Moving body 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

Mobile system and patrol management method

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

[0002] When multiple mobile objects are patrolling, methods of dividing an area by clustering and methods of creating a route plan to prevent overlapping routes for each mobile object are known. However, when multiple mobile objects continuously patrol in an environment containing uncertainties, an operation plan is required that takes into account delays, stops, and increases or decreases in the number of mobile objects, and that can also accommodate the existence of priority patrol areas. Therefore, a method has been proposed in which map information is updated as the mobile objects pass by, so that the routes of the mobile objects can be flexibly determined. Patent Document 1 discloses a technology that determines the operations of multiple mobile objects by calculating and recording the estimated times at which nodes are passed, thereby avoiding route overlaps.

[0003] International Publication No. 2022 / 124374

[0004] Conventional methods assume that patrol actions of mobile objects will be carried out smoothly along their planned routes, and do not take into account that mobile objects may be delayed or temporarily stopped during patrol due to changes in the environment, such as crowding of people or the presence of obstacles.As a result, there is a problem that such factors can cause the patrol plans of multiple mobile objects to fail, reducing patrol efficiency.

[0005] The present disclosure has been made in consideration of the above, and aims to obtain a mobile system that allows mobile units to continue patrolling without compromising the quality of the patrol, even if interruption tasks, delays, and some or all of an increase or decrease in the number of units occur during continuous patrol.

[0006] In order to solve the above-mentioned problems and achieve the objectives, the mobile system of the present disclosure includes one or more mobile bodies that can be connected to a communication network, and an information processing unit that manages a map made up of links and the movement of each mobile body, and sets a target link for each mobile body and a route for each mobile body to the target link. The information processing unit has a link information management function that manages information associated with links, such as travel schedule, elapsed tour time, tour history, number of tours, and link distance, which indicate whether the link is included in the route of each mobile body; a link information update function that updates the information about the elapsed tour time, tour history, and number of tours based on the location information of each mobile body transmitted and received via the communication network; a location information inquiry function that identifies the link on which each mobile body is located based on the location information and determines whether each mobile body has reached a target link; a target link setting function that sets a target link based on the travel schedule and elapsed tour time for a mobile body that has reached the target link or a mobile body that does not have a target link; and a route generation function that sets a route to the set target link based on the travel schedule, elapsed tour time, tour history, number of tours, and link distance, and repeats the operation of setting a route for each mobile body via the communication network, and the operation of setting a second target link different from the first target link after moving across the set first target link.

[0007] The mobile body system of the present disclosure has the advantage of being able to allow mobile bodies to continue patrolling without compromising the quality of patrol even if interruption tasks, delays, stoppages, and some or all of an increase or decrease in the number of vehicles occur during continuous patrol.

[0008] FIG. 1 is a diagram showing the configuration of a mobile body system according to an embodiment; FIG. 2 is a diagram showing a map composed of links, three mobile bodies, and the routes of each of the three mobile bodies; FIG. 3 is an explanatory diagram of a link; FIG. 4 is an explanatory diagram of a link; FIG. 5 is a diagram showing an example of information assigned to a link; FIG. 6 is a diagram showing the state of a link after a mobile body proceeds from one link to another;

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A mobile system and a patrol management method according to an embodiment will be described in detail below with reference to the accompanying drawings.

[0010] 1 is a diagram showing the configuration of a mobile body system 10 according to an embodiment. The mobile body system 10 includes one or more mobile bodies 100 connectable to a network unit 101 and an information processing unit 102. Only one mobile body 100 is shown in FIG. 1 . The network unit 101 also shows the network unit 101. The network unit 101 communicates location information of one or more mobile bodies 100. The information processing unit 102 manages a map composed of links and the patrol of each mobile body 100, and sets a target link for each mobile body 100 and a route for each mobile body 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 bodies 100 in an area where the one or more mobile bodies 100 patrol. Each of the one or more mobile bodies 100 wirelessly communicates with the information processing unit 102 via the network unit 101. The communication may be communication using Wi-Fi (registered trademark), communication using Bluetooth (registered trademark), 5G communication or 6G communication, communication using 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 associated with links, such as a travel schedule, elapsed travel time, travel history, number of visits, and link distance, which indicate whether the link is included in the route of each mobile unit 100, and a link information update function 104 that updates the information on the elapsed travel time, travel history, and number of visits based on the location information of each mobile unit 100 transmitted and received via the network unit 101. The information processing unit 102 further has a location information inquiry function 105 that identifies the link on which each mobile unit 100 exists based on the location information and determines whether each mobile unit 100 has reached a target link, and a target link setting function 106 that sets a target link based on the travel schedule and elapsed travel time for a mobile unit that has reached the target link or a mobile unit that does not have a target link. The information processing unit 102 also has a route generation function 107 that sets a route to a set target link based on the travel schedule, elapsed travel time, travel history, number of visits, and link distance. The information processing unit 102 repeats the operation of setting a route for each moving body 100 via the network unit 101 and the operation of setting a second target link different from the first target link after moving across 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 position information of one or more mobile bodies 100 via the network unit 101. The information processing unit 102 may receive information other than position information. The information processing unit 102 creates a tour plan based on the position information of one or more mobile bodies 100. When the information processing unit 102 causes one or more mobile bodies 100 to execute the tour plan, the information processing unit 102 transmits target coordinates to one or more mobile bodies 100, for example. When the information processing unit 102 causes one or more mobile bodies 100 to execute the tour plan, the information processing unit 102 may generate a route for traveling through links using a route generation algorithm based on the tour plan. For example, the route generation algorithm may include ＊The search algorithm may be a search algorithm based on Dijkstra's algorithm, RRT (Rapidly Exploring Random Tree), or potential algorithm. The information processing unit 102 may have a control unit, which may directly transmit control commands to each of one or more mobile objects 100 to execute the patrol plan. The information processing unit 102 has a map of the area patrolled by each of one or more mobile objects 100, information on target links and routes to the target links for all mobile objects 100, and position information of all mobile objects 100 that is updated based on position information of each mobile object 100 received from the network unit 101.

