Work plan generation system

Abstract

To perform an efficient work using a plurality of flying bodies to a work target.SOLUTION: The present invention relates to a work plan making system for making a work plan using a plurality of flying bodies. The system includes: a learning unit for making a learning model by learning a work history about works done in the past; and a making unit for reading a work target and making a work plan by using the learning model. The above configuration allows an automatic creation of the most efficient flying route for an unknown work target by using a learning model obtained from the work history.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work plan generation system, and particularly to a technique for generating a work plan for a predetermined area including indoor and outdoor areas using a plurality of flying objects.

Background Art

[0002] In recent years, unmanned aerial vehicles (so-called drones, etc.) having a plurality of propellers have been used in various fields. Techniques for automating inspections, surveys, monitoring, photography, etc. of a predetermined area using such flying objects have been proposed (see Patent Document 1). According to the technique described in Patent Document 1, it is possible to comprehensively photograph a predetermined area using a single flying object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when attempting to perform work such as inspection using a single flying object following Patent Document 1, for example, due to battery capacity limitations, it often occurs that the work is temporarily interrupted for charging even during the operation.

[0005] On the other hand, the idea of performing inspections simultaneously with a plurality of flying objects (i.e., dispersing the inspection work) has also been proposed. However, in practice, it only determines the number of flying objects and flight routes required based on visual inspection and experience by workers such as inspection personnel. As a result, a temporary interruption for charging may occur because the number of flying objects is much less than expected, or unnecessary costs may be incurred because the number of flying objects is much more than expected.

Means for Solving the Problems

[0006] Therefore, an object of the present invention is to provide a technology capable of performing efficient work on a work target using a plurality of flying objects.

[0007] According to the present invention, a work plan generation system that generates a work plan using a plurality of flying objects, a learning unit that learns work performance results performed in the past to generate a learning model, a generation unit that reads a work target and generates the work plan using the learning model, A work plan generation system including the above is obtained.

Effect of the Invention

[0008] According to the present invention, efficient work using a plurality of flying objects can be performed on a work target.

Brief Description of the Drawings

[0009]

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Embodiment for Carrying Out the Invention

[0010] The content of the embodiment of the present invention will be listed and described. The flying object according to the embodiment of the present invention has the following configuration.

[0011] [Item 1] A work plan generation system that generates a work plan using a plurality of flying objects, A learning unit that learns the work performance carried out in the past and generates a learning model, A generation unit that reads a work target and generates the work plan using the learning model, A work plan generation system including [Item 2] The work plan generation system according to Item 1, The generation unit A step of dividing the read work target into a plurality of segments, A step of determining the specifications of the flying objects to be assigned to each of the divided segments, A step of determining the flight routes of the flying objects in each of the segments, Executing A work plan generation system. [Item 3] The work plan system according to Item 2, The step of determining the flight route includes a step of setting a takeoff point, a flight route from the starting point to each of the segments, and a landing point. A work plan generation system. [Item 4] The work plan generation system according to any one of Items 1 to 3, The work target is a predetermined area indoors or outdoors. A work plan generation system. [Item 5] A work plan generation system according to any one of Items 1 to 4, wherein the work in the work plan or work performance includes inspection, monitoring, surveying, or photographing, Work plan generation system. [Item 6] A work plan generation system according to any one of Items 1 to 5, wherein the aircraft is a rotary-wing aircraft, Work plan generation system. [Item 7] A work plan generation system according to any one of Items 1 to 6, wherein the work performance includes at least information on past work targets, information on the aircraft used for the work, and work results, Work plan generation system. [Item 8] A work plan generation system according to Item 1, a step of reading map information of a work target; a step of dividing the map information into a plurality of segments each capable of continuous flight by one of the aircraft; a step of generating a flight route in each of the segments; a step of setting a common takeoff / landing point for all the aircraft used; and executing Work plan generation system.

[0012] Hereinafter, a work plan generation system according to an embodiment of the present invention (hereinafter referred to as "system") will be described with reference to the drawings.

[0013] As shown in FIG. 1, the system according to the embodiment of the present invention performs work such as inspection on a target work area S0 by a plurality of aircraft F1 to F4. The left Kyoto area S0 is divided into a plurality of segments S1 to S4, and each segment is worked on by one aircraft.

[0014] [Hardware Configuration] As shown in FIG. 2, this system mainly includes a generation device that generates a work plan and a plurality of flying objects that actually perform work. Note that the configuration shown below is an example, and other configurations may be adopted. It is also possible to appropriately adopt other means having equivalent functions. Further, a plurality of functions may be configured by a single device or the like, or a single function may be configured by a plurality of devices or the like.

