Mobile device, event detection system, method for controlling the mobile device, and control program

Abstract

To provide a moving body capable of highly efficiently searching an event even when the moving body exists in a blind zone.SOLUTION: A moving body (1a) includes: a diffusion control unit (103) that controls the moving body (1a) so that the moving body moves along a first helix trajectory different from a second helix trajectory; and a search control unit (104) that controls the moving body so that, when the moving body detects physical information or another moving body (1A) detects the physical information, the moving body searches an event while being grouped together with the another moving body.SELECTED DRAWING: Figure 1

Description

Technical Field

[0005] ,

[0001] The present invention relates to a moving body or the like that searches for an event in order to detect physical information emitted by the event.

Background Art

[0002] In recent years, technologies for performing predetermined operations using self-propelled moving bodies such as robots or UAVs (unmanned aerial vehicles) are known. For example, Patent Document 1 discloses an aircraft that identifies a work area in a target area by searching the target area. Patent Document 2 discloses a drone that performs a spiral spraying operation on a work target. Patent Document 3 discloses a robot vacuum cleaner that has a spiral cleaning travel pattern and variably applies the cleaning travel pattern according to the cleaning area.

[0003] In addition, research and development of technologies for performing search operations such as searching for disaster victims using a moving body when a disaster occurs are underway.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0005] In this case, the events to be searched for are scattered over a wide area, and their location and number may be unknown. When performing the above-mentioned search operation for such events using a single mobile device, the searchable range per unit time is limited, so searching for events takes a considerable amount of time. In other words, it is difficult to apply the above-mentioned search operation to configurations that assume the use of a single mobile device, such as those described in Patent Documents 1 to 3.

[0006] Therefore, a method is known in which multiple mobile units cooperate to perform searches. In this method, multiple mobile units function as a group, enabling the search and capture of events that are not limited to the capabilities of individual mobile units. However, when multiple events exist, the search and capture of events are processed sequentially, and it takes a considerable amount of time to complete the capture of all events.

[0007] Furthermore, a method for constructing a mobile sensing cluster (MSC) using multiple mobile objects is also known. In this method, by applying swarm intelligence to multiple mobile objects, multiple groups can be appropriately formed, enabling the search for and capture of a larger number of events. However, a mobile sensing cluster relies on the assumption that the mobile objects can acquire the physical information emitted by events. Therefore, if the multiple mobile objects are located outside the detection area (dead zone) where they can detect the physical information emitted by events, a mobile sensing cluster cannot be formed.

[0008] When multiple moving objects are located in a dead zone, spreading the objects out increases the likelihood that at least one of them will reach a detection area where the physical information emitted by the event can be detected. However, even if one of the objects detects the physical information, if wireless communication between the objects is not possible due to the spread of the objects, it will not be possible to transition to a mobile sensing cluster.

[0009] One aspect of the present invention has been made in view of the above-mentioned problems, and aims to provide a mobile device that can efficiently search for events even when it is located in a dead zone. [Means for solving the problem]

[0010] To solve the above problems, a mobile body according to one aspect of the present invention is a mobile body that searches for an event together with other mobile bodies in order to detect physical information emitted by the event, and comprises: a diffusion control unit that controls the mobile body to move along a first helical trajectory; a detection unit that detects the physical information; a communication unit that communicates with the other mobile bodies; and a search control unit that controls the mobile body to form a group with the other mobile bodies and search for the event when the mobile body detects the physical information or when the other mobile body detects the physical information, wherein the first helical trajectory is different from the second helical trajectory on which the first mobile body, which is the other mobile body, moves.

[0011] Furthermore, the moving speed of the moving body may be different from that of the first moving body. The diffusion control unit may also control the moving body to move along the first helical trajectory in a group with the second moving body, which is another moving body. The diffusion control unit may also set the width in which the multiple moving bodies moving along the first helical trajectory are distributed according to the number of moving bodies moving along the first helical trajectory.

[0012] To solve the above problems, a mobile body according to one aspect of the present invention is a mobile body that searches for an event together with other mobile bodies in order to detect physical information emitted by the event, and comprises a detection unit that detects the physical information and a communication unit that communicates with a server, wherein the communication unit receives information of a first helical trajectory on which the mobile body moves from the server, and when the mobile body detects the physical information, or when the other mobile body detects the physical information, the mobile body receives an instruction from the server to form a group with the other mobile bodies and search for the event, and the first helical trajectory is different from the second helical trajectory on which the first mobile body, which is the other mobile body, moves.

[0013] To solve the above problems, an event search system according to one aspect of the present invention includes a plurality of moving bodies, each of which spreads out along one of a plurality of different spiral trajectories to search for the event.

[0014] To solve the above problems, a server according to one aspect of the present invention is a server that controls a mobile body that searches for an event together with other mobile bodies in order to detect physical information emitted by the event, comprising: a server communication unit that communicates with the mobile body; a diffusion control unit that controls the mobile body so that it moves along a first helical trajectory; and a search control unit that controls the mobile body so that it forms a group with the other mobile bodies and searches for the event when the mobile body detects physical information or when the other mobile body detects the physical information, wherein the first helical trajectory is different from the second helical trajectory on which the first mobile body, which is the other mobile body, moves.

[0015] Furthermore, the moving speed of the moving body may be different from that of the first moving body. Also, the diffusion control unit may move along the first helical trajectory in a group with the second moving body, which is another moving body. Furthermore, the diffusion control unit may set the width in which the multiple moving bodies moving along the first helical trajectory are distributed according to the number of moving bodies moving along the first helical trajectory.

