Control device and control method for a mobile body, and mobile body

Abstract

To provide a control device and a control method of a moving object that can accommodate various types of delays, such as a communication delay, and a moving object.SOLUTION: A control device 1 generates a virtual space based on a behavior of each UAV2 within a UAV group in real space, and controls the behavior of each UAV2 in real space based on the behavior of each UAV2 in the virtual space. The control device 1 comprises: a specifying unit that specifies a future movement path and a past movement path of one UAV2 in the virtual space; a virtual moving object control unit that controls the behavior of the other UAV2 to prevent the other UAV2 from crossing the future and past movement paths in the virtual space; and a real moving object control unit that controls the behavior of the other UAV2 in real space, based on the behavior of the other UAV2 in the virtual space.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD

[0001] The present invention relates to a control device and a control method for a mobile object such as an unmanned aerial vehicle (UAV), and a mobile object, for example.

BACKGROUND ART

[0002] Various control methods for treating a plurality of mobile objects as a swarm and causing each mobile object included in the swarm to operate cooperatively have been conventionally proposed. For example, Patent Document 1 discloses a method of obtaining the behavior of a mobile object swarm in a virtual space by simulation, and controlling the behavior of the mobile object swarm in a real space based on the result.

PRIOR ART DOCUMENTS

PATENT DOCUMENTS

[0003]

PATENT DOCUMENT 1

PATENT DOCUMENT 2

SUMMARY OF THE INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0004] By the way, in the technology for controlling a mobile object swarm as described above, various delays occur, such as a communication delay between each mobile object and a control device that controls the mobile objects, and a response delay in each mobile object. Therefore, it is necessary to enable appropriate operation of each mobile object even under circumstances where these delays occur.

[0005] The present invention has been made in view of such circumstances, and a main object thereof is to provide a control device and a control method for a mobile object, and a mobile object that are capable of achieving stable swarm control even when various delays such as communication delays occur.

MEANS FOR SOLVING THE PROBLEMS

[0006] To solve the above problems, a control device for a mobile body according to one aspect of the present invention generates a virtual space based on the behavior of each mobile body in a group of mobile bodies in real space, and controls the behavior of each mobile body in real space based on the behavior of each mobile body in the virtual space, comprising: a specification unit that specifies the future movement path of one mobile body in the group of mobile bodies in the virtual space; a virtual mobile body control unit that controls the movement of other mobile bodies in the virtual space so that other mobile bodies in the group of mobile bodies do not pass through the future movement path of the one mobile body; and a real mobile body control unit that controls the behavior of the other mobile bodies in real space according to the behavior of the other mobile bodies in the virtual space.

[0007] A control device for a mobile body according to another aspect of the present invention is a control device for a mobile body that generates a virtual space based on the behavior of each mobile body in a group of mobile bodies in real space, and controls the behavior of each mobile body in real space based on the behavior of each mobile body in the virtual space, comprising: an identification unit that identifies the past movement path of one mobile body in the group of mobile bodies in the virtual space; a virtual mobile body control unit that controls the behavior of other mobile bodies in the virtual space so that other mobile bodies in the group of mobile bodies do not pass through the past movement path of the one mobile body; and a real mobile body control unit that controls the behavior of the other mobile bodies in real space according to the behavior of the other mobile bodies in the virtual space.

[0008] Furthermore, a control device for a mobile body according to another aspect of the present invention is a control device for a mobile body that generates a virtual space based on the behavior of each mobile body in a group of mobile bodies in real space, and controls the behavior of each mobile body in real space based on the behavior of each mobile body in the virtual space, comprising: a specification unit that specifies the future movement path and past movement path of one mobile body in the group of mobile bodies in the virtual space; a virtual mobile body control unit that controls the behavior of other mobile bodies in the virtual space so that other mobile bodies in the group of mobile bodies do not pass through the future movement path and past movement path of the one mobile body; and a real mobile body control unit that controls the behavior of the other mobile bodies in real space according to the behavior of the other mobile bodies in the virtual space.

