Group control system, traffic system, and group control method

Abstract

The aim is to improve the mobility efficiency of mobile devices while ensuring their safety and suppressing increases in their equipment costs. [Solution] In a group control system comprising a control unit that controls the movement of multiple moving objects as a group, the control unit sets a virtual dedicated trajectory in a three-dimensional coordinate system which is the movement path of the moving objects, and outputs guidance commands to the moving objects to guide them along the set virtual dedicated trajectory. The virtual dedicated trajectory is a group of coordinates consisting of multiple position coordinates arranged along the movement path, and the guidance command is a command that includes information on the position coordinates of the virtual dedicated trajectory.

Description

[Technical Field]

[0001] The present disclosure relates to a group control system, a traffic system, and a group control method. [Background Art]

[0002] Conventionally, a flying vehicle operation system including a flying vehicle and a control system is known (see, for example, Patent Document 1). In the flying vehicle operation system, flying vehicles are guided to travel along three-dimensional roads, which are dedicated tracks set in specific areas in the air. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2017-151839 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In the flying vehicle operation system of Patent Document 1, since a plurality of flying vehicles travel on three-dimensional roads, it is necessary to ensure safety to prevent collision between moving objects. At this time, if safety functions such as sensing devices and safety control are installed on the moving object to improve safety, the device cost will increase.

[0005] Therefore, it is an object of the present disclosure to provide a group control system, a traffic system, and a group control method that can suppress an increase in the device cost of moving objects and improve the movement efficiency of moving objects by eliminating the complexity of the system related to the safety functions of moving objects. [Means for Solving the Problem]

[0006] The group control system of the present disclosure is a group control system comprising a control unit for controlling the movement of a plurality of moving objects, wherein the control unit sets a virtual dedicated trajectory in a three-dimensional coordinate system which is the movement path of the moving objects, and outputs guidance commands to the moving objects to guide the moving objects along the set virtual dedicated trajectory, wherein the virtual dedicated trajectory is a group of coordinates consisting of a plurality of position coordinates arranged along the movement path, and the guidance command is a command that includes information on the position coordinates of the virtual dedicated trajectory.

[0007] The transportation system of this disclosure comprises a mobile body and the above-described swarm control system.

[0008] The group control method of the present disclosure is a group control method that is performed by a group control system that controls the movement of a plurality of moving objects, wherein the group control system sets a virtual dedicated trajectory in a three-dimensional coordinate system which is the movement path of the moving objects, and outputs guidance commands to the moving objects to guide the moving objects along the set virtual dedicated trajectory, wherein the virtual dedicated trajectory is a group of coordinates consisting of a plurality of position coordinates arranged along the movement path, and the guidance command is a command that includes information on the position coordinates of the virtual dedicated trajectory. [Effects of the Invention]

[0009] According to this disclosure, it is possible to improve the mobility efficiency of a mobile body while ensuring its safety and suppressing increases in the equipment costs of the mobile body. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a diagram relating to the transportation system according to this embodiment. [Figure 2] Figure 2 is a block diagram of an example of a transportation system according to this embodiment. [Figure 3] Figure 3 is a block diagram of an example of a transportation system according to this embodiment. [Figure 4] Figure 4 is an explanatory diagram regarding virtual dedicated orbits and group control. [Figure 5]Figure 5 shows an example of a virtual private orbit. [Figure 6] Figure 6 shows an example of a virtual private orbit. [Figure 7] Figure 7 is a diagram illustrating the setting of a virtual private orbit. [Figure 8] Figure 8 is a flowchart illustrating an example of a group control method according to this embodiment. [Figure 9] Figure 9 is a flowchart illustrating an example of a group control method according to this embodiment. [Modes for carrying out the invention]

[0011] Embodiments relating to this disclosure will be described in detail below with reference to the drawings. However, these embodiments do not limit this disclosure. Furthermore, some components in the embodiments described below are substituted or substantially identical to those easily substituted by those skilled in the art. Moreover, the components described below can be combined as appropriate, and if there are multiple embodiments, each embodiment can be combined.

[0012] [This Circumstance] The traffic system 1 according to this embodiment controls multiple moving objects 5 as a group and manages them collectively, thereby creating traffic order and moving the moving objects 5 along a virtual dedicated track 10. First, the traffic system 1 will be described with reference to Figure 1.

[0013] (Transportation system) Figure 1 is a diagram relating to a traffic system according to this embodiment. As shown in Figure 1, the traffic system 1 comprises a plurality of mobile bodies 5, positioning satellites 6, a base station 7, a command station 8, and a control system 9 that functions as a swarm control system.

