Coordinated control system, system for managing conversion for coordinated control, coordinated control method, and coordinated control program

Abstract

A coordinated control system according to the present invention comprises a control unit that performs coordinated control of a plurality of different types of devices. The control unit executes coordinated control of the devices that is based on input information and output information input into and output from the devices via an interface device. The input information and the output information are data constructed using a shared data format with respect to the plurality of devices. The control unit executes coordinated control based on a task, which is an instruction issued to the devices, and a mission that manages a plurality of said tasks.

Description

Group control system, group control conversion management system, group control method, and group control program

[0001] The present disclosure relates to a group control system, a group control conversion management system, a group control method, and a group control program.

[0002] Conventionally, as a group control system for devices, an unmanned aircraft control system is known in which a ground control device sends flight control commands and photography control commands for multiple reconnaissance unmanned aircraft to a control unmanned aircraft, thereby operating multiple reconnaissance unmanned aircraft (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2001-283400

[0004] Generally, unmanned aircraft control systems such as those disclosed in Patent Document 1 are designed to operate unmanned aircraft of the same model. However, when multiple different types of devices are operated, each device is operated by its own operator. Therefore, when multiple different types of devices are operated, a large number of operators are required, making it difficult to reduce the number of personnel required.

[0005] Therefore, an object of the present disclosure is to provide a group control system, a group control conversion management system, a group control method, and a group control program that can achieve simple operation while reducing the number of operators required, even when group controlling multiple different types of devices.

[0006] The group control system of the present disclosure is a group control system that includes a control unit that performs group control of multiple different types of devices, and the control unit performs group control of the devices based on input information and output information input and output from the devices via an interface device, and the input information and output information are data constructed using a common data standard for the multiple devices, and the control unit performs group control based on tasks, which are instructions to be given to the devices, and missions that manage the multiple tasks.

[0007] The group control conversion management system of the present disclosure includes the group control system described above and an interface device provided between the group control system and the device.

[0008] The group control method disclosed herein is a group control method executed by a group control system including a control unit that performs group control of a plurality of different types of devices, wherein the control unit performs group control of the devices based on input information and output information input and output from the devices via an interface device, the input information and output information being data constructed using a common data standard for the plurality of devices, and the control unit performs group control based on tasks, which are instructions given to the devices, and missions that manage the plurality of tasks.

[0009] The group control program disclosed herein is a group control program executed by a group control system including a control unit that performs group control of multiple different types of devices, and causes the control unit to perform group control of the devices based on input information and output information input and output from the devices via an interface device, where the input information and output information are data constructed using a common data standard for the multiple devices, and causes the control unit to perform group control based on tasks, which are instructions to be given to the devices, and missions that manage the multiple tasks.

[0010] According to the present disclosure, even when multiple different types of devices are controlled in a group, it is possible to reduce the number of operators and achieve simple operation.

[0011] FIG. 1 is a diagram relating to a group control conversion management system according to this embodiment. FIG. 2 is an explanatory diagram functionally illustrating the group control conversion management system according to this embodiment. FIG. 3 is a diagram illustrating an example of input / output information. FIG. 4 is an explanatory diagram relating to missions. FIG. 5 is an explanatory diagram relating to tasks. FIG. 6 is an explanatory diagram of an example of extraction of tasks associated with assets. FIG. 7 is an explanatory diagram of an example of extraction of tasks associated with objects. FIG. 8 is an explanatory diagram relating to an example of group control using a computing device. FIG. 9 is a diagram relating to an example of group control using a computing device. FIG. 10 is a diagram relating to an example of group control using a computing device.

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. However, this disclosure is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially identical. Furthermore, the components described below can be combined as appropriate, and when there are multiple embodiments, the respective embodiments can also be combined.

[0013] [Present Embodiment] A group control conversion management system 1 according to this embodiment is a system for performing group control of a plurality of different types of devices (hereinafter also referred to as assets). First, the group control conversion management system 1 will be described with reference to Figs. 1 and 2 .

[0014] (Group Control Conversion Management System) Fig. 1 is a diagram relating to a group control conversion management system according to this embodiment. Fig. 2 is an explanatory diagram functionally showing the group control conversion management system according to this embodiment. As shown in Figs. 1 and 2, the group control conversion management system 1 includes a group control system 10 and a gateway (interface device) 16, and is communicatively connected to assets (devices) 15 via a communication network 18.

