile body 2 is relayed by the distribution devices 10A-x and 10A-y.

[0091] In step S118, the movement control unit 22 of the unmanned moving body 2 to be updated controls the movement of the unmanned moving body 2 itself based on the received movement control information, thereby causing the unmanned moving body 2 to be updated to move along the updated movement route.

[0092] (How to update a travel route in an area where network NW1 can be connected) It has been explained that the distributed system 1A can update the planned movement route of the unmanned mobile body 2 in an area where it is difficult to connect to the network NW1 by executing the above-mentioned method S1A. In addition, the distributed system 1A can also update the planned movement route of the unmanned mobile body 2 in an area where it is possible to connect to the network NW1. In this case, the distribution device 10A-x receives movement routes of a plurality of unmanned mobile bodies from the traffic control system 3 via the network NW1, and executes steps S103 to S111 in the same manner as the distribution device 10A-y. As a result, the movement routes planned for the unmanned mobile bodies 2 in the area surrounding the distribution device 10A-x are updated. The distribution device 10A-x also transmits the updated movement routes to the traffic control system 3 via the network NW1. The traffic control system 3 also transmits movement control information based on the movement routes updated by the distribution device 10A-x to the unmanned mobile bodies 2. Note that the movement control information can be transmitted from the traffic control system 3 to the unmanned mobile bodies 2 via the network NW1, without passing through the distribution device 10A-x.

[0093] (Modification of the providing unit 13) The providing unit 13 can be modified as follows. When a predetermined condition indicating an urgency is not satisfied, the providing unit 13 may provide an updated travel route to the traffic control system 3, and when the predetermined condition is satisfied, the providing unit 13 may provide the updated travel route to the unmanned mobile body 2. Here, the predetermined condition indicating an urgency may be a condition based on the magnitude of the risk that may arise from not updating the travel route, the time until the risk occurs, etc. For example, one example of the predetermined condition is a condition in which the possibility of colliding with an obstacle on the travel route if not updated is equal to or greater than a threshold, and the time until the predicted collision time is equal to or less than a threshold. Another example of the predetermined condition is the occurrence of a fault in the unmanned mobile body 2 itself. However, the predetermined condition is not limited to this.

[0094] In this case, method S1A is transformed into method S1B. Fig. 9 is a flow diagram showing the flow of method S1B. As shown in Fig. 9, method S1B differs from method S1A in that it includes steps S201 to S202 in addition to steps similar to those of method S1A.

[0095] Step S201 is executed when the planned movement route of the unmanned moving body 2 is updated in step S111.

[0096] In step S201, the providing unit 13 determines whether a predetermined condition indicating urgency is satisfied. If the determination in step S201 is No, the providing unit 13 executes the processing from step S112 onwards. As a result, similar to method S1A, the operation control system 3 controls the movement of the unmanned mobile object 2 along the updated movement route.

[0097] On the other hand, if the determination in step S201 is Yes, the providing unit 13 executes step S202. In step S202, the providing unit 13 directly provides the unmanned mobile body 2 with the updated travel route via the network NW2. For example, the providing unit 13 may transmit travel control information based on the updated travel route to the unmanned mobile body 2 via the network NW2. This eliminates the need to query the traffic management system 3 as in method S1A in the case of an emergency, and the updated travel route can be quickly reflected in the movement of the unmanned mobile body 2. When LPWA is applied to the network NW2, it is possible to overcome the low speed, which is one of the characteristics of LPWA. Furthermore, as the number of unmanned mobile bodies 2 targeted by the distributed system 1A increases, it is possible to suppress an increase in the amount of communication between the distributed devices 10A, and communication stability is less likely to be impaired. Note that if "the occurrence of a failure in the unmanned mobile body 2 itself" is satisfied as a predetermined condition for satisfying an emergency, "travel control information indicating an instruction to safely stop" may be generated instead of updating the travel route of the unmanned mobile body 2 (S111). In this case, the providing unit 13 may provide the "movement control information indicating an instruction to stop safely" directly to the unmanned moving body 2 via the network NW2.

