Mobile system and patrol management method

Abstract

A moving body system (10) comprises: one or a plurality of moving bodies (100); and an information processing unit (102) that manages a map composed of links and the patrol of each moving body (100) and sets a target link for each moving body (100) and a route for each moving body (100) to the target link. The information processing unit (102) has: a location information inquiry function (105) for determining whether each moving body (100) has reached the target link thereof; a target link setting function (106) for setting a target link for a moving body that has reached the current target link thereof or a moving body that does not have a target link; and a route generation function (107) for setting a route to a set target link on the basis of a passage schedule, elapsed patrol time, patrol history, patrol count, and link distance. The information processing unit (102) repeats the operation of setting a route for each moving body (100) and the operation of setting, after each moving body (100) has traveled a set first target link, a second target link different from the first target link for the moving body (100).

Description

Technical Field

[0001] The present disclosure relates to a mobile system and a patrol management method for the patrol of mobile bodies.

Background Art

[0002] In the patrol of multiple mobile bodies, methods of dividing areas by clustering and methods of making a traffic plan so that the routes of each mobile body do not overlap are known. However, when multiple mobile bodies continuously patrol in an environment including uncertain elements, an operation plan that can cope even when considering delays, stops, increases and decreases of mobile bodies and when there are more important patrol areas is required. Therefore, a method of updating map information as a mobile body passes to flexibly determine the route of the mobile body has been proposed. Patent Document 1 discloses a technique for avoiding route duplication by calculating and recording the scheduled passing time of nodes and determining the operations of multiple mobile bodies.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present disclosure has been made in view of the above, and an object thereof is to obtain a mobile system capable of continuing the patrol of a mobile body without degrading the quality of the patrol even when a part or all of interrupt tasks, delays, and increases and decreases in the number of aircraft occur during continuous patrol. [Means for solving the problem]

[0006] To solve the aforementioned problems and achieve the objectives, the mobile system relating to this disclosure comprises one or more mobile bodies that can connect to a communication network, and a link. Each Path of the moving object and target links It has an information processing unit that sets up the following information associated with the link: Information regarding patrols conducted by each mobile unit. , and information on the link distance Includes link information Based on the link information management function and the location information of each mobile device transmitted and received via the communication network, Link information regarding patrols conducted by each mobile entity A link information update function updates the information, a location information inquiry function identifies the link where each mobile object is located based on location information and determines whether each mobile object has reached the target link, and provides information on travel schedules and patrols for mobile objects that have reached the target link or do not have a target link. Information A goal link setting function that sets goal links based on this. , nk information Based on this, it has a route generation function that sets a route to the set target link, and repeatedly performs the operation of setting a route for each mobile object via the communication network, and the operation of setting a second target link different from the first target link after moving to the set first target link. [Effects of the Invention]

[0007] The mobile system described herein has the effect of enabling the mobile unit to continue patrolling without compromising the quality of patrolling, even if some or all of the interrupt tasks, delays, stoppages, and changes in the number of units occur during continuous patrolling. [Brief explanation of the drawing]

[0008] [Figure 1] Diagram showing the configuration of the mobile system according to the embodiment. [Figure 2] A diagram showing a map composed of links, three mobile units, and the respective paths of each of the three mobile units. [Figure 3] Explanatory diagram of a link [Figure 4] Explanatory diagram of a link [Figure 5] Explanatory diagram of a link [Figure 6] Diagram showing an example of information given to a link [Figure 7] Diagram showing the state of a link after a mobile body has moved from one link to another [Figure 8] Flowchart showing the procedure of the circuit management method implemented by the information processing unit of the mobile body system according to the embodiment for one mobile body [Figure 9] Flowchart showing the procedure of the operation performed when the information processing unit of the mobile body system according to the embodiment sets a target link for one mobile body [Figure 10] Flowchart showing the procedure of the operation performed when the information processing unit of the mobile body system according to the embodiment sets a route to the target link [Figure 11] Diagram showing the magnitude relationship of link evaluation values for link information [Figure 12] Diagram showing an example of the relationship between a link evaluation value and link information [Figure 13] Diagram showing an example of the relationship between a link evaluation value and link information [Figure 14] Diagram showing an example of the relationship between a link evaluation value and link information [Figure 15] Diagram showing a processor when at least some functions of the information processing unit of the mobile body system according to the embodiment are realized by a processor [Figure 16] Diagram showing a processing circuit when at least some functions of the information processing unit of the mobile body system according to the embodiment are realized by a processing circuit

Mode for Carrying Out the Invention

[0009] Hereinafter, the mobile body system and the circuit management method according to the embodiment will be described in detail based on the drawings.

[0010] Embodiment Figure 1 is a diagram showing the configuration of a mobile system 10 according to an embodiment. The mobile system 10 has one or more mobile units 100 that can be connected to a network unit 101, and an information processing unit 102. In Figure 1, only one mobile unit 100 is shown. The network unit 101 is also shown in Figure 1. The network unit 101 communicates the location information of one or more mobile units 100. The information processing unit 102 manages a map composed of links and the patrol of each mobile unit 100, and sets the target link for each mobile unit 100 and the route for each mobile unit 100 to the target link. The patrol management method according to the embodiment is a method in which the information processing unit 102 manages the patrol of one or more mobile units 100 in an area where one or more mobile units 100 patrol. Each of the one or more mobile units 100 communicates wirelessly with the information processing unit 102 via the network unit 101. The communication may be Wi-Fi®, Bluetooth®, 5G or 6G, LPWA (Low Power Wide Area) technology, or satellite communication.