[0013] The information processing unit 102 has a map configured with links, as shown in FIG. 2 for example. The map includes each mobile object 100 reflecting the location information received from the network unit 101, and a route including a destination link for each mobile object 100. FIG. 2 is a diagram showing a map configured with links and three mobile objects 100 and their respective routes. In FIG. 2, the three mobile objects 100 are represented as "Mobile Object A," "Mobile Object B," and "Mobile Object C." A link is a section connecting two reference positions, as shown in FIG. 3. FIG. 3 is an explanatory diagram of a link. The reference position may be called a node. The shape of the section may be a straight line, as shown in FIG. 3, or a curve, as shown in FIG. 4. FIG. 4 is an explanatory diagram of a link. The shape of the section is not limited. Furthermore, as long as there is space available for the mobile object 100 to pass through, the link is not constrained by the shape of the map. For example, multiple links may be provided in a room surrounded by walls, as shown in FIG. 5. FIG. 5 is an explanatory diagram of a link. When the moving body 100 reaches one of two reference positions that are in contact with the link, the moving body 100 moves from the reference position that it has reached as the starting point to the other reference position as the end point.

[0014] The link information management function 103 manages information on travel schedules, weighted patrol elapsed time, patrol history, and link distances for all links on a map such as that shown in FIG. 2 . For example, the weighted number of patrols is derived from the patrol history. FIG. 6 is a diagram showing an example of information assigned to a link. FIG. 7 is a diagram showing the link state after mobile object A travels from link 1 to link 3. In FIGS. 6 and 7 , mobile object 100 is represented as "mobile object A." In FIGS. 6 and 7 , the traveling direction of mobile object A is represented by an arrow. In FIG. 6 , links 1 and 3 are scheduled for travel. The travel schedule represents the number of mobile objects that include the link in their route and is updated by route generation. When a mobile object arrives at or departs from a link, the number of vehicles scheduled to travel decreases. A link that is not included in any mobile object's route has zero scheduled travels.

[0015] The weighted elapsed circulatory time of links 2 and 3 in FIG. 6 is an example. The weighted elapsed circulatory time is updated by the link information update function 104 and the location information query function 105. The weighted elapsed circulatory time assigned to a link is 0 while mobile unit A is present on the link. Therefore, the weighted elapsed circulatory time of link 1 is 0 while mobile unit A is present on link 1. On the other hand, the weighted elapsed circulatory time of links 2 and 3, where mobile unit A is not present, increases over time. However, any weight can be assigned to each link. By increasing the weight for links present in important areas and spaces, the weighted elapsed circulatory time increases more quickly, resulting in an increase in the frequency of mobile units visiting the target links. Conversely, by decreasing the weight for less important links, the mobile unit performs a minimum circulatory visit while prioritizing the visit of other links. In FIG. 7, mobile unit A has completed the circulatory visit of link 1, so the weighted elapsed circulatory time of link 1 has begun to increase. On the other hand, the weighted elapsed circulatory time of link 3 is 0 because mobile unit A is present on link 3.

[0016] The patrol history from link 1 to link 3 in FIG. 6 is an example. The patrol history includes information about mobile objects that have previously traveled through the links and time information. The patrol history includes an identifier assigned to the mobile object 100 that has traveled through the target link and information about the time when the mobile object 100 traveled through the target link. Examples of the identifier include a code or a number. The identifier may be added when the mobile object 100 passes the start point of the target link, or when the information processing unit 102 detects the link on which the mobile object 100 is located when acquiring the location information of the mobile object 100. In the example of FIG. 6, the time of the patrol and the code of the mobile object 100 that traveled through the link are added. In FIG. 6, mobile object A is located on link 1, so the time when mobile object A traveled through link 1 and A are recorded in the patrol history of link 1. In FIG. 7, mobile object A has proceeded to link 3, so the time when mobile object A traveled through link 3 and A are added to the patrol history of link 3.

[0017] The weighted number of visits in FIG. 6 is derived from the visit history. The weighted number of visits is assigned a weight that is inversely correlated with the weight assigned to the weighted elapsed visit time. The reason for the inverse correlation is as follows: When generating a route, the information processing unit 102 evaluates links so that links with smaller weighted visit counts are included in the route with higher priority. Therefore, if there is a link that the mobile unit 100 is desired to visit more intensively, the weighted elapsed visit time must increase at a faster rate, and the weighted number of visits must be treated as smaller. To achieve this, the weight of the weighted elapsed visit time and the weight of the weighted number of visits are inversely correlated. In FIG. 7, the visit history for link 3 has increased, so the weighted elapsed visit time also increases by one.