[0098] (Example of application of distributed system 1A) FIG. 10 is a diagram schematically illustrating an application example of the distributed system 1A. In FIG. 10, an unmanned aerial vehicle (e.g., a drone) is used as an example of the unmanned mobile object 2. The distributed system 1A includes a plurality of distribution devices 10A-1 to 10A-7, . . . In the example of FIG. 10, each of the distribution devices 10A-1 to 10A-7 is attached to a structure 9 such as a utility pole, but this is not limited to this. Furthermore, the distribution devices 10A-1 to 10A-4 (an example of 10A-x) are located in an area A1 (e.g., an urban area) where connection to LTE, which is an example of the network NW1, is possible. The distribution devices 10A-5 to 10A-7 (an example of 10A-y) are located in an area A2 (e.g., a mountainous area) where connection to LTE is difficult. Furthermore, each of the distribution devices 10A-5 to 10A-7 can communicate with the unmanned moving body 2 included in the surrounding area of ​​the device itself and the adjacent distribution device 10A via LPWA, which is an example of the network NW2.

[0099] An unmanned mobile body 2-1 is passing through area A1. The planned movement route for the unmanned mobile body 2-1 is updated based on surrounding area information detected in the surrounding areas of each of distribution devices 10A-1 to 10A-7. ​​Distribution devices 10A-1 to 10A-4 provide the updated movement route in each surrounding area to the traffic control system 3 via LTE. The unmanned mobile body 2-1 is controlled by the traffic control system 3 via LTE so as to move according to the updated movement route.

[0100] In area A2, unmanned mobile body 2-2 is passing through the area surrounding distribution device 10A-7. ​​Distribution device 10A-7 updates the movement route of unmanned mobile body 2-2 based on surrounding area information detected in the surrounding area of ​​its own device. Distribution device 10A-7 also transmits the updated movement route for unmanned mobile body 2-2 to adjacent distribution device 10A-6 via LPWA. The movement route is further transmitted in sequence to distribution devices 10A-5 and 10A-4 via LPWA, and is provided from distribution device 10A-4 to traffic management system 3 via LTE. Movement control information for moving unmanned mobile body 2-2 according to the updated movement route is transmitted from traffic management system 3 to distribution device 10A-4 via LTE. The movement control information is further transmitted in sequence to distribution devices 10A-5, 10A-6, and 10A-7 via LPWA, and is received by unmanned mobile body 2-2.

[0101] For example, in part of area A1, the communication environment may change to a state where it is difficult to connect to LTE. Also, in part of area A2, the communication environment may change to a state where it is easy to connect to LTE. Even in this case, it is sufficient that at least one of distribution devices 10A-1 to 10A-7 is able to connect to LTE, and distribution device 10A whose situation has changed to one where it is difficult to connect to LTE operates in the same way as distribution devices 10A-5 to 10A-7 described above. Also, distribution device 10A whose situation has changed to one where it is easy to connect to LTE operates in the same way as distribution devices 10A-1 to 10A-4 described above.

[0102] FIG. 11 is a diagram schematically illustrating a configuration example of a distributed device 10A in an application example of the distributed system 1A shown in FIG. 10. FIG. 11 mainly illustrates a configuration example of a distributed device 10A-7 placed in area A2 where connection to LTE is difficult. As shown in FIG. 11, the distributed device 10A-7 includes a second communication unit 150 for performing communication using LPWA. Note that, if a network using a frequency band such as the 5.7 GHz band is adopted as the network NW2, the distributed device 10A-7 includes a second communication unit 150 for performing communication using the corresponding frequency band. The distributed device 10A-7 includes sensors 130-1 and 130-2 as examples of sensors 130. The sensor 130-1 is a camera whose angle of view includes the sky above the distributed device 10A-7. ​​The sensor 130-2 is a camera whose angle of view includes the ground below the distributed device 10A-7. The acquisition unit 11 acquires, as surrounding area information, images of the sky captured by the sensor 130-1 and images of the ground captured by the sensor 130-2. The distribution device 10A-7 also acquires, as surrounding area information, images captured by the unmanned mobile body 2 via LPWA. Note that the surrounding area information may include not only the acquired captured images themselves, but also the analysis results (e.g., target data, where things are, etc.) analyzed by the distribution device 10A-7 based on the captured images. This reduces communication costs when transmitting and receiving surrounding area information to and from other distribution devices 10A, etc.