[0011] The information processing unit 102 has a link information management function 103 that manages information on the planned passage, tour elapsed time, tour history, number of tours, and link distance indicating whether each mobile unit 100 is included in the route, and a link information update function 104 that updates the information on the tour elapsed time, tour history, and number of tours based on the position information of each mobile unit 100 transmitted and received via the network unit 101. The information processing unit 102 has a position information query function 105 that identifies the link where each mobile unit 100 is located based on the position information and determines whether each mobile unit 100 has reached the target link, and a target link setting function 106 that sets a target link based on the planned passage and tour elapsed time for the mobile unit that has reached the target link or the mobile unit that does not have a target link. The information processing unit 102 further has a route generation function 107 that sets a route to the set target link based on the planned passage, tour elapsed time, tour history, number of tours, and link distance. The information processing unit 102 repeats, via the network unit 101, the operation of setting a route for each mobile unit 100 and the operation of setting a second target link different from the first target link after moving to the set first target link.

[0012] The functions and operations of the information processing unit 102 will be further described below. The information processing unit 102 receives the position information of each of one or more mobile units 100 via the network unit 101. The information processing unit 102 may receive information other than the position information. The information processing unit 102 makes a tour plan based on the position information of each of one or more mobile units 100. When the information processing unit 102 causes each of one or more mobile units 100 to execute the tour plan, for example, it transmits target coordinates to each of one or more mobile units 100. When the information processing unit 102 causes each of one or more mobile units 100 to execute the tour plan, it may generate a route for moving through links using a route generation algorithm based on the tour plan. For example, the route generation algorithm is A *The search algorithm may be based on Dijkstra's algorithm, RRT (Rapidly Exploring Random Tree), or the potential algorithm. The information processing unit 102 may have a control unit, and the control unit may directly transmit control commands to each of the one or more mobile units 100 to execute the patrol plan. The information processing unit 102 has a map of the area that each of the one or more mobile units 100 patrols, information on the target links of all mobile units 100 and the paths to the target links, and location information of all mobile units 100 which is updated by the location information of each mobile unit 100 received from the network unit 101.

[0013] The information processing unit 102 has a map composed of links, as shown in Figure 2 as an example. The map contains each mobile body 100 reflecting the location information received from the network unit 101, and a path including the target link for each mobile body 100. Figure 2 is a diagram showing the map composed of links, three mobile bodies 100, and the respective paths of the three mobile bodies 100. In Figure 2, the three mobile bodies 100 are represented as "Mobile Body A," "Mobile Body B," and "Mobile Body C." A link is a section connecting two reference locations, as shown in Figure 3. Figure 3 is an explanatory diagram of a link. Reference locations are sometimes called nodes. The shape of the section can be a straight line, as shown in Figure 3, or a curve, as shown in Figure 4. Figure 4 is an explanatory diagram of a link. The shape of the section is not limited. Also, as long as there is space through which the mobile bodies 100 can pass, the links are not constrained by the shape of the map. For example, multiple links may be provided within a room surrounded by walls, as shown in Figure 5. Figure 5 is an explanatory diagram of a link. When the mobile body 100 reaches either of the two reference positions that are in contact with the link, it moves with the reference position it reached as its starting point and the other reference position as its ending point.

[0014] The link information management function 103 manages information on planned travel, weighted patrol elapsed time, patrol history, and link distance for all links on the map shown in Figure 2. For example, the weighted patrol count is derived from the patrol history. Figure 6 shows an example of information assigned to a link. Figure 7 shows the state of the links after mobile body A has moved from link 1 to link 3. In Figures 6 and 7, mobile body 100 is represented as "mobile body A". In Figures 6 and 7, the direction of travel of mobile body A is represented by an arrow. In Figure 6, there are planned travels for links 1 and 3. The planned travel is the number of mobile bodies that include the link in their route and is updated when a route is generated. When a mobile body reaches or leaves a link, the number of planned travels decreases. Links that are not included in the route of any mobile body have a planned travel of 0.

[0015] The weighted patrol elapsed times for links 2 and 3 in Figure 6 are examples. The weighted patrol elapsed times are updated by the link information update function 104 and the location information inquiry function 105. The weighted patrol elapsed time assigned to a link is 0 while mobile body A is present on the link. Therefore, the weighted patrol elapsed time for link 1 is 0 while mobile body A is present on link 1. On the other hand, the weighted patrol elapsed times for links 2 and 3, where mobile body A is not present, increase over time. However, each link can be assigned an arbitrary weight, and by increasing the weight for links located in important areas and spaces, the increase in weighted patrol elapsed time becomes faster, and as a result, the patrol frequency of the mobile body on the target link is improved. Conversely, by decreasing the weight for less important links, patrols are performed minimally while other links are prioritized. In Figure 7, since mobile body A has finished patrolling link 1, the increase in weighted patrol elapsed time for link 1 has begun, while for link 3, since mobile body A is present, the weighted patrol elapsed time is 0.

[0016] The patrol history of links 1 to 3 in Figure 6 is an example. The patrol history contains information about mobile objects that have passed through the links in the past, along with the time. The patrol history is updated with an identifier assigned to the mobile object 100 that patrolled the target link, and the time when the mobile object 100 patrolled the target link. An example of an identifier is a code or number. The identifier may be added when the mobile object 100 passes the starting point of the target link, or when the information processing unit 102 detects the link where the mobile object 100 is located when it acquires the location information of the mobile object 100. In the example in Figure 6, the time of patrol and the code of the patrolling mobile object 100 have been added. In Figure 6, since mobile object A is present in link 1, the patrol history for link 1 includes the time when mobile object A patrolled link 1 and A. In Figure 7, since mobile object A has moved to link 3, the patrol history for link 3 includes the time when mobile object A patrolled link 3 and A.