[0015] The assets 15 are devices that are the subject of group control (control control) and include a plurality of different types of devices. The assets 15 may be various devices, for example, land devices such as vehicles and monitoring devices, water devices such as ships, underwater devices such as underwater probes, and airborne devices such as unmanned aerial vehicles.

[0016] The gateway 16 is provided between the communication path for communication between the group control system 10 and the asset 15, and converts the communication method of the asset 15 to the communication method of the group control system 10, and converts the communication method of the group control system 10 to the communication method of the asset 15. In this embodiment, the gateway 16 is provided between the communication network 18 and the asset 15, but is not particularly limited thereto, and may be provided within the asset 15, between the communication network 18 and the group control system 10, or within the group control system 10, for example.

[0017] (Group Control System) The group control system 10 executes group control of the assets 15 based on input information and output information input and output via the gateway 16. Here, the input information and output information will be described with reference to Fig. 3 .

[0018] Fig. 3 is a diagram showing an example of input / output information. As shown in Fig. 3, the input information includes, for example, a status that is output from an asset 15 and input to the group control system 10. The output information includes, for example, a command that is output to the asset 15. The input information and output information are data that is constructed according to a common data standard for multiple assets 15.

[0019] Specifically, as shown in FIG. 3 , examples of the status of an asset 15 operated in the air include longitude, latitude, and altitude. Similarly, examples of the status of an asset 15 operated on land include longitude, latitude, and altitude, and examples of the status of an asset 15 operated on or underwater include longitude, latitude, and depth. The group control system 10 handles these statuses as a common data standard using three-dimensional coordinates of x, y, and z. In other words, statuses of different data standards (e.g., altitude, altitude, and depth) output from each asset 15 are assigned to a common data standard (e.g., z) in the group control system 10. Note that the above data definitions are merely examples, and any definition may be used as long as it can be defined as a common data standard in the group control system 10.

[0020] Furthermore, for assets 15 operated in the air, examples of commands include takeoff, turning and waiting, hovering, and landing. Similarly, examples of commands for assets 15 operated on land include launch, stop, and parking, and examples of commands for assets 15 operated on or underwater include takeoff, turning and waiting, and docking. The group control system 10 handles these commands as a common data standard, which are Start, Wait, and Finish. In other words, commands of different data standards (e.g., takeoff, launch, and docking) input to each asset 15 are assigned to a common data standard (e.g., Start) in the group control system 10. Note that the above data definitions are also merely examples, and any definition may be used as long as it can be defined as a common data standard in the group control system 10.

[0021] Referring again to FIG. 1, the group control system 10 includes a control unit 31, a storage unit 32, a display unit 33, and an input unit 34.

[0022] The control unit 31 includes an integrated circuit such as a CPU (Central Processing Unit), etc. The control unit 31 executes group control of the assets 15 based on input information and output information.

[0023] The storage unit 32 is any storage device such as a semiconductor storage device or a magnetic storage device. The storage unit 32 stores various programs for executing various controls and various data used for various data processing. The various data include, for example, input information such as status acquired from the assets 15. Another program is a group control program P for executing group control.

[0024] The display unit 33 is, for example, a display device such as a liquid crystal display, etc. The input unit 34 is, for example, an input device such as a keyboard and a mouse, etc.

[0025] 1 , a computing device 20 is connected to the group control system 10 via a communication network 18. In this embodiment, the computing device 20 is a device separate from the group control system 10, but it may also be incorporated into the group control system 10, or may be connected to the group control system 10 without the communication network 18.

[0026] The computing device 20 is a device for executing autonomous control of the assets 15 in response to a request from the group control system 10. The computing device 20 executes, for example, computational processing for managing resources such as fuel used by the assets 15, and computational processing for planning an appropriate movement route for the assets 15. The computing device 20 may execute computational processing using an AI (Artificial Intelligence) algorithm.

[0027] (Group Control Method) Next, a group control method executed by the group control system 10 will be described with reference to Fig. 2 and Fig. 4 to Fig. 10. Fig. 4 is an explanatory diagram relating to a mission. Fig. 5 is an explanatory diagram relating to a task. Fig. 6 is an explanatory diagram of an example relating to extraction of a task associated with an asset. Fig. 7 is an explanatory diagram of an example relating to extraction of a task associated with an object. Fig. 8 is an explanatory diagram relating to an example of group control using a computing device. Fig. 9 is a diagram relating to an example of group control using a computing device. Fig. 10 is a diagram relating to an example of group control using a computing device.