[0018] The link distance from link 1 to link 3 in Figure 6 is an example. The link distance may be an 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 a target link setting function 106, and generates a route to the target link using a route generation function 107. Even if a link with planned travel is set as the target link, the information processing unit 102 preferentially selects a link with fewer planned travelling vehicles. The information processing unit 102 performs this for all mobile units 100.

[0020] 8 is a flowchart showing the procedure of a patrol management method performed by the information processing unit 102 of the mobile object system 10 according to the embodiment for one mobile object 100. First, the information processing unit 102 acquires the location information of the mobile object 100 from the network unit 101 (S1) and updates the location information of all mobile objects 100 managed by the information processing unit 102. Next, the information processing unit 102 determines whether there are any mobile objects 100 that have reached a target link or any mobile objects 100 for which a target link has not been set (S2). If the information processing unit 102 determines that there are any mobile objects 100 that have reached a target link or any mobile objects 100 for which a target link has not been set (Yes in S2), it selects a next target link for the mobile objects 100 that have reached a target link or any mobile objects 100 for which a target link has not been set (S3). Next, the information processing unit 102 generates a route to the selected target link (S4). If the information processing unit 102 determines that there is no mobile object 100 that has reached the target link or that there is no mobile object 100 for which a target link is not set (No in S2), it causes the mobile object 100 to continue moving (S5). After performing the operation of step S4 or step S5, the information processing unit 102 determines whether or not to cause the mobile object 100 to end the patrol (S6). If the information processing unit 102 determines that the mobile object 100 should continue the patrol (No in S6), it performs the operation of step S1 again. If the information processing unit 102 performs the operation of step S1 again, the operations from step S1 to step S6 are performed again. If the information processing unit 102 determines that the mobile object 100 should end the patrol (Yes in S6), it ends the operation.

[0021] The target link setting function 106 sets a target link for the mobile object 100 based on link information. FIG. 9 is a flowchart showing the procedure of the operation performed by the information processing unit 102 of the mobile object system 10 according to the embodiment when setting a target link for one mobile object 100. First, the information processing unit 102 determines whether there is a link with a travel time greater than a threshold (S11). The threshold is set to detect when a mobile object 100 is unable to reach the target link for some reason, and allows a target link or a link on another mobile object 100's route to be set as a target link. The threshold may be the time required for one mobile object 100 to travel a route generated by a traveling salesman problem or the like without stopping or delaying all links, the longest time among the shortest distances between two links, the average travel time for all mobile objects 100 to one link calculated based on the travel time and number of visits, or a value corresponding to the magnitude of the weight of the weighted travel time. The threshold for each link may be different from the thresholds for other links. The threshold value may be varied depending on the number of moving objects 100 patrolling within the floor, or may be varied in response to the time when a change in the environment is predicted.

[0022] If the information processing unit 102 determines that a link exists with a patrol elapsed time greater than the threshold (Yes in S11), it determines whether the number of mobile objects 100 that have that link as a target link is set to a regulated number or less (S12). The regulated number is a value used to prevent multiple mobile objects 100 from selecting the same link as a target link when multiple mobile objects 100 are patrolling. This prevents uneven patrols of the mobile objects 100 across the map. Setting the regulated number to 0 disables the function of selecting links with weighted patrol elapsed times greater than the threshold as target links. Setting the regulated number to a number greater than the number of mobile objects 100 present within the map also allows all mobile objects 100 to target the same link. The regulated number may be changed depending on the magnitude of the weighted patrol elapsed time, or different regulated numbers may be set for each link depending on 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 value and that a mobile body 100 equal to or less than the regulated number of vehicles is set as the target link (Yes in S12), 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 is no link with a patrol elapsed time greater than the threshold (No in S11), or if it determines that more mobile bodies 100 than the regulated number of vehicles have been set as the target link (No in S12), it determines whether there is a link with no planned travel (S14). When a link with planned travel is set as the target link, the route generated by the route generation function 107 may not be the shortest distance. Therefore, if other mobile bodies 100 patrol before the mobile body 100 arrives at the target link, the weighted patrol elapsed time at the time of arrival of the mobile body 100 may be small, and the patrol efficiency may be reduced. Therefore, by avoiding setting a link with planned travel as the target link, it is possible to suppress the reduction in patrol efficiency.

[0025] If the information processing unit 102 determines that there is a link with no planned travel time (Yes in S14), it sets the link with the longest elapsed travel time among the target links as the target link (S15).If the information processing unit 102 determines that there is no link with no planned travel time (No in S14), it sets the link with the longest elapsed travel time among the links that satisfy the conditions of "less than or equal to the threshold and fewer planned travel times" 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 the mobile unit 100 that has reached the target link or for the mobile unit 100 that does not have a target link.