[0009] In the above embodiment, the virtual mobile body control unit may further include an update unit that updates the past movement path by removing the movement path that the first mobile body has traveled in real space from the past movement path of the first mobile body, and the virtual mobile body control unit may control the behavior of the other mobile body so that it does not travel along the updated past movement path.

[0010] Furthermore, in the above embodiment, the virtual space may be generated by treating each moving object as a particle and simulating its behavior using the particle method, and the identification unit may identify the trajectory of the particle in the virtual space as the movement path.

[0011] A method for controlling a mobile body according to one aspect of the present invention is a method for controlling a mobile body that generates a virtual space based on the behavior of each mobile body in a group of mobile bodies in real space, and controls the behavior of each mobile body in real space based on the behavior of each mobile body in the virtual space, comprising the steps of: identifying a future movement path of one mobile body in the group of mobile bodies in the virtual space; controlling the behavior of other mobile bodies in the virtual space so that other mobile bodies in the group of mobile bodies do not pass through the future movement path of the one mobile body; and controlling the behavior of the other mobile bodies in real space in accordance with the movement of the other mobile bodies in the virtual space.

[0012] Another aspect of the present invention provides a method for controlling a mobile body, which involves generating a virtual space based on the behavior of each mobile body in a group of mobile bodies in real space, and controlling the behavior of each mobile body in real space based on the behavior of each mobile body in the virtual space, comprising the steps of: identifying the past movement path of one mobile body in the group of mobile bodies in the virtual space; controlling the behavior of other mobile bodies in the virtual space so that they do not pass through the past movement path of the one mobile body; and controlling the behavior of the other mobile bodies in real space according to the behavior of the other mobile bodies in the virtual space.

[0013] A mobile body according to one aspect of the present invention generates a virtual space based on the behavior of each mobile body in the real space that is included in a group of mobile bodies, and controls the behavior of the mobile body itself in the real space based on the behavior of each mobile body in the virtual space, and comprises a identifying unit that identifies the future movement paths of other mobile bodies included in the group of mobile bodies in the virtual space, a virtual mobile body control unit that controls the behavior of the mobile body itself in the virtual space so as not to pass through the future movement paths of the other mobile bodies, and a real mobile body control unit that controls the behavior of the mobile body itself in the real space according to the behavior of the mobile body itself in the virtual space.

[0014] Another aspect of the present invention provides a mobile body that generates a virtual space based on the behavior of each mobile body in the real space and controls the behavior of its own device in the real space based on the behavior of each mobile body in the group of mobile bodies, and comprises a identifying unit that identifies the past movement paths of other mobile bodies in the group of mobile bodies in the virtual space, a virtual mobile body control unit that controls the behavior of its own device in the virtual space so as not to pass through the past movement paths of the other mobile bodies, and a real mobile body control unit that controls the behavior of its own device in the real space according to the behavior of its own device in the virtual space. [Effects of the Invention]

[0015] According to the present invention, it is possible to realize appropriate operation of a mobile object while allowing communication delays and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] [Figure 1] The diagram shows the configuration of a control system. [Figure 2] The functional block diagram shows the configuration of a control unit included in a control device. [Figure 3] The diagram shows the concept of the movement path of each UAV in a virtual space. [Figure 4] The block diagram shows the configuration of a UAV. [Figure 5] The flowchart shows the procedure of control processing executed by the control device, the UAV in the real space, and a positioning system. [Figure 6A] The diagram shows the concept of the movement path of each UAV 2 in the virtual space specified by a specifying unit. [Figure 6B] The diagram shows the concept of the movement path of each UAV 2 in the virtual space specified by the specifying unit. [Figure 7] The explanatory diagram conceptually shows the configuration of a mobile object group. [Figure 8] The functional block diagram shows the configuration of a control unit included in the UAV. [Figure 9] The flowchart shows the procedure of control processing executed by the UAV in the real space. DETAILED DESCRIPTION OF EMBODIMENTS

[0017] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. The respective embodiments described below are illustrative of methods and devices for embodying the technical idea of the present invention, and the technical idea of the present invention is not limited to the following. The technical idea of the present invention can be variously modified within the technical scope described in the claims.