[0028] As shown in FIGS. 4 and 5 , the control unit 31 performs group control (regiment control) based on tasks, which are instructions given to the assets 15, and missions, which manage multiple tasks. As shown in FIG. 4 , a mission is a function for managing multiple tasks, and tasks are associated with assets 15 and objects. A task is data related to operation control that is generated in advance for each asset 15 and given to the asset 15 as instructions. Tasks include a monitoring task for monitoring an object (target object) for which a task is to be executed, a photography task for photographing an object, a tracking task for tracking an object, and an item dropping task for dropping an item toward an object. The control unit 31 performs group control using multiple assets 15 by combining tasks for each asset 15 in an action order and executing tasks for each asset 15 in parallel using group control based on the mission function.

[0029] Here, the object is data that is common to a plurality of assets 15, and for example, a common identification code is used. Examples of the object include a target (e.g., Target #1), an area (e.g., Area #1), and a point (e.g., Point #1).

[0030] As shown in FIG. 5 , a task is generated by combining multiple actions in an order of actions. An action is data related to the operation control of the asset 15 based on the movement of the asset 15. For example, in the case of an advancement task in which the asset 15 advances to the outside, the actions include a takeoff action to leave the current location and an advancement action to advance toward the destination after takeoff. The advancement task is generated by combining a takeoff action and an advancement action in an order of actions. In this way, a task can cause the asset 15 to perform a predetermined operation by combining actions of the asset 15 that have been generated in advance.

[0031] Next, referring to Figure 2, we will explain group control by the group control system 10, which is executed based on operator operation. When the operator inputs operation information such as commands or parameters to the control unit 31 via the input unit 34, the control unit 31 executes a predetermined task by managing tasks by mission based on the operation information. After executing a predetermined task, the control unit 31 outputs output information such as a predetermined command via the gateway 16 to the asset 15 that executes the task.

[0032] On the other hand, when input information such as status is input from the asset 15 to the group control system 10 via the gateway 16, the control unit 31 provides information regarding the status to the operator via the display unit 33 as a user interface by managing tasks by mission based on the status of the task associated with the asset 15.

[0033] Furthermore, the control unit 31 manages tasks by mission, thereby executing requests for calculation processing on a mission-by-mission or task-by-task basis to the calculation device 20, and obtaining the results of calculation processing on a mission-by-task basis. In other words, the control unit 31 communicates statuses and commands with the calculation device 20 when executing group control based on at least one of actions and tasks. Furthermore, the control unit 31 manages tasks by mission, thereby requesting the transfer of the operation authority of an asset 15 to an asset 15 whose operation is controlled by another mission, and approving the transfer of the operation authority of the asset 15.

[0034] 6, the control unit 31 can execute an extraction process to extract tasks corresponding to the asset 15. As described above, tasks are associated with the asset 15, so the control unit 31 acquires tasks associated with the asset 15 and displays the acquired tasks on the display unit 33 in the order of actions of the asset 15.

[0035] Here, the task displayed on the display unit 33 includes the asset 15, the object, and the execution status, which can be "completed," "in progress," or "not yet executed."

[0036] 7, the control unit 31 can execute an extraction process to extract tasks corresponding to objects. As described above, tasks are associated with objects, so the control unit 31 acquires tasks associated with the objects and displays the acquired tasks side by side on the display unit 33.

[0037] Next, with reference to FIGS. 8 to 10 , an example of a group control method executed by the group control system 10 using the computing device 20 will be described. FIGS. 8 and 9 illustrate, for example, a case in which the fuel of an asset 15 decreases and the asset 15 is replaced by another asset 15. As shown in FIGS. 8 and 9 , when the fuel of an asset 15 executing a task of tracking an object (tracking task) decreases, the asset 15 outputs a notification (status) indicating that the fuel has decreased to the group control system 10. When the control unit 31 of the group control system 10 acquires the fuel decrease status, the control unit 31 outputs the fuel decrease status to the computing device 20 as an automatic assignment request using the mission function. The computing device 20 executes a computation process (Resource Manager) for managing resources such as fuel used by the asset 15, and outputs a proposal for another asset 15 to be a replacement to perform the tracking task to the mission function as an automatic assignment result. The control unit 31 then notifies the operator of the automatic assignment result acquired in the mission function, along with a notification of a fuel reduction for the asset 15, via UIs such as the display unit 33 and input unit 34. When the operator approves the proposal for another asset 15 to perform a tracking task, the group control system 10 performs the tracking task by the other asset 15. The group control system 10 shifts the task of the asset 15 with reduced fuel from the tracking task to a return task.