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

[0028] Next, the information processing unit 102 determines the maximum route distance from the elapsed travel time of the target link and the length of the shortest route (S22). The information processing unit 102 uses the route generation function 107 to calculate a route evaluation value from link information and generate a route. Therefore, if an excessively detour route is selected, the mobile unit 100 may arrive at the target link late, potentially resulting in a link whose weighted elapsed travel time exceeds a threshold. To prevent this from becoming a regular occurrence, measures such as increasing the threshold may be taken. However, in this case, it becomes difficult to distinguish between a link where a measure such as an increased threshold has been taken and a link where the mobile unit 100's arrival is truly delayed due to environmental influences, resulting in a decrease in travel efficiency. Therefore, the information processing unit 102 determines the maximum route distance so that the longer the weighted elapsed travel time of the target link, the closer it is to the shortest distance. By setting the maximum route distance as the limit distance of the generated route, excessive detours are prevented. Examples of methods for determining the maximum route distance include multiplying the shortest distance by a value of 1 or more that decreases in proportion to the magnitude of the weighted cyclic elapsed time or adding a value of 0 or more, multiplying the shortest distance by a value of 1 or more that is inversely proportional to the magnitude of the weighted cyclic elapsed time or adding a value of 0 or more, or multiplying the shortest distance by a value of 1 or more that decreases exponentially as the weighted cyclic elapsed time increases or adding a value of 0 or more.

[0029] Next, the information processing unit 102 extracts routes that satisfy the maximum route distance or less (S23). Examples of a search method include a method using a graph search algorithm. For example, the information processing unit 102 uses a depth-first search, a breadth-first search, a best-first search, or a machine learning method.

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

[0031] Next, the information processing unit 102 sets the route with the highest link evaluation value (S25). FIG. 11 illustrates the relationship between link evaluation values ​​and link information. Regarding the relationship between link evaluation values ​​and planned travel, the fewer planned travels, the smaller the link evaluation value, and the more planned travels, the larger the link evaluation value. Regarding the relationship between link evaluation values ​​and weighted elapsed travel time, the shorter the weighted elapsed travel time, the smaller the link evaluation value, and the longer the weighted elapsed travel time, the larger the link evaluation value. Regarding the relationship between link evaluation values ​​and travel history, the more recent the history of travel by the mobile object 100 of the link, the smaller the link evaluation value, and the further back in history the mobile object 100 has traveled, the larger the link evaluation value. An arbitrary upper limit is set for the number of histories that can be referenced. If there are multiple histories, the most recent history is reflected in the link evaluation value. If no travel history is recorded, an arbitrary upper limit is reflected in the link distance. Regarding the relationship between the link evaluation value and the weighted visit count, when the difference between the average of the weighted visit counts of all links and the weighted visit count of a link is large, the link evaluation value becomes small, and when the difference is small, the link evaluation value becomes large. The relationship between the link evaluation value and the link information is defined so as to maintain this relationship. When expressing the relationship between the link evaluation value and the link information as a function, a proportional function, an inverse proportional function, a logarithmic function, a polynomial function, or a nonlinear function may be used, or any relational expression may be used. Regarding the relationship between the link information and the link evaluation value, "set the route with the maximum link evaluation value" in step S25 of FIG. 10 may be changed to "set the route with the minimum link evaluation value."

[0032] 12, 13, and 14 each show an example of the relationship between link evaluation values ​​and link information. In FIG. 12, the relationship between the weighted patrol elapsed time and the link evaluation value is proportional. In FIG. 13, the relationship between the host device and the link evaluation value is an exponential function, with an arbitrary upper limit of patrol history set to three. By establishing an exponential relationship between the host device and the link evaluation value, a structure is achieved in which the link evaluation value of a route that has been traversed recently is hardly increased. Furthermore, links with a history of more than three patrols or links with no patrols will have the same link evaluation value if the weighted patrol elapsed time and the weighted patrol count are the same. In FIG. 13, the upper limit is set to three 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 FIG. 14, the relationship between the link evaluation value and the difference between the average weighted patrol count of all links and the weighted patrol count of each link of the route is a three-dimensional function. 14, the three-dimensional functional relationship allows for some error in the number of visits, and causes the link evaluation value to change significantly from an increase or decrease of approximately 5. That is, the information processing unit 102 may generate the link evaluation value using any one of the following rules: a first rule that the weighted visit elapsed time is proportional to the link evaluation value; a second rule that the link evaluation value is exponentially related to the visit history of one or more mobile bodies 100, up to a predetermined number of visits, of a mobile body involved in the generation of the link evaluation value, and that the link evaluation value does not change even if the visit history increases once the predetermined number of visits has been reached; or a third rule that the link evaluation value is three-dimensionally related to the relationship between the link evaluation value and the difference between the average of the weighted visit counts of all links and the weighted visit counts of the links of the route.

[0033] The link evaluation value is generated by calculation from the weighted visit count, visit history, and weighted visit count. If it is desired to directly reflect the relationship between the link evaluation value and link information in Figures 12, 13, and 14 in the calculation, a method can be used in which weights are determined for each piece of link information based on the functional relationships in Figures 12, 13, and 14, and the link evaluation value is calculated using a weighted average method. Regarding other methods for calculating the link evaluation value, since the link evaluation value and the link information only need to satisfy the magnitude relationship shown in Figure 11, a calculation method using statistics such as the average, maximum, minimum, median, or variance of the link information, or one or more of these statistics, or the value of the link information, may be used to output the link evaluation value. Examples of the calculation method include a counting method, a weighted average method, a decision tree analysis method, a neural network method, a logistic regression method, a support vector machine method, or an arbitrary evaluation function.

