MOBILE BODY, MOBILE BODY CONTROL METHOD, MOBILE BODY CONTROL PROGRAM, CONTROL DEVICE, CONTROL METHOD, CONTROL PROGRAM, AND MOBILE BODY SYSTEM

Abstract

A mobile body (200) comprises a generating unit (264), a first communication unit (220), a second communication unit (230), an obtaining unit (265), a providing unit (266), and an integrating unit (267). The generating unit (264) generates map information. The first communication unit (220) communicates with a management device (100). The second communication unit (230) communicates with another mobile body using a communication band different from a communication band used by the first communication unit (220). The obtaining unit (265) obtains first map information generated in the other mobile body through communication performed by the second communication unit (230). The providing unit (266) provides second map information to the other mobile body through communication performed by the second communication unit (230). The integrating unit (267) generates integrated map information by integrating the first map information with the second map information.

Description

[Technical field]

[0001] The present disclosure relates to a mobile body, a mobile body control method, a mobile body control program, a control device, a control method, a control program, and a mobile body system. [Background technology]

[0002] Regarding the autonomous movement of automobiles, robots, UXVs (Unmanned X Vehicles), etc., various technologies are being developed to provide the information necessary for automated driving and driving assistance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-137139 A [Patent Document 2] JP 2004-118730 A [Non-patent literature]

[0004] [Non-Patent Document 1] "What is a 'dynamic map', a map necessary for autonomous driving? KDDI, Zenrin, and Fujitsu begin demonstration experiments of distribution technology," [online], [Retrieved July 30, 2019], Internet<URL:https: / / internet.watch.impress.co.jp / docs / column / chizu3 / 1106525.html> Summary of the Invention [Problem to be solved by the invention]

[0005] Unmanned aerial vehicles such as drones and autonomous robots are constantly being required to move autonomously in a safe and efficient manner.

[0006] Therefore, this disclosure proposes a moving body, a moving body control method, a moving body control program, a control device, a control method, a control program, and a moving body system that can realize safe and efficient autonomous movement. [Means for solving the problem]

[0007] In order to solve the above problems, a mobile body according to one embodiment of the present disclosure includes a generation unit, a first communication unit, a second communication unit, an acquisition unit, a provision unit, and an integration unit. The generation unit generates map information. The first communication unit communicates with a control device. The second communication unit communicates with other mobile bodies using a communication band different from the communication band used by the first communication unit. The acquisition unit acquires first map information generated in the other mobile bodies through communication by the second communication unit. The provision unit provides second map information generated by the generation unit to the other mobile bodies through communication by the second communication unit. The integration unit integrates the first map information and the second map information to generate integrated map information. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a mobile system according to an embodiment. [Diagram 2] 1 is a diagram showing an overview of a mobile body system according to an embodiment; [Diagram 3] FIG. 2 is a diagram illustrating an example of a functional configuration of a control device according to an embodiment. [Figure 4] FIG. 2 is a diagram showing an overview of location information according to the embodiment. [Diagram 5] FIG. 2 is a diagram illustrating an example of a functional configuration of a moving object according to an embodiment. [Figure 6] FIG. 2 is a diagram showing an overview of map information according to the embodiment; [Figure 7] FIG. 13 is a diagram showing an overview of a process performed by an integration unit according to the embodiment. [Figure 8] 4 is a flowchart illustrating an example of a processing procedure of a control device according to the embodiment. [Figure 9] 10 is a flowchart illustrating an example of a processing procedure of a moving body according to the embodiment. [Figure 10] 10 is a flowchart illustrating an example of a processing procedure of a moving body according to the embodiment. [Figure 11] FIG. 13 is a diagram showing a modified example (1) of a method for integrating map information. [Figure 12] FIG. 13 is a diagram illustrating an example of a functional configuration of a moving object according to a modified example. [Figure 13] FIG. 13 is a diagram showing a modified example (2) of the method for integrating map information. [Figure 14] FIG. 13 is a diagram illustrating an example of a functional configuration of a control device according to a modified example. [Figure 15] FIG. 13 is a diagram showing an overview of high-speed communication range information according to a modified example. [Figure 16] FIG. 13 is a diagram showing an example of a formation of moving objects according to a modified example. [Figure 17] FIG. 13 is a diagram illustrating an example of a functional configuration of a control device according to a modified example. [Figure 18] FIG. 13 is a diagram showing an overview of high-speed communication range information according to a modified example. [Figure 19] FIG. 13 is a diagram showing an example of a formation of moving objects according to a modified example. [Figure 20] FIG. 13 is a diagram illustrating an example of a functional configuration of a control device according to a modified example. [Figure 21] FIG. 13 is a diagram showing an overview of equipment information according to a modified example. [Figure 22] FIG. 13 is a diagram showing an example of a formation of moving objects according to a modified example. [Diagram 23] FIG. 11 is a sequence diagram showing an example of a process of a mobile system according to a modified example. [Figure 24] FIG. 13 is a diagram illustrating a configuration example of a mobile system according to a modified example. [Diagram 25] FIG. 13 is a diagram illustrating an example of a functional configuration of a control device according to a modified example. [Figure 26] FIG. 13 is a diagram showing an overview of base station information according to a modified example. [Figure 27] FIG. 13 is a diagram illustrating an example of a functional configuration of a base station device according to a modified example. [Figure 28] FIG. 13 is a diagram showing an overview of moving object information according to a modified example. [Figure 29]FIG. 13 is a diagram illustrating an example of a functional configuration of a moving object according to a modified example. [Diagram 30] FIG. 2 is a hardware configuration diagram showing an example of a computer that realizes the functions of a control device according to an embodiment. [Diagram 31] FIG. 2 is a hardware configuration diagram illustrating an example of a computer that realizes the functions of a moving object according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the following embodiments, the same components are designated by the same reference numerals, and duplicated descriptions may be omitted.

[0010] In the following embodiments, multiple components having substantially the same functional configurations may be distinguished from one another by adding different numbers to the same reference numerals. For example, multiple components having substantially the same functional configurations are distinguished as necessary, such as a first moving body 2001 and a second moving body 2002. In addition, when there is no need to distinguish between multiple components having substantially the same functional configurations, they are described by adding only the same reference numerals, such as a moving body 200, without any particular distinction.

[0011] The embodiments of the present disclosure can be applied to UXVs (Unmanned X Vehicles), robots, industrial devices, vehicles, etc., which are equipped with sensing devices (sensors) and computing resources and can operate autonomously or according to instructions while processing data. In the following, a case will be described in which a moving body according to an embodiment of the present disclosure is an unmanned aerial vehicle (UAV) such as a drone.

[0012] The present disclosure will be described in the following order. 1. Overview 2. Apparatus Configuration 3. Processing Procedure 4. Modifications of the map information integration method 5. Modification of the method for identifying a group of moving objects 6. Modification of map information exchange instruction method 7. Compensation processing by the control device 8. Variations of the Mobile System 9. Hardware Configuration 10. Conclusion

[0013] <1. Overview> An overview of a mobile body system 1 according to an embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a diagram showing an example of the configuration of a mobile body system according to an embodiment. Fig. 2 is a diagram showing an overview of a mobile body system according to an embodiment.

[0014] As shown in FIG. 1, the mobile object system 1 includes a control device 100 and a plurality of mobile objects 200.

[0015] The control device 100 transmits flight-related instructions to a plurality of moving bodies 200 via the base station 11 by public wireless communication. The moving bodies 200 receive flight-related instructions from the control device 100 via the base station 11, and fly autonomously according to the received instructions. Note that various flight control forms of the moving body system 1 can be adopted, and flight control of the moving bodies 200 may be performed in such a manner that the moving bodies 200 transmit flight-related requests to the control device 100, and the control device 100 approves the requests from the moving bodies 200.

[0016] When the moving body 200 flies autonomously in accordance with the instructions of the control device 100, it generates map information that records the positions of surrounding obstacles based on the detection results of sensing devices, etc., and uses the generated map information to control its operation to avoid collisions with obstacles, etc.

[0017] Here, the mobile body 200 may have a blind spot area that cannot be detected. In order to avoid a collision with an obstacle hidden in the blind spot area, it is possible to use map information that complements the blind spot area, such as map information generated by another mobile body 200. However, as the map information becomes wider in area, the data size also becomes larger. For this reason, in low-speed public wireless communication via the control device 100, it is difficult to transmit and receive map information between mobile bodies 200 in real time.

[0018] In view of the above problems, the present disclosure proposes a mobile body system 1 that realizes safe and efficient autonomous movement based on map information.

[0019] 2, the control device 100 uses the mobile object position information to identify a plurality of mobile objects 200 located within a range where the mobile objects 200 can directly communicate with each other as a mobile object group (step S1). Then, the control device 100 transmits a notification to the identified mobile object group via the first communication network 10 to instruct the mobile objects to start exchanging map information (step S2). The first communication network 10 is a public wireless communication network including a cellular communication network, a wireless communication network compatible with long-distance wireless communication for the mobile objects 200, or the like.