[0014] The moving object 5 may be, for example, any of an aerial vehicle such as an aircraft, a water vehicle such as a ship, or a land vehicle such as a car, and is not particularly limited as long as it is movable. Further, the moving object 5 may be a manned moving object 5 or an unmanned moving object 5. The moving object 5 has an autonomous moving function, and moves by autonomous control based on a guidance command received from the control system 9 described later via the command station 8.

[0015] The positioning satellite 6 transmits first positioning information for specifying the position of the moving object 5. The positioning satellite 6 is, for example, a GPS (Global Positioning System) satellite, a quasi-zenith satellite, or the like. The positioning satellite 6 transmits the first positioning information to the moving object 5 and the control system 9.

[0016] The reference station 7 transmits second positioning information for specifying the position of the moving object 5. The reference station 7 is, for example, a ground reference station provided on the ground. The reference station 7 transmits the second positioning information to the moving object 5 and the control system 9.

[0017] The command station 8 performs communication between the moving object 5 and the control system 9. The command station 8 transmits commands from the control system 9 to the moving object 5, and transmits information from the moving object 5 to the control system 9.

[0018] The control system 9 is a system that controls a plurality of moving objects 5, and specifically, as control, for example, performs group control of the plurality of moving objects 5. The control system 9 generates a guidance command for guiding the moving object 5 based on position information acquired from the moving object 5, and outputs the generated guidance command to the moving object 5, thereby controlling the moving object 5.

[0019] In the traffic system 1 described above, the mobile vehicle 5 acquires first positioning information from positioning satellites 6 and second positioning information from base station 7, and acquires its position information (position coordinates) in a three-dimensional coordinate system based on the first and second positioning information. The mobile vehicle 5 outputs its own position information to the control system 9 via command station 8. When the control system 9 acquires the position information from the mobile vehicle 5, it generates a guidance command based on the position information. The control system 9 then outputs the generated guidance command to the mobile vehicle 5. The mobile vehicle 5 may use at least one of the first and second positioning information if it is able to acquire position information. The base station 7 may also transmit augmentation information from positioning satellites to the mobile vehicle 5, and the mobile vehicle 5 may acquire position information using the augmentation information.

[0020] Next, the configuration of the transportation system 1 will be described in detail with reference to Figures 2 and 3. Figures 2 and 3 are block diagrams of an example of the transportation system according to this embodiment. Note that the transportation system 1 shown in Figure 2 is the system configuration when the mobile body 5 is manned, and the transportation system 1 shown in Figure 3 is the system configuration when the mobile body 5 is unmanned.

[0021] The mobile unit 5 of the traffic system 1 shown in Figure 2 comprises a control unit 31, a user interface unit 32, an antenna device 33, and an automatic operation system 34.

[0022] The control unit 31 comprises a propulsion / drive device 31a, control equipment 31b, and measuring equipment 31c. The propulsion / drive device 31a is a device that generates thrust for the mobile body 5, and the control equipment 31b is a device that controls (operates) the direction of travel of the mobile body 5. The measuring equipment 31c measures the status of various devices included in the mobile body 5 (for example, the propulsion / drive device 31a and the control equipment 31b) and measures the remaining energy. The remaining energy includes the remaining fuel in the fuel tank as well as the battery charge capacity, etc. As will be described later, the information obtained by the measuring equipment 31c is sent to the automatic operation system 34 and the control system 9 and used for the control and management of the mobile body 5.

[0023] The user interface unit 32 operates as a man-machine interface with the passenger on board the mobile vehicle 5. The user interface unit 32 includes a transmission device 32a, an input device 32b, and a biomedical diagnostic device 32c. The transmission device 32a is an input / output device such as a display device and an audio device, and transmits various information to the passenger on board the mobile vehicle 5. The user on board the mobile vehicle 5 can obtain various information generated or collected by the automated operation system 34 through the transmission device 32a. The input device 32b is operated by the passenger and accepts input from the passenger. The biomedical diagnostic device 32c diagnoses the health status of the passenger on board the mobile vehicle 5 by acquiring physiological data and performs biometric authentication by acquiring biomedical diagnostic information. The results of the diagnosis and biometric authentication by the biomedical diagnostic device 32c are transmitted to the automated operation system 34, and further transmitted to the control system 9 via the reference station 7.

[0024] The antenna device 33 is used for communication with the command station 8, receiving first positioning information from the positioning satellite 6, and receiving second positioning information from the base station 7.