[0017] The weighted patrol count in Figure 6 is derived from the patrol history. The weighted patrol count is assigned a weight that is inversely correlated with the weight assigned to the weighted patrol elapsed time. The reason for the inverse correlation is as follows: When generating a route, the information processing unit 102 evaluates links with smaller weighted patrol counts to be included in the route preferentially. Therefore, if there are links that the mobile unit 100 should focus on patrolling, the weighted patrol elapsed time needs to increase at a faster rate, and the weighted patrol count needs to be treated as smaller. To satisfy this, the weight of the weighted patrol elapsed time and the weight of the weighted patrol count are inversely correlated. In Figure 7, for link 3, the patrol history is increasing, so the weighted patrol elapsed time also increases by one.

[0018] The link distance from link 1 to link 3 in Figure 6 is an example. The link distance can be the actual distance or an arbitrarily assigned value.

[0019] The information processing unit 102 uses the link information of these maps to set a target link using the target link setting function 106 and generates a route to the target link using the route generation function 107. Even if a link that is scheduled to be used is set as the target link, the information processing unit 102 prioritizes selecting a link with fewer scheduled vehicles. The information processing unit 102 performs this for all mobile units 100.

[0020] Figure 8 is a flowchart illustrating the procedure for a patrol management method performed by the information processing unit 102 of the mobile system 10 according to the embodiment for a single mobile body 100. First, the information processing unit 102 obtains the location information of the mobile body 100 from the network unit 101 (S1) and updates the location information of all mobile bodies 100 managed by the information processing unit 102. Next, the information processing unit 102 determines whether there are mobile bodies 100 that have reached a target link or mobile bodies 100 for which no target link has been set (S2). If the information processing unit 102 determines that there are mobile bodies 100 that have reached a target link or mobile bodies 100 for which no target link has been set (Yes in S2), it selects the next target link for the mobile body 100 that has reached a target link or mobile body 100 for which no target link has been set (S3). Next, the information processing unit 102 generates a path to the selected target link (S4). If the information processing unit 102 determines that there are no mobile units 100 that have reached the target link, or mobile units 100 for which a target link has not been set (No in S2), it instructs the mobile units 100 to continue moving (S5). After performing the operation in step S4 or step S5, the information processing unit 102 determines whether or not to have the mobile units 100 terminate their patrol (S6). If the information processing unit 102 determines that the mobile units 100 should continue their patrol (No in S6), it repeats the operation in step S1. If the information processing unit 102 repeats the operation in step S1, the operations from step S1 to step S6 are repeated. If the information processing unit 102 determines that the mobile units 100 should terminate their patrol (Yes in S6), it terminates its operation.

[0021] The target link setting function 106 is a function that sets the target link for a mobile body 100 based on the link information. Figure 9 is a flowchart showing the procedure of operations performed by the information processing unit 102 of the mobile body system 10 according to the embodiment when setting a target link for one mobile body 100. First, the information processing unit 102 determines whether or not there is a link whose patrol elapsed time is greater than a threshold (S11). The threshold is set to detect when a mobile body 100 that is scheduled to travel has not been able to reach the target link for some reason, and it allows a link to be set as a target link even if it is on the target link or path of another mobile body 100. The threshold may be the time it takes for one mobile body 100 to complete one patrol of a route generated by the Traveling Salesman Problem, etc., without stopping or delaying any of the links, or it may be the largest time among the shortest distances of two of the links, or it may be the average patrol time for one link of all mobile bodies 100, which is determined based on the patrol execution time and the number of patrols, or it may be a value corresponding to the magnitude of the weight of the weighted patrol elapsed time. The threshold for each link may differ from the threshold for other links. The threshold may be varied depending on the number of mobile units 100 patrolling the floor, or it may be varied in response to the time when environmental changes are predicted.

[0022] If the information processing unit 102 determines that there is a link with a patrol elapsed time greater than the threshold (Yes in S11), it determines whether the number of mobile units 100 that have that link as a target link is set to be less than or equal to the restricted number (S12). The restricted number is a value that prevents all mobile units 100 from setting the same link as a target link when multiple mobile units 100 are patrolling. This suppresses uneven patrols of mobile units 100 across the entire map. If the restricted number is set to 0, the function of selecting a link with a weighted patrol elapsed time greater than the threshold as a target link is stopped, and if the restricted number is set to a number greater than the number of mobile units 100 present in the map, it is possible for all mobile units 100 to target the same link. The restricted number may be changed in accordance with the magnitude of the weighted patrol elapsed time, or different restricted numbers may be set for each link in accordance with the environment and size of the location where the link exists.

[0023] If the information processing unit 102 determines that there is a link with a patrol elapsed time greater than the threshold and that the number of mobile units 100 is less than or equal to the regulated number, it sets the link with the longest patrol elapsed time among the target links as the target link (S13).

[0024] If the information processing unit 102 determines that there are no links with a patrol elapsed time greater than the threshold (No in S11), or if it determines that there are more mobile units 100 than the number of regulated units set as target links (No in S12), it determines whether there are any links that are not scheduled to be traversed (S14). If a link that is scheduled to be traversed is set as a target link, the route generated by the route generation function 107 may not be the shortest distance. Therefore, if other mobile units 100 patrol before the mobile unit 100 reaches the target link, the weighted patrol elapsed time will be smaller when the mobile unit 100 arrives, potentially reducing patrol efficiency. By avoiding setting a link that is scheduled to be traversed as a target link, the reduction in patrol efficiency can be suppressed.