[0020] When the first moving body 2001 receives a notification from the control device 100 instructing the start of exchange of map information, the first moving body 2001 transmits the map information generated by the first moving body 2001 to the second moving body 2002 via the second communication network 20 (step S3). The second communication network 20 is a network capable of high-speed communication, and examples of the second communication network include a wireless communication network compatible with WiFi (registered trademark) and a wireless communication network compatible with visible light laser communication.

[0021] Upon receiving the map information from the first moving object 2001, the second moving object 2002 integrates the map information of the first moving object 2001 with the map information generated by the second moving object 2002 (step S4) to generate integrated map information.

[0022] In this way, in the mobile body system 1 according to the embodiment, the mobile body 200 can exchange map information in real time by transmitting and receiving high-speed wireless communication, and generate an integrated map in which blind spots are complemented. Therefore, the mobile body system 1 according to the embodiment can realize safe and efficient autonomous movement of the mobile body 200.

[0023] <2. Equipment Configuration> (2-1.Control device) The functional configuration of the control device 100 according to the embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the functional configuration of the control device according to the embodiment.

[0024] As shown in FIG. 3, the control device 100 includes a communication unit 110, a storage unit 120, and a control unit .

[0025] The communication unit 110 communicates with the mobile object 200 via the first communication network 10. The communication unit 110 receives location information of the mobile object 200. The communication unit 110 transmits a notification to the mobile object 200 instructing the mobile object 200 to start exchanging map information.

[0026] The communication unit 110 supports various communication methods for communicating with the mobile body 200 via the first communication network 10. The communication methods supported by the communication unit 110 include, for example, a communication method corresponding to a cellular communication system and a communication method corresponding to a public wireless network such as long-distance wireless for mobile bodies. Cellular communication systems include fourth-generation mobile communication systems (4G, 4GLTE) and fifth-generation mobile communication systems (5G). In Japan, a communication method corresponding to long-distance wireless for mobile bodies uses, for example, a frequency band of 920 MHz.

[0027] The storage unit 120 stores programs, data, and the like used in the processing by the control unit 130. The storage unit 120 includes a position information storage unit 121.

[0028] Fig. 4 is a diagram showing an overview of location information according to an embodiment. As shown in Fig. 4, location information J1 stored in the location information storage unit 121 has a moving object identifier item and a moving object position item, and these items are associated with each other. For example, X, Y, and Z coordinates are stored in the moving object position item, but latitude, longitude, and altitude information may also be stored.

[0029] The control unit 130 comprehensively controls the processing of the control device 100. As shown in FIG.

[0030] The acquiring unit 131 acquires the position information J 1 of the moving object 200 stored in the position information storage unit 121 .

[0031] The identification unit 132 identifies, as a group of moving objects 200, a plurality of moving objects 200 located within a range where direct communication between the moving objects 200 is possible, based on the position information acquired by the acquisition unit 131. Specifically, the identification unit 132 calculates the Euclidean distance between the moving objects 200 from the positions of the moving objects 200 recorded in the position information J1. Then, the identification unit 132 compares the calculated Euclidean distance between the moving objects 200 with a predetermined threshold value, and identifies a combination of the moving objects 200 whose Euclidean distance is less than the threshold value.

[0032] For example, when the position of the first moving body 2001 is (Xa, Ya, Za), the position of the second moving body 2002 is (Xb, Yb, Zb), and the Euclidean distance is "D", the identification unit 132 identifies a group of moving bodies that satisfy the condition expressed by the following equation (1).

[0033]

number

[0034] The instruction unit 133 instructs the group of moving objects identified by the identification unit 132 to exchange map information. For example, the instruction unit 133 transmits a notification to one of the moving objects 200 in the identified group of moving objects to instruct the group to start exchanging map information. At that time, the instruction unit 133 includes in the notification a moving object identifier of the moving object 200 to which the map information is to be transmitted. The instruction unit 133 also transmits an instruction to start communication to the other moving objects 200. The instruction unit 133 outputs a notification to the communication unit 110 instructing the group of moving objects 200 identified by the identification unit 132 to exchange map information via the communication unit 110.

[0035] The instruction unit 133 also instructs the moving body 200 on a behavior plan, such as a flight route of the moving body 200.

[0036] The identifying unit 132 may identify, as a moving object group, not only a one-to-one combination of moving objects 200 but also a one-to-many combination of moving objects 200. In this case, the instruction unit 133 transmits a notification to the moving objects 200 instructing the moving objects 200 to multicast map information.

[0037] (2-2. Mobile objects) A functional configuration of a moving body according to an embodiment will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of a functional configuration of a moving body according to an embodiment. In the following description, the moving body 200 may be referred to as a "self-machine" or a "other machine".

[0038] As shown in FIG. 5, the moving object 200 includes a detection unit 210, a first communication unit 220, a second communication unit 230, a drive unit 240, a storage unit 250, and a control unit 260.

[0039] The detection unit 210 includes various sensors and the like that detect sensor information used in processing of the moving body 200, and supplies the detected data to the control unit 260 and the like.

[0040] The detection unit 210 may include an imaging device having a camera that captures an image of the surrounding area of ​​the device itself. The imaging device may include, for example, a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, a depth camera, and other cameras.

[0041] Furthermore, the detection unit 210 may include a status sensor that detects the status of the vehicle itself. The status sensor may include, for example, a gyro sensor, an acceleration sensor, an inertial measurement unit (IMU), a surrounding information detection sensor, a sensor for detecting the number of motor revolutions, and the like. Furthermore, the surrounding information detection sensor can detect objects such as obstacles around the mobile unit 200. The surrounding information detection sensor may be configured with, for example, an ultrasonic sensor, a radar, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a sonar, and the like.

[0042] The detection unit 210 may also include various sensors for detecting the current position of the moving object 200. The detection unit 210 may include, for example, a Global Positioning System (GPS) receiver, a Global Navigation Satellite System (GNSS) receiver for receiving GNSS signals from GNSS satellites, etc. The detection unit 210 may also include a microphone for collecting sounds around the moving object 200.

[0043] The first communication unit 220 communicates with the control device 100 via the first communication network 10. The first communication unit 220 receives a notification from the control device 100 instructing the start of exchange of map information.

[0044] The first communication unit 220 supports a communication method for communicating with the control device 100 via the first communication network 10. The communication methods supported by the first communication unit 220 include, for example, a communication method corresponding to a cellular communication system and a communication method corresponding to a public wireless network such as a long-distance wireless for mobile objects. The cellular communication system includes a fourth generation mobile communication system (4G, 4GLTE) and a fifth generation mobile communication system (5G). In Japan, for example, a 920 MHz frequency band is used in the communication method corresponding to the long-distance wireless for mobile objects. In addition, the first communication unit 220 may support a communication standard for simultaneously transmitting (multicasting) map information to multiple mobile objects 200 in order to respond to a multicast instruction from the control device 100.

[0045] The second communication unit 230 communicates with the other mobile bodies 200 via a second communication network 20 having a communication band different from that of the first communication network 10 used by the first communication unit 220. The second communication network 20 is, for example, a network that has a wider data transmission bandwidth or a shorter communication delay (smaller latency) than the first communication network 10 and is capable of high-speed communication. The second communication unit 230 executes communication with the other mobile bodies 200 based on an instruction from the control device 100. For example, the second communication unit 230 transmits map information of the own machine to the other mobile bodies 200 in response to a notification instructing the start of exchange of map information received from the control device 100. The second communication unit 230 also receives map information of the other mobile bodies transmitted from the other mobile bodies 200.

[0046] The second communication unit 230 supports a communication method for communicating with other mobile objects 200 via the second communication network 20. The communication methods supported by the second communication unit 230 include, for example, communication standards corresponding to WiFi (registered trademark) and visible light laser communication.

[0047] The driving unit 240 includes various devices related to the driving system of the moving body 200. The driving unit 240 includes a driving force generating device for generating driving force for a plurality of driving motors and the like, and rotates the rotors of the moving body 200. For example, the driving unit 240 drives the driving motors and the like in response to a command from the control device 100, and supplies driving force to the rotors, thereby rotating the rotors. This causes the moving body 200 to take off and fly.

[0048] The storage unit 250 stores programs, data, and the like used in processing by the control unit 260. The storage unit 250 has an own map information storage unit 251 and an integrated map information storage unit 252. Fig. 6 is a diagram showing an overview of map information according to the embodiment.

[0049] As shown in FIG. 6, the map information M1 stored in the own machine map information storage unit 251 and the integrated map information storage unit 252 is configured, for example, as a three-dimensional voxel map that expresses the detection result of an obstacle in a three-dimensional (n×n×n) cubic data structure. The map information M1 has information on relative coordinates indicating where the center is in the global coordinate system, and has information on the positional relationship between the center and the obstacle. The map information M1 is configured by associating a first value, a second value, or a third value with each unit element (voxel) that constitutes the cubic data structure. The first value is associated with a value according to the possibility that an obstacle exists, and for example, the more likely the obstacle exists, the closer to "32767" the value is assigned. The second value is associated with a value according to the possibility that an obstacle does not exist, and for example, the less likely the obstacle exists, the closer to "-32767" the value is assigned. The third value is associated with a value according to the possibility that the existence of an obstacle is unknown, and the more unknown the existence of an obstacle, the closer to "0" the value is assigned. The first value, the second value, and the third value can be rephrased as a confidence level indicating the possibility that an obstacle exists, a confidence level indicating the possibility that an obstacle does not exist, and a confidence level indicating the possibility that the presence or absence of an obstacle is unknown, respectively.