[0025] The automated navigation system 34 comprises receivers 34a and 34b, an inertial device (inertial navigation device) 34c, a communication device 34d, a three-dimensional position detection device 34e, and a guidance system 34f. Receiver 34a receives first positioning information from positioning satellite 6, and receiver 34b receives second positioning information from base station 7. The inertial device 34c calculates the position and speed of the mobile body 5. The communication device 34d communicates with the three-dimensional position detection device 34e and guidance system 34f and the control system 9 via antenna device 33 and command station 8. The three-dimensional position detection device 34e identifies the position coordinates of the mobile body 5 in a three-dimensional coordinate system from the first positioning information received from positioning satellite 6, the second positioning information received from base station 7, and the output information from the inertial device 34c, and generates information related to the current position coordinates as position information. The generated position information is transmitted to the control system 9 via the antenna device 33 and the command station 8. The guidance system 34f performs various calculations and controls to achieve autonomous control of the mobile body 5. For example, based on the position information of the mobile body 5 obtained by the 3D position detection device 34e and the guidance commands sent from the control system 9, the guidance system 34f controls the propulsion / drive device 31a and the control equipment 31b so that the mobile body 5 moves along the virtual dedicated orbit 10.

[0026] Furthermore, the control system 9 is connected to a registration and recording system 41 and a real-time information system 42.

[0027] The registration record system 41 registers mobile bodies 5 that are permitted to move. The registration record system 41 may also register, for example, mobile body identification information that identifies the mobile body 5, mobile body performance information that indicates the performance of the mobile body 5, personal identification information that indicates the user of the mobile body 5, a travel history record that indicates the travel history of the mobile body 5, and the user's financial information. The information registered in the registration record system 41 may be obtained from a system outside the traffic system 1.

[0028] The real-time information system 42 stores various data indicating the status of the control area where the control system 9 controls the mobile object 5. The real-time information system 42 may store, for example, traffic information indicating the traffic situation in the control area, weather information indicating the weather in the control area, regulation / obstacle information indicating regulations and obstacles in the control area, infrastructure information indicating buildings in the control area, and event information indicating events occurring in the control area. The information stored in the real-time information system 42 may be acquired from a system outside of the traffic system 1.

[0029] The control system 9 includes a control unit 51 that controls the movement of multiple mobile bodies 5 as a group. The control unit 51 includes an integrated circuit such as a CPU (Central Processing Unit). The control unit 51 has a function to generate guidance commands for controlling the mobile bodies 5 as a group, and a function to set a virtual dedicated trajectory 10 which will be the movement path of the mobile bodies 5 (virtual dedicated trajectory generation function). In executing group control, the control unit 51 uses, for example, position information from the mobile bodies 5, information acquired by measuring instruments 31c (measuring instrument information), information acquired by biomedical diagnostic devices 32c (biological diagnostic information), and information stored in the registration and recording system 41 and the real-time information system 42.

[0030] Next, we will describe the traffic system 1 shown in Figure 3. In the traffic system 1 shown in Figure 2, the system configuration is for when the mobile body 5 is manned, so a user interface unit 32 is provided on the mobile body 5. In the traffic system 1 shown in Figure 3, the system configuration is for when the mobile body 5 is unmanned, so the user interface unit 32 is provided on the outside of the mobile body 5, and the user interface unit 32 is connected to the control system 9 via a communication network (not shown). Note that the parts of the traffic system 1 shown in Figure 3 are the same as those of the traffic system 1 shown in Figure 2, so we will omit their explanation.

[0031] Next, referring to Figure 4, the virtual private orbit and group control will be explained. Figure 4 is an explanatory diagram relating to the virtual private orbit and group control. The virtual private orbit 10 is the orbit on which the mobile object 5, set by the control system 9, travels, and is an orbit set in a three-dimensional coordinate system that constitutes a virtual space. The virtual private orbit 10 may be laid in the air and on the ground, as well as over the sea, in tunnels, and underground.

[0032] The virtual dedicated trajectory 10 is a set of coordinates consisting of multiple allocation area coordinates (position coordinates) arranged along the movement path of the mobile object 5. The allocation area coordinates are coordinates (X, Y, Z) indicating the position in the X direction, the Y direction, and the Z direction. In addition, a virtual allocation area is set within the allocation area coordinates, which is the area in which the mobile object 5 is allowed to be located. The virtual allocation area is set as a three-dimensional space, and the length in the depth direction (LV1), the width direction (LV2), and the height direction (LV3) are set with the allocation area coordinates as the center. The mobile object 5 is allocated to the virtual allocation area, and by being allocated to the virtual allocation area, it becomes an occupied area. Since the virtual allocation area that has become an occupied area is an area in which other mobile objects 5 cannot be allocated, it becomes an area in which other mobile objects 5 are rejected.