[0025] If the information processing unit 102 determines that there are links that are not scheduled to be traveled (Yes in S14), it sets the link with the longest patrol time among the target links as the target link (S15). If the information processing unit 102 determines that there are no links that are not scheduled to be traveled (No in S14), it sets the link with the longest patrol time among the links that satisfy the conditions of "below the threshold and with fewer scheduled travels" as the target link (S16).

[0026] As described above, the information processing unit 102 uses the target link setting function 106 to set a new target link for a mobile body 100 that has reached a target link, or for a mobile body 100 that does not have a target link.

[0027] The path generation function 107 is a function that generates a path to the target link. Figure 10 is a flowchart showing the procedure of operations performed by the information processing unit 102 of the mobile system 10 according to the embodiment when setting a path to the target link. First, the information processing unit 102 generates the shortest path from the link where the mobile body 100 is located to the target link (S21). The search method for generating the shortest path may be Dijkstra's algorithm, Bellman-Ford algorithm, A algorithm, or any other shortest path search algorithm.

[0028] Next, the information processing unit 102 determines the maximum path distance from the magnitude of the patrol time for the target link and the length of the shortest path (S22). The information processing unit 102 uses the path generation function 107 to obtain a path evaluation value from the link information and generate a path. Therefore, if an excessive detour is selected, the arrival of the mobile body 100 at the target link will be delayed, and there is a possibility that some links will have a weighted patrol time that exceeds the threshold. To prevent this from becoming a normal occurrence, measures such as increasing the threshold are expected to be taken, but in that case, it will become impossible to distinguish between links for which measures such as increasing the threshold have been taken and links where the arrival of the mobile body 100 is truly delayed due to environmental influences, resulting in a reduction in patrol efficiency. Therefore, the information processing unit 102 determines the maximum path distance such that the greater the weighted patrol time for the target link, the closer it approaches the shortest path, and sets the maximum path distance as the limit distance of the generated path, thereby preventing excessive detours. Examples of methods for determining the maximum path distance include multiplying the shortest distance by a value of 1 or greater that decreases in proportion to the weighted patrol elapsed time, or adding a value of 0 or greater; multiplying the shortest distance by a value of 1 or greater that is inversely proportional to the weighted patrol elapsed time, or adding a value of 0 or greater; or multiplying the shortest distance by a value of 1 or greater that decreases exponentially as the weighted patrol elapsed time increases, or adding a value of 0 or greater.

[0029] Next, the information processing unit 102 extracts paths that are less than or equal to the maximum path distance (S23). One possible search method is to use a graph search algorithm. For example, the information processing unit 102 may use depth-first search, breadth-first search, best-first search, or a machine learning method.

[0030] Next, the information processing unit 102 derives the link evaluation value for each extracted path (S24).

[0031] Next, the information processing unit 102 sets the route that maximizes the link evaluation value (S25). Figure 11 is a diagram showing the relationship between the link evaluation value and the link information. Regarding the relationship between the link evaluation value and the planned travel, the less planned travel there is, the smaller the link evaluation value becomes, and the more planned travel there is, the larger the link evaluation value becomes. Regarding the relationship between the link evaluation value and the weighted patrol elapsed time, the shorter the weighted patrol elapsed time, the smaller the link evaluation value becomes, and the longer the weighted patrol elapsed time, the larger the link evaluation value becomes. Regarding the relationship between the link evaluation value and the patrol history, the more recent the mobile unit 100 has patrolled the link, the smaller the link evaluation value becomes, and the more past the mobile unit 100 has patrolled the link, the larger the link evaluation value becomes. In addition, an arbitrary upper limit is set for the number of times the history can be referenced. If there are multiple histories, the most recent history is reflected in the link evaluation value. If no patrol history is recorded, the arbitrary upper limit is reflected in the link distance. Regarding the relationship between the link evaluation value and the weighted number of visits, the link evaluation value decreases when the difference between the average weighted number of visits for all links and the weighted number of visits for a link is large, and increases when the difference is small. The relationship between the link evaluation value and link information is defined to maintain these relationships. When expressing the relationship between the link evaluation value and link information as a function, a proportional function, inverse proportional function, logarithmic function, polynomial function, or nonlinear function may be used, or any arbitrary relation may be used. Regarding the relationship between link information and the link evaluation value, step S25 in Figure 10, "Set the path that maximizes the link evaluation value," may be changed to "Set the path that minimizes the link evaluation value."

[0032] Figures 12, 13, and 14 show examples of the relationship between link evaluation values ​​and link information. In Figure 12, the relationship between weighted patrol elapsed time and link evaluation value is proportional. In Figure 13, with an arbitrary upper limit of 3 patrols in the patrol history, the relationship between the user and the link evaluation value is exponential. By making the relationship between the user and the link evaluation value exponential, the structure is such that the most recently traversed path hardly increases the link evaluation value. Also, for links with a history of 3 or more patrols in the past, or links with no patrol count, the link evaluation value will be the same if the weighted patrol elapsed time and weighted patrol count are the same. In Figure 13, the upper limit is set to 3 as an example, but the upper limit may be varied depending on the number of mobile units 100 patrolling, the environment, and the time. In Figure 14, the relationship between the difference between the average weighted patrol count of all links and the weighted patrol count of the links in the path and the link evaluation value is a three-dimensional function relationship. In Figure 14, the three-dimensional functional relationship allows for some error in the number of visits, while significantly changing the link evaluation value from around 5 visits. In other words, the information processing unit 102 may generate the link evaluation value using one of the following rules: the first rule that the relationship between the weighted visit elapsed time and the link evaluation value is proportional; the second rule that the relationship between the visit history of one or more mobile bodies 100 associated with the generation of the link evaluation value and the link evaluation value is exponential, and that the link evaluation value does not change even if the visit history increases once the predetermined number of visits is reached; and the third rule that the relationship between the difference between the average of the weighted visit counts of all links and the weighted visit count of the links in the path and the link evaluation value is a three-dimensional functional relationship.