[0050] Furthermore, the map information M1 does not need to be limited to being composed of a three-dimensional voxel map, and may be composed of a three-dimensional point cloud. A three-dimensional point cloud is a representation of the detection result of an obstacle as a set of points associated with position information. Even when the map information M1 is composed of a three-dimensional point cloud, it has information on relative coordinates indicating where the center is in the global coordinate system, and information on the positional relationship between the center and the obstacle. Furthermore, a first value, a second value, or a third value is associated with each point constituting the three-dimensional point cloud.

[0051] In addition, in the map information M1, attributes (meaning image area) of obstacles (objects) occupying each unit element may be associated with each unit element. The attributes of the objects are acquired by performing image recognition on the images used to generate the map information when generating the map information.

[0052] The control unit 260 comprehensively controls the moving object 200. The control unit 260 includes a recognition unit 261, a planning unit 262, a behavior control unit 263, a generation unit 264, an acquisition unit 265, a provision unit 266, and an integration unit 267.

[0053] The recognition unit 261 recognizes the presence or absence of an object (obstacle, etc.) present around the moving body 200, the distance to the object (obstacle, etc.), etc. based on the detection result of the detection unit 210. In addition, the recognition unit 261 recognizes the position, attitude, acceleration, angular velocity, etc. of the moving body 200 based on the detection result of the detection unit 210. The recognition unit 261 supplies the recognition result to the planning unit 262.

[0054] The planner 262 plans the behavior of the moving body 200 based on the map information of the vehicle itself, the integrated map information described later, the recognition result of the recognition unit 261, and the like, in accordance with instructions from the control device 100. The planner 262 generates a movement trajectory that serves as a flight plan for the moving body 200 based on the presence or absence of an object (obstacle, etc.), the distance to the object (obstacle, etc.), the position of the moving body 200, the map information of the vehicle itself, the integrated map information described later, and the like acquired from the recognition unit 261. The movement trajectory includes, for example, an XYZ point series at a predetermined interval (for example, 0.1 second interval), and targets for speed and angular velocity at each time point. The planner 262 supplies the generated movement trajectory to the behavior control unit 263.

[0055] The behavior control unit 263 controls the flight of the moving body 200 so as to follow the movement trajectory generated by the planning unit 262. The behavior control unit 263 generates control signals for controlling the current flight speed, angular velocity, attitude, propeller rotation speed, etc. of the moving body 200 so as to fly the moving body 200 so as to follow the movement trajectory, and supplies the control signals to the driving unit 240.

[0056] The generating unit 264 generates map information (an example of second map information) of the own machine based on the detection result of the detecting unit 210. The map information is a collection of obstacle information that records the positional relationship between the own machine and obstacles around the moving body 200 detected by the detecting unit 210. The map information generated by the generating unit 264 can be configured, for example, as a three-dimensional voxel map that expresses the detection result of the obstacle in a three-dimensional cubic data structure, or a three-dimensional point group (point cloud). The generating unit 264 stores the generated map information in the own machine map information storage unit 251.

[0057] An example of a method for generating map information by the generating unit 264 will be described. The generating unit 264 generates a texture map by, for example, converting an image captured by the detecting unit 210 into a bird's-eye view. Next, the generating unit 264 generates an OGM (Occupancy Grid Map) based on depth data indicating a distance (depth value) to an object (obstacle, etc.) detected by the detecting unit 210. The OGM is configured with an occupancy grid having, for example, a value (first value or second value) corresponding to the possibility of the presence or absence of an obstacle, or a value (third value) corresponding to the possibility that the presence or absence of an obstacle is unknown. Next, the generating unit 264 generates a semantic map by adding semantics to the OGM. Semantics is an attribute of an object reflected in an image (meaning of an image area), and is acquired by executing semantic segmentation on the image captured by the detecting unit 210. The generation unit 264 integrates the texture map and the semantic map, and generates, as map information, a three-dimensional voxel map or a three-dimensional point cloud that represents a set of obstacle information in a three-dimensional cubic data structure.

[0058] The acquisition unit 265 acquires map information (an example of first map information) generated in another moving body 200 through communication by the second communication unit 230. For example, when the acquisition unit 265 receives a communication start instruction from the control device 100, the acquisition unit 265 connects to the second communication network 20 and waits for the map information of the other moving body 200 to be received.

[0059] The providing unit 266 provides the map information generated by the generating unit 264 to the other mobile object 200 through communication by the second communication unit 230. The providing unit 266 identifies the other mobile object 200 communicating with the control device 100 through the second communication unit 230 through communication with the control device 100 through the first communication unit 220, and provides the identified other mobile object 200 with its own map information generated by the generating unit 264. For example, when the providing unit 266 receives a notification instructing the start of exchange of map information received from the control device 100, the providing unit 266 acquires map information from the own map information storage unit 251. The providing unit 266 connects to the second communication network 20, and outputs the map information acquired from the own map information storage unit 251 to the second communication unit 230, with the mobile object identifier included in the notification from the control device 100 as the destination.

[0060] The integrating unit 267 integrates the map information of the other device (the other moving object 200) received by the acquiring unit 265 with the map information of the own device generated by the generating unit 264 to generate integrated map information, and stores the generated integrated map information in the integrated map information storage unit 252. Fig. 7 is a diagram showing an overview of the processing by the integrating unit according to the embodiment.

[0061] 7, the integration unit 267 converts the map information M11 of the other device acquired from the other device into the same coordinate system as the map information M12 of the own device (step S11). For example, the integration unit 267 converts each of the map information M11 of the other device and the map information M12 of the own device into a global coordinate system.

[0062] Then, the integration unit 267 generates integrated map information M13 by integrating the map information M12 of the own device and the map information M11 of the other device (step S12). When integrating the map information M12 of the own device and the map information M11 of the other device, the integration unit 267 adjusts the first value, the second value, or the third value to relatively increase the reliability of the map information of the own device compared to the map information of the other device. For example, the integration unit 267 increases the first value associated with the corresponding location V12 of the integrated map information M13 corresponding to the location where an obstacle exists in the map information M12 of the own device to increase the reliability. Alternatively, the integration unit 267 decreases the first value associated with the corresponding location V11 of the integrated map information M13 corresponding to the location where an object exists in the map information M11 of the other device to decrease the reliability.

[0063] <3. Processing Procedure> A processing procedure according to the embodiment will be described with reference to Fig. 8 to Fig. 10. Fig. 8 is a flowchart showing an example of a processing procedure of a control device according to the embodiment. Figs. 9 and 10 are flowcharts showing an example of a processing procedure of a moving body according to the embodiment.

[0064] (3-1. Control device processing procedures) As shown in FIG. 8, the acquisition unit 131 determines whether or not to execute a process for instructing an exchange of map information (step S101).

[0065] When it is determined that the process of instructing the effect of the map information is not to be executed (step S101; No), the acquisition unit 131 ends the process procedure shown in FIG.

[0066] When it is determined that the process of instructing the effect of the map information is to be executed (step S101; Yes), the acquisition unit 131 acquires the position information J1 of the moving object 200 from the position information storage unit 121 (step S102).

[0067] Next, the identification unit 132 identifies a moving object group based on the position information J1 of the moving object 200 (step S103). That is, the control device 100 identifies a plurality of moving objects 200 located within a range where direct communication between the moving objects 200 is possible as a moving object group.

[0068] Next, the identifying unit 132 outputs a notification to the communication unit 110 instructing the group of moving objects to start exchanging map information (step S104).

[0069] The communication unit 110 transmits a notification to the moving objects 200 constituting the moving object group to instruct them to start exchanging map information (step S105), and ends the processing procedure shown in FIG.

[0070] (3-2-1. Processing procedure for moving objects (1)) As shown in FIG. 9, the providing unit 266 determines whether or not a notification instructing the start of exchange of map information has been received from the control device 100 (step S201).

[0071] When it is determined that a notification instructing to start exchanging map information has not been received (step S201; No), the providing unit 266 ends the processing procedure shown in FIG.

[0072] When it is determined that a notification instructing to start exchanging map information has been received (step S201; Yes), the providing unit 266 acquires the map information of the own device from the own device map information storage unit 251 (step S202).

[0073] Next, the providing unit 266 provides the map information of the own device to the other moving object 200 through the second communication network 20 by communication using the second communication unit 230 (step S203), and the process shown in FIG. 9 ends.

[0074] (3-2-2. Processing procedure for moving objects (2)) As shown in FIG. 10, the acquisition unit 265 determines whether or not map information has been received from another moving object 200 (step S301).

[0075] When the acquisition unit 265 determines that map information has not been received from another moving object 200 (step S301; No), the process procedure shown in FIG. 10 ends.

[0076] When the acquisition unit 265 determines that map information has been received from another moving object 200 (step S301; Yes), the integration unit 267 acquires its own map information from the own map information storage unit 251 (step S302).