[0103] The distribution device 10A-7 also stores a prediction model. The prediction model is updated when a new prediction model is distributed from the prediction model storage device 5 via the distribution devices 10A-4, 10A-5, and 10A-6. Information about obstacles indicated by the surrounding area information is predicted using the prediction model. In the example of FIG. 11, the position of a helicopter as an obstacle after its movement at a future time point is predicted from an image captured from the sky. Furthermore, the positions of a person and a stroller as obstacles after their movement at a future time point are predicted from an image captured on the ground.

[0104] Furthermore, distribution device 10A-7 updates the planned movement route for unmanned mobile body 2 so as to detour around the predicted position of the obstacle at a future time. The updated movement route is transmitted from distribution device 10A-7 to the traffic management system 3 via distribution devices 10A-6, 10A-5, and 10A-4. Furthermore, movement control information according to the updated movement route is received by unmanned mobile body 2 from the traffic management system 3 via distribution devices 10A-4, 10A-5, 10A-6, and 10A-7.

[0105] (Advantages of this exemplary embodiment) In the distributed system 1A, at least one first distributed device (distributed device 10A-x) among the multiple distributed devices 10A is equipped with a first communication unit 140 capable of communicating with the traffic management system 3, and each distributed device 10A is equipped with a second communication unit 150 different from the first communication unit 140 and capable of communicating with the unmanned mobile body 2 and at least one other distributed device 10A. When providing an updated travel route to the traffic management system 3, the providing unit 13 provides the updated travel route using the first communication unit 140 or via the first distributed device directly or indirectly connected using the second communication unit 150. This configuration makes it possible to update the travel route of the unmanned mobile body 2 in real time even in areas where the unmanned mobile body 2 cannot communicate with the traffic management system 3, thereby achieving the effect of allowing the unmanned mobile body 2 to travel safely.

[0106] Furthermore, the distributed system 1A employs a configuration in which the update unit 12 refers to the predicted position of the obstacle after movement as information about the obstacle. With this configuration, in addition to the effects achieved by the distributed system 1A, the future positions of obstacles such as people or any moving objects that may move are taken into consideration, so that the unmanned mobile object 2 can be moved more safely even around obstacles.

[0107] Furthermore, the distributed system 1A employs a configuration in which the update unit 12 updates the movement route of at least one of the plurality of unmanned mobile bodies 2 based on the planned movement route in the surrounding area for each of the plurality of unmanned mobile bodies 2 and information on obstacles indicated by the surrounding area information. With the above configuration, in addition to the effects achieved by the distributed system 1A, the movement routes of other unmanned mobile bodies 2 are also taken into consideration, so that the unmanned mobile body 2 can be moved more safely.

[0108] Furthermore, the distributed system 1A is configured such that, when a predetermined condition indicating urgency is not satisfied, the providing unit 13 provides the updated movement route to the traffic control system 3, and when the predetermined condition is satisfied, the providing unit 13 provides the updated movement route to the unmanned mobile body 2. In addition to the effects achieved by the distributed system 1, the above-described configuration provides an effect that, when there is an urgency, updates can be more quickly reflected in the movement route of the unmanned mobile body 2 without inquiring of the traffic control system 3.

[0109] Furthermore, the distributed system 1A is further provided with an identification unit 15 that identifies, as a communication unavailable area, an area surrounding another distributed device 10A among the multiple distributed devices 10A in which a failure has occurred, and the update unit 12 updates the movement route to bypass the communication unavailable area. In addition to the effects of the distributed system 1, the above configuration takes into account the communication unavailable area due to the failure of the distributed device 10A, so that, in an area in which the unmanned mobile body 2 cannot communicate with the traffic control system 3, it is possible to prevent the unmanned mobile body 2 from passing through an area in which it cannot communicate with any of the distributed devices 10A.

[0110] The unmanned mobile body 2 is also configured to include a second communication unit 250 capable of communicating with the distribution device 10A included in the distribution system 1A, and a movement control unit 22 that controls the movement of the device itself based on a movement route provided by the distribution device 10A or the traffic management system 3. In addition to the effects of the distribution system 1, the above configuration also provides the effect of providing an unmanned mobile body 2 that can move even in areas where communication with the traffic management system 3 is not possible.