[0033] The link evaluation value is generated by calculation from the weighted number of visits, the visit history, and the weighted number of visits. If you want to directly reflect the relationship between the link evaluation value and link information in Figures 12, 13, and 14 in the calculation, you can determine a weight for each piece of link information from the functional relationship in Figures 12, 13, and 14, and then calculate the link evaluation value using the weighted average method. Regarding other methods for calculating the link evaluation value, since the link evaluation value and link information only need to satisfy the magnitude relationship in Figure 11, methods for outputting the link evaluation value may include statistical measures such as the mean, maximum, minimum, median, or variance of the link information, or one or more of these statistical measures, or calculation methods using the values ​​of the link information. Examples of calculation methods include aggregation methods, weighted average methods, decision tree analysis methods, neural network methods, logistic regression methods, support vector machine methods, or methods using arbitrary evaluation functions.

[0034] The path evaluation value is obtained from the link evaluation values ​​included in the path. As a method for outputting the path evaluation value, statistical measures such as the mean, maximum, minimum, median, or variance of the link evaluation values ​​of the links included in the path, or one or more of these statistical measures, or calculation methods using the values ​​of the link information may be used. Examples of calculation methods include aggregation methods, weighted average methods, decision tree analysis methods, methods using neural networks, methods using logistic regression, methods using support vector machines, or methods using any evaluation function.

[0035] As an example of how the information processing unit 102 selects a route, the information processing unit 102 may select the route with the largest sum obtained by assigning weights to either the route evaluation value of the route or the sum of links that are not scheduled to be traveled, or it may select a route from an arbitrary evaluation function that uses the route evaluation value and the sum of links that are not scheduled to be traveled. Furthermore, the weights of the route evaluation value and the sum of links that are not scheduled to be traveled may be dynamically changed in accordance with the number of mobile units 100 that are patrolling.

[0036] As described above, according to this embodiment, even if the number of patrolling mobile units 100 increases or decreases, the setting of target links using link information and the generation of paths to the target links are performed, so that each mobile unit 100 can continue patrolling. Even if the patrolling of the mobile units 100 is delayed due to crowds of people, avoidance actions associated with obstacles, or interruption tasks, the setting of target links and the generation of paths to the target links are performed by referring to the weighted patrolling elapsed time of the links, so that the mobile units 100 can perform patrolling while suppressing a reduction in the quality of patrolling.

[0037] The information processing unit 102 has a link information management function 103, a link information update function 104, a location information inquiry function 105, a target link setting function 106, and a route generation function 107, and repeatedly performs the operation of setting a route for all mobile bodies 100 during patrol and the operation of setting a target link after moving to the set target link.Therefore, the mobile body system 10 and patrol management method according to the embodiment can allow the mobile bodies 100 to continue patrolling without degrading the quality of patrols, even if some or all of the interrupt tasks, delays, and increases or decreases in the number of units occur during continuous patrols.Moreover, by maintaining information in the links, the mobile body system 10 and patrol management method according to the embodiment can reflect the patrol status in setting target links and generating routes to target links, and by repeating target setting and route generation, the mobile bodies 100 can continue patrolling, thereby enabling continuous patrols of one or more mobile bodies 100 that are robust to environmental influences.

[0038] When one or more mobile bodies 100 enter a link, the information processing unit 102, using the link information update function 104, sets the weighted patrol elapsed time to 0 for the link the mobile body entered. When the mobile body leaves the link, it begins to increase the weighted patrol elapsed time and records an identifier that identifies the mobile body in the patrol history. As mentioned above, examples of identifiers are codes or numbers. By including the magnitude of the weighted patrol elapsed time as an indicator for the patrol method, which involves repeating target setting and route generation, continuous patrolling can be achieved. By including the patrol history of the mobile body 100 as an indicator for route generation, it becomes possible to better avoid routes that the machine has traveled in the past, and to actively select links that are less likely to be included in route generation.

[0039] The information processing unit 102 updates the travel schedule information based on the route of one or more mobile units 100 to the set target link using the link information management function 103. By including the travel schedule as an indicator for target setting and route generation, routes without a planned travel schedule can be actively selected, and target links and routes can be prevented from concentrating on links with a large weighted patrol elapsed time.

[0040] The information processing unit 102, using the link information management function 103, increases the weight of the weighted patrol elapsed time for links that it wants to be prioritized for one or more mobile units 100. By increasing the weight of the weighted patrol elapsed time for links that it wants to be prioritized for patrol, the patrol frequency can be improved and a decrease in the quality of patrols can be suppressed.

[0041] The information processing unit 102, using the link information management function 103, makes the relationship between the weight of weighted patrol elapsed time and the weight of weighted patrol count inversely correlated. Areas that should be patrolled intensively are given a larger weight, increasing the rate at which the weighted patrol elapsed time increases, thereby preferentially including them in the target link and route. However, during route generation, the evaluation is performed in a way that averages the patrol count across all links, which reduces the effectiveness of the weighted patrol count. Therefore, by assigning a weight that is inversely correlated with the weight of weighted patrol elapsed time to the weighted patrol count, the weighted patrol count becomes smaller for links that should be patrolled intensively. In this way, the weighted patrol count of priority links becomes smaller than the average weighted patrol count of all links, and the link evaluation value can be increased.