[0077] Next, the integration unit 267 integrates the map information received from the other moving bodies 200 and its own map information to generate integrated map information (step S303).

[0078] The integration unit 267 stores the integrated map information in the integrated map information storage unit 252 (step S304), and ends the process shown in FIG.

[0079] <4. Variations of map information integration method> (4-1. Prioritize map information from your aircraft) 11 is a diagram showing a modified example (1) of the map information integration method. When generating the integrated map information M23, the integration unit 267 may prioritize a value (the first value, the second value, or the third value) associated with each unit element of the map information M21 of the own device.

[0080] For example, suppose that a location in the map information M21 of the own aircraft where an obstacle is likely to exist is a location in the map information M22 of the other aircraft where an obstacle is likely not to exist. In this case, the integration unit 267 prioritizes the value in the map information M21 of the own aircraft, associates a value indicating that an obstacle is likely to exist with the corresponding location V21 in the integrated map information M23, and sets the corresponding location V21 as an area where an obstacle is likely to exist.

[0081] Also, a location in the map information M21 of the own aircraft where there is a high possibility that an obstacle does not exist is a location in the map information M22 of the other aircraft where there is a high possibility that an obstacle exists. In this case as well, the integration unit 267 prioritizes the value in the map information M21 of the own aircraft, and associates a value indicating that there is a low possibility that an obstacle exists with the corresponding location V22 in the integrated map information M23, thereby making it an area where there is a low possibility that an obstacle exists.

[0082] In addition, for a location where there is a high possibility that an obstacle exists in both the map information M21 of the own aircraft and the map information M22 of the other aircraft, the value associated with the corresponding location V23 in the integrated map information M23 may be increased.

[0083] (4-2. Decrease in reliability due to communication delay) When generating integrated map information, the mobile body 200 may attenuate the reliability of the map information of the other mobile body depending on the communication delay between the mobile body and the other mobile body. Fig. 12 is a diagram showing an example of the functional configuration of a mobile body according to a modified example. Fig. 13 is a diagram showing a modified example (2) of the map information integration method.

[0084] 12, the mobile unit 200 includes a delay processor 268 that processes the map information of the other vehicle by reflecting a delay time from the time of observation, including a communication delay. The delay processor 268 processes the map information of the other vehicle so as to decrease a first value corresponding to the possibility that an obstacle exists and a second value corresponding to the possibility that an obstacle does not exist, and to increase a third value corresponding to the possibility that the presence or absence of an obstacle is unknown.

[0085] 13, for example, the integration unit 267 performs delay processing on the map information M32-1 of the other aircraft to generate map information M32-2 of the other aircraft in which a first value corresponding to the possibility of the existence of an obstacle is reduced. The integration unit 267 integrates the map information M31 of the own aircraft with the map information M32-2 of the other aircraft processed by the delay processing unit 268 to generate integrated map information M33. As a result, the values ​​associated with the corresponding locations V31 and V32 in the integrated map information M33 become smaller than when the map information M31 of the own aircraft and the map information M32-1 of the other aircraft are directly integrated, and the reliability indicating the possibility of the existence of an obstacle becomes lower.

[0086] (4-3. Provision of integrated map information) In the above embodiment, the moving body 200 may provide the integrated map information to another moving body 200. In this case, metadata indicating which moving body 200 the information belongs to is linked to each unit element constituting the map information. When generating the integrated map information, the moving body 200 adjusts the first value, the second value, or the third value based on the metadata so that the reliability indicating the possibility of the existence of an obstacle is not fluctuated every time the integrated map information is generated. For example, when the map information received from the other moving body 200 includes a value based on the map information of the own machine, a method is possible in which the adjustment of the value based on the map information of the own machine is omitted, or the value based on the map information of the own machine is updated to the latest value of the map information of the own machine.

[0087] <5. Modification of the method for identifying a group of moving objects> (5-1. Identification by high-speed communication range) The control device 100 may identify a group of moving objects based on the high-speed transmission / reception range of the moving objects 200. Fig. 14 is a diagram showing an example of a functional configuration of a control device according to a modified example. Fig. 15 is a diagram showing an overview of high-speed communication range information according to a modified example. Fig. 16 is a diagram showing an example of a formation of moving objects according to a modified example.

[0088] As shown in Fig. 14, the storage unit 120 of the control device 100 has a communication range management unit 122. As shown in Fig. 15, the high-speed communication range information J2 stored in the communication range management unit 122 has a mobile object identifier field and a high-speed receivable range field, and these fields are associated with each other. The high-speed communication range field stores information on the communication radius (meters) of the range in which high-speed data can be transmitted and received by the second communication unit 230 of the mobile object 200.

[0089] The identification unit 132 refers to the location information J1 and high-speed communication range information J2 of the moving body 200, and if it determines that the moving body 2001 has entered the high-speed communication range TA of the moving body 2002, as shown in Figure 19, it identifies the moving body 2001 and the moving body 2002 as a group of moving bodies.

[0090] The instruction unit 133 transmits a notification to the group of moving objects identified by the identification unit 132 to instruct them to start exchanging map information. For example, the instruction unit 133 transmits a notification to the moving object 2002 having the high speed communication range TA to instruct it to transmit map information.

[0091] <6. Modification of map information exchange instruction method> (6-1. Instructions based on the action plan) The control device 100 may determine a destination of a notification instructing the start of exchange of map information based on an action plan of the moving object 200. Fig. 17 is a diagram showing an example of a functional configuration of a control device according to a modified example. Fig. 18 is a diagram showing an overview of high-speed communication range information according to a modified example. Fig. 19 is a diagram showing an example of a formation of moving objects according to a modified example.

[0092] As shown in Fig. 17, the storage unit 120 of the control device 100 has a behavior plan management unit 123. As shown in Fig. 18, the behavior plan information J3 stored in the behavior plan management unit 123 has items such as a moving object identifier and a flight order, and these items are associated with each other. In the flight order item, information on a predetermined flight order is stored.

[0093] The identifying unit 132 refers to the position information J1 and high speed communication range information J2 of the moving object 200. Then, when the identifying unit 132 determines that the moving object 2001 has entered the high speed communication range TA of the moving object 2002 as shown in Fig. 19, the identifying unit 132 identifies the moving object 2001 and the moving object 2002 as a moving object group. Note that the identifying unit 132 may identify the moving object group based on the distance between the moving objects 200, regardless of the high speed communication range TA.

[0094] The instruction unit 133 transmits a notification to the moving object group identified by the identification unit 132 to instruct the group to start exchanging map information. For example, the instruction unit 133 refers to the action plan information J3 and transmits a notification to the moving object 2001, which is planned to fly ahead of the moving object 2002 in the flight direction D1 common to the moving object group, to instruct the group to transmit map information.

[0095] Furthermore, the identifying unit 132 may transmit a notification to the moving body 2001, which is flying ahead of the moving body 2002 in the position where the moving body 2002 is expected to fly, to instruct the moving body 2001 to start exchanging map information, based on the transition of the position information of the moving body 200. In this case, the identifying unit 132 infers that the flying direction of the moving body 2002 will be the same as the flying direction of the moving body 2001, and when it determines that the moving body 2001 has entered the high-speed communication range TA of the moving body 2002, identifies the moving body 2001 and the moving body 2002 as a moving body group.

[0096] (6-2. Instructions based on equipment) The control device 100 may determine the destination of the map information exchange start instruction based on the details of the equipment of the moving object 200. Fig. 20 is a diagram showing an example of the functional configuration of a control device according to a modified example. Fig. 21 is a diagram showing an overview of equipment information according to a modified example. Fig. 22 is a diagram showing an example of a formation of moving objects according to a modified example.

[0097] As shown in FIG. 20, the storage unit 120 of the control device 100 has an equipment information management unit 124. The equipment information management unit 124 manages equipment information in which the number of obstacle sensors equipped in the moving body 200 is recorded. As shown in FIG. 21, the equipment information J4 stored in the equipment information management unit 124 has a moving body identifier item and an item of the number of sensors equipped, and these items are associated with each other. The item of the number of sensors equipped stores information on the number of obstacle sensors equipped in the moving body 200. Examples of obstacle sensors equipped in the moving body 200 include various cameras such as a ToF camera, a stereo camera, a monocular camera, an infrared camera, and a depth camera, and surrounding information detection sensors such as an ultrasonic sensor, a radar, a LiDAR, and a sonar.

[0098] The identification unit 132 refers to the position information J1 or the high speed communication range information J2 of the moving object 200. Then, the identification unit 132 identifies the moving object 2001 and the moving object 2002 as a moving object group based on the distance between the moving objects 200 or the high speed communication range of the moving object 200.

[0099] The instruction unit 133 transmits a notification to the group of moving objects identified by the identification unit 132 to instruct them to start exchanging map information. For example, the instruction unit 133 refers to the equipment information J4 and transmits a notification to the moving object 2001, which is equipped with more equipment than the moving object 2002, to instruct it to transmit map information.

[0100] <7. Compensation processing by the control device> In the above embodiment, the control device 100 may execute a compensation process when the completion of the transmission of the map information cannot be confirmed in the moving body 200. Fig. 23 is a sequence diagram showing an example of the process of the moving body system according to the modified example. In the following, as an example of the process of the moving body system 1, a process flow when the moving body 2002 cannot confirm the completion of the transmission of the map information to the moving body 2001 will be described.