[0111] [Software implementation example] Some or all of the functions of each distribution device 10, 10A (hereinafter also referred to as "each of the above devices") included in the distribution system 1, 1A may be realized by hardware such as an integrated circuit (IC chip), or by software.

[0112] In the latter case, each of the above devices is realized by, for example, a computer that executes instructions of a program, which is software that realizes each function. An example of such a computer (hereinafter referred to as computer C) is shown in Figure 12. Figure 12 is a block diagram showing the hardware configuration of computer C that functions as each of the above devices.

[0113] The computer C includes at least one processor C1 and at least one memory C2. The memory C2 stores a program P for causing the computer C to operate as each of the above-mentioned devices. In the computer C, the processor C1 reads and executes the program P from the memory C2, thereby realizing the functions of each of the above-mentioned devices.

[0114] The processor C1 may be, for example, a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a tensor processing unit (TPU), a quantum processor, a microcontroller, or a combination thereof. The memory C2 may be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination thereof.

[0115] The computer C may further include a RAM (Random Access Memory) for expanding the program P during execution and for temporarily storing various data. The computer C may also include a communication interface for transmitting and receiving data to and from other devices. The computer C may also include an input / output interface for connecting input / output devices such as a keyboard, mouse, display, and printer.

[0116] Furthermore, the program P can be recorded on a non-transitory tangible recording medium M that can be read by the computer C. Such a recording medium M can be, for example, a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The computer C can acquire the program P via such a recording medium M. The program P can also be transmitted via a transmission medium. Such a transmission medium can be, for example, a communication network or broadcast waves. The computer C can also acquire the program P via such a transmission medium.

[0117] Furthermore, the functions of each of the devices may be realized by a single processor provided in a single computer, by multiple processors provided in a single computer working in cooperation, or by multiple processors provided in each of multiple computers working in cooperation. Furthermore, the programs for causing each of the devices to realize the functions may be stored in a single memory provided in a single computer, or may be distributed and stored in multiple memories provided in a single computer, or may be distributed and stored in multiple memories provided in each of multiple computers.

[0118] [Appendix 1] This disclosure includes the techniques described in the following appendices. However, the present invention is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims. (Appendix 1) A distributed system including a plurality of distributed devices, The plurality of distribution devices are distributed and arranged in an area through which the unmanned moving body can pass, Each distributed device is capable of communicating with an unmanned moving object included in a surrounding area of ​​the device and at least one other distributed device; Each dispersion device is an acquisition means for acquiring surrounding area information detected in the surrounding area; an update means for updating a planned movement route of the unmanned moving body in the surrounding area based on information about obstacles indicated by the surrounding area information; a providing means for providing the updated travel route to the unmanned mobile body or to a traffic management system that is indirectly connectable to the unmanned mobile body or to the at least one other distributed device and that manages the movement of the unmanned mobile body; A distributed system comprising:

[0119] (Appendix 2) At least one first distribution device among the plurality of distribution devices includes a first communication means capable of communicating with the traffic management system, Each distribution device is provided with a second communication means different from the first communication means, and is capable of communicating with the unmanned mobile body and at least one other distribution device; When providing the updated travel route to the operation management system, the providing means provides the updated travel route using the first communication means, or provides the updated travel route via the first distribution device that is directly or indirectly connected using the second communication means. 1. The distributed system of claim 1.

[0120] (Appendix 3) the updating means refers to a predicted position of the obstacle after movement as information about the obstacle; 3. The distributed system of claim 1 or 2.

[0121] (Appendix 4) the update means updates the movement route of at least one of the plurality of unmanned moving bodies based on a planned movement route in the surrounding area for each of the plurality of unmanned moving bodies and information regarding an obstacle indicated by the surrounding area information. 4. The distributed system of any one of claims 1 to 3.

[0122] (Appendix 5) The providing means comprises: If a predetermined condition indicating urgency is not satisfied, the updated travel route is provided to the traffic management system; If the predetermined condition is satisfied, the updated travel route is provided to the unmanned moving body. 5. The distributed system of any one of claims 1 to 4.