[0033] Furthermore, the virtual allocation regions are provided at equal intervals on the virtual dedicated track 10 and are regions that move at a constant speed. Here, the distance L between the equally spaced virtual allocation regions should preferably be a distance corresponding to the type of moving object 5 and the speed of the moving object 5, and also a distance that takes into account emergency accidents and malfunctions, adverse weather conditions, etc.

[0034] The distance L may be, for example, the length expressed by equation (1) below. L=LA+LB+LC+LD+LE+LF+LG (1) LA: Position measurement error (LA = positioning error La1 + inertia error La2 + mounting position error La3) LB: Control error (LB = control period tb1 × constant velocity V) LC: Excess dimension of the moving body (LC = Moving body dimension LM1 - Total length of virtual allocation area LV1) LD: Communication delay error (LD = communication delay time td1 × constant velocity V) LE: Weather margin (LE = Gust factor Le1 + Rainfall factor Le2) LF: Accident / malfunction margin (LF = Fragmentation factor Lf1 + Blast factor Lf2) LG: Design margin (LG = arbitrary coefficient)

[0035] When the control system 9 performs group control of the mobile object 5, it generates a guidance command that includes positional information of the assigned area coordinates, which is output to the mobile object 5. Specifically, the guidance command generated by the control system 9 includes, as an example, information on a set of coordinates of a predetermined virtual private orbit 10 and the speed at which the mobile object 5 moves along the virtual private orbit 10. Upon receiving the guidance command, the mobile object 5 is controlled by the control unit 31 based on the guidance command, moving along the coordinate set of the virtual private orbit 10 and moving at the speed specified in the guidance command. In this group control, the control system 9 allows the mobile object 5 to be in a predetermined position on the virtual private orbit 10 by performing control to match the reference coordinates (Xa, Yb, Zc) of the mobile object 5 shown in Figure 4 with the assigned area coordinates (X, Y, Z). Note that the mobile object 5 will experience positional errors as it moves, so the control system 9 corrects the speed at which the mobile object 5 moves to compensate for these positional errors. Then, by periodically correcting the movement speed of the moving object 5, the moving object 5 is controlled to move at a constant speed and at equal intervals when viewed macroscopically.

[0036] Furthermore, as an example, the guidance command generated by the control system 9 includes information on the allocation area coordinates of the virtual exclusive track 10 that is the destination of the moving object 5, and the arrival time to reach the allocation area coordinates of the destination. The moving object 5 that has acquired the guidance command is controlled by the control unit 31 based on the guidance command, and moves so as to reach the allocation area coordinates by the arrival time. Also in this group control, by executing control for matching the reference coordinates (Xa, Yb, Zc) of the moving body 5 shown in FIG. 4 with the allocation area coordinates (X, Y, Z), the moving body 5 is allowed to be at a predetermined position on the virtual exclusive track 10. Then, in the same manner as described above, the moving speed of the moving body 5 is periodically corrected, so that the movement of the moving body 5 is controlled to be at a constant speed and constant intervals when viewed macroscopically.

[0037] FIG. 5 and FIG. 6 are diagrams showing an example of a virtual exclusive track. As shown in FIG. 5, the virtual exclusive track 10 serves as a movement route along which the moving body 5 moves at a constant speed, and includes a plurality of movement routes with different movement speeds of the moving body 5. Specifically, the virtual exclusive track 10 includes a high-speed track on which the moving body 5 moves at high speed, a low-speed track on which the moving body 5 moves at a lower speed compared to the high-speed track, and an emergency / special track that is used in emergencies and under special circumstances. For the high-speed track, the constant movement speed V of the moving body 5 is a high constant movement speed V1, and the distance L between virtual allocation areas is a distance L1 based on the above formula corresponding to the constant movement speed V1. For the low-speed track, the constant movement speed V of the moving body 5 is a low constant movement speed V2 (<V1), and the distance L between virtual allocation areas is a distance L2 based on the above formula corresponding to the constant movement speed V2. For the emergency / special track, the constant movement speed V of the moving body 5 is a predetermined constant movement speed V3, and the distance L between virtual allocation areas is a distance L3 based on the above formula corresponding to the constant movement speed V3. It should be noted that the high-speed track, low-speed track, and emergency / special track are merely examples. By providing a plurality of virtual exclusive tracks 10 and setting different constant movement speeds V and distances L for each virtual exclusive track 10, it is possible to improve the movement efficiency of a plurality of moving bodies 5 and ensure the flexibility of operation.