[0018] (Embodiment 1) In this embodiment, a control device is provided that communicates with multiple UAVs included in the mobile object group, and each UAV operates according to instructions from the control device. The control device generates a virtual space (cyberspace) based on the behavior of each mobile object in real space (physical space) using a so-called digital twin, and controls the behavior of each mobile object in real space based on the behavior of each mobile object obtained in the virtual space. The configuration and operation of each device included in this embodiment will be described below.

[0019] Figure 1 shows the configuration of the control system in this embodiment. In this embodiment, a group of UAVs is used as an example of the group of mobile objects to be controlled. The control device 1, each UAV2 included in the UAV group, and the positioning system 3 are connected to each other so as to be able to communicate wirelessly. In the following, a UAV2 in real space may be referred to as UAV2p, and a UAV2 in virtual space may be referred to as UAV2c.

[0020] The positioning system 3 is a system for determining the position of each UAV2 and transmits behavioral data of each UAV2 indicating the positioning result to the control device 1. The control device 1 determines the position of each UAV2 in real space based on this behavioral data. Alternatively, the control device 1 may directly acquire behavioral data from each UAV2 without providing such a positioning system 3.

[0021] The control device 1 includes a computer comprising a CPU, RAM, ROM, non-volatile memory, and an input / output interface. The CPU performs information processing according to the program loaded into the RAM, thereby realizing the operation described later.

[0022] As shown in Figure 1, the control device 1 comprises a control unit 11 and a wireless communication unit 12. The wireless communication unit 12 consists of a communication module for wireless communication with each UAV 2 and the positioning system 3.

[0023] Figure 2 is a functional block diagram showing the configuration of the control unit 11 of the control device 1. As shown in Figure 2, the control unit 11 includes a specific unit 101, an update unit 102, a virtual UAV control unit 103, and a real UAV control unit 104.

[0024] The identification unit 101 identifies the movement path of each UAV2 in the virtual space. This movement path is obtained based on the results of simulating the behavior of each UAV2 in the virtual space. In this embodiment, the particle method is used as the simulation method. Specifically, in addition to the SPH (Smoothed Particle Hydrodynamics) method, which is a representative particle method, particle methods such as the MPS (Moving Particle Simulation) method and DEM (Discrete Element Method) can be used. However, it is also possible to use simulation methods other than the particle method.

[0025] By treating each UAV2 as a particle, its behavior can be simulated using the particle method. In this case, the identification unit 101 recognizes the trajectory of the particle as the movement path of each UAV2 and identifies it. Figure 3 is a diagram illustrating the concept of the movement path of each UAV2 in virtual space, and is represented as a two-dimensional plan view. As shown in Figure 3, UAV2c1 to 2c3 in virtual space are each located on their respective movement paths P. These movement paths P are composed of the trajectories of each particle 10. Note that in Figure 3 and similar diagrams, for the sake of explanation, the particles corresponding to the current positions of UAV2c1 to 2c3 are replaced with figures representing UAV2c1 to 2c3.

[0026] In the example shown in Figure 3, each UAV2c1 to 2c3 moves from left to right in the diagram. Of each movement path P, the part to the right of the current position of UAV2c1 to 2c3 corresponds to the future movement path (hereinafter referred to as the "future path"), and the part to the left corresponds to the past movement path (hereinafter referred to as the "past path"). In this embodiment, the movement of UAV2 in real space is controlled using these future and past paths.

[0027] The update unit 102 updates the past route of UAV2c by deleting the route that UAV2p took in real space from the past route of UAV2c identified by the identification unit 101. This update prevents the past route from expanding indefinitely as UAV2c moves.

[0028] The virtual UAV control unit 103 controls the behavior of UAV2c on the travel path in the virtual space, and the real UAV control unit 104 controls the behavior of UAV2p in the real space according to the behavior of UAV2c.

[0029] Figure 4 is a block diagram showing the configuration of the UAV2. The UAV2 is a small aircraft such as a multirotor, equipped with a computer that includes a CPU, RAM, ROM, non-volatile memory, and input / output interfaces. The CPU performs information processing according to the program loaded into the RAM, thereby realizing the operations described later.