[0015] <Hardware Configuration of Generation Device> The generation device generates a work plan for a work target to perform work in the future by using a learning model learned based on past work information.

[0016] FIG. 3 is a diagram showing an example of the block configuration of the generation device. Note that the illustrated configuration is an example, and other functions may be added.

[0017] The generation device may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.

[0018] The generation device includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, etc., and these are electrically connected to each other through a bus 15.

[0019] The processor 10 is an arithmetic device that controls the operation of the entire generation device, controls the transmission and reception of data between elements, and performs information processing necessary for the execution of applications. For example, the processor 10 is a CPU (Central Processing Unit), and executes programs and the like stored in the storage 12 and expanded in the memory 11 to perform each information processing.

[0020] The memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary memory composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). The memory 11 is used as a work area of the processor 10 and stores a BIOS (Basic Input / Output System) executed at the startup of the generation device, and various setting information.

[0021] The storage 12 stores various programs such as application programs. A database storing data used for each process may be constructed in the storage 22.

[0022] The transceiver unit 13 connects the generation device to a network. Note that the transceiver unit 13 may be provided with a short-range communication interface for Bluetooth (registered trademark) and BLE (Bluetooth Low Energy). The transceiver unit receives a request from a corporate terminal and transmits the generated mission information to a user terminal.

[0023] The input / output unit 14 includes information input devices such as keyboards and mice, and output devices such as displays.

[0024] The bus 15 is commonly connected to the above elements and transmits, for example, address signals, data signals, and various control signals.

[0025] <Function Configuration of Generation Device> FIG. 4 is a diagram showing a functional block of the generation device. Note that the following functional blocks conceptually show each process and are not necessarily limited to each function and its name.

[0026] The map information is information including at least the shape or area, etc. of the area to be worked on. These are, for example, map data, topographic map data, indoor drawings, floor maps, etc., which are information about the shape and structure of the area and the information contained in the area, and are information referred to in generating the flight route. The map information also includes information about areas where takeoff and landing are possible (flat, without structures, etc.) and areas where takeoff and landing are not possible (rivers, areas where structures are installed on the ground, etc.). This information is used for setting the takeoff and landing points described later.

[0027] The learning data is data related to past operations. As shown in FIG. 5, it includes at least information on past work targets, information on the aircraft used in the work, and work results. For example, regarding areas such as land and inside buildings that were worked on in the past, information on what specifications of aircraft were used, how many, flight history, work time, interruptions for charging, and other work results are associated. These learning data may be pre-adjusted, normalized, etc. for generating the learning model.

[0028] The acquisition unit acquires map information. The map information may be in any data format as long as at least information such as the shape or area can be extracted. For example, it may be in cooperation with a general map service.

[0029] The comparison unit compares and analyzes the acquired map information and the learning data. Various methods of analysis can be adopted, such as regression analysis (Bayesian linear regression, support vector regression, random forest, etc.). The comparison unit constructs a predetermined analysis model.

[0030] The generation unit segments the work target area included in the map information and generates a flight route based on the analysis model.

[0031] The output unit outputs the generated information as a signal interpretable by the aircraft.

[0032] <Structure of the aircraft> As shown in FIG. 6, the flying object has the following structure. The flying object in this embodiment can be controlled automatically, manually, or in combination thereof.

[0033] The flight controller 11 can have one or more processors such as a programmable processor (for example, a central processing unit (CPU)).

[0034] The flight controller 11 has a memory 12 and is accessible to the memory 12. The memory 12 stores logic, code, and / or program instructions executable by the flight controller 11 to perform one or more steps.

[0035] The memory 12 may include a separable medium or an external storage device such as an SD card or a random access memory (RAM). The data acquired from the camera and sensors 13 may be directly transmitted to and stored in the memory 12. For example, still image / moving image data captured by the camera 13 or the like is recorded in the built-in memory or the external memory. The camera 13 is installed on the flying object via a gimbal 14.

[0036] The flight controller 11 includes a control module configured to control the state of the flying object 1. For example, the control module controls the propulsion mechanism (motor 16, etc.) of the flying object 1 via the ESC 15 to adjust the spatial arrangement, speed, and / or acceleration of the flying object 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz). The motor 16 rotates the propeller 17 to generate lift for the flying object 1. The control module can control one or more of the mounting part and the state of the sensors.