[0038] Furthermore, as shown in Figure 6, the virtual dedicated track 10 is a double-track travel path consisting of an outbound and a return route. The virtual dedicated track 10 also includes a branching section 10a where multiple travel paths branch off, and a merging section 10b where multiple travel paths merge. The branching section 10a branches off from one travel path into multiple travel paths. The merging section 10b merges multiple travel paths into one travel path. The virtual dedicated track 10 can be divided into multiple sections, and by setting different constant speed V and distance L in each section, it is possible to ensure efficient movement of multiple mobile bodies 5 and flexibility in operation.

[0039] Next, with reference to Figure 7, the virtual private track generation function for setting the virtual private track 10 will be explained. Figure 7 is a diagram relating to the setting of the virtual private track. As shown in Figure 7, the virtual private track 10 is set based on information stored in the real-time information system 42. Specifically, the control unit 51 of the control system 9 sets a prohibited area in the 3D coordinate system based on regulatory information acquired from the real-time information system 42 (step S1). Subsequently, the control unit 51 sets a restricted area in the 3D coordinate system based on fault information acquired from the real-time information system 42 (step S2). After this, the control unit 51 lays the virtual private track 10 in the 3D coordinate system based on infrastructure information acquired from the real-time information system 42 (step S3). The virtual private track 10 may be laid to coincide with structures such as tunnels, roads, and railway tracks. Then, the control unit 51 sets the number of virtual private tracks 10 to be laid based on weather information acquired from the real-time information system 42 (step S4). The control unit 51 sets the speed and spacing (distance L) of the laid virtual dedicated track 10 based on traffic information acquired from the real-time information system 42 (step S5). After this, the control unit 51 sets the occupancy rate of the virtual allocation area based on event information acquired from the real-time information system 42 (step S6). The control unit 51 repeatedly executes steps S1 to S6 at a predetermined control cycle.

[0040] (Group control method) Next, the group control method by the control system 9 will be described with reference to Figures 8 and 9. Figures 8 and 9 are flowcharts of an example of the group control method according to this embodiment. Figure 8 shows the control flow before the movement of the mobile body 5, and Figure 9 shows the control flow while the mobile body 5 is moving.

[0041] As shown in Figure 8, before the mobile body 5 moves, the control unit 51 of the control system 9 sets the destination and arrival time of the mobile body 5 based on the information input via the user interface unit 32 (step S11). Next, the control unit 51 performs personal identification authentication of the user who will use the mobile body 5 (step S12). In step S12, the control unit 51 compares the personal identification information input via the user interface unit 32 with the personal identification information registered in the registration record system 41. Alternatively, in step S12, the control unit 51 may also compare the personal identification information by performing biometric authentication based on biometric diagnostic information input via the user interface unit 32. Next, the control unit 51 obtains the financial information of the user who will use the mobile body 5 from the information registered in the registration record system 41 (step S13). Then, the control unit 51 determines whether or not the user is appropriate based on the information obtained in steps S12 and S13 (step S14).

[0042] In step S14, if the control unit 51 determines that the user is appropriate (compliant) (step S14: compliant), it performs identification authentication of the mobile body 5 (step S15). In step S15, the control unit 51 compares the mobile body identification information obtained from the mobile body 5 with the mobile body identification information registered in the registration record system 41. Next, the control unit 51 evaluates and determines the mobility of the mobile body 5 (step S16). In step S16, the control unit 51 obtains the mobile body performance information registered in the registration record system 41 and the measured values ​​measured by the measuring instrument 31c, and evaluates and determines the mobility of the mobile body 5 based on the obtained mobile body performance information and measured values. Then, based on the information obtained in steps S15 and S16, the control unit 51 determines whether or not the mobile body 5 is appropriate (step S17).

[0043] In step S17, if the control unit 51 determines that the mobile body 5 is appropriate (compliant) (step S17: compliant), it determines whether or not the movement of the mobile body 5 using the virtual private track 10 is permitted (step S18). If the control unit 51 determines that the movement of the mobile body 5 is permitted (step S18: permitted), it sets a movement path on the virtual private track 10. On the other hand, if the control unit 51 determines in step S14 that the user is inappropriate (not compliant) (step S14: inappropriate), or in step S17 that the mobile body 5 is inappropriate (not compliant) (step S17: inappropriate), or in step S18 that the movement of the mobile body 5 is not permitted (step S18: not permitted), it disallows the movement of the mobile body 5 using the virtual private track 10 (step S22).