[0034] The route evaluation value is calculated from the link evaluation values ​​included in the route. A method for outputting the route evaluation value may use a statistical quantity such as the average, maximum, minimum, median, or variance of the link evaluation values ​​of the links included in the route, or one or more of these statistical quantities, or a calculation method using link information values. Examples of the calculation method may include a counting method, a weighted average method, a decision tree analysis method, a method using a neural network, a method using logistic regression, a method using a support vector machine, or a method using an arbitrary evaluation function.

[0035] As an example of the route selection by the information processing unit 102, the information processing unit 102 may select the route with the largest sum of the route evaluation value of the route and the sum of the links with no planned travel, or may select a route based on an arbitrary evaluation function using the route evaluation value and the sum of the links with no planned travel. Furthermore, the information processing unit 102 may dynamically change the route evaluation value and the weight of the sum of the links with no planned travel in accordance with the number of mobile objects 100 on the patrol.

[0036] As described above, according to this embodiment, even if the number of mobile units 100 on patrol increases or decreases, the target link is set using the link information, and a route to the target link is generated, so that each mobile unit 100 can continue patrolling. Even if the patrol of the mobile unit 100 is delayed due to avoidance behavior associated with crowds of people and obstacles, interrupt tasks, etc., the target link is set and a route to the target link is generated by referring to the weighted patrol elapsed time of the link, so that the mobile unit 100 can perform patrol while suppressing a decrease in the quality of the patrol.

[0037] The information processing unit 102 has a link information management function 103, a link information update function 104, a position information inquiry function 105, a target link setting function 106, and a route generation function 107, and repeats the operation of setting a route for all mobile units 100 currently patrolling and the operation of setting a target link after moving across the set target link. Therefore, the mobile unit system 10 and patrol management method according to the embodiment allow the mobile units 100 to continue patrolling without compromising the quality of the patrol, even if interruption tasks, delays, and some or all of an increase or decrease in the number of mobile units occur during a continuous patrol. Furthermore, the mobile unit system 10 and patrol management method according to the embodiment store information in the links, allowing the patrol status to be reflected in the setting of a target link and the generation of a route to the target link. Repeating the target setting and route generation allows the mobile units 100 to continue patrolling, ultimately enabling continuous patrol of one or more mobile units 100 that is robust against environmental influences.

[0038] When one or more mobile units 100 enter a link, the information processing unit 102 resets the weighted patrol elapsed time to zero for the link where the mobile unit entered, and starts increasing the weighted patrol elapsed time when the mobile unit leaves the link, and records an identifier identifying the mobile unit in the patrol history using the link information update function 104. As described above, examples of the identifier are codes or numbers. Continuous patrol can be achieved by including the magnitude of the weighted patrol elapsed time in the index of the patrol method that repeats goal setting and route generation. Including the patrol history of the mobile unit 100 in the index of route generation makes it possible to more effectively avoid routes that the mobile unit 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 uses the link information management function 103 to update the travel schedule information based on the route to the set target link of one or more mobile bodies 100. By including the travel schedule in the indicators for goal setting and route generation, it is possible to actively select routes with no travel schedule and prevent target links and routes from concentrating on links with large weighted patrol elapsed times.

[0040] The information processing unit 102 uses the link information management function 103 to increase the weight of the weighted patrol elapsed time for a link that is desired to be patrolled intensively by any one of the one or more mobile bodies 100. By increasing the weight of the weighted patrol elapsed time for a link that is desired to be patrolled intensively, the patrol frequency can be improved and a decrease in the quality of patrol can be suppressed.

[0041] The information processing unit 102 uses the link information management function 103 to create an inverse correlation between the weight of the weighted elapsed tour time and the weight of the weighted tour count. Areas that need to be toured more intensively are prioritized for inclusion in the target link and route by increasing the weight and speeding up the increase in the weighted tour elapsed time. However, when generating a route, evaluation is performed so that the tour count is averaged across all links, reducing the effectiveness of the weighted tour count. Therefore, by assigning a weight that is inversely correlated with the weight of the weighted tour elapsed time to the weighted tour count, the magnitude of the weighted tour count becomes smaller for links that need to be toured more intensively. This reduces the weighted tour count of key links compared to the average value of the weighted tour count for all links, thereby increasing the link evaluation value.

[0042] If a link exists with a weighted cyclic elapsed time greater than the reference value and the number of mobile objects that use the link as a target link is equal to or less than the regulated number of vehicles, the information processing unit 102 sets the link as a target link using the target link setting function 106. If no link exists with a weighted cyclic elapsed time greater than the reference value, or if a link exists with a weighted cyclic elapsed time greater than the reference value and the number of mobile objects that use the link as a target link is greater than the regulated number of vehicles, the information processing unit 102 checks whether there are any links with no planned travel plans using the target link setting function 106. If there are any links with no planned travel plans, the link with the longest weighted cyclic elapsed time among the links with no planned travel plans is set as the target link. If there are no links with no planned travel plans, the link with the longest weighted cyclic elapsed time among all links is set as the target link. By determining the target link based on the magnitude of the weighted cyclic elapsed time, it is possible to prevent a situation in which each link has not been visited for a long time. Furthermore, by excluding links included in the planned travel plans, it is possible to prevent a situation in which the cyclic elapsed time becomes too short when the mobile object 100 arrives. Furthermore, even if a link is scheduled to be passed, if the weighted travel time is equal to or exceeds the reference value, it can be set as a target link because it is possible that the arrival of the mobile unit 100 scheduled to pass through has been delayed due to some factor. However, an upper limit on the number of mobile units 100 is set to prevent a large number of mobile units 100 from concentrating on the same link and setting it as a target link.