[0016] To solve the above problems, a method for controlling a mobile body according to one aspect of the present invention is a method for controlling a mobile body that searches for an event together with other mobile bodies in order to detect physical information emitted by the event, and includes a diffusion control step of controlling the mobile body to diffuse along a first helical trajectory; a detection step of detecting the physical information; a communication step of communicating with the other mobile bodies; and a search control step of controlling the mobile body to form a group with the other mobile bodies and search for the event when the mobile body detects the physical information or when the other mobile body detects the physical information, wherein the first helical trajectory is different from a second helical trajectory on which the first mobile body, which is the other mobile body, moves.

[0017] In order to solve the above problems, a method for controlling a moving object according to an aspect of the present invention is a method for controlling a moving object that searches for the event together with other moving objects in order to detect physical information emitted by the event, including: a first communication step of receiving information on a first spiral orbit along which the moving object moves from a server; a detection step of detecting the physical information; and a second communication step of receiving, from the server, an instruction to form a group with the other moving object and search for the event when the moving object detects the physical information or when the other moving object detects the physical information, wherein the first spiral orbit is different from a second spiral orbit along which a first moving object, which is the other moving object, moves.

Advantages of the Invention

[0018] According to an aspect of the present invention, it is possible to provide a moving object that can efficiently search for an event even when the event exists in a blind spot area.

Brief Description of the Drawings

[0019] [Figure 1] It is a block diagram showing an example of the main configuration of an event search system according to an embodiment of the present invention. [Figure 2] It is a schematic diagram showing the state in which a plurality of moving objects according to a comparative example spread. [Figure 3] It is a schematic diagram showing the state in which a plurality of moving objects according to an embodiment of the present invention spread. [Figure 4] It is a schematic diagram showing the state in which a plurality of moving objects according to an embodiment of the present invention spread. [Figure 5] It is a schematic diagram showing the state in which a plurality of moving objects form a group and spread. [Figure 6] It is a flowchart showing an example of the processing executed by the moving object during the search for an event. [Figure 7] It is a graph showing the average capture numbers for the number of Selfish moving objects and the number of spiral moving objects according to the comparative example and the embodiment. [Figure 8]This graph shows the average dead zone search time for the number of Selfish moving bodies and the number of spiral moving bodies in the comparative example and the example. [Figure 9] This is a block diagram showing an example of the main components of an event search system according to another embodiment of the present invention. [Figure 10] This flowchart shows an example of the processing performed by a server according to another embodiment of the present invention while searching for events. [Modes for carrying out the invention]

[0020] [Embodiment 1] (Configuration of mobile unit 1a) Figure 1 is a block diagram showing an example of the main components of the event search system 100. As shown in Figure 1, the event search system 100 includes a mobile body 1a and at least one other mobile body 1A (mobile body 1b, mobile body 1c...) that communicate wirelessly with mobile body 1a. The main components of mobile body 1a will be described below with reference to Figure 1. The other mobile bodies 1A may have the same configuration as mobile body 1a. When it is not necessary to distinguish between mobile body 1a and the other mobile bodies 1A, they will simply be referred to as mobile body 1. In this specification, "spreading" means that mobile body 1, which is in a dead zone, moves along a spiral trajectory so as to move away from its initial position.

[0021] The mobile unit 1a includes a control unit 10 that centrally controls all parts of the mobile unit 1a, and a storage unit 20 that stores various data used by the mobile unit 1a. The mobile unit 1a also includes a communication unit 30 for the mobile unit 1a to communicate with other mobile units 1A, a detection unit 40 that detects physical information emitted by the event to be searched, and a drive unit 50 that drives the mobile unit 1a.

[0022] The mobile unit 1a operates autonomously when the control unit 10 controls the drive unit 50 according to a movement algorithm stored in the memory unit 20. For example, the mobile unit 1a searches for events based on the physical information emitted by events detected by the detection unit 40. The mobile unit 1a also searches for events in conjunction with other mobile units 1A to form a group. Here, the formation of a group between the mobile unit 1a and other mobile units 1A means that the mobile unit 1a and other mobile units 1A communicate wirelessly while maintaining a communication range, thereby understanding each other's location information and detection results. In particular, the mobile unit 1a and other mobile units 1A can form a mobile sensing cluster to determine the location of the mobile unit 1a by understanding the intensity of the physical information they have detected as each other's detection results.

[0023] The events to be searched for are not particularly limited, as long as they emit physical information that can be detected by the mobile object 1a. For example, an event may emit physical information that does not have specific identifying information for each individual event, such as electromagnetic waves, radio waves, heat, gas, radiation, or sound. Furthermore, the intensity of the physical information propagated from an event may attenuate with distance.

[0024] Furthermore, the mobile device 1a may perform proactive processing in response to detected events. For example, events may include damaged parts of structures during emergencies, people in need of rescue, or resources. In these cases, the mobile device 1a may perform proactive processing such as repairing damaged parts of structures, rescuing people in need of rescue, or recovering resources. Hereafter, this proactive processing will be referred to as capture.

[0025] Furthermore, the mobile body 1a can be any autonomous mobile body, such as an autonomous mobile robot, drone, automobile, or small artificial satellite.

[0026] The means of wireless communication by the communication unit 30 include short-range wireless communication, such as WiFi (registered trademark) and Bluetooth (registered trademark). When using WiFi, the communication range of the mobile unit 1a is approximately 100m (on flat ground). When using Bluetooth, the communication range of the mobile unit 1a is approximately 20-30m. However, the means of wireless communication by the communication unit 30 are not limited to these.

[0027] The detection unit 40 can be a sensor or the like that corresponds to the physical information emitted by the event being searched for. If the event emits radio waves, the detection unit 40 is a sensor that detects radio wave intensity. If the event emits heat (for example, if the event is a person in need of rescue), the detection unit 40 is a sensor that detects temperature (for example, an infrared camera). If the event emits gas, the detection unit 40 is a sensor that detects the concentration of the gas.