[0042] If there is a link with a weighted patrol elapsed time greater than the standard value, and the number of mobile units that designate that link as a target link is less than or equal to the regulated number, the information processing unit 102 sets that link as a target link using the target link setting function 106. If there is no link with a weighted patrol elapsed time greater than the standard value, or if there is a link with a weighted patrol elapsed time greater than the standard value, and the number of mobile units that designate that link as a target link is greater than the regulated number, the information processing unit 102 uses the target link setting function 106 to check whether there are any links that are not scheduled to be traversed. If there are links that are not scheduled to be traversed, the link with the longest weighted patrol elapsed time among the links that are not scheduled to be traversed is set as the target link. If there are no links that are not scheduled to be traversed, the link with the longest weighted patrol elapsed time among all links is set as the target link. By determining the target link by referring to the magnitude of the weighted patrol elapsed time, it is possible to suppress the state in which each link has not been patrolled for a long time. In addition, by excluding links that are included in the patrol schedule, it is possible to prevent a situation in which the patrol elapsed time becomes small when the mobile unit 100 arrives. Furthermore, for links with weighted patrol elapsed time exceeding a certain threshold, even if passage is scheduled, it is possible to set them as target links because the scheduled mobile object 100 may be delayed in arriving due to some factor. However, an upper limit on the number of restricted vehicles is set to prevent a large number of mobile objects 100 from concentrating on setting the same link as a target link.

[0043] The route generation function 107 has the following functions: to generate the shortest route to the target link for each of one or more mobile bodies 100; to generate the maximum route distance based on the shortest route and the weighted patrol elapsed time of the target link corresponding to the shortest route; to generate one or more route candidates less than or equal to the maximum route distance; to generate a link evaluation value based on the weighted patrol elapsed time, patrol history, and weighted patrol count of one or more links included in each of the one or more route candidates; to generate a route evaluation value for all routes included in each of the one or more route candidates based on the link evaluation value; and to select the optimal route from among the one or more route candidates based on the magnitude of the route evaluation value and the route with the fewest planned routes. This makes it possible to generate the optimal route using the weighted patrol elapsed time, patrol history, weighted patrol count, and link distance information assigned to the links. The route evaluation value referenced when generating the route to the target link is determined by the weighted patrol elapsed time, patrol history, and weighted patrol count, but if only this information is referenced, there is a possibility that an excessively long detour route will be generated before the mobile body 100 reaches the target link. Therefore, by determining the limit distance of the generated path based on the magnitude of the weighted patrol time of the target link relative to the shortest path, excessive detours are suppressed, and if the weighted patrol time of the target link is excessive, the mobile unit 100 can move along the shortest distance.

[0044] The link evaluation value for each of the one or more route candidates is determined based on the information of the links included in the route candidate. The larger the weighted patrol elapsed time analysis value for each of the one or more links included in the route candidate, the higher the link evaluation value. The further back in time the patrol history of each of the one or more links included in the route candidate is, the higher the link evaluation value. If the identifier of mobile entity 100 does not exist in the patrol history, the link evaluation value is set to an arbitrary upper limit of the number of times the patrol history can be referenced. The smaller the weighted patrol count for each of the one or more links included in the route candidate is compared to the average weighted patrol count for all links included in the map, the lower the link evaluation value becomes, and the larger it is compared to the average, the higher the link evaluation value becomes. The route evaluation value is generated from the link evaluation values ​​of the links included in the route. By generating the route evaluation value using some calculation or evaluation function from the weighted patrol elapsed time, patrol history, and weighted patrol count, it is possible to generate the optimal route to the target link while maintaining the quality of the patrol. By making the route evaluation value increase as the weighted patrol elapsed time increases, links with a large weighted patrol elapsed time can be preferentially included in the route. Regarding the patrol history, by increasing the route evaluation value the further back the machine has been in the past, the machine will avoid links it has already traversed, thereby suppressing route bias and promoting diversification. Regarding the weighted patrol count, by recording how many times the mobile unit 100 has passed through each link, the quality of the previous patrol can be maintained for each link even in situations where route generation may be biased due to changes in area structure or environment.

[0045] A link is a section connecting two reference points, and the shape of the section is not limited. The two reference points and the section are located within a space that one or more mobile units 100 can move through. When one or more mobile units 100 reach one of the two reference points, the reference point reached by the mobile unit becomes the starting point, and the other reference point becomes the ending point. By making the link map and shape independent, it is possible to perform patrols of mobile units 100 in various locations. The reference points may be replaced with nodes.

[0046] Figure 15 shows a processor 91 in which at least some of the functions of the information processing unit 102 of the mobile system 10 according to the embodiment are realized by the processor 91. In other words, at least some of the functions of the information processing unit 102 may be realized by a processor 91 that executes a program stored in memory 92. The processor 91 is a CPU (Central Processing Unit), processing system, arithmetic system, microprocessor, or DSP (Digital Signal Processor). Memory 92 is also shown in Figure 15.

[0047] If at least some of the functions of the information processing unit 102 are implemented by the processor 91, then at least some of those functions are implemented by the processor 91 and software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in memory 92. The processor 91 implements at least some of the functions of the information processing unit 102 by reading and executing the program stored in memory 92.

[0048] If at least some of the functions of the information processing unit 102 are implemented by the processor 91, the information processing unit 102 includes the processor 91 and a memory 92 for storing a program in which at least some of the steps performed by the information processing unit 102 will be executed. The program stored in the memory 92 can also be said to cause the computer to execute at least some of the procedures or methods performed by the information processing unit 102.

[0049] Memory 92 includes, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Registered Trademark) (Electrically Erasable Programmable Read-Only Memory), magnetic disks, flexible disks, optical disks, compact disks, minidiscs, or DVDs (Digital Versatile Disks).