[0123] (Appendix 6) further comprising a specifying means for specifying an area surrounding another of the plurality of distribution devices in which a failure has occurred as a communication unavailable area; the updating means updates the travel route so as to bypass the communication unavailable area. 6. The distributed system of any one of claims 1 to 5.

[0124] (Appendix 7) A communication means capable of communicating with a distributed device included in the distributed system according to any one of Supplementary Notes 1 to 6, a movement control means for controlling the movement of the device itself based on the movement route provided from the distribution device or the operation management system; An unmanned mobile vehicle equipped with

[0125] (Appendix 8) One of a plurality of distribution devices distributed in an area where an unmanned moving body can pass through, The device is capable of communicating with an unmanned moving object and at least one other distributed device included in the surrounding area of ​​the device; an acquisition means for acquiring surrounding area information detected in the surrounding area; an update means for updating a planned movement route of the unmanned moving body in the surrounding area based on information about obstacles indicated by the surrounding area information; a providing means for providing the updated travel route to the unmanned mobile body or to a traffic management system that is indirectly connectable to the unmanned mobile body or to the at least one other distributed device and that manages the movement of the unmanned mobile body; A dispersion device comprising:

[0126] (Appendix 9) A method executed by a distributed system including a plurality of distributed devices that are distributed in an area through which an unmanned vehicle can pass, Each distributed device is capable of communicating with an unmanned moving object included in a surrounding area of ​​the device and at least one other distributed device; an acquisition process in which at least one processor included in each distribution device acquires surrounding area information detected in the surrounding area; an update process in which the at least one processor updates a planned movement path of the unmanned moving body in the surrounding area based on information about an obstacle indicated by the surrounding area information; a provision process in which the at least one processor provides the updated travel route to the unmanned mobile body or to a traffic management system that can be indirectly connected to the unmanned mobile body via the at least one other distributed device and that manages the movement of the unmanned mobile body; A method comprising:

[0127] (Appendix 10) A method performed by any one of a plurality of distribution devices distributed in an area through which an unmanned vehicle can pass, comprising: The distribution device is capable of communicating with unmanned moving objects and at least one other distribution device included in a surrounding area of ​​the distribution device; an acquisition process in which at least one processor included in the distribution device acquires surrounding area information detected in the surrounding area; an update process in which the at least one processor updates a planned movement path of the unmanned moving body in the surrounding area based on information about an obstacle indicated by the surrounding area information; a provision process in which the at least one processor provides the updated travel route to the unmanned mobile body or to a traffic management system that can be indirectly connected to the unmanned mobile body via the at least one other distributed device and that manages the movement of the unmanned mobile body; A method comprising:

[0128] (Appendix 11) A program for causing a computer to operate as the distribution device described in Appendix 8, the program causing the computer to function as each of the means.

[0129] (Appendix 12) A distributed system including a plurality of distributed devices, The plurality of distribution devices are distributed and arranged in an area through which the unmanned moving body can pass, Each distributed device is capable of communicating with an unmanned moving object included in a surrounding area of ​​the device and at least one other distributed device; Each distribution device comprises at least one processor, the at least one processor comprising: an acquisition process for acquiring surrounding area information detected in the surrounding area; an update process for updating a planned movement route of the unmanned moving body in the surrounding area based on information about obstacles indicated by the surrounding area information; a providing process of providing the updated travel route to the unmanned mobile body or to a traffic management system that can be indirectly connected to the unmanned mobile body via the at least one other distributed device and that manages the movement of the unmanned mobile body; A distributed system that runs

[0130] Each of the distribution devices may further include a memory, and the memory may store a program for causing the at least one processor to execute each of the processes. [Explanation of symbols]

[0131] 1, 1A Distributed System 2 Unmanned Mobile Vehicles 3. Traffic control system 4 Unmanned Mobile Platform System 5. Prediction model storage device 10, 10A dispersion device 11 Acquisition Department 12 Update section 13 Providing Department 14 Prediction Department 15 Specific section 21 Information Provision Department 22 Movement control unit 110, 210 control unit 120, 220 storage section 130, 230 sensor 140, 240 First Communications Department 150, 250 Second Communications Department 260 Drive Unit 270 Moving mechanism C1 processor C2 Memory