[0038] Next, referring to FIG. 10 , a case will be described where, for example, the asset 15 transitions from a monitoring task to a tracking task. As shown in FIG. 10 , when the asset 15 executing a task of monitoring an object (monitoring task) discovers the object, the asset 15 outputs a notification (status) indicating that the object has been discovered to the group control system 10. When the control unit 31 of the group control system 10 acquires the object discovery status, the control unit 31 outputs the object discovery status to the computing device 20 as an automatic assignment request using the mission function. The computing device 20 executes a computation process for causing the asset 15 to perform autonomous behavior, thereby outputting a proposal for the asset 15 to transition from the monitoring task to the tracking task as an automatic assignment result to the mission function. The control unit 31 then notifies the operator of the automatic assignment result acquired in the mission function, together with a notification that the asset 15 has discovered the object, via UIs such as the display unit 33 and the input unit 34. If the operator approves the proposal for the asset 15 to transition from the monitoring task to the tracking task, the group control system 10 executes the tracking task by the asset 15.

[0039] As described above, the device group control system and device group control method described in this embodiment can be understood, for example, as follows.

[0040] The device group control system 10 of the first aspect is a group control system 10 including a control unit 31 that performs group control of a plurality of different types of devices (assets 15), and the control unit 31 performs group control of the devices based on input information and output information input and output from the devices via an interface device (gateway 16), and the input information and output information are data constructed using a common data standard for the plurality of devices, and the control unit 31 performs group control based on tasks, which are instructions to be given to the devices, and missions that manage the plurality of tasks.

[0041] With this configuration, even when different types of devices are group-controlled, the input and output information is structured using a common data standard, making it possible to easily control multiple devices using a single system. This allows for easy group control of multiple devices while reducing the number of operators required.

[0042] As a second aspect, in the group control system 10 according to the first aspect, the tasks are generated in advance for each of the devices and are data relating to the operation control of the devices.

[0043] According to this configuration, by executing a task, the device can be caused to execute a pre-generated operation, which allows the operator to perform group control of multiple devices with an easier operation.

[0044] As a third aspect, in the group control system 10 relating to the first or second aspect, the task is generated by combining multiple actions that operate the device, and the actions are data related to the operation control of the device based on the operation of the device.

[0045] According to this configuration, tasks for a device can be easily generated simply by combining actions.

[0046] As a fourth aspect, in the group control system 10 relating to any one of the first to third aspects, the control unit 31 is connected to a calculation unit (calculation device 20) that executes calculation processing related to the autonomous control of the device, and the calculation unit outputs the output information related to the autonomous control of the device based on the input information input from the control unit 31, and the control unit 31 communicates the input information and the output information with the calculation unit when executing group control based on the task.

[0047] This configuration enables the computing unit to perform autonomous control of the device, thereby enhancing the scalability of the group control system 10 for group control of devices.

[0048] As a fifth aspect, in the group control system 10 relating to any one of the first to fourth aspects, the object to be subjected to the task is an object, and the object is data that is common to multiple devices.

[0049] This configuration allows multiple devices to execute tasks on the same object.

[0050] As a sixth aspect, in the group control system 10 relating to any one of the first to fifth aspects, the task is associated with the object, and the control unit 31 extracts the task corresponding to the object and outputs the extracted task.

[0051] According to this configuration, it is possible to extract a task associated with an object, and also to easily grasp a device that executes a task for the object.

[0052] As a seventh aspect, in the group control system 10 relating to any one of the first to sixth aspects, the tasks are associated with the devices to be operated, and the control unit 31 extracts the tasks corresponding to the devices and outputs the extracted tasks in order of the actions of the devices.