[0028] The drive unit 50 can be any device capable of moving the mobile body 1a. For example, if the mobile body 1a is an unmanned aerial vehicle called a drone, a drive unit 50 that moves the mobile body 1a in the air can be applied. Note that the mobile body 1a is not limited to moving in the air, but may move in any way in any location such as underwater or on land.

[0029] Furthermore, the control unit 10 includes a communication control unit 101, a control method determination unit 102, a diffusion control unit 103, a search control unit 104, a movement control unit 105, and a position calculation unit 106.

[0030] The communication control unit 101 acquires information transmitted by other mobile bodies 1A that are received by the communication unit 30. This information includes, for example, the location information and detection results of the other mobile body 1A. Here, the detection results include whether or not the other mobile body 1A detected physical information and / or the intensity of said physical information. The communication control unit 101 also acquires the location information of mobile body 1a calculated by the location calculation unit 106 and the detection results of the detection unit 40. The communication control unit 101 transmits this location information and detection results to the other mobile body 1A via the communication unit 30.

[0031] The control method determination unit 102 determines the control method for the mobile body 1a. Specifically, the control method determination unit 102 determines a control method that disperses mobile bodies 1a that are in a dead zone at the start of event searching. Furthermore, when the detection unit 40 detects physical information, or when mobile body 1a receives a signal indicating that another mobile body 1A has detected physical information, the control method determination unit 102 determines a control method that forms a group with the other mobile bodies 1A to search for events. Also, when mobile body 1a reaches the location of an event, the control method determination unit 102 determines a control method that captures the event.

[0032] When the control method determination unit 102 determines a control method for diffusing the mobile body 1, the diffusion control unit 103 starts control related to the diffusion of the mobile body 1a. The diffusion control unit 103 determines a first helical trajectory T1 on which the mobile body 1a moves, which is different from the second helical trajectory T2 on which the other mobile body 1A, mobile body 1b (first mobile body), moves (see Figures 3 and 4). The diffusion control unit 103 diffuses the mobile body 1a along the first helical trajectory T1. That is, the diffusion control unit 103 generates a movement vector for the mobile body 1a such that the mobile body 1a moves along the first helical trajectory T1. When there is no need to particularly distinguish between the first helical trajectory T1 and the second helical trajectory T2, they are simply called helical trajectory T. Details about the helical trajectory T will be described later with reference to Figures 3 and 4.

[0033] Furthermore, the diffusion control unit 103 may determine the moving speed of the mobile body 1 according to the first helical trajectory T1 (see Figure 4). That is, the diffusion control unit 103 may make the moving speed of mobile body 1a different from the moving speed of mobile body 1b (which moves along a second helical trajectory T2 that is different from the first helical trajectory T1 on which mobile body 1 moves).

[0034] Furthermore, the diffusion control unit 103 may diffuse the moving bodies 1 such that the moving body 1a forms a group with other moving bodies 1A, namely moving bodies 1aa (second moving bodies), and moves along the first helical trajectory T1 (see Figure 5). In this case, the diffusion control unit 103 may set the width over which the multiple moving bodies moving along the first helical trajectory T1 are distributed, according to the number of moving bodies 1 moving along the first helical trajectory T1.

[0035] When the control method determination unit 102 determines a control method for searching for events, the search control unit 104 starts control related to the search of the mobile body 1a. The search control unit 104 controls the mobile body 1a to form a group with other mobile bodies 1A and search for events that emit detected physical information. Specifically, the search control unit 104 constitutes a mobile sensing cluster to which swarm intelligence is applied to the mobile body 1a and other mobile bodies 1A. For example, the wireless communication system described in the above-mentioned Patent Document 4 may be configured as the mobile sensing cluster. In this wireless communication system, each mobile body 1 communicates wirelessly with each other so that a group leader is dynamically determined from among the multiple mobile bodies 1 to act as the leader of the group. The mobile bodies 1 other than the group leader then behave as followers that follow the group leader, thereby forming a group of mobile bodies. The search control unit 104 determines whether the mobile body 1a should pursue a search as a group leader or as a follower, and generates a movement vector for the mobile body 1a based on this decision. The search control unit 104 may be formed integrally with the diffusion control unit 103.

[0036] The movement control unit 105 moves the moving body 1a by driving the drive unit 50 according to the movement vector generated by the diffusion control unit 103 or the search control unit 104.

[0037] The position calculation unit 106 calculates the position of the moving object 1a. For position calculation, a GPS (Ground Positioning System) or the like may be used.

[0038] (Comparative example) Figure 2 is a schematic diagram showing how the four moving bodies 1'a to 1'd in the comparative example diffuse. As shown in Figure 2, in the comparative example, the moving bodies 1'a to 1'd diffuse radially. That is, from the state shown by reference numeral 2001 in Figure 2 to the state shown by reference numeral 2002 in Figure 2, the moving bodies 1'a to 1'd each move linearly in all four directions from their initial positions within a predetermined range.

[0039] As shown by the symbol 2001 in Figure 2, the moving objects 1'a to 1'd are initially positioned within a predetermined range. Here, the moving objects 1'a to 1'd are in a dead zone, which is outside the detection area D where physical information emitted by an event can be detected. Therefore, the moving objects 1'a to 1'd cannot form a group (constitute a mobile sensing cluster with swarm intelligence applied). Thus, the moving objects 1'a to 1'd spread out radially so that at least one of them reaches the detection area D.