[0050] Figure 16 shows a processing circuit 93 in which at least some of the functions of the information processing unit 102 of the mobile system 10 according to the embodiment are realized by the processing circuit 93. In other words, at least some of the functions of the information processing unit 102 may be realized by the processing circuit 93.

[0051] The processing circuit 93 is dedicated hardware. The processing circuit 93 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0052] Some functions of the information processing unit 102 may be implemented by dedicated hardware separate from the remaining functions of the information processing unit 102.

[0053] Regarding the multiple functions of the information processing unit 102, some of these functions may be implemented by software or firmware, while the remaining functions may be implemented by dedicated hardware. In this way, the multiple functions of the information processing unit 102 can be implemented by hardware, software, firmware, or a combination thereof.

[0054] The configurations shown in the above embodiments are merely examples and can be combined with other known technologies, and parts of the configuration can be omitted or modified without departing from the gist of the invention. [Explanation of Symbols]

[0055] 1,2,3 Links, 10 Mobile system, 91 Processor, 92 Memory, 93 Processing circuit, 100,A,B,C Mobile units, 101 Network unit, 102 Information processing unit, 103 Link information management function, 104 Link information update function, 105 Location information inquiry function, 106 Target link setting function, 107 Route generation function.

Claims

1. One or more mobile devices capable of connecting to a communication network, An information processing unit that sets the path and target link for each of the aforementioned moving bodies composed of links, Equipped with, The aforementioned information processing unit, A link information management function manages link information, including information associated with the aforementioned links, such as the planned route of each mobile body, information regarding patrols performed by each mobile body, and information on the link distance. A link information update function updates the link information, specifically the information related to the patrol performed by each mobile body, based on the location information of each mobile body transmitted and received via the aforementioned communication network. A location information inquiry function that identifies the link on which each of the moving objects is located based on the location information and determines whether each of the moving objects has reached the target link, A target link setting function that sets the target link for a mobile body that has reached the target link or a mobile body that does not have the target link, based on the travel schedule and the patrol information, A route generation function that sets a route to the target link based on the link information, It has, The following operations are repeated for each mobile object via the aforementioned communication network: setting a route, and setting a second target link different from the first target link after moving along the set first target link. A mobile system characterized by the following features.

2. When one or more of the aforementioned mobile bodies enter the link, the information processing unit, using the link information update function, sets the weighted patrol elapsed time to 0 for the link in which the mobile body entered, begins increasing the weighted patrol elapsed time when the mobile body leaves the link, and records an identifier that identifies the mobile body in the patrol history. The mobile system according to claim 1.

3. The information processing unit updates the planned route information based on the route of one or more moving objects to the designated target link using the link information management function. The mobile system according to claim 1.

4. The information processing unit, using the link information management function, increases the weight of the weighted patrol time for links that it wants to be prioritized for patrolling by one of the one or more mobile bodies. The mobile system according to claim 1.

5. The information processing unit, using the link information management function, makes the relationship between the weight of the weighted patrol elapsed time and the weight of the weighted patrol count inversely correlated. The mobile system according to claim 1.

6. The information processing unit, through the target link setting function, If there is a link with a weighted patrol elapsed time greater than the standard value, and the number of mobile units that target that link is less than or equal to the regulated number, the link is set as the target link. If there are no links with a weighted patrol elapsed time greater than the aforementioned standard value, or if there are links with a weighted patrol elapsed time greater than the aforementioned standard value and the number of mobile units that target that link is greater than the regulated number, the system checks whether there are any links that are not scheduled to be used. If there are links that are not scheduled to be used, the link with the longest weighted patrol elapsed time among those links that are not scheduled to be used is set as the target link. If there are no links that are not scheduled to be used, the link with the longest weighted patrol elapsed time among all links is set as the target link. The mobile system according to claim 1.

7. The aforementioned route generation function, A function to generate the shortest path to the target link for each of the one or more aforementioned moving objects, A function to generate the maximum path distance based on the shortest path and the weighted patrol time of the target link corresponding to the shortest path, A function to generate one or more route candidates that are less than or equal to the maximum route distance, A function to generate a link evaluation value based on the weighted patrol elapsed time, patrol history, and weighted patrol count of one or more links included in each of the one or more route candidates, A function to generate route evaluation values ​​for all routes included in each of the one or more route candidates based on the aforementioned link evaluation values, A function to select the optimal route from among the one or more route candidates based on the magnitude of the route evaluation value and the route with the least planned travel time. The mobile system according to claim 1, characterized by having the following features.

8. The link evaluation value for each of the one or more route candidates is determined based on the link information included in the route candidate. The larger the weighted traverse time analysis value for each of the one or more links included in the candidate route, the larger the link evaluation value. The further back in time the traversal history of each of the one or more links included in the candidate route becomes, the larger the link evaluation value becomes. If no identifier for a mobile entity exists in the aforementioned patrol history, the link evaluation value shall be set to an arbitrary upper limit of the number of times the patrol history can be referenced. The link evaluation value decreases as the weighted traverse count of each of the one or more links included in the route candidate becomes smaller than the average weighted traverse count of all links included in the map, and increases as it becomes larger than the average. The aforementioned route evaluation value is generated from the aforementioned link evaluation values ​​of the links included in the route. The mobile system according to feature 7.

9. The aforementioned link is an interval connecting two reference points or two nodes, The shape of the aforementioned section is not limited, The two reference positions or the two nodes and the interval are located within a space in which the one or more moving bodies can move. When one or more of the aforementioned moving bodies reach one of the two reference positions or one of the two reference positions or nodes, the reference position or node reached by the moving body becomes the starting point, and the other reference position or node of the two reference positions or nodes becomes the ending point. A mobile system according to any one of claims 1 to 7.