[0101] The control device 100 identifies the moving object 2001 and the moving object 2002 as a moving object group, and transmits a notification to the moving object 2002 instructing it to start exchanging map information (step S401).

[0102] The mobile unit 2002 transmits its own map information to the mobile unit 2001 in accordance with an instruction from the control device 100 (step S402). Then, the mobile unit 2002 detects that it has failed to confirm the end of the transmission of the map information (it has not been able to confirm the end of the transmission) based on a predetermined criterion (step S403). The providing unit 266 of the mobile unit 2002 detects that it has failed to confirm the end of the transmission of the map information, for example, when the communication with the mobile unit 2001 times out or the number of communication retries exceeds a threshold. Alternatively, the providing unit 266 of the mobile unit 2002 may detect that it has failed to confirm the end of the transmission of the map information based on an increase in noise in communication, or the receipt of a communication refusal notice or a data corruption notice. When the mobile unit 2002 fails to confirm the end of the transmission of the map information (when it has not been able to confirm the end of the transmission), it transmits a notice to the control device 100 that it has failed to provide the map information (step S404).

[0103] The control device 100 executes a compensation process in response to the notification of failure to provide the map information received from the moving object 2002 (step S405). Examples of the compensation process executed by the control device 100 include identifying another combination of the moving objects 200 and confirming whether the moving object 2001 is alive or dead.

[0104] <8. Variations of the Mobile System> Fig. 24 is a diagram showing an example of the configuration of a mobile body system according to a modified example. Fig. 25 is a diagram showing an example of the functional configuration of a control device according to a modified example. Fig. 26 is a diagram showing an outline of base station information according to a modified example. Fig. 27 is a diagram showing an example of the functional configuration of a base station device according to a modified example. Fig. 28 is a diagram showing an outline of mobile body information according to a modified example. Fig. 29 is a diagram showing an example of the functional configuration of a mobile body according to a modified example.

[0105] In the modified mobile system 2, a MEC (Mobile Edge Computing or Multi-access Edge Computing) service of a cellular communication system, which is a public wireless network, is used. As shown in FIG. 24, in the modified mobile system 2, a control device 100 and a mobile body 200 are connected to a third communication network 30 constructed using an MEC service corresponding to the cellular communication system. A base station device 300 that controls a base station 11 is accommodated in the third communication network 30. The control device 100 controls transmission and reception of map information between the mobile bodies 200 via the base station device 300 accommodated in the third communication network 30. The mobile body 200 receives instructions from the control device 100 via the base station device 300 accommodated in the third communication network 30. In addition, the mobile body 200 directly communicates with another mobile body 200 via the base station 11 in the third communication network 30. For example, a mobile body 2001 and a mobile body 2002 can directly communicate with each other via a base station 111.

[0106] As shown in Fig. 25, the storage unit 120 of the control device 100 has a base station information management unit 125. The base station information management unit 125 stores base station information J5, which is information on the base station 11 to which the mobile unit 200 is connected. As shown in Fig. 26, the base station information J5 stored in the base station information management unit 125 has a mobile unit identifier field and an associated base station field, and these fields are associated with each other. The associated base station field stores information on the base station 11 to which the mobile unit 200 is connected. The base station information J5 is acquired by, for example, an acquisition unit 131, and updated to the latest state.

[0107] The identification unit 132 refers to the base station information J5 and identifies the mobile objects 200 connected to the same base station as a mobile object group. The instruction unit 133 transmits a notification to the base station device 300 to instruct the mobile objects 200 connected to the same base station 11 to connect in a state in which direct communication is possible between them.

[0108] As shown in FIG. 27, the base station device 300 is implemented by an information processing device such as a server, and includes a communication unit 310, a storage unit 320, and a control unit 330.

[0109] The communication unit 310 communicates with the control device 100 and the mobile object 200 .

[0110] The storage unit 320 has a mobile unit information management unit 321. The mobile unit information management unit 321 has a base station item and a connected mobile unit item, and these items are associated with each other. The base station item stores information that identifies the base station 11. The connected mobile unit item stores a mobile unit identifier that identifies the mobile unit.

[0111] The control unit 330 includes a connection unit 331 and a re-registration unit 332. The connection unit 331 connects the mobile objects 200 connected to the same base station 11 in a state in which direct communication is possible via the base station 11, in accordance with an instruction from the control device 100. The re-registration unit 332 registers information about the mobile objects 200 connected to the base station 11 in the mobile object information management unit 321.

[0112] The base station device 300 may be equipped with some of the functions of the control unit 130 of the control device 100. For example, the base station device 300 is provided with functions corresponding to the identification unit 132 and the instruction unit 133 of the control unit 130. In this case, the control device 100 periodically transmits a command to the base station device 300 to instruct the base station device 300 to start exchanging map information. In response to the command from the control device 100, the base station device 300 identifies the mobile object 200 connected to itself as a mobile object group, and transmits a notification to the identified mobile object group to instruct the mobile object group to start exchanging map information. In this way, some of the functions of the control device 100 can be distributed to the base station device 300.

[0113] The first communication unit 220 of the mobile object 200 communicates with the control device 100 via the base station 11 by a communication method corresponding to the cellular communication system. The second communication unit 230 of the mobile object 200 communicates with another mobile object 200 directly connected thereto via the base station 11 by a communication method corresponding to the cellular communication system.

[0114] 29, the control unit 260 of the mobile object 200 includes a re-registration unit 269 in addition to the configuration according to the above embodiment. When the base station 11 with which communication is switched due to movement, the re-registration unit 269 executes a re-registration process to request the base station device 300 that controls the new base station 11 to re-register the mobile object 200.

[0115] Furthermore, the above-described embodiments and modifications can be appropriately combined as long as the processing contents are not contradictory.

[0116] In each of the above embodiments, the base station 11 includes not only a structure having the function of the base station 11, but also devices installed in the structure. The structure is, for example, a high-rise building, a house, a steel tower, a station facility, an airport facility, a port facility, a stadium, and other buildings. The concept of a structure includes not only buildings, but also non-building structures such as tunnels, bridges, dams, fences, and steel pillars, and equipment such as cranes, gates, and windmills. The concept of a structure includes not only ground (on land) or underground structures, but also structures on water such as piers and megafloats, and underwater structures such as marine observation facilities.

[0117] The base station 11 may be a base station device configured to be movable. For example, the base station may be a device installed in a mobile body, or may be the mobile body itself. The mobile body may be a mobile terminal such as a smartphone. The mobile body may be a mobile body that moves on the ground (land) (for example, vehicles such as automobiles, buses, trucks, trains, and linear motor cars) or a mobile body that moves underground (for example, in a tunnel) (for example, a subway) as long as it is capable of autonomous movement. The mobile body may be a mobile body that moves on the water (for example, ships such as passenger ships, cargo ships, and hovercrafts) or a mobile body that moves underwater (for example, submarines such as submarines, submarines, and unmanned submersibles). The mobile body may be a drone, a mobile body that moves within the atmosphere (for example, aircraft such as airplanes and airships), or a mobile body that moves outside the atmosphere (for example, artificial celestial bodies such as artificial satellites, spaceships, space stations, and probes).

[0118] <9. Hardware Configuration> (9-1. Example of control device configuration) The control device 100 according to the embodiment is realized by a computer 1000 having a configuration as shown in Fig. 30. The control device 100 according to the embodiment will be described below as an example. Fig. 30 is a hardware configuration diagram showing an example of a computer that realizes the functions of the control device according to the embodiment.

[0119] 30 includes a CPU 1100, a RAM 1200, a read only memory (ROM) 1300, a hard disk drive (HDD) 1400, a communication interface 1500, and an input / output interface 1600. The components of the computer 1000 are connected to each other via a bus 1050.

[0120] The CPU 1100 operates and controls each unit based on programs stored in the ROM 1300 or the HDD 1400. For example, the CPU 1100 loads the programs stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processes corresponding to the various programs.

[0121] The ROM 1300 stores boot programs such as a basic input output system (BIOS) executed by the CPU 1100 when the computer 1000 is started, and programs that depend on the hardware of the computer 1000.

[0122] The HDD 1400 is a recording medium that non-temporarily records programs executed by the CPU 1100 and data used by the programs, and is readable by the computer 1000. Specifically, the HDD 1400 is a recording medium that records programs for implementing the processing functions of the acquisition unit 131, the identification unit 132, and the instruction unit 133 shown in FIG.

[0123] The communication interface 1500 is an interface for connecting the computer 1000 to an external network 1550 (e.g., the Internet). For example, the CPU 1100 receives data from other devices and transmits data generated by the CPU 1100 to other devices via the communication interface 1500.