[0040] As shown by the symbol 2002 in Figure 2, mobile body 1'a enters the detection area D and detects the physical information emitted by the event EV. However, even if mobile body 1'a reaches the detection area D, it is not possible to accurately determine the direction and distance of the event EV relative to mobile body 1'a (in many cases, it is not possible to determine this accurately). Therefore, once mobile body 1'a detects the physical information, it will search the surrounding area. Here, if multiple mobile bodies cooperate to search for the event EV, the search time * number of mobile bodies can be reduced compared to searching with a single mobile body. In other words, by multiple mobile bodies cooperating to search for the event EV, the location of the event EV can be efficiently determined. However, since mobile bodies 1'b, 1'c, and 1'd are dispersed in different directions from mobile body 1'a, they are far away from mobile body 1'a and cannot communicate wirelessly with mobile body 1'a. That is, even if any of the mobile bodies reach the detection area D, mobile bodies 1'a to 1'd cannot form a group and cannot efficiently search for the event EV.

[0041] (Spiral method) Figure 3 is a schematic diagram showing how multiple mobile bodies 1a to 1d according to one embodiment of the present invention spread out. As shown in Figure 3, in one embodiment of the present invention, the mobile bodies 1a to 1d spread out in a spiral manner. That is, the mobile bodies 1a to 1d spread out from their initial positions within a predetermined range I along different spiral trajectories T1 to T4 (through a spiral stream). Such mobile bodies 1a to 1d are called spiral mobile bodies. By spreading out as described above, the mobile bodies 1a to 1d can efficiently and comprehensively search for dead zones. Note that Figure 3 shows the state in which the mobile bodies 1a to 1d have moved a short distance from their initial positions within the predetermined range I and have moved outside the predetermined range I.

[0042] The spiral trajectories T1-T4 can be shapes that approximate any spiral (such as the Archimedean spiral, parabolic spiral, hyperbolic spiral, Lithus spiral, and Fermat spiral), or combinations thereof. In the example shown in Figure 3, four moving bodies 1a-1d are diffusing, but the number of moving bodies is not limited to this. Also, in the example shown in Figure 3, the four moving bodies 1a-1d begin diffusing simultaneously, but the time at which each moving body 1a-1d begins diffusing may be different. This allows the moving bodies 1a-1d to diffuse while approaching each other.

[0043] Figure 4 is a schematic diagram showing how multiple moving bodies 1a and 1b according to one embodiment of the present invention disperse. The method by which moving bodies 1a and 1b form a group after one of them reaches the detection area D will be explained below with reference to Figure 4. In Figure 4, reference numerals 4002 to 4004 indicate the locations where moving bodies 1a and 1b were positioned at each unit time interval from the start of diffusion, as shown by their trajectories. Also, the spiral trajectories of the moving bodies 1a and 1b are not shown in Figure 4.

[0044] As shown by reference numeral 4001 in Figure 4, first, the moving objects 1a and 1b are positioned at initial locations within a predetermined range. Here, the moving objects 1a and 1b are in a dead zone outside the detection area D. Therefore, the moving objects 1a and 1b cannot form a group (constitute a mobile sensing cluster to which swarm intelligence is applied). Thus, in order for one of the moving objects to reach the detection area D, the moving objects 1a and 1b spread out spirally from their respective initial positions along different spiral trajectories (first spiral trajectory T1 and second spiral trajectory T2).

[0045] In Figure 4, reference numeral 4002 indicates a state where, after time has passed since the state shown by reference numeral 4001 in Figure 4, the moving bodies 1a and 1b have dispersed. At this point, the moving bodies 1a and 1b are still in the dead zone. Therefore, the moving bodies 1a and 1b continue to disperse spirally along different spiral trajectories.

[0046] In Figure 4, reference numeral 4003 indicates a state where more time has passed since the state shown by reference numeral 4002 in Figure 4, and the mobile bodies 1a and 1b have spread out further. Here, mobile body 1a has entered the detection area D and detects the physical information emitted by the event EV. On the other hand, mobile body 1b is located in a position almost symmetric to mobile body 1a with respect to its initial position, and is therefore far away from mobile body 1a, and cannot communicate wirelessly with mobile body 1a. In other words, in the state shown by reference numeral 4003 in Figure 4, mobile bodies 1a and 1b cannot form a group. At this point, mobile body 1a, which has detected the physical information emitted by the event EV, may search for the event EV individually based on the intensity of the physical information.

[0047] In Figure 4, reference numeral 4004 indicates a state where time has passed since the state shown by reference numeral 4003 in Figure 4, and the mobile body 1b has spread further. Here, the mobile body 1b can reach the detection area D where the mobile body 1a is located and detect physical information from the event, or it can approach the mobile body 1a and communicate wirelessly. In other words, the mobile bodies 1a and 1b can form a group.

[0048] In this way, the mobile bodies 1a and 1b, which are located in the dead zone, spread out in a spiral manner, so that at least one of them can reach the detection area D, and the other mobile bodies can reach the detection area D later, or approach the mobile body that has reached the detection area D and communicate wirelessly. Therefore, even when the mobile bodies 1a and 1b are located in the dead zone, they can form a group (constitute a mobile sensing cluster with swarm intelligence applied) and efficiently search for event EVs.

[0049] Furthermore, it is possible that after mobile body 1a reaches the inside of detection area D and detects the physical information emitted by event EV, mobile body 1b may also reach the inside of detection area D by spreading out in a spiral pattern and detect the physical information emitted by event EV. Even in this case, mobile bodies 1a and 1b can form a group because they can communicate wirelessly with each other.

[0050] Furthermore, after identifying the location of the event EV, multiple mobile units can cooperate to perform operations on the event EV that would be impossible for a single mobile unit to do.