[0030] As shown in Figure 4, the UAV2 comprises a drive unit 21, a control unit 22, and a wireless communication unit 23. The drive unit 21 consists of a rotor and propeller, and its operation is controlled by the control unit 22. The wireless communication unit 23 consists of a control device 1 and a communication module for wireless communication with the positioning system 3.

[0031] Next, the operation of the control system described above will be explained. Figure 5 is a flowchart showing the procedure of the control process performed by the control device 1, the UAV2p in real space, and the positioning system 3. First, the positioning system 3 acquires behavioral data including the position and velocity of each UAV2p (S101) and transmits this to the control device 1 (S102).

[0032] When control device 1 receives behavior data (S201), it generates a virtual space based on that behavior data (S202). At this time, control device 1 simulates the behavior of each UAV2c in the virtual space using the particle method as described above. As a result, the behavior of each UAV2c is represented as a flow of particles.

[0033] Next, the control device 1 identifies the movement path of the UAV2c according to the behavior of the UAV2c in the virtual space (S203). This corresponds to the processing of the identification unit 101. As described above, this movement path corresponds to the trajectory of a particle in the virtual space and includes future and past paths.

[0034] Figures 6A and 6B are diagrams illustrating the concept of the movement paths of each UAV2 in the virtual space as identified by the identification unit 101. Similar to Figure 3, Figures 6A and 6B show the case where each UAV2c1 to 2c3 moves from left to right in the diagram. As shown in Figure 6A, a movement path P is identified for each of the UAV2c1 to 2c3. Below, we will focus on UAV2c1 among the UAV2c1 to 2c3 and illustrate the operation when controlling the behavior of the other UAV2c2 and 2c3 based on the future path P1 and past path P2 in the movement path P of UAV2c1.

[0035] If there were no delays such as communication delays, the current position of UAV2c1 in the virtual space and the current position of UAV2p1 in the real space corresponding to UAV2c1 would coincide. However, in reality, such delays occur, so the two current positions do not coincide. To explain more specifically, when controlling the behavior of UAV2p1 in accordance with the behavior of UAV2c1, a communication delay occurs when control instructions are sent to UAV2p1, and a response delay occurs in UAV2p1. As a result, UAV2c1 moves ahead of UAV2p1, and the current positions of UAV2c1 and UAV2p1 become misaligned. Therefore, in this embodiment, the control device 1 controls the behavior of UAV2c2 and 2c3 so that they do not pass through future paths P1 and past paths P2, rather than their current positions on the travel path P of UAV2c1.

[0036] For example, in the example shown in Figure 6A, UAV2c3 is paused, decelerated, or its direction changed so that it does not pass through the future path P1. These behaviors of UAV2c3 are realized based on particle method simulations. This makes it possible to avoid collisions in real space between UAV2p3, which is traveling with a delay time behind UAV2c3, and UAV2p1.

[0037] Furthermore, in the example shown in Figure 6A, UAV2c2 is paused, decelerated, or its direction changed to prevent it from passing through the past path P2. These behaviors of UAV2c2 are realized based on particle method simulations. This makes it possible to avoid collisions in real space between UAV2p1, which lags behind UAV2c1 by a delay time, and UAV2p2.

[0038] Furthermore, the past path within the travel path is the path that UAV2c has traveled in the past, and therefore expands over time. If this state is maintained as is, the area that other UAV2c can pass through will narrow, which may cause problems. Therefore, in this embodiment, the range of the past path is limited by excluding the travel path that UAV2p has passed through from the past path of UAV2c. This point will be explained with reference to Figures 6A and 6B. In Figure 6A, the past path P2 is formed by four particles 10, but when UAV2p1 passes the position of the last particle 10 (the leftmost particle in the figure), that particle 10 is removed from the past path P2. As a result, as shown in Figure 6B, the past path P2 is updated and is formed by three particles 10.