[0043] The route generation function 107 has the following functions: generate a shortest route to a target link for each of one or more mobile units 100; generate a maximum route distance based on the shortest route and the weighted elapsed travel time of the target link corresponding to the shortest route; generate one or more route candidates with a distance equal to or less than the maximum route distance; generate link evaluation values ​​based on the weighted elapsed travel time, travel history, and weighted number of visits of one or more links included in each of the one or more route candidates; generate route evaluation values ​​for all routes included in each of the one or more route candidates based on the link evaluation values; and select an optimal route from among the one or more route candidates based on the magnitude of the route evaluation value and a route with the least number of scheduled visits. This allows the optimal route to be generated using information on the weighted elapsed travel time, travel history, weighted number of visits, and link distance assigned to the links. The route evaluation value referenced when generating a route to the target link is determined by the weighted elapsed travel time, travel history, and weighted number of visits. However, if only these pieces of information were referenced, there is a possibility that an excessively long detour route would be generated before the mobile unit 100 reaches the target link. Therefore, by determining the limit distance of the generated route based on the magnitude of the weighted patrol elapsed time of the target link relative to the shortest route, excessively long detour routes are suppressed, and if the weighted patrol elapsed time of the target link is excessive, the mobile body 100 is able to travel the shortest distance.

[0044] The link evaluation value of each of one or more route candidates is determined based on information about the links included in the route candidate. The larger the analysis value of the weighted elapsed tour time of each of one or more links included in the route candidate, the larger the link evaluation value. The older the tour history of each of one or more links included in the route candidate, the larger the link evaluation value. If the identifier of the mobile unit 100 is not included in the tour history, the link evaluation value is set to an arbitrary upper limit number of times the tour history can be referenced. The link evaluation value becomes lower when the weighted tour count of each of one or more links included in the route candidate is smaller than the average of the weighted tour counts of all links included in the map, and becomes higher when it is greater than the average. The route evaluation value is generated from the link evaluation values ​​of the links included in the route. By generating a route evaluation value using some kind of calculation or evaluation function from the weighted tour elapsed time, tour history, and weighted tour count, it is possible to generate an optimal route to a target link that maintains the quality of the tour. By increasing the route evaluation value as the weighted tour elapsed time increases, links with a large weighted tour elapsed time can be preferentially included in the route. Regarding the patrol history, by increasing the route evaluation value the further back in the history of the own vehicle, links that the own vehicle has passed through will be avoided, thereby suppressing bias in routes and achieving decentralization. Regarding the weighted patrol count, by recording how many times the mobile unit 100 has passed through each link, it is possible to maintain the quality of the previous time for each link even in situations where bias in route generation may occur due to changes in the area structure or environment.

[0045] A link is a section connecting two reference positions, and the shape of the section is not limited. The two reference positions and the section are contained within a space in which one or more mobile bodies 100 can move. When one or more mobile bodies 100 reaches one of two reference positions, the reference position reached by the mobile body becomes the starting point, and the other of the two reference positions becomes the end point. By making the link a link that is independent of the map and shape, it is possible to perform patrols of the mobile body 100 assuming various locations. The reference position may be replaced with a node.

[0046] 15 is a diagram showing a processor 91 in a case where at least some of the functions of the information processing unit 102 included in the mobile body 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 the processor 91 that executes a program stored in the memory 92. The processor 91 is a CPU (Central Processing Unit), a processing system, an arithmetic system, a microprocessor, or a DSP (Digital Signal Processor). The memory 92 is also shown in FIG. 15.

[0047] When at least some of the functions of the information processing unit 102 are realized by the processor 91, the at least some of the functions are realized 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 the memory 92. The processor 91 realizes at least some of the functions of the information processing unit 102 by reading and executing the program stored in the memory 92.

[0048] When at least some of the functions of the information processing unit 102 are realized by the processor 91, the information processing unit 102 has the processor 91 and a memory 92 for storing a program that results in the execution of at least some of the steps executed by the information processing unit 102. It can also be said that the program stored in the memory 92 causes a computer to execute at least some of the procedures or methods executed by the information processing unit 102.

[0049] The memory 92 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (registered trademark) (Electrically Erasable Programmable Read-Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disk).

[0050] 16 is a diagram illustrating the processing circuitry 93 when at least some of the functions of the information processing unit 102 included in the mobile body system 10 according to the embodiment are realized by the processing circuitry 93. In other words, at least some of the functions of the information processing unit 102 may be realized by the processing circuitry 93.

[0051] The processing circuitry 93 is dedicated hardware, and 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 of the functions of the information processing unit 102 may be realized by dedicated hardware that is separate from the remaining functions of the information processing unit 102 .