[0051] Furthermore, the speed of movement of mobile body 1a may differ from the speed of movement of mobile body 1b (which moves along a second helical trajectory T2 that is different from the first helical trajectory T1 on which mobile body 1a moves). For example, mobile body 1a and mobile body 1b may move along the first helical trajectory T1 and the second helical trajectory T2, respectively, while maintaining a distance at which they can communicate. In this case, since the distance traveled by the mobile body moving on the outside is longer than the distance traveled by the mobile body moving on the inside, the speed of movement of the mobile body moving on the outside is defined to be faster than the speed of movement of the mobile body moving on the inside. As a result, immediately after mobile body 1a reaches the detection area D, mobile body 1a can form a group with mobile body 1b (the other mobile body). Similarly, when mobile body 1b reaches the detection area D, immediately afterward, mobile body 1a can form a group with mobile body 1b.

[0052] Figure 5 is a schematic diagram showing how multiple mobile bodies 1 form a group and disperse. As shown in Figure 5, mobile body 1a may form a group SW1 with another mobile body 1A, mobile body 1aa (second mobile body), and move along the first helical trajectory T1. Here, mobile body 1aa moves along the first helical trajectory T1, following mobile body 1a which is moving along the first helical trajectory T1. As a result, immediately after mobile body 1a reaches the detection area D, mobile body 1a forms a group with mobile body 1aa and can search for and capture event EV. Therefore, the search for and capture of event EV can be performed more efficiently. Similarly, in other helical trajectories (second helical trajectory T2), multiple mobile bodies (mobile bodies 1b, 1ba, 1bb) may form a group SW2.

[0053] Here, the width of the distribution of multiple moving bodies moving along the first spiral trajectory T1 (hereinafter referred to as the width of the first spiral trajectory T1) may be set according to the number of moving bodies 1 that form a group in the first spiral trajectory T1. Specifically, the width of the first spiral trajectory T1 is set wider the more moving bodies that form a group in the first spiral trajectory T1. In the example shown in Figure 5, the width of the first spiral trajectory T1, where two moving bodies 1a and 1aa move forming a group SW1, is set narrower than the width of the second spiral trajectory T2, where three moving bodies 1b, 1ba, and 1bb move forming a group SW2. This allows multiple moving bodies 1 to efficiently and comprehensively search for dead zones.

[0054] In this way, by making the trajectory of each mobile object a spiral trajectory, the maximum speed of the mobile objects can be increased, and a comprehensive search of a wide area can be performed.

[0055] (Example of operation) Figure 6 is a flowchart illustrating an example of the process performed by mobile object 1a while searching for an event. The following explanation will refer to Figure 6 to describe an example of how mobile object 1a, located in a dead zone, disperses and forms a group with other mobile objects 1A to search for events.

[0056] At the start of the process, the control method determination unit 102 determines a control method for diffusing the moving body 1a that is in the dead zone. At this time, the diffusion control unit 103 starts control related to the diffusion of the moving body 1a. First, the diffusion control unit 103 determines the first helical trajectory T1 on which the moving body 1a moves (S11). Here, the first helical trajectory T1 on which the moving body 1a moves is different from the second helical trajectory T2 on which the other moving body 1A, which is moving body 1b, moves. The diffusion control unit 103 may also determine the moving speed of the moving body 1a according to the first helical trajectory T1. The first helical trajectory T1 and the moving speed of the moving body 1a may be determined in advance by a higher-level system or user and stored in the storage unit 20. In this case, the diffusion control unit 103 obtains the first helical trajectory T1 from the storage unit 20.

[0057] Next, the control method determination unit 102 causes the detection unit 40 to attempt to detect the physical information emitted by the event (S12). The communication control unit 101 transmits the detection result of the physical information and its own (mobile body 1a's) position information to the other mobile body 1A (communication step S13). The communication control unit 101 also causes the communication unit 30 to attempt to receive the detection result of the physical information by the other mobile body 1A and the position information of the other mobile body 1A from the other mobile body 1A. Note that if the other mobile body 1A is not located within a range where it can communicate with mobile body 1a, the other mobile body 1A cannot communicate with mobile body 1a.

[0058] Next, the control method determination unit 102 determines whether the mobile body 1a itself has detected the physical information emitted by the event (S14). Here, the control method determination unit 102 determines that if the intensity of the physical information exceeds a predetermined threshold, the mobile body 1a has detected the physical information (i.e., the mobile body 1a has reached the detection area D) (YES in detection step S14). In this case, the control method determination unit 102 determines a control method in which the mobile body 1a forms a group with other mobile bodies 1A to search for events. At this time, the search control unit 104 starts controlling the mobile body 1a involved in the search (S18).

[0059] On the other hand, the control method determination unit 102 determines that if the intensity of the physical information does not exceed a predetermined threshold, the moving body 1a has not detected the physical information (i.e., the moving body 1a is still in a dead zone) (NO in detection step S14). The process then proceeds to S15.

[0060] Next, the communication control unit 101 determines whether the communication unit 30 has received information from the other mobile body 1A (the detection result of physical information by the other mobile body 1A and information on the location of the other mobile body 1A) (S15). If the communication unit 30 has received information from the other mobile body 1A (YES in S15), the process proceeds to S16. The search control unit 104 determines whether the other mobile body 1A has detected physical information based on the detection result of physical information by the other mobile body 1A (S16). If the other mobile body 1A has detected physical information (YES in S16), the control method determination unit 102 determines a control method for searching for events by forming a group with the other mobile body 1A.

[0061] If the communication unit 30 has not received information from the other mobile body 1A (NO in S15), or if the other mobile body 1A has not detected any physical information (NO in S16), the diffusion control unit 103 diffuses the mobile body 1a along the determined first spiral trajectory T1 (and based on the determined movement speed) (diffusion control step S17). The process then returns to S12.