[0044] If the control unit 51 sets a travel path after step S18, it sets a preferred travel path for the laid virtual dedicated track 10 based on the destination and arrival time information entered in step S11 (step S19). Next, the control unit 51 selects a virtual allocation area for the mobile body 5 to move in, based on the allocation area coordinates of the virtual dedicated track 10 of the set travel path (step S20). Then, the control unit 51 calculates the required travel time for the mobile body 5 to move based on the travel speed of the selected virtual allocation area (step S21). After the execution of step S21 or step S22, the control unit 51 terminates the group control processing before the mobile body 5 moves.

[0045] Next, as shown in Figure 9, while the mobile body 5 is moving, the control unit 51 of the control system 9 performs personal identification authentication of the user using the mobile body 5, similar to step S12 in Figure 8 (step S31). The control unit 51 determines whether or not the user is the appropriate user based on the information obtained in step S31, similar to step S14 in Figure 8 (step S32).

[0046] In step S32, if the control unit 51 determines that the user is appropriate (suitable) (step S32: suitable), it evaluates and determines the mobility of the mobile body 5, similar to step S16 in Figure 8 (step S33). Next, the control unit 51 calculates the difference between the position coordinates obtained from the mobile body 5 and the assigned area coordinates included in the output guidance command (step S34). Then, based on the information obtained in steps S33 and S34, the control unit 51 determines whether the mobile body 5 is appropriate or not (step S35). If the difference is large, the control unit 51 determines that the movement of the mobile body 5 is abnormal and therefore unsuitable.

[0047] In step S35, the control unit 51 determines that the mobile body 5 is appropriate (compliant) (step S35: compliant), and then determines whether the movement of the mobile body 5 using the virtual private track 10 is permitted (step S36). In step S37, the control unit 51 determines whether the operation of the laid virtual private track 10 and all mobile bodies 5 on the virtual private track 10 is appropriate (step S37).

[0048] On the other hand, if the control unit 51 determines in step S32 that the user is inappropriate (not compliant) (step S32: inappropriate), or in step S35 that the mobile body 5 is inappropriate (not compliant) (step S35: inappropriate), or in step S36 that the movement of the mobile body 5 is not permitted (step S36: not permitted), then it changes the movement path of the virtual dedicated orbit 10 and disallows the movement of the mobile body 5 (step S42).

[0049] If the control unit 51 determines from the result of step S37 that there has been a change in the virtual private orbit 10 (step S37: change), it resets the movement path on the changed virtual private orbit 10. When the control unit 51 sets the movement path, it executes steps S39 to S41. Steps S39 to S41 are the same as steps S19 to S21 in Figure 8, so their explanation is omitted.

[0050] On the other hand, if the control unit 51 determines from the result of step S37 that there is no change to the virtual dedicated trajectory 10 (step S37: no change), it maintains the movement path on the virtual dedicated trajectory 10 and continues the movement of the mobile body 5 (step S38). After executing step S38, step S41, or step S42, the control unit 51 terminates the group control processing during the movement of the mobile body 5. The control unit 51 repeatedly executes steps S31 to S42 in Figure 9 at a predetermined control cycle during the movement of the mobile body 5.

[0051] As described above, the group control system, traffic system, and group control method described in this embodiment can be understood, for example, as follows.

[0052] The first embodiment of the group control system (control system 9) is a group control system comprising a control unit 51 that controls the movement of a plurality of moving objects 5, wherein the control unit 51 sets a virtual dedicated trajectory 10 in a three-dimensional coordinate system which is the movement path of the moving objects 5, and outputs guidance commands to the moving objects 5 to guide the moving objects 5 along the set virtual dedicated trajectory 10, wherein the virtual dedicated trajectory 10 is a group of coordinates consisting of a plurality of position coordinates arranged along the movement path, and the guidance command is a command that includes information on the position coordinates of the virtual dedicated trajectory 10.

[0053] With this configuration, even when multiple mobile bodies 5 are moving, they can be moved along the virtual dedicated trajectory 10 at different position coordinates, thereby improving the movement efficiency of the mobile bodies 5. In this case, since the multiple mobile bodies 5 are at different position coordinates, physical contact can be suppressed, which eliminates the complexity of the system related to the safety functions of the mobile bodies and suppresses the increase in equipment costs related to the safety functions of the mobile bodies 5.

[0054] In a second embodiment, in the group control system according to the first embodiment, the guidance command includes information on the coordinate group of the virtual private trajectory 10 on which the mobile body 5 moves, and the speed at which the mobile body 5 moves along the virtual private trajectory 10.