[0053] Some of the functions of the information processing unit 102 may be realized by software or firmware, and the remaining functions may be realized by dedicated hardware. In this way, the functions of the information processing unit 102 can be realized by hardware, software, firmware, or a combination thereof.

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

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

Claims

1. A system comprising: one or more mobile bodies connectable to a communications network; and an information processing unit that manages a map composed of links and the patrols of each of the mobile bodies, and sets a target link for each of the mobile bodies and a route for each of the mobile bodies to the target link, the information processing unit having: a link information management function that manages information associated with the link, such as a travel schedule, elapsed patrol time, patrol history, number of patrols, and link distance, indicating whether the link is included in the route of each of the mobile bodies; a link information update function that updates the information on the elapsed patrol time, the patrol history, and the number of patrols based on position information of each of the mobile bodies transmitted and received via the communications network; a position information inquiry function that identifies the link on which each of the mobile bodies is located based on the position information, and determines whether each of the mobile bodies has reached the target link; and 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 elapsed patrol time. a route generation function that sets a route to the set target link based on the travel schedule, the elapsed time of the tour, the tour history, the number of tours, and the link distance; and a route generation function that repeats, for each of the moving bodies via the communication network, an operation of setting a route and an operation of setting a second target link different from the first target link after moving across the set first target link.

2. The mobile body system according to claim 1, characterized in that when any one of the one or more mobile bodies enters the link, the information processing unit resets the weighted cyclic elapsed time for the link in which the mobile body has entered to zero by using the link information update function, and when the mobile body leaves the link, the weighted cyclic elapsed time begins to increase, and an identifier identifying the mobile body is recorded in the cyclic history.

3. The mobile body system according to claim 1, characterized in that the information processing unit updates the travel schedule information based on the route to the target link set for the one or more mobile bodies using the link information management function.

4. The mobile body system according to claim 1, characterized in that the information processing unit, using the link information management function, increases the weight of the weighted patrol elapsed time for links that the mobile body among the one or more mobile bodies is to be primarily patrolled on.

5. The mobile system according to claim 1, characterized in that said information processing unit uses said link information management function to make the relationship between the weight of the weighted elapsed visit time and the weight of the weighted number of visits in an inverse correlation relationship.

6. The mobile system described in claim 1, characterized in that the information processing unit, using the target link setting function, sets the link as the target link if there is a link with a weighted cyclic elapsed time greater than a reference value and the number of mobile bodies that have the link as the target link is equal to or less than the regulated number, checks whether there is a link on which no traffic is scheduled to pass if there is no link with the weighted cyclic elapsed time greater than the reference value or if there is a link with the weighted cyclic elapsed time greater than the reference value and the number of mobile bodies that have the link as the target link is greater than the regulated number, and if there is a link on which no traffic is scheduled to pass, sets the link with the longest weighted cyclic elapsed time among the links on which no traffic is scheduled to pass as the target link, and if there is no link on which no traffic is scheduled to pass, sets the link with the longest weighted cyclic elapsed time among all links as the target link.

7. The mobile body system described in claim 1, characterized in that the route generation function has the following functions: a function for generating a shortest route to a target link for each of the one or more mobile bodies; a function for generating a maximum route distance based on the shortest route and a weighted elapsed time of a tour of a target link corresponding to the shortest route; a function for generating one or more route candidates less than the maximum route distance; a function for generating a link evaluation value based on the weighted elapsed time of a tour, the tour history and the weighted number of tours of one or more links included in each of the one or more route candidates; a function for generating route evaluation values ​​for all routes included in each of the one or more route candidates based on the link evaluation value; and a function for selecting an optimal route from among the one or more route candidates based on the magnitude of the route evaluation value and a route with the least scheduled passage.

8. The mobile system described in claim 7, characterized in that the link evaluation value of each of the one or more route candidates is determined based on information of the links included in the route candidate, the link evaluation value increases as the analysis value of the weighted patrol elapsed time of each of the one or more links included in the route candidate increases, the link evaluation value increases as the patrol history of each of the one or more links included in the route candidate increases, the link evaluation value is set to an arbitrary upper limit number of times that the patrol history can be referenced when a mobile identifier is not present in the patrol history, the link evaluation value decreases as the weighted patrol count of each of the one or more links included in the route candidate decreases compared to the average value of the weighted patrol count of all links included in the map, and the link evaluation value increases as the weighted patrol count increases above the average value, and the route evaluation value is generated from the link evaluation values ​​of the links included in the route.

9. A mobile body system as described in any one of claims 1 to 7, characterized in that: the link is a section connecting two reference positions or two nodes; the shape of the section is not limited; the two reference positions or the two nodes and the section are contained within a space in which the one or more moving bodies can move; and when any one of the one or more moving bodies reaches either of the two reference positions or the two nodes, the reference position or node reached by the moving body becomes the starting point, and the other of the two reference positions or the two nodes becomes the end point.