[0037] The flight controller 11 is communicable with a transceiver unit 18 configured to transmit and / or receive data from one or more external devices (e.g., a transceiver (propo), a terminal, a display device, or other remote controller). The transceiver 18 can use any suitable communication means such as wired communication or wireless communication.

[0038] The transceiver unit 18 can utilize one or more of, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, etc.

[0039] The transceiver unit 18 can transmit and / or receive one or more of the data acquired by the sensors 19, the processing results generated by the flight controller 11, predetermined control data, user commands from a terminal or a remote controller, etc.

[0040] The sensors 19 according to the present embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., lidar), or vision / image sensors (e.g., cameras).

[0041] <Flow of processing> With reference to FIG. 7, the flow of processing of the present system will be described.

[0042] As illustrated, when the system reads map data (step S421), the map data is analyzed based on a learning model (step S423). At this time, for example, by reading information on the purpose of work (e.g., inspection, surveying, monitoring, photographing, etc.), it may be possible to specify a learning model based on appropriate data from among a plurality of learning models.

[0043] Thereafter, the inspection target area included in the map data is decomposed into a plurality of segments (step S425). In the present embodiment, the number of flying objects per segment is one, but it may be plural according to the application.

[0044] When the specifications of the flying objects required for the work are determined (step S427), the flight routes within the segments are generated (step S429).

[0045] The flight route is a route that can fly comprehensively and efficiently within the segment (for example, refer to the zigzag route shown in FIG. 1).

[0046] Then, a home position for all the flying objects to take off and land is set (step S431).

[0047] In the present embodiment, each flying object flies from one take-off and landing point to each segment, and when the work is completed, it returns to the take-off and landing point.

[0048] <Work by Flying Object> With reference to FIGS. 8 to 10, the state of the work based on the flight route generated by the present system will be described.

[0049] As shown in FIG. 8, the flying objects F1 to F4 are set at the set home position H. The home position is selected and set at a point where take-off and landing are possible from the area of the work target or its vicinity.

[0050] Subsequently, as shown in FIG. 9, each flying object moves to the segment assigned in advance. The movement is performed along the shortest path.

[0051] When the flying object finishes moving to the segment, simultaneously or in the order of arrival at the segment, as shown in FIG. 10, the work in each segment is started. When the work is completed, the flying object returns to the home position H shown in FIG. 8.

[0052] As shown in FIG. 11, the above-described flight routes and segment divisions may also be visualized on the computer screen. Further, the generated routes can be manually edited. By enabling post hoc editing, more efficient flight routes can be generated.

Explanation of Signs

[0053] 1 Aircraft 2 Structure 2 4 Laser light 5 Laser emitting device 6 Laser light 7 Laser emitting device 11 Flight controller 20 Light receiver

Claims

1. A work plan generation system for generating a work plan using an aircraft, A generation unit that reads a work target and generates the work plan by using a learning model generated by learning the work results, The work record includes at least information on the work time of past work and information on interruptions for charging during the work, The generation unit includes at least performing a step of dividing the loaded work object into a plurality of segments; An operation plan generation system in which each of the segments is an area divided by the generation unit so that a given one of the aircraft can fly continuously without interruption for charging.

2. The work plan generation system according to claim 1, The generation unit is An operation plan generation system that executes the step of determining a flight route for the air vehicle in each of the segments.

3. The work planning system according to claim 1 or 2, The generation unit is performing a step of setting a takeoff point or a landing point of the air vehicle in each of the segments; Work plan generation system.

4. The work planning system according to claim 1 or 2, The generation unit, based on map information including information on possible takeoff and landing areas and impossible takeoff and landing areas, performing a step of setting a takeoff point, a flight route, and a landing point of the air vehicle in each of the segments; Work plan generation system.

5. 5. The work plan generation system according to claim 1, The work in the work plan or work results includes inspection, monitoring, surveying or photography. Work plan generation system.

6. 6. The work plan generation system according to claim 1, The flying object is a rotorcraft. Work plan generation system.

7. 7. The work plan generation system according to claim 1, The work history includes at least information on past work targets, information on the aircraft used in the work, and work results. Work plan generation system.

8. The work plan generation system according to claim 1, A step of reading map information to be processed; Dividing the map information into a plurality of segments each of which can be continuously flown by one of the aircraft; generating a flight route for each of the segments; establishing a common takeoff and landing point for all of the flying vehicles used; Execute Work plan generation system.

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