[0055] With this configuration, the control unit 51 can control the movement speed of the mobile body 5 and move the mobile body 5 along the virtual dedicated trajectory 10.

[0056] In a third embodiment, in the group control system according to the first embodiment, the guidance command includes information on the position coordinates of the virtual dedicated trajectory 10 which is the destination of the moving body 5, and the arrival time when the body reaches the position coordinates of the destination.

[0057] With this configuration, the mobile body 5 can autonomously control its speed and move along the virtual dedicated orbit 10 so that it is positioned at the destination at the time of arrival.

[0058] In a fourth embodiment, in a group control system according to any one of the first to third embodiments, the control unit 51 sets a virtual allocation region, which is an area in which the moving body 5 is allowed to be located, relative to the position coordinates of the virtual dedicated track 10, and controls the movement of the moving body 5 by matching the reference coordinates of the moving body 5 with the allocation region coordinates, which are the position coordinates of the virtual allocation region.

[0059] With this configuration, by positioning the mobile body 5 within the virtual allocation area, the virtual allocation area can be made the area occupied by the mobile body 5, thereby suppressing physical contact with other mobile bodies 5.

[0060] In a fifth embodiment, in the group control system according to the fourth embodiment, the control unit 51 corrects the movement speed of the moving body 5 so as to cancel out any error that occurs between the reference coordinates and the allocation area coordinates due to the movement of the moving body 5.

[0061] This configuration allows for correction of positional errors of the mobile unit 5, thereby enabling the safe operation of the mobile unit 5.

[0062] In a sixth embodiment, in a group control system according to any one of the first to fifth embodiments, the virtual dedicated trajectory 10 is at least one of the movement paths in which the moving body 5 moves at a constant speed, and the movement paths in which the moving bodies 5 are spaced equally apart.

[0063] With this configuration, the mobile body 5 can be moved at a constant speed, or the mobile bodies 5 can be moved at equal intervals from one another, and multiple mobile bodies 5 can be moved stably.

[0064] In a seventh embodiment, in a group control system according to any one of the first to sixth embodiments, the virtual dedicated trajectory 10 includes a plurality of movement paths in which at least one of the movement speed V of the moving bodies and the distance (distance L) between the moving bodies is different.

[0065] With this configuration, the mobile object 5 can choose its travel path as it moves along the virtual dedicated orbit 10, thereby improving convenience.

[0066] In the eighth aspect, in a group control system according to any one of the first to seventh aspects, the virtual private track 10 includes at least one of a branching section 10a that branches into a plurality of movement paths and a merging section 10b where the plurality of movement paths merge.

[0067] With this configuration, a highly flexible virtual dedicated track 10 can be created by appropriately combining the branching section 10a and the merging section 10b.

[0068] In the ninth aspect, in a group control system according to any one of the first to eighth aspects, the control unit 51 determines whether or not to allow the mobile body 5 to use the virtual private trajectory 1010 before the mobile body 5 moves, and if it determines that use is permitted, it sets the movement path of the virtual private trajectory 10 to be used by the mobile body 5.

[0069] With this configuration, a travel path for the virtual private orbit 10 can be set for the mobile object 5 that is permitted to use the virtual private orbit 10, thereby enabling the appropriate use of the virtual private orbit 10.

[0070] In a tenth embodiment, in a group control system according to any one of the first to ninth embodiments, the control unit 51 determines whether or not there is a change in the virtual private trajectory 10 used by the mobile body 5 while the mobile body 5 is moving, and if it determines that there is a change, it resets the movement path of the virtual private trajectory 10 used by the mobile body 5.

[0071] With this configuration, the movement path of the virtual dedicated orbit 10 can be reset even while the mobile body 5 is moving, thus increasing the flexibility of the movement of the mobile body 5.

[0072] The traffic system 1 according to the eleventh embodiment comprises a mobile body 5 and the group control system described above.

[0073] This configuration allows for a transportation system that ensures the safety of the movement of the mobile body 5 while improving its efficiency. Furthermore, because the addition of safety functions to the mobile body 5 can be minimized, various types of mobile bodies 5 can be incorporated into the system, resulting in a highly versatile transportation system.