[0124] The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or a mouse via the input / output interface 1600. The CPU 1100 also transmits data to an output device such as a display, a speaker, or a printer via the input / output interface 1600. The input / output interface 1600 may also function as a media interface for reading a program or the like recorded on a predetermined recording medium. The medium may be, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or a PD (Phase change rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0125] For example, when the computer 1000 functions as the control device 100 according to the embodiment, the CPU 1100 of the computer 1000 executes a program (such as a program for implementing various processes by the control device 100) loaded on the RAM 1200. This realizes functions such as various processes executed by the control unit 130 of the control device 100. In addition, the HDD 1400 stores programs for implementing various processes by the control unit 130 of the control device 100 according to the present disclosure, data stored in the storage unit 120 of the control device 100, and the like. Note that the CPU 1100 reads and executes the program data 1450 from the HDD 1400, but as another example, these programs may be acquired from other devices via an external network 1550.

[0126] (9-2. Example of moving object configuration) An example of the hardware configuration of the moving body according to the embodiment will be described below. Fig. 31 is a hardware configuration diagram showing an example of a computer that realizes the functions of the moving body according to the embodiment.

[0127] 31 includes an application processor 2001, a processing accelerator 2002, an image / signal processor 2003, a sensor hub 2004, and a real-time processor 2005. The sensor hub 2004 and the real-time processor 2005 function as a flight controller.

[0128] The computer 2000 illustrated in FIG. 31 also includes a stereo camera 2006, an IMU 2007, a GPS 2008, a radar 2009, a motor controller 2010, a pan-tilt camera 2011, and a gimbal 2012.

[0129] The computer 2000 illustrated in Fig. 31 includes storage devices such as a RAM, a ROM, and a HDD, a communication interface, etc., in addition to those shown in Fig. 31. The components of the computer 2000 are connected to each other via a bus or the like (not shown).

[0130] In the computer 2000 illustrated in FIG. 31, the functions of the various processes executed by the control unit 260 of the moving object 200 according to the above embodiment are realized by at least one of the above-mentioned processors.

[0131] <10. Conclusion> As described above, according to an embodiment of the present disclosure, a mobile body (such as the mobile body 200) is a mobile body that moves autonomously according to instructions from a control device, and includes a generation unit, a first communication unit, a second communication unit, an acquisition unit, a provision unit, and an integration unit. The generation unit generates map information. The first communication unit communicates with the control device. The second communication unit communicates with other mobile bodies using a communication band different from the communication band used by the first communication unit. The acquisition unit acquires the first map information generated in the other mobile body through communication by the second communication unit. The provision unit provides the second map information generated by the generation unit to the other mobile bodies through communication by the second communication unit. The integration unit integrates the first map information and the second map information to generate integrated map information. As a result, the mobile body according to the present disclosure can provide the map information of its own machine to other mobile bodies in real time, and can realize safe and efficient autonomous movement based on the map information of its own machine and the other machines.

[0132] According to an embodiment of the present disclosure, the providing unit identifies another moving object communicating with the control device via the second communication unit through the communication with the control device via the first communication unit, and provides the second map information to the identified other moving object, thereby enabling the exchange of map information with the other moving object to begin based on the communication with the control device.

[0133] According to an embodiment of the present disclosure, the map information is configured by associating a first value, a second value, or a third value with each unit element when the obstacle detection result is expressed in a cubic data structure. The first value is a value corresponding to the possibility that an obstacle exists, the second value is a value corresponding to the possibility that an obstacle does not exist, and the third value is a value corresponding to the possibility that the existence or nonexistence of an obstacle is unknown. When integrating the first map information and the second map information, the integrating unit adjusts the first value, the second value, or the third value to relatively increase the reliability of the second map information compared to the first map information. This allows the moving body according to the present disclosure to generate integrated map information that is reliable in the obstacle detection result by the moving body itself.

[0134] According to an embodiment of the present disclosure, when integrating the first map information and the second map information, the integrating unit prioritizes the first value, the second value, or the third value associated with each unit element of the second map information for each unit element associated with different information between the first map information and the second map information. This allows the moving body according to the present disclosure to generate integrated map information that is reliable in the result of obstacle detection by the moving body itself.

[0135] According to an embodiment of the present disclosure, the mobile body further includes a delay processing unit that processes the first map information to decrease the first value and the second value and increase the third value, reflecting the time from the observation caused by a communication delay. This allows the mobile body according to the present disclosure to increase the reliability of the generated integrated map information.

[0136] Furthermore, according to an embodiment of the present disclosure, when the providing unit is unable to provide the second map information to another moving body through communication by the second communication unit, the providing unit outputs a notification to the first communication unit that the provision of the second map information to the other moving body has failed. The first communication unit transmits a notification to the control device that the provision of the second map information to the other moving body has failed. This allows the moving body according to the present disclosure to make the control device aware of the failure to provide the map information.

[0137] According to an embodiment of the present disclosure, the first communication unit communicates with the control device using a communication method compatible with a cellular communication system, and the second communication unit communicates with other mobile bodies using high-speed wireless communication or visible light laser communication. This allows the mobile body according to the present disclosure to transmit and receive map information with a large data size in real time while selectively using communication with the control device and communication with other mobile bodies.

[0138] According to an embodiment of the present disclosure, the first communication unit communicates with the control device via the base station by a communication method compatible with the cellular communication system. The second communication unit communicates with another mobile object directly connected via the base station by a communication method compatible with the cellular communication system. This allows the mobile object according to the present disclosure to transmit and receive map information by a communication method compatible with the cellular communication system.

[0139] According to an embodiment of the present disclosure, the mobile unit further includes a re-registration unit that re-registers information about the mobile unit with a base station device installed at a base station to which the mobile unit is to be transferred when the mobile unit moves and the base station is changed. This allows the mobile unit according to the present disclosure to have the base station to grasp information about the mobile unit when the base station is changed.

[0140] Furthermore, according to an embodiment of the present disclosure, a control device (such as the control device 100) includes a communication unit, an acquisition unit, an identification unit, and an instruction unit. The communication unit communicates with the mobile bodies, and the acquisition unit acquires location information of the mobile bodies. The identification unit identifies, as a group of mobile bodies, a plurality of mobile bodies located within a range where direct communication between the mobile bodies is possible, based on the location information acquired by the acquisition unit. The instruction unit instructs the group of mobile bodies identified by the identification unit to exchange map information. In this way, the control device according to the present disclosure can realize the exchange of map information between mobile bodies located within a range where direct communication between the mobile bodies is possible.

[0141] Moreover, according to an embodiment of the present disclosure, the control device further includes a communication range management unit that manages information on the high-speed communication range for each moving object. When the first moving object is present within the high-speed communication range of the second moving object, the identification unit identifies the first moving object and the second moving object as a moving object group. The instruction unit outputs a notification to the communication unit instructing the second moving object to start exchanging map information. The communication unit transmits a notification to the second moving object instructing the second moving object to start exchanging map information. This makes it possible to instruct the group of moving objects capable of high-speed communication to exchange map information.

[0142] According to an embodiment of the present disclosure, the control device further includes an action plan management unit that manages action plan information in which information on a flight formation of a plurality of moving objects is recorded. The instruction unit outputs a notification to the communication unit, based on the action plan information, to instruct the leading moving object in the flight formation to start exchanging map information. The communication unit transmits a notification to the leading moving object in the flight formation to instruct it to start exchanging map information. This allows the control device according to the present disclosure to realize efficient exchange of map information according to the flight formation.

[0143] According to an embodiment of the present disclosure, the control device further includes an equipment information management unit that manages equipment information in which the number of obstacle sensors equipped in the moving object is recorded. The instruction unit outputs a notification to the communication unit to instruct a second moving object, which is equipped with more obstacle sensors than the first moving object among the moving objects in the moving object group, to start exchanging map information based on the equipment information. The communication unit transmits a notification to the second moving object to instruct it to start exchanging map information. This allows the control device according to the present disclosure to enhance the content of the map information by taking into account the difference in sensing capability between the moving objects.

[0144] According to an embodiment of the present disclosure, the control device further includes a base station information management unit that manages base station information in which base stations connected to the mobile objects are recorded. The identification unit identifies a plurality of mobile objects connected to the same base station as the mobile object group based on the base station information. The instruction unit outputs a notification to the communication unit to instruct a base station device that controls the base station to which the mobile object group is connected to start exchanging map information. The communication unit transmits a notification to the base station device to instruct the base station device to start exchanging map information. This allows the control device according to the present disclosure to realize transmission and reception of map information between mobile objects connected to the same base station.

[0145] According to an embodiment of the present disclosure, the control device further includes a compensation processing unit that executes compensation processing when a notification of failure in exchanging map information is received from the moving object, thereby enabling the control device according to the present disclosure to exchange map information between the moving objects as much as possible.

[0146] According to an embodiment of the present disclosure, the mobile body system is a mobile body system including a plurality of mobile bodies and a control device. The mobile body includes a generation unit, a first communication unit, a second communication unit, an acquisition unit, a provision unit, and an integration unit. The generation unit generates map information. The first communication unit communicates with the control device. The second communication unit communicates with other mobile bodies based on an instruction from the control device. The acquisition unit acquires the first map information generated in the other mobile bodies through communication by the second communication unit. The provision unit provides the second map information generated by the generation unit to the other mobile bodies through communication by the second communication unit. The integration unit integrates the first map information and the second map information to generate integrated map information. The control device further includes a communication range management unit that manages information on a high-speed communication range for each mobile body. When the first mobile body is present in the high-speed communication range of the second mobile body, the identification unit identifies the first mobile body and the second mobile body as a mobile body group. The instruction unit outputs a notification to the communication unit to instruct the second moving body to start exchanging map information. The communication unit transmits a notification to the second moving body to instruct the second moving body to start exchanging map information. In this way, the moving body system according to the present disclosure realizes, under the initiative of the control device, exchange of map information between moving bodies located within a range where the moving bodies can directly communicate with each other, and realizes safe and efficient autonomous movement by the moving bodies based on the map information.