[0039] The above update corresponds to steps S204 and S205 in Figure 5. Based on the behavior data acquired in step S201, the control device 1 determines whether or not the UAV2p in real space has passed through the past path of the UAV2c in virtual space identified in step S203 (S204). If it determines that it has passed through (YES in S204), the control device 1 updates the past path by removing the traversed path from the past path (S205). These steps S204 and S205 correspond to the processing of the update unit 102.

[0040] Next, the control device 1 controls the behavior of the other UAVs 2c2 and 2c3 so that they do not take the future path P1 and past path P2 of UAV 2c1 obtained as described above (S206). This corresponds to the processing of the virtual UAV control unit 103.

[0041] Next, the control device 1 sends control instructions to each UAV2p1 to 2p3 in order to control the behavior of UAV2p1 to 2p3 in the real space according to the behavior of UAV2c1 to 2c3 in the virtual space (S208). This corresponds to the processing of the real UAV control unit 104.

[0042] When UAV2P (UAV2p1~2p3) receives a control instruction from control device 1 (S301), control unit 22 controls drive unit 21 to realize behavior according to that instruction (S302). This makes it possible to avoid collisions between UAV2p1~2p3 in real space.

[0043] As described above, in this embodiment, even if the current positions of UAV2p in the real space and UAV2c in the virtual space are misaligned due to various delays such as communication delays, appropriate behavior can be achieved, thus providing stable group control.

[0044] (Embodiment 2) In this embodiment, each of the multiple UAVs included in the mobile group performs autonomous and coordinated operations. The configuration and operation of each device included in this embodiment will be described below. Details similar to those in Embodiment 1 will be omitted from explanation as appropriate.

[0045] Figure 7 is a conceptual diagram illustrating the configuration of the group of mobile objects to be controlled. As shown in Figure 7, the UAVs in the group are configured to communicate with each other individually and share their positions. The position of each UAV is obtained by its GPS function. However, the position of each UAV may also be obtained by a self-positioning function other than GPS.

[0046] The UAV2 in this embodiment, like in Embodiment 1, includes a drive unit 21, a control unit 22, and a wireless communication unit 23. The wireless communication unit 23 includes a communication module for V2V (Vehicle-to-Vehicle) communication. The wireless communication unit 23 enables each UAV2 to communicate with each other, allowing them to share their location and perform other functions.

[0047] Figure 8 is a functional block diagram showing the configuration of the control unit 22 of the UAV2. The control unit 22, like the control unit 11 of the control device 1 in Embodiment 1, includes a specific unit 201, an update unit 202, a virtual UAV control unit 203, and a real UAV control unit 204. The real UAV control unit 204 controls the behavior of the device itself.

[0048] The operation of UAV2 in this embodiment will be described below. Figure 9 is a flowchart showing the procedure of the control processing performed by UAV2p in real space. Note that UAV2p basically operates the same as the control device 1 in Embodiment 1. Therefore, explanations of the same content as in Embodiment 1 will be omitted as appropriate.

[0049] First, UAV2p acquires behavioral data of other UAV2p units included in the UAV group and behavioral data of its own unit (S301), and generates a virtual space based on that behavioral data (S302). In this case, the behavior of each UAV2c in the virtual space is simulated using the particle method, as in the first embodiment.

[0050] Next, UAV2p identifies the movement path of UAV2c in accordance with the behavior of UAV2c in the virtual space, similar to the case in Embodiment 1 (S303). This corresponds to the processing of the identification unit 201. Similar to the case in Embodiment 1, this movement path corresponds to the trajectory of a particle in the virtual space and includes future and past paths.

[0051] Next, UAV2p determines, based on the behavior data acquired in step S301, whether UAV2p in the real space has passed through the past path of UAV2c in the virtual space identified in step S303 (S304). If it is determined that it has passed through (YES in S304), UAV2p updates the past path by removing the traversed path from the past path (S305). These steps S304 and S305 correspond to the processing of the update unit 202.

[0052] Next, UAV2p controls the behavior of other UAV2c so that they do not travel along the future and past paths of UAV2c obtained as described above (S306). This corresponds to the processing of the virtual UAV control unit 303.