10. The mobile system described in claim 7, characterized in that the information processing unit generates the link evaluation value using any one of the following rules: a first rule that the relationship between the weighted tour elapsed time and the link evaluation value is proportional; a second rule that the relationship between the tour history up to a predetermined number of times of a mobile body related to the generation of the link evaluation value among the one or more mobile bodies and the link evaluation value is exponential, and when the tour history reaches the predetermined number of times, the link evaluation value does not change even if the tour history increases; and a third rule that the relationship between the link evaluation value and the difference between the average of the weighted tour counts of all links and the weighted tour counts of the links of the route is a three-dimensional functional relationship.

11. A patrol management method in a mobile body system having one or more mobile bodies connectable to a communication network in an area where one or more mobile bodies patrol, and an information processing unit that manages a map composed of links and the patrol of each of the mobile bodies and sets a target link for each of the mobile bodies and a route for each of the mobile bodies to the target link, in which the information processing unit manages the patrol of the one or more mobile bodies, wherein the information processing unit has: a link information management function that manages information on a travel schedule, a patrol elapsed time, a patrol history, the number of patrols, and a link distance, which indicate whether the link is included in the route of each of the mobile bodies, as information associated with the link; a link information update function that updates information on the patrol elapsed time, the patrol history, and the number of patrols based on position information of each of the mobile bodies transmitted and received via the communication network; a position information inquiry function that identifies the link on which each of the mobile bodies exists based on the position information, and determines whether each of the mobile bodies has reached the target link; and a target link setting function that sets the target link based on the travel schedule and the patrol elapsed time for a mobile body that has reached the target link or a mobile body that does not have the target link. a route generation function that sets a route to the set target link based on the travel schedule, the patrol elapsed time, the patrol history, the number of patrols, and the link distance, and the patrol management method is characterized in that the patrol management method repeats, via the communication network, an operation of setting a route for each of the mobile bodies, and an operation of setting a second target link different from the first target link after moving across the set first target link.

12. The patrol management method described in claim 11, characterized in that when any one of the one or more mobile bodies enters the link, the information processing unit resets the weighted patrol elapsed time for the link into which the mobile body has entered to zero by using the link information update function, and when the mobile body leaves the link, the weighted patrol elapsed time begins to increase, and an identifier identifying the mobile body is recorded in the patrol history.

13. The patrol management method according to claim 11, characterized in that the information processing unit updates the travel schedule information based on the route to the target link set for the one or more moving bodies using the link information management function.

14. The patrol management method according to claim 11, characterized in that the information processing unit, using the link information management function, increases the weight of the weighted patrol elapsed time for links that one or more mobile bodies are desired to patrol intensively.

15. The tour management method according to claim 11, characterized in that said information processing section uses said link information management function to make the relationship between the weight of the weighted tour elapsed time and the weight of the weighted tour count inversely correlated relation.

16. The patrol management method according to claim 11, characterized in that the information processing unit, using the target link setting function, sets the link as the target link if there is a link with a weighted patrol elapsed time greater than a reference value and the number of mobile objects that have the link as the target link is equal to or less than the regulated number; checks whether there is a link on which no traffic is scheduled to pass if there is no link with the weighted patrol elapsed time greater than the reference value or if there is a link with the weighted patrol elapsed time greater than the reference value and the number of mobile objects that have the link as the target link is greater than the regulated number; and, if there is a link on which no traffic is scheduled to pass, sets the link with the longest weighted patrol elapsed time among the links on which no traffic is scheduled to pass as the target link; and, if there is no link on which no traffic is scheduled to pass, sets the link with the longest weighted patrol elapsed time among all links as the target link.

17. The patrol management method described in claim 11, characterized in that the route generation function has the following functions: a function for generating a shortest route to a target link for each of the one or more moving bodies; a function for generating a maximum route distance based on the shortest route and a weighted patrol elapsed time of the target link corresponding to the shortest route; a function for generating one or more route candidates less than the maximum route distance; a function for generating a link evaluation value based on the weighted patrol elapsed time, the patrol history and the weighted number of patrols of one or more links included in each of the one or more route candidates; a function for generating route evaluation values ​​of all routes included in each of the one or more route candidates based on the link evaluation values; and a function for selecting an optimal route from the one or more route candidates based on the magnitude of the route evaluation value and a route with the least scheduled passage.

18. The route management method of claim 17, characterized in that: the link evaluation value of each of the one or more route candidates is determined based on information of the links included in the route candidate; the larger the analysis value of the weighted patrol elapsed time of each of the one or more links included in the route candidate, the larger the link evaluation value; the older the patrol history of each of the one or more links included in the route candidate, the larger the link evaluation value; if there is no mobile body identifier in the patrol history, an arbitrary upper limit number of times that the patrol history can be referenced is set as the link evaluation value; the smaller the weighted patrol count of each of the one or more links included in the route candidate is than the average value of the weighted patrol count of all links included in the map, the lower the link evaluation value, and the higher the weighted patrol count is above the average value; and the route evaluation value is generated from the link evaluation values ​​of the links included in the route.

19. A patrol management method as described in any one of claims 11 to 17, characterized in that: the link is a section connecting two reference positions or two nodes; the shape of the section is not limited; the two reference positions or the two nodes and the section are contained within a space in which the one or more moving bodies can move; and when any one of the one or more moving bodies reaches either of the two reference positions or the two nodes, the reference position or node reached by the moving body becomes the starting point, and the other of the two reference positions or the two nodes becomes the end point.

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