[0062] If the mobile unit 1a itself detects physical information (YES in detection step S14), the search control unit 104 controls the mobile unit 1a to form a group with other mobile units 1A, with itself as the leader. The search control unit 104 cooperates with the other mobile units 1A to search for events that emit the detected physical information and captureThe mobile body 1a is controlled to do so (search control step S18). In this way, the mobile body 1a and the other mobile bodies 1A transition to a mobile sensing cluster that forms a group to search for events. If it is not possible to form a group, such as when the other mobile bodies 1A are not within communication range, the search control unit 104 controls the mobile body 1a to search for the event that emits the detected physical information on its own. Until the mobile body 1a reaches the location of the event, the communication control unit 101 notifies the other mobile bodies 1A that physical information has been detected. As a result, the mobile body 1a can perform the event search while forming a group with other mobile bodies 1A that have approached it, as shown in Figure 4.

[0063] If another mobile unit 1A has detected physical information (YES in S16), the search control unit 104 controls mobile unit 1a to form a group with the other mobile unit 1A as the leader and itself as the follower. The search control unit 104 then works in cooperation with the other mobile unit 1A to search for events that emit the detected physical information. capture The mobile body 1a is controlled to do so (search control step S18). For example, the search control unit 104 calculates the location of an event based on the location information and detection results of the mobile body 1a (and other mobile bodies 1A forming a group with mobile body 1a). The movement control unit 105 moves the mobile body 1a toward the calculated location of the event. In a mobile sensing cluster (group), multiple mobile bodies 1a, 1A move within a range where they can communicate with each other, and the leader comprehensively determines and instructs the destination of each mobile body 1a, 1A. As a result, the mobile sensing cluster efficiently identifies the location of an event and capture It is possible to do this.

[0064] Mobile 1a or other mobile 1A triggers an event capture After that, the control method determination unit 102 determines whether or not a predetermined search end time has been reached (S19). If the predetermined search end time has been reached (YES in S19), the control method determination unit 102 causes the mobile body 1a to terminate the search process.

[0065] If the predetermined search end time has not been reached (NO in S19), the process returns to S11. The diffusion control unit 103 determines the diffusion trajectory of the mobile body 1a again in order to search for other events. At this time, the diffusion control unit 103 may diffuse the mobile body 1a by continuing the previous first spiral trajectory T1. Alternatively, the diffusion control unit 103 may determine a new spiral trajectory with the position at the time the event was captured as the initial position, and diffuse the mobile body 1a along this spiral trajectory. In this way, the mobile body 1a continues searching in the dead zone.

[0066] As described above, the diffusion control unit 103 controls mobile body 1a to diffuse along a first helical trajectory T1 that is different from the second helical trajectory T2 on which mobile body 1b, which is another mobile body 1A, travels. This allows mobile body 1a to efficiently and comprehensively search the dead zone together with other mobile bodies 1A. Furthermore, if mobile body 1a detects physical information, other mobile bodies 1A will eventually approach mobile body 1a. Therefore, mobile body 1a can notify other mobile bodies 1A that it has detected physical information and form a group with other mobile bodies 1A (see Figure 4). Similarly, if another mobile body 1A detects physical information, mobile body 1a will eventually approach other mobile bodies 1A. Therefore, mobile body 1a can receive a signal that other mobile bodies 1A have detected physical information and form a group with other mobile bodies 1A. Thus, even when mobile bodies 1a and 1b are in a dead zone, they can form a group (constitute a mobile sensing cluster with swarm intelligence applied) and efficiently search for and capture events. Thus, according to the event search system 100, one of the mobile bodies 1a or 1b can quickly and reliably reach a zone where physical information emitted by an event is detected, and multiple mobile bodies 1a and 1b can quickly form a group in the detected zone.

[0067] (Simulation results) Two methods were used to simulate event searching for moving objects. One method is the spiral method shown in this embodiment, and the other is the Selfish method. In the Selfish method, attractive and repulsive forces are applied to the moving objects according to the distance between them. Furthermore, for some moving objects, the attractive coefficient is set to a small value (so that the repulsive force exceeds the attractive force) in order to exhibit selfish behavior. Such moving objects are called Selfish objects. In the Selfish method, multiple moving objects spread out radially as shown in Figure 2. Referring to Figures 7 and 8, the performance of event searching using the spiral method is described below. In Figures 7 and 8, the simulation results for the Selfish method and the spiral method are shown as a comparative example and an example, respectively. The conditions for this simulation are shown in Table 1 below.

[0068] [Table 1] Figure 7 is a graph showing the average number of captures for the number of Selfish mobile units R1 in the comparative example and the number of spiral mobile units A1 in the example. As shown in Figure 7, when the number of Selfish mobile units and spiral mobile units is 6 or more, the spiral method has a higher average number of captures compared to the Selfish method. In particular, the superiority of the spiral method over the Selfish method becomes more pronounced as the number of spiral mobile units is increased beyond 6.

[0069] Figure 8 is a graph showing the average dead zone search time for the number of Selfish mobile units R1 in the comparative example and the number of spiral mobile units A1 in the example. As shown in Figure 8, the spiral method has a shorter search time in dead zones compared to the Selfish method (especially when the number of Selfish mobile units and spiral mobile units is 6 or more, the average number of captures is higher).

[0070] This is because, in a spiral system, increasing the number of spiral moving objects allows for multi-streaming of the spiral trajectory, enabling efficient and comprehensive searching of dead zones. Furthermore, after a spiral moving object detects the physical information of an event, it can form a group with other spiral moving objects to efficiently search for and capture the event.

[0071] According to the above configuration, even when infrastructure is shut down during a disaster, the event search system 100, which includes multiple autonomously moving units, can be used to search for events. In other words, it can contribute to understanding the extent of damage during a disaster, searching for people in need of rescue, and rescue operations for those people. Such effects can contribute to achieving, for example, United Nations Sustainable Development Goal (SDG) 11, "Make cities and human settlements inclusive, safe, resilient and sustainable."