[0147] In addition, the effects described in this specification are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that are apparent to a person skilled in the art from the description of this specification, in addition to or in place of the above effects.

[0148] The present technology can also be configured as follows. (1) A moving body that moves autonomously, A generating unit that generates map information; A first communication unit that communicates with the control device; A second communication unit that communicates with another mobile object using a communication band different from the communication band used by the first communication unit; an acquisition unit that acquires first map information generated in another moving object through communication by the second communication unit; a providing unit that provides the second map information generated by the generating unit to another mobile object through communication by the second communication unit; an integration unit that integrates the first map information and the second map information to generate integrated map information; A moving body comprising: (2) The providing unit is Identifying another moving object communicating with the control device through the second communication unit by communication with the control device through the first communication unit; Providing the second map information to the identified other moving body. A moving body as described in (1) above. (3) The map information is a first value corresponding to a possibility that an obstacle exists, a second value corresponding to a possibility that an obstacle does not exist, or a third value corresponding to a possibility that the existence or nonexistence of an obstacle is unknown, for each unit element when the obstacle detection result is expressed in a cubic data structure; The integration unit includes: When integrating the first map information and the second map information, the first value, the second value, or the third value is adjusted to relatively increase the reliability of the second map information compared to the first map information. A moving body as described in (1) above. (4) The integration unit includes: When integrating the first map information and the second map information, for each unit element to which different information is associated between the first map information and the second map information, the first value, the second value, or the third value associated with each unit element of the second map information is given priority. A moving body as described in (3) above. (5) and a delay processing unit that processes the first map information so as to decrease the first value and the second value and increase the third value, by reflecting a delay time from the observation time including a communication delay. A moving body as described in (3) above. (6) The providing unit is when the end of transmission of the second map information to the other moving body cannot be confirmed through communication by the second communication unit, a notification that the provision of the second map information to the other moving body has failed is output to the first communication unit; The first communication unit transmits the notification to the control device. The moving body according to any one of (1) to (5). (7) The first communication unit is Communicating with the control device using a communication method corresponding to a cellular communication system; The second communication unit is Communicate with other mobile objects using high-speed wireless communication or visible light laser communication The moving body according to any one of (1) to (6). (8) The first communication unit is communicating with the control device via a base station by a communication method corresponding to a cellular communication system; The second communication unit is Communicate with other mobile units directly connected via a base station using a communication method corresponding to a cellular communication system The moving body according to any one of (1) to (7). (9) The base station control unit further includes a re-registration unit that re-registers information about the base station to a base station device that controls a new base station when the base station is changed due to movement. A moving body as described in (8) above. (10) A method for controlling an autonomously moving object, comprising: generating map information; communicating with a control device; Communicating with other mobile bodies using a communication band different from a communication band used for communication with the control device; acquiring first map information generated in another moving object by communication using a communication band different from a communication band used for communication with the control device; providing the second map information generated by the vehicle to another vehicle through communication using a communication band different from a communication band used for communication with the control device; Integrating the first map information and the second map information to generate integrated map information; A mobile object control method comprising: (11) A processor included in an autonomously moving vehicle, generating map information; communicating with a control device; Communicating with other mobile bodies using a communication band different from a communication band used for communication with the control device; acquiring first map information generated in another moving object by communication using a communication band different from a communication band used for communication with the control device; providing the second map information generated by the vehicle to another vehicle through communication using a communication band different from a communication band used for communication with the control device; Integrating the first map information and the second map information to generate integrated map information; A mobile control program that executes the above. (12) A control device that manages autonomous movement of a moving object, A communication unit that communicates with a mobile object; An acquisition unit that acquires location information of a moving object; an identification unit that identifies, as a group of moving objects, a plurality of moving objects located within a range in which direct communication between the moving objects is possible, based on the location information acquired by the acquisition unit; an instruction unit that instructs the group of moving objects identified by the identification unit to exchange map information; A control device comprising: (13) A communication range management unit that manages information on a high-speed communication range for each mobile unit is further provided, The identification unit is If a first moving object is present within a high-speed communication range of a second moving object, the first moving object and the second moving object are identified as a group of moving objects; The instruction unit is outputting a notification to the communication unit to instruct the second moving object to start exchanging the map information; The communication unit is Sending the notification to the second mobile unit. The control device described in (12) above. (14) Further comprising an action plan management unit for managing action plan information in which information on a flight formation of a plurality of moving objects is recorded; The instruction unit is Based on the action plan information, a notification is output to the communication unit to instruct the leading moving object of the flight formation to start exchanging the map information; The communication unit is Transmit the notification to the first mobile unit in the formation. The control device described in (12) above. (15) The vehicle further includes an equipment information management unit that manages equipment information in which the number of obstacle sensors equipped in the vehicle is recorded, The instruction unit is outputting, to the communication unit, a notification instructing a second moving body, which is equipped with a greater number of obstacle sensors than the first moving body, among the moving bodies of the group of moving bodies based on the equipment information, to start exchanging the map information; The communication unit is Sending the notification to the second mobile unit The control device described in (12) above. (16) A base station information management unit that manages base station information in which a base station connected to the mobile unit is recorded is further provided, The identification unit is Identifying a plurality of mobile objects connected to the same base station as the group of mobile objects based on the base station information; The instruction unit is outputting a notification to the communication unit to instruct a base station device that controls a base station to which the group of moving objects is connected to start exchanging the map information; The communication unit is The notification is transmitted to the base station device. The control device described in (12) above. (17) The map information exchange device further includes a compensation processing unit that executes compensation processing when a notification that the exchange of the map information has failed is received from the mobile unit. The control device described in (12) above. (18) A method for controlling a control device that manages autonomous movement of a moving object, comprising: Communicating with a mobile object; Acquiring location information of a mobile object; Identifying, as a group of moving objects, a plurality of moving objects located within a range in which direct communication between the moving objects is possible based on the acquired position information; instructing the identified group of moving objects to exchange map information; A control method including the above. (19) A processor included in a control device that manages the autonomous movement of a moving object, Communicating with a mobile object; Acquiring location information of a mobile object; Identifying, as a group of moving objects, a plurality of moving objects located within a range in which direct communication between the moving objects is possible based on the acquired position information; instructing the identified group of moving objects to exchange map information; A control program that executes the above. (20) A mobile body system including a plurality of mobile bodies and a control device, A generating unit that generates map information; A first communication unit that communicates with the control device; A second communication unit that communicates with another mobile object using a communication band different from the communication band used by the first communication unit; an acquisition unit that acquires first map information generated in another moving object through communication by the second communication unit; a providing unit that provides the second map information generated by the generating unit to another mobile object through communication by the second communication unit; an integration unit that integrates the first map information and the second map information to generate integrated map information; Equipped with The control device includes: A communication unit that communicates with the mobile object; an acquisition unit that acquires location information of the moving object via the communication unit; an identification unit that identifies, as a group of moving objects, a plurality of moving objects located within a range in which direct communication between the moving objects is possible, based on the location information acquired by the acquisition unit; an instruction unit that instructs the group of moving objects identified by the identification unit to exchange the map information; A mobile system comprising: [Explanation of symbols]

[0149] 1, 2 Mobile Systems 10 First Communication Network 11 Base station 20 Second Communication Network 30. The Third Telecommunications Network 100 Control equipment 110 Communications Department 120 Storage section 121 Location information storage unit 122 Communication Range Management Unit 123 Action Plan Management Division 124 Equipment Information Management Department 125 Base Station Information Management Department 130 Control section 131 Acquisition Department 132 Specific part 133 Instruction section 200 Mobile 210 Detection unit 220 First Communications Department 230 2nd Communications Department 240 Drive Unit 250 Storage section 260 Control Unit 261 Recognition part 262 Planning Department 263 Behavior Control Unit 264 Generation part 265 Acquisition Department 266 Provision Department 267 Integration Department 268 Delay Processing Unit 269 ​​Re-registration Division 300 Base station equipment 310 Communications Department 320 Storage section 330 Control Unit

Claims

1. An autonomously moving vehicle, a generation unit that generates map information that is a collection of obstacle information that records the positional relationship between the player's own aircraft and obstacles around the player's own aircraft; a first communication unit that communicates with the control device using a first communication method; a second communication unit that communicates with other mobile objects using a second communication method that is faster than the first communication method; an acquisition unit that acquires first map information generated in another mobile object through communication by the second communication unit using the second communication method; a providing unit that provides the second map information generated by the generating unit to another moving body through communication by the second communication unit using the second communication method when a notification instructing to start exchanging map information is received from the control device; an integration unit that integrates the first map information and the second map information to generate integrated map information; a recognition unit that recognizes obstacles around the aircraft; a planning unit that generates a movement trajectory that serves as a flight plan for the aircraft using the recognition result by the recognition unit, the second map information, and the integrated map information; a behavior control unit that controls the flight of the aircraft so as to follow the movement trajectory generated by the planning unit; A mobile body comprising:

2. The providing unit Identifying another moving object communicating with the control device via the second communication unit through communication with the control device via the first communication unit; providing the second map information to the identified other mobile body; The moving body according to claim 1 .