10. The aforementioned information processing unit, The first rule states that the relationship between the weighted patrol elapsed time and the link evaluation value is proportional, The second rule states that the relationship between the patrol history of one or more of the mobile bodies associated with the generation of the link evaluation value and the link evaluation value up to a predetermined number of times is exponential, and that when the patrol history reaches the predetermined number of times, the link evaluation value does not change even if the patrol history increases, The third rule states that the relationship between the average of the weighted patrol counts for all links, the weighted patrol counts for the links in the path, and the link evaluation value is a three-dimensional functional relationship. The link evaluation value is generated using one of the following rules. The mobile system according to feature 7.

11. In an area where one or more mobile entities are patrolling, A mobile system comprising one or more mobile bodies connectable to a communication network, a map composed of links, and an information processing unit that manages the patrols of each of the mobile bodies and sets a target link for each of the mobile bodies and a path for each of the mobile bodies to the target link, wherein the information processing unit manages the patrols of the one or more mobile bodies, The aforementioned information processing unit, A link information management function manages information associated with the aforementioned links, including information such as the planned route of each mobile entity, the elapsed time of patrols, the patrol history, the number of patrols, and the link distance. A link information update function updates the information of the patrol elapsed time, the patrol history, and the number of patrols based on the location information of each mobile body transmitted and received via the aforementioned communication network. A location information inquiry function that identifies the link on which each of the moving objects is located based on the location information and determines whether each of the moving objects has reached the target link, A target link setting function that sets the target link for the mobile body that has reached the target link or the mobile body that does not have a target link, based on the planned passage and the elapsed patrol time, A route generation function that sets a route to the designated target link based on the aforementioned travel schedule, the aforementioned patrol elapsed time, the aforementioned patrol history, the aforementioned number of patrols, and the aforementioned link distance, It has, The following operations are repeated for each mobile object via the aforementioned communication network: setting a route, and setting a second target link different from the first target link after moving along the set first target link. A patrol management method characterized by the following features.

12. When one or more of the aforementioned mobile bodies enter the link, the information processing unit, using the link information update function, sets the weighted patrol elapsed time to 0 for the link in which the mobile body entered, begins increasing the weighted patrol elapsed time when the mobile body leaves the link, and records an identifier that identifies the mobile body in the patrol history. The patrol management method according to feature 11.

13. The information processing unit updates the planned route information based on the route of one or more moving objects to the designated target link using the link information management function. The patrol management method according to feature 11.

14. The information processing unit, using the link information management function, increases the weight of the weighted patrol time for links that it wants to be prioritized for patrolling by one of the one or more mobile units. The patrol management method according to feature 11.

15. The information processing unit, using the link information management function, sets the relationship between the weight of the weighted patrol elapsed time and the weight of the weighted patrol count to an inverse correlation. The patrol management method according to feature 11.

16. The information processing unit, through the target link setting function, If there is a link with a weighted patrol elapsed time greater than the standard value, and the number of mobile units that target that link is less than or equal to the regulated number, the link is set as the target link. If there are no links with a weighted patrol elapsed time greater than the aforementioned standard value, or if there are links with a weighted patrol elapsed time greater than the aforementioned standard value and the number of mobile units that target that link is greater than the regulated number, the system checks whether there are any links that are not scheduled to be used. If there are links that are not scheduled to be used, the link with the longest weighted patrol elapsed time among those links that are not scheduled to be used is set as the target link. If there are no links that are not scheduled to be used, the link with the longest weighted patrol elapsed time among all links is set as the target link. The patrol management method according to feature 11.

17. The aforementioned route generation function, A function to generate the shortest path to the target link for each of the one or more aforementioned moving objects, A function to generate the maximum path distance based on the shortest path and the weighted patrol time of the target link corresponding to the shortest path, A function to generate one or more route candidates that are less than or equal to the maximum route distance, A function to generate a link evaluation value based on the weighted patrol elapsed time, patrol history, and weighted patrol count of one or more links included in each of the one or more route candidates, A function to generate route evaluation values ​​for all routes included in each of the one or more route candidates based on the aforementioned link evaluation values, A function to select the optimal route from among the one or more route candidates based on the magnitude of the route evaluation value and the route with the least planned travel time. The patrol management method according to claim 11, characterized by having the following features.

18. The link evaluation value for each of the one or more route candidates is determined based on the link information included in the route candidate. The larger the weighted traverse time analysis value for each of the one or more links included in the candidate route, the larger the link evaluation value. The further back in time the traversal history of each of the one or more links included in the candidate route becomes, the larger the link evaluation value becomes. If no identifier for a mobile entity exists in the aforementioned patrol history, the link evaluation value shall be set to an arbitrary upper limit of the number of times the patrol history can be referenced. The link evaluation value decreases as the weighted traverse count of each of the one or more links included in the route candidate becomes smaller than the average weighted traverse count of all links included in the map, and increases as it becomes larger than the average. The aforementioned route evaluation value is generated from the aforementioned link evaluation values ​​of the links included in the route. The patrol management method according to feature 17.

19. The aforementioned link is an interval connecting two reference points or two nodes, The shape of the aforementioned section is not limited, The two reference positions or the two nodes and the interval are located within a space in which the one or more moving bodies can move. When one or more of the aforementioned moving bodies reach one of the two reference positions or one of the two reference positions or nodes, the reference position or node reached by the moving body becomes the starting point, and the other reference position or node of the two reference positions or nodes becomes the ending point. The patrol management method according to any one of claims 11 to 17.

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