Claims

1. A distributed system including a plurality of distributed devices, The plurality of distribution devices are distributed and arranged in an area through which the unmanned moving body can pass, Each distributed device is capable of communicating with an unmanned moving object included in a surrounding area of ​​the device itself and at least one other distributed device; Each dispersion device is an acquisition means for acquiring surrounding area information detected in the surrounding area; an update means for updating a planned movement route of the unmanned moving body in the surrounding area based on information regarding obstacles indicated by the surrounding area information; a providing means for providing the updated travel route to the unmanned mobile body or to a traffic management system that is indirectly connectable to the unmanned mobile body or to the at least one other distributed device and that manages the movement of the unmanned mobile body; A distributed system comprising:

2. At least one first distribution device among the plurality of distribution devices includes a first communication means capable of communicating with the traffic management system, Each distribution device is provided with a second communication means different from the first communication means, the second communication means being capable of communicating with the unmanned mobile body and at least one other distribution device; When providing the updated travel route to the operation management system, the providing means provides the updated travel route using the first communication means, or provides the updated travel route via the first distribution device that is directly or indirectly connected using the second communication means. The distributed system of claim 1 .

3. the updating means refers to a predicted position of the obstacle after movement as information about the obstacle; The distributed system of claim 1 .

4. the update means updates the movement route of at least one of the plurality of unmanned moving bodies based on a planned movement route in the surrounding area for each of the plurality of unmanned moving bodies and information regarding an obstacle indicated by the surrounding area information. The distributed system of claim 1 .

5. The providing means comprises: If a predetermined condition indicating urgency is not satisfied, the updated travel route is provided to the traffic management system; If the predetermined condition is satisfied, the updated travel route is provided to the unmanned moving body. The distributed system of claim 1 .

6. further comprising a specifying means for specifying an area surrounding another of the plurality of distribution devices in which a failure has occurred as a communication unavailable area; the updating means updates the travel route so as to bypass the communication unavailable area. The distributed system of claim 1 .

7. a communication means capable of communicating with the distributed device included in the distributed system according to claim 1; a movement control means for controlling the movement of the device itself based on the movement route provided from the distribution device or the operation management system; An unmanned mobile vehicle equipped with

8. One of a plurality of distribution devices distributed in an area through which an unmanned moving body can pass, The device is capable of communicating with an unmanned moving object and at least one other distributed device included in the surrounding area of ​​the device; an acquisition means for acquiring surrounding area information detected in the surrounding area; an update means for updating a planned movement route of the unmanned moving body in the surrounding area based on information regarding obstacles indicated by the surrounding area information; a providing means for providing the updated travel route to the unmanned mobile body or to a traffic management system that is indirectly connectable to the unmanned mobile body or to the at least one other distributed device and that manages the movement of the unmanned mobile body; A dispersion device comprising:

9. A method executed by a distributed system including a plurality of distributed devices that are distributed in an area through which an unmanned vehicle can pass, Each distributed device is capable of communicating with an unmanned moving object included in a surrounding area of ​​the device itself and at least one other distributed device; an acquisition process in which at least one processor included in each distribution device acquires surrounding area information detected in the surrounding area; an update process in which the at least one processor updates a planned movement path of the unmanned moving body in the surrounding area based on information about an obstacle indicated by the surrounding area information; a provision process in which the at least one processor provides the updated travel route to a traffic management system that is indirectly connectable to the unmanned mobile body or to the traffic management system that manages the movement of the unmanned mobile body via the at least one other distributed device; A method comprising:

10. A method performed by any one of a plurality of distribution devices distributed in an area through which an unmanned vehicle can pass, comprising: The distribution device is capable of communicating with unmanned moving objects included in a surrounding area of ​​the device and at least one other distribution device; an acquisition process in which at least one processor included in the distribution device acquires surrounding area information detected in the surrounding area; an update process in which the at least one processor updates a planned movement path of the unmanned moving body in the surrounding area based on information about an obstacle indicated by the surrounding area information; a provision process in which the at least one processor provides the updated travel route to a traffic management system that is indirectly connectable to the unmanned mobile body or to the traffic management system that manages the movement of the unmanned mobile body via the at least one other distributed device; A method comprising:

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