[0072] [Embodiment 2] Other embodiments of the present invention are described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0073] Figure 9 is a block diagram showing an example of the main components of an event search system 200 according to another embodiment of the present invention. As shown in Figure 9, the event search system 200 comprises a first mobile body 201a (mobile body), a second mobile body 201b (another mobile body), and a server 202 that controls the first mobile body 201a and the second mobile body 201b. In this embodiment, for simplicity, the number of mobile bodies is set to 2, but the number of mobile bodies may be 3 or more. Also, when it is not necessary to distinguish between the first mobile body 201a and the second mobile body 201b, they are simply referred to as mobile body 201. Embodiment 2 differs from Embodiment 1 in that a control method determination unit 102, a diffusion control unit 103, and a search control unit 104 are provided on the server 202.

[0074] The first mobile unit 201a comprises a first control unit 10a, a first storage unit 20a, a first communication unit 30a, a first detection unit 40a, and a first drive unit 50a. The first control unit 10a comprises a first communication control unit 101a, a first movement control unit 105a, and a first position calculation unit 106a.

[0075] The first communication unit 30a communicates with the server communication unit 220 of the server 202. The first communication unit 30a may also communicate with the second communication unit 30b of the second mobile unit 201b.

[0076] The first communication control unit 101a acquires information transmitted by the server 202, which is received by the first communication unit 30a. The information transmitted by the server 202 is, for example, the movement vector of the first mobile object 201a. The first communication control unit 101a also acquires the position information and detection results of the first mobile object 201a calculated by the first position calculation unit 106a. The first communication control unit 101a transmits the position information and detection results to the server 202 via the first communication unit 30a.

[0077] The first movement control unit 105a moves the first moving body 201a by driving the first drive unit 50a according to the movement vector acquired by the first communication control unit 101a.

[0078] The remaining components of the first mobile body 201a have the same functions as the corresponding components of the mobile body 1a in Embodiment 1. The second mobile body 201b also has the same configuration as the first mobile body 201a.

[0079] Server 202 comprises a server control unit 210 and a server communication unit 220. Server control unit 210 comprises a server communication control unit 211, a control method determination unit 102, a diffusion control unit 103, and a search control unit 104.

[0080] The server communication unit 220 communicates with the first communication unit 30a of the first mobile unit 201a and the second communication unit 30b of the second mobile unit 201b.

[0081] The server communication control unit 211 acquires information transmitted by the mobile bodies 201 received by the server communication unit 220. This information includes, for example, the location information and detection results of each mobile body 201. The server communication control unit 211 also acquires the movement vectors of each mobile body calculated by the diffusion control unit 103 and the search control unit 104. The movement vector of each mobile body calculated by the diffusion control unit 103 is information indicating the spiral trajectory in which the mobile body spreads. The movement vector of each mobile body calculated by the search control unit 104 is a movement instruction that causes the mobile body to form a group with other mobile bodies and search for events. The server communication control unit 211 transmits the movement vectors of each mobile body to the corresponding mobile body 201 via the server communication unit 220.

[0082] The control method determination unit 102, the diffusion control unit 103, and the search control unit 104 perform the processing shown in Embodiment 1 for each mobile body.

[0083] Figure 10 is a flowchart showing an example of the processes that server 202 performs while searching for events.

[0084] At the start of the process, the control method determination unit 102 determines a control method for dispersing the mobile bodies 201 that are in the dead zone. At this time, the diffusion control unit 103 starts control related to the diffusion of the mobile bodies 201. First, the diffusion control unit 103 determines the spiral trajectory on which each mobile body 201 will move (S31). Here, the first spiral trajectory T1 on which the first mobile body 201a moves is different from the second spiral trajectory T2 on which the second mobile body 201b moves. Next, the server communication control unit 211 transmits a movement vector based on the determined spiral trajectory to each mobile body 201 via the server communication unit 220. This causes the mobile bodies 201 to diffuse along the spiral trajectory (S32).

[0085] The server communication control unit 211 receives detection results of location information and physical information of each mobile body 201 from the server communication unit 220 (S33).

[0086] Next, the control method determination unit 102 determines whether the mobile body 201 has detected the physical information emitted by the event (S34). For example, if the intensity of the physical information received from the first mobile body 201a exceeds a predetermined threshold, the control method determination unit 102 determines that the first mobile body 201a has detected the physical information (YES in S34). In this case, the control method determination unit 102 determines a control method in which the mobile bodies 201 cooperate to search for the event. At this time, the search control unit 104 starts controlling the mobile body 201 involved in the search (S35).

[0087] On the other hand, the control method determination unit 102 determines that the mobile body 201 has not detected any physical information if the intensity of the physical information received from any of the mobile bodies 201 does not exceed a predetermined threshold (NO in S34). Then, the process returns to S32.

[0088] If the system determines that any of the moving objects has detected physical information (YES in S34), the search control unit 104 moves the detecting moving object that detected the event and the adjacent moving object that is adjacent to the detecting moving object (the one in the closest position) to the moving sensing cluster (S35). Specifically, based on the position information of the first moving object 201a that detected the event, the adjacent second moving object 201b is directed toward the position of the first moving object 201a, forming a group. Note that three or more moving objects 201 may be moved to the moving sensing cluster. This allows the event to be searched for by multiple moving objects 201. For example, the server communication control unit 211 receives the position information and detection results of the moving objects 201. The search control unit 104 identifies the location of the event based on the position information and detection results of the moving objects 201.

[0089] Mobile unit 201 will hold an event capture After that, the control method determination unit 102 determines whether or not a predetermined search end time has been reached (S36). If the predetermined search end time has been reached (YES in S36), the control method determination unit 102 causes the mobile body 201 to terminate the search process.