[0053] According to this configuration, it is possible to extract tasks associated with devices, and also to easily grasp the order of actions of the tasks to be executed by the devices.

[0054] The group control conversion management system 1 according to the eighth aspect comprises the above-described group control system 10 and an interface device provided between the group control system 10 and the device.

[0055] With this configuration, when different types of devices are group-controlled, the interface device can unify the communication methods even if the communication methods between the devices and the group control system 10 are different. Therefore, any type of device can be subject to group control by the group control system 10.

[0056] A group control method according to a ninth aspect is a group control method executed by a group control system 10 including a control unit 31 that performs group control of a plurality of different types of devices, wherein the control unit 31 performs group control of the devices based on input information and output information input and output from the devices via an interface device, the input information and output information being data constructed in accordance with a common data standard for the plurality of devices, and the control unit 31 performs group control based on tasks, which are instructions given to the devices, and missions that manage the plurality of tasks.

[0057] With this configuration, even when different types of devices are group-controlled, the input and output information is structured using a common data standard, making it possible to easily control multiple devices using a single system. This allows for easy group control of multiple devices while reducing the number of operators required.

[0058] The group control program according to the tenth aspect is a group control program executed by a group control system 10 including a control unit 31 that performs group control of a plurality of different types of devices, and causes the control unit 31 to perform group control of the devices based on input information and output information input and output from the devices via an interface device, the input information and output information being data constructed in accordance with a common data standard for the plurality of devices, and causes the control unit 31 to perform group control based on tasks, which are instructions to be given to the devices, and missions that manage the plurality of tasks.

[0059] With this configuration, even when different types of devices are group-controlled, the input and output information is structured using a common data standard, making it possible to easily control multiple devices using a single system. This allows for easy group control of multiple devices while reducing the number of operators required.

[0060] REFERENCE SIGNS LIST 1 Group control conversion management system 10 Group control system 15 Asset 16 Gateway 18 Communication network 20 Arithmetic unit 31 Control unit 32 Memory unit 33 Display unit 34 Input unit P Group control program

Claims

1. A group control system comprising a control unit that performs group control of a plurality of different types of devices, wherein the control unit executes group control of the devices based on input information and output information input and output from the devices via an interface device, the input information and output information being data constructed in accordance with a common data standard for the plurality of devices, and the control unit executes group control based on tasks, which are instructions to be given to the devices, and missions, which manage the plurality of tasks.

2. A group control system according to claim 1, wherein the tasks are generated in advance for each of the devices and are data relating to the operation control of the devices.

3. The group control system of claim 1, wherein the task is generated by combining a plurality of actions that operate the device, and the actions are data related to the operation control of the device based on the operation of the device.

4. The group control system of claim 1, wherein the control unit is connected to an arithmetic unit that executes calculation processing related to the autonomous control of the device, the arithmetic unit outputs the output information related to the autonomous control of the device based on the input information input from the control unit, and the control unit communicates the input information and the output information with the arithmetic unit when executing group control based on the task.

5. The group control system according to claim 1, wherein the object on which the task is to be executed is an object, and the object is data that is common to a plurality of the devices.

6. The group control system according to claim 5, wherein the tasks are associated with the objects, and the control unit extracts the tasks corresponding to the objects and outputs the extracted tasks.

7. The group control system of claim 1, wherein the tasks are associated with the devices to be operated, and the control unit extracts the tasks corresponding to the devices and outputs the extracted tasks in order of the actions of the devices.

8. A group control conversion management system comprising: a group control system according to any one of claims 1 to 7; and an interface device provided between the group control system and the device.

9. A group control method executed by a group control system having a control unit that performs group control of a plurality of different types of devices, wherein the control unit executes group control of the devices based on input information and output information input and output from the devices via an interface device, the input information and output information being data constructed in accordance with a common data standard for the plurality of devices, and the control unit executes group control based on tasks, which are instructions given to the devices, and missions that manage the plurality of tasks.

10. A group control program executed by a group control system having a control unit that controls a group of multiple different types of devices, causing the control unit to execute group control of the devices based on input information and output information input and output from the devices via an interface device, the input information and output information being data constructed using a common data standard for the multiple devices, and causing the control unit to execute group control based on tasks, which are instructions to be given to the devices, and missions that manage the multiple tasks.

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