[0074] The group control method according to the twelfth embodiment is a group control method executed by a group control system (control system 9) that controls the movement of a plurality of moving bodies 5, wherein the group control system sets a virtual dedicated trajectory 10 in a three-dimensional coordinate system which is the movement path of the moving bodies 5, and outputs guidance commands to the moving bodies 5 to guide the moving bodies 5 along the set virtual dedicated trajectory 10, wherein the virtual dedicated trajectory 10 is a group of coordinates consisting of a plurality of position coordinates arranged along the movement path, and the guidance command is a command that includes information on the position coordinates of the virtual dedicated trajectory 10.

[0075] With this configuration, even when multiple mobile bodies 5 are moving, they can be moved along the virtual dedicated trajectory 10 at different position coordinates, thereby ensuring the safety of the mobile bodies 5 while improving their movement efficiency. In this case, since the multiple mobile bodies 5 are at different position coordinates, physical contact can be suppressed, which reduces the complexity of the system related to the safety functions of the mobile bodies 5 and thus suppresses an increase in equipment costs. [Explanation of Symbols]

[0076] 1. Transportation System 5 Mobile Unit 6 Positioning Satellites 7 Reference station 8 Command station 9. Air Traffic Control System 10 Virtual Private Orbit 10a Branch section 10b Confluence 31 Control Unit 31a Propulsion / Drive System 31b Control equipment 31c Measuring Instruments 32 User Interface Section 32a Transmission device 32b Input device 32c Biomedical Diagnostic Device 33 Antenna equipment 34. Automated Driving System 34a, 34b receivers 34c inertial device 34d communication device 34e 3D position detection device 34f guidance system 41. Registration and Recording System 42 Real-time information systems 51 Control Unit

Claims

1. In a group control system that includes a control unit for group control of the movement of multiple moving objects, The control unit, A virtual dedicated trajectory, which serves as the movement path of the aforementioned moving object, is set in a three-dimensional coordinate system. A guidance command is output to the mobile object to guide it along the set virtual dedicated trajectory. The aforementioned virtual dedicated orbit is a group of coordinates consisting of multiple position coordinates arranged along the aforementioned travel path. The guidance command is a group control system in which the command includes information on the position coordinates of the virtual private orbit.

2. The group control system according to claim 1, wherein the guidance command includes information on a set of coordinates of the virtual private trajectory on which the moving body moves, and the speed at which the moving body moves along the virtual private trajectory.

3. The group control system according to claim 1, wherein the guidance command includes information on the position coordinates of the virtual dedicated trajectory which is the destination of the moving object, and the time of arrival when the object reaches the position coordinates of the destination.

4. The control unit, A group control system according to claim 1, wherein a virtual allocation region is set with respect to the position coordinates of the virtual dedicated track, which is a region in which the moving body is permitted to be located, and the reference coordinates of the moving body and the allocation region coordinates, which are the position coordinates of the virtual allocation region, are matched to control the movement of the moving body.

5. The control unit, The group control system according to claim 4, wherein if an error occurs between the reference coordinates and the allocation area coordinates due to the movement of the moving body, the moving speed of the moving body is corrected to cancel out the error.

6. The group control system according to claim 1, wherein the virtual dedicated trajectory is at least one of the movement paths in which the moving bodies move at a constant speed, and the movement paths in which the moving bodies are spaced equally apart.

7. The group control system according to claim 1, wherein the virtual dedicated trajectory includes a plurality of movement paths in which at least one of the movement speed of the moving bodies and the distance between the moving bodies is different.

8. The group control system according to claim 1, wherein the virtual dedicated track includes at least one of a branching section where it branches into a plurality of movement paths and a merging section where the plurality of movement paths merge.

9. The control unit, before the moving body moves, Determine whether or not to permit the use of the virtual dedicated orbit of the mobile body. The group control system according to claim 1, which, when it is determined that permission to use is to be granted, sets the movement path of the virtual dedicated trajectory to be used by the moving object.

10. The control unit, while the moving body is moving, Determine whether or not there has been a change in the virtual dedicated orbit used by the mobile body. The group control system according to claim 1, which, if it is determined that a change has occurred, resets the movement path of the virtual dedicated trajectory used by the moving object.

11. Mobile and A traffic system comprising a group control system according to any one of claims 1 to 10.

12. In a group control method performed by a group control system that controls the movement of multiple moving objects as a group, The group control system, A virtual dedicated trajectory, which serves as the movement path of the aforementioned moving object, is set in a three-dimensional coordinate system. A guidance command is output to the mobile object to guide it along the set virtual dedicated trajectory. The aforementioned virtual dedicated orbit is a group of coordinates consisting of multiple position coordinates arranged along the aforementioned travel path. A group control method in which the guidance command is a command that includes information on the position coordinates of the virtual dedicated orbit.

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