[0090] If the predetermined search end time has not been reached (NO in S36), the process returns to S31. The diffusion control unit 103 determines the diffusion trajectory of each mobile object 201 again in order to search for other events.

[0091] As described above, by having server 202 control mobile object 201, the second mobile object 201b can be directed towards the location of the first mobile object 201a immediately after the first mobile object 201a detects physical information. Therefore, the time required to search for events can be further reduced.

[0092] Alternatively, even after the first mobile object 201a detects an event, the server 202 may cause the second mobile object 201b to spirally disperse without directing it toward the position of the first mobile object 201a. Then, when the second mobile object 201b approaches the first mobile object 201a, the server 202 may communicate to the server 202 that the second mobile object 201b has detected the first mobile object 201a. After that, the first mobile object 201a and the second mobile object 201b may form a group and search for events.

[0093] Alternatively, when the second mobile object 201b approaches an event, it may communicate to the server 202 that it has detected an event. Subsequently, the first mobile object 201a and the second mobile object 201b may form a group to search for the event.

[0094] As described above, according to one aspect of the present invention, events can be efficiently searched for. In order to capture and retrieve a large number of events of unknown number and location within a finite time, it is necessary for moving objects to be sufficiently dispersed spatially and to quickly move to a mobile sensing cluster (form a group, gather) when they reach the range of physical information. In other words, it is important not only to disperse the moving objects, but also for multiple moving objects to form a group and cooperate. According to one aspect of the present invention, this objective can be achieved.

[0095] [Examples of implementation using software] The function of the mobile unit 1a (hereinafter referred to as "device") is a program that causes the device to function as a computer, and can be realized by a program that causes each control block of the device (particularly each part included in the control unit 10) to function as a computer.

[0096] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this control device and storage device, the functions described in each of the embodiments are realized.

[0097] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0098] Furthermore, some or all of the functions of each of the above control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the above control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the above control blocks by, for example, a quantum computer.

[0099] Furthermore, each process described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device described above, or it may operate on other devices (for example, an edge computer or a cloud server).

[0100] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]

[0101] 1a Mobile unit 1b Mobile object (first mobile object) 1aa Mobile Unit (Second Mobile Unit) 1A Other moving objects 10 Control Unit 30 Communications Department 40 Detection unit 100, 200 Event Search System 103 Diffusion Control Unit 104 Search Control Unit 202 Server 220 Server Communication Unit

Claims

1. A mobile body that searches for the event together with other mobile bodies in order to detect the physical information emitted by the event, A diffusion control unit controls the moving body to move along a first spiral trajectory, A detection unit that detects the aforementioned physical information, A communication unit that communicates with the aforementioned other mobile body, The system includes a search control unit that controls the mobile body to search for the event when the mobile body detects the physical information, or when another mobile body detects the physical information, so that the mobile body forms a group with the other mobile body and searches for the event. Unlike the second helical trajectory on which the other moving body, the first moving body, travels, the first helical trajectory is different from the second helical trajectory on which the other moving body, the first moving body, travels. The first helical trajectory is set such that the second helical trajectory exists within a range from any point on the first helical trajectory to a range less than or equal to the communication distance of the communication unit.

2. A mobile body that searches for the event together with other mobile bodies in order to detect the physical information emitted by the event, A detection unit that detects the aforementioned physical information, A communication unit that communicates with the server, Equipped with, The aforementioned communications unit is The information of the first spiral trajectory in which the moving object moves is received from the server. When the aforementioned mobile body detects the physical information, or when another mobile body detects the physical information, the mobile body receives an instruction from the server to form a group with the other mobile body and search for the event. The first helical trajectory is different from the second helical trajectory on which the other moving body, the first moving body, travels.

3. The mobile body according to claim 1 or 2, wherein the speed of the mobile body is different from the speed of the first mobile body.

4. The mobile body according to claim 1, wherein the diffusion control unit controls the mobile body to move along the first helical trajectory in a group with the second mobile body, which is the other mobile body.

5. The mobile body according to claim 4, wherein the diffusion control unit sets the width over which the plurality of mobile bodies moving along the first helical trajectory are distributed, according to the number of mobile bodies moving along the first helical trajectory.

6. An event search system comprising a plurality of moving bodies according to claim 1 or 2, wherein each of the plurality of moving bodies disperses along one of a plurality of different spiral trajectories to search for the event.

7. A method for controlling a mobile body to search for an event together with other mobile bodies in order to detect physical information emitted by the event, A diffusion control step that controls the moving body to diffuse along a first helical trajectory, A detection step for detecting the aforementioned physical information, A communication step of communicating with the other mobile body, The search control step includes controlling the mobile body to search for the event when the mobile body detects the physical information, or when another mobile body detects the physical information, so that the mobile body forms a group with the other mobile body and searches for the event. Unlike the second helical trajectory on which the other moving body, the first moving body, travels, the first helical trajectory is different from the second helical trajectory on which the other moving body, the first moving body, travels. A method for controlling a moving object, wherein the first helical trajectory is set such that the second helical trajectory exists within a range of less than or equal to the communication distance in the communication step from any point on the first helical trajectory.

8. A method for controlling a mobile body to search for an event together with other mobile bodies in order to detect physical information emitted by the event, A first communication step in which the moving body receives information of the first spiral trajectory from the server, A detection step for detecting the aforementioned physical information, The process includes a second communication step in which, when the mobile body detects the physical information, or when another mobile body detects the physical information, the mobile body receives an instruction from the server to form a group with the other mobile body and search for the event, A method for controlling a moving body, wherein the first helical trajectory is different from the second helical trajectory on which the other moving body, the first moving body, moves.

9. A control program for operating the mobile body described in claim 1, wherein a computer functions as the diffusion control unit and the search control unit.

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