3. The map information is When the obstacle detection result is expressed in a cubic data structure, each unit element is associated with a first value corresponding to the possibility that an obstacle exists, a second value corresponding to the possibility that an obstacle does not exist, or a third value corresponding to the possibility that the existence of an obstacle is unknown; The integration unit 2. The mobile body according to claim 1, wherein when integrating the first map information and the second map information, the first value, the second value, or the third value is adjusted to make the reliability of the second map information relatively higher than that of the first map information.

4. The integration unit 4. The mobile body according to claim 3, wherein when integrating the first map information and the second map information, for each unit element to which different information is associated in the first map information and the second map information, the first value, the second value, or the third value associated with each unit element of the second map information is prioritized.

5. The mobile body described in claim 3, further comprising a delay processing unit that processes the first map information so as to decrease the first value and the second value and increase the third value, reflecting a delay time from the time of observation including communication delay.

6. The providing unit when the second communication unit is unable to confirm completion of transmission of the second map information to the other moving body through communication, the first communication unit outputs a notification that provision of the second map information to the other moving body has failed; The first communication unit transmits the notification to the control device. The moving body according to claim 1 .

7. The first communication unit communicating with the control device by a communication method corresponding to a cellular communication system; The second communication unit Communicate with other mobile objects using high-speed wireless communication or visible light laser communication The moving body according to claim 1 .

8. The first communication unit communicating with the control device via a base station using a communication method corresponding to a cellular communication system; The second communication unit Communicate with other mobile units directly connected via a base station using a communication method compatible with a cellular communication system The moving body according to claim 1 .

9. When the base station is changed due to movement, a re-registration unit is further provided which re-registers information about the own device in a base station device which controls the base station of the new base station. The moving body according to claim 8.

10. A method for controlling an autonomously moving object, comprising: generating map information that is a collection of obstacle information that records the positional relationship between the player's own aircraft and obstacles around the player's own aircraft; communicating with a control device via a first communication method; communicating with another mobile object using a second communication method that is faster than the first communication method; acquiring first map information generated by another mobile object through communication using the second communication method; When receiving a notification from the control device instructing the start of exchange of map information, providing the second map information generated by the mobile unit to another mobile unit through communication using the second communication method; Integrating the first map information and the second map information to generate integrated map information; Recognizing obstacles around the aircraft; generating a movement trajectory that serves as a flight plan for the aircraft using the obstacle recognition result, the second map information, and the integrated map information; Controlling the flight of the aircraft so as to follow the movement trajectory; A mobile object control method comprising:

11. A processor equipped in an autonomously moving vehicle, generating map information that is a collection of obstacle information that records the positional relationship between the player's own aircraft and obstacles around the player's own aircraft; communicating with a control device via a first communication method; communicating with another mobile object using a second communication method that is faster than the first communication method; acquiring first map information generated by another mobile object through communication using the second communication method; When receiving a notification from the control device instructing the start of exchange of map information, providing the second map information generated by the mobile unit to another mobile unit through communication using the second communication method; Integrating the first map information and the second map information to generate integrated map information; Recognizing obstacles around the aircraft; generating a movement trajectory that serves as a flight plan for the aircraft using the obstacle recognition result, the second map information, and the integrated map information; Controlling the flight of the aircraft so as to follow the movement trajectory; A mobile control program that executes the above.

12. A control device that manages the autonomous movement of a moving object, a communication range management unit that manages information on high-speed communication ranges for each mobile unit; an action plan management unit that manages action plan information in which information on a flight formation of a plurality of moving bodies is recorded; a communication unit that communicates with the mobile object; an acquisition unit that acquires location information of a moving object; an identification unit that identifies, as a group of moving objects, a plurality of moving objects located within a range where direct communication between the moving objects is possible, based on the location information acquired by the acquisition unit; an instruction unit that instructs the group of moving objects identified by the identification unit to exchange map information; Equipped with The identification unit If the first moving body is present within a high-speed communication range of the second moving body, the first moving body and the second moving body are identified as a group of moving bodies; The instruction unit outputting a notification to the communication unit to instruct a leading moving body of the formation of the first moving body or the second moving body to start exchanging the map information based on the action plan information; The communication unit Send the notification to the first mobile unit in the formation. Control device.

13. The vehicle further includes an equipment information management unit that manages equipment information in which the number of obstacle sensors equipped in the vehicle is recorded, The instruction unit outputting a notification to the communication unit, based on the equipment information, to instruct a second moving body, among the moving bodies of the group of moving bodies, that is equipped with a greater number of obstacle sensors than the first moving body, to start exchanging the map information; The communication unit Sending the notification to the second mobile unit The control device according to claim 12.

14. The base station information management unit further includes a base station information management unit that manages base station information in which base stations connected to the mobile unit are recorded, The identification unit Identifying a plurality of mobile objects connected to the same base station as the mobile object group based on the base station information; The instruction unit outputting a notification to the communication unit to instruct a base station device that controls a base station to which the group of moving objects is connected to start exchanging the map information; The communication unit The notification is transmitted to the base station device. The control device according to claim 12.

15. The map information exchange system further includes a compensation processing unit that executes compensation processing when a notification that the exchange of the map information has failed is received from the mobile unit. The control device according to claim 12.

16. A control method for a control device that manages autonomous movement of a moving object, comprising: Managing information on high-speed communication ranges for each mobile unit; Managing action plan information in which information on a flight formation of a plurality of moving bodies is recorded; Communicating with a mobile object; Acquiring location information of a mobile object; Identifying, as a group of mobile objects, a plurality of mobile objects located within a range where direct communication between the mobile objects is possible based on the acquired location information; instructing the identified group of moving objects to exchange map information; Including, The identifying step includes identifying the first moving object and the second moving object as the group of moving objects when the first moving object is present within a high-speed communication range of the second moving object; The instruction includes outputting a notification to a leading moving body of the formation, of the first moving body and the second moving body, based on the action plan information, to instruct the starting of the exchange of the map information; The communicating includes transmitting the notification to a leading mobile unit in the formation. Control method.

17. A processor included in a control device that manages the autonomous movement of a mobile object, Managing information on high-speed communication ranges for each mobile unit; Managing action plan information in which information on a flight formation of a plurality of moving bodies is recorded; Communicating with a mobile object; Acquiring location information of a mobile object; Identifying, as a group of mobile objects, a plurality of mobile objects located within a range where direct communication between the mobile objects is possible based on the acquired location information; instructing the identified group of moving objects to exchange map information; Execute The identifying step includes identifying the first moving object and the second moving object as the group of moving objects when the first moving object is present within a high-speed communication range of the second moving object; The instruction includes outputting a notification to a leading moving body of the formation, of the first moving body and the second moving body, based on the action plan information, to instruct the starting of the exchange of the map information; The communicating includes transmitting the notification to a leading mobile unit in the formation. Control program.

18. A mobile body system including a plurality of mobile bodies and a control device, The moving body is a generation unit that generates map information that is a collection of obstacle information that records the positional relationship between the player's own aircraft and obstacles around the player's own aircraft; a first communication unit that communicates with the control device using a first communication method; a second communication unit that communicates with other mobile objects using a second communication method that is faster than the first communication method; an acquisition unit that acquires first map information generated in another mobile object through communication by the second communication unit using the second communication method; a providing unit that provides the second map information generated by the generating unit to another moving body through communication by the second communication unit using the second communication method when a notification instructing to start exchanging map information is received from the control device; an integration unit that integrates the first map information and the second map information to generate integrated map information; a recognition unit that recognizes obstacles around the aircraft; a planning unit that generates a movement trajectory that serves as a flight plan for the aircraft using the recognition result by the recognition unit, the second map information, and the integrated map information; a behavior control unit that controls the flight of the aircraft so as to follow the movement trajectory generated by the planning unit; Equipped with The control device a communication range management unit that manages information on high-speed communication ranges for each mobile unit; an action plan management unit that manages action plan information in which information on a flight formation of a plurality of moving bodies is recorded; a communication unit that communicates with the mobile object; an acquisition unit that acquires location information of the mobile object via the communication unit; an identification unit that identifies, as a group of moving objects, a plurality of moving objects located within a range where direct communication between the moving objects is possible, based on the location information acquired by the acquisition unit; an instruction unit that instructs the group of moving objects identified by the identification unit to exchange the map information; Equipped with The identification unit If the first moving body is present within a high-speed communication range of the second moving body, the first moving body and the second moving body are identified as a group of moving bodies; The instruction unit outputting a notification to the communication unit to instruct a leading moving body of the formation of the first moving body or the second moving body to start exchanging the map information based on the action plan information; The communication unit Send the notification to the first mobile unit in the formation. Mobile systems.

Images