[0053] Next, UAV2p determines its own behavior based on the behavior of the corresponding UAV2c in the virtual space (S307), and the control unit 22 controls the drive unit 21 to realize that behavior (S308). By having each UAV2p in the UAV group perform this control operation, collisions with UAV2 can be avoided.

[0054] In this embodiment as well, as in the first embodiment, even if the current positions of UAV2p in real space and UAV2c in virtual space are out of sync due to various delays, appropriate behavior can be achieved, thus providing stable group control.

[0055] (Other embodiments) In the embodiments described above, a small aircraft, such as a UAV, is used as an example of a mobile object, but this is merely an example, and other mobile objects may be used. For example, a larger aircraft such as a UAV, or a manned aircraft, may be used as the target of control. Of course, it may also be a mobile object other than an aircraft, specifically an unmanned vehicle traveling on the ground, which may be used as the target of control. [Explanation of Symbols]

[0056] 1. Control device 11 Control Unit 12 Wireless Communication Section 101 Specific section 102 Update section 103 Virtual UAV Control Unit 104 Actual UAV Control Unit 2. Mobile vehicles (UAVs) 21 Drive unit 22 Control Unit 201 Specific section 202 Update Department 203 Virtual UAV Control Unit 204 Actual UAV Control Unit 23 Wireless Communication Department 3. Positioning System P Travel Path P1 Future Route P2 Past Route

Claims

1. A control device for mobile bodies that generates a virtual space based on the behavior of each mobile body in real space within a group of mobile bodies, and controls the behavior of each mobile body in real space based on the behavior of each mobile body in the virtual space, A specification unit that identifies the past movement path of one of the moving objects included in the group of moving objects in the virtual space, In the virtual space, a virtual mobile body control unit controls the behavior of other mobile bodies included in the group of mobile bodies so that they do not pass through the past movement paths of one mobile body, A real-world mobile object control unit that controls the behavior of the other mobile object in the real space in accordance with the behavior of the other mobile object in the virtual space, A determination unit that determines whether the moving object in real space has passed through the previous movement path of the moving object, When the determination unit determines that a path has been passed, the update unit updates the past movement path by removing the movement path that the moving body has traveled in real space from the past movement path of the moving body. Equipped with, The virtual mobile unit controls the behavior of other mobile objects so that they do not travel along the updated past movement path. A control device for mobile vehicles.

2. A method for controlling mobile bodies, which generates a virtual space based on the behavior of each mobile body in real space within a group of mobile bodies, and controls the behavior of each mobile body in real space based on the behavior of each mobile body in the virtual space, (a) a step of identifying the past movement path in the virtual space of one of the moving objects included in the group of moving objects, (b) A step in which the behavior of other moving objects included in the group of moving objects in the virtual space is controlled so that the other moving objects do not pass through the past movement path of the first moving object, (c) A step of controlling the behavior of the other moving object in the real space in accordance with the behavior of the other moving object in the virtual space, Step (d) of determining whether the moving object in real space has passed through the past movement path of the moving object, If it is determined in step (d) that the object has passed, step (e) updates the past movement path of the object by removing the movement path that the object has passed in real space from the past movement path of the object. It has, In step (b) above, the behavior of the other moving object is controlled so that it does not pass through the updated past movement path. A method for controlling a moving object.

3. A mobile device included in a group of mobile devices generates a virtual space based on the behavior of each mobile device in real space, and controls the behavior of its own device in real space based on the behavior of each mobile device in the virtual space, A unit that identifies the past movement paths of other moving objects included in the group of moving objects in the virtual space, In the virtual space, a virtual mobile object control unit controls the behavior of its own device so as not to pass through the past movement paths of other mobile objects, A real-world mobile control unit controls the behavior of the device in the real world according to the behavior of the device in the virtual space, A determination unit that determines whether the other moving object in real space has passed through the previous movement path of the other moving object, If the determination unit determines that the other moving body has passed, the update unit updates the past movement path by removing the movement path that the other moving body has passed in real space from the past movement path of the other moving body. Equipped with, The virtual mobile unit controls the behavior of its own device so as not to traverse the updated past travel path. A mobile object.

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