Patent Application
20190369618
The present invention relates to a control system, a control method, and a program, which are for controlling a group of unmanned crafts.
There is a trend of arranging and controlling a plurality of unmanned crafts mounted with information acquisition devices such as a sensor and a camera, and utilizing the unmanned crafts for performing an efficient and secure operation in a specific area. For example, conceivably, an unmanned flying aircraft mounted with a camera is applied to a field of performing a search or monitoring in an area where a human has difficulty in entering, such as a disaster occurrence area and a vast region. In order to achieve such application, it is required that the unmanned crafts are optimally arranged in consideration of operation efficiency.
PTL 1 discloses a group-behavior command generation device capable of generating control amounts for a plurality of moving robots at a high speed by expressing a command from an operator in a distribution and using an interactive associative storage. The device in PTL 1 converts a general command from an operator into a distribution of numerical values, expresses a current situation of each robot as a distribution of numerical values from a sensor or the like, and causes each unmanned craft to calculate a numerical value of control amounts at a high speed for reflecting the command from the operator.
NPL 1 discloses a technology for controlling arrangement of unmanned crafts autonomously based on sensing information acquired by sensors mounted on the unmanned crafts. In the method in NPL 1, each unmanned craft functions as a relay point of a wireless network, and achieve a broad communication area while sensing situations of wireless signals transmitted from the other unmanned crafts.
With the device in PTL 1, an operator is required to take a leading role to control each robot, and hence, the operator is required to determine and issue a control command in consideration of a situation and efficiency of a performed operation at all times. Thus, the device in PTL 1 has a problem that a burden on the operator is large.
With the autonomous arrangement control as in NPL 1, a burden on an operator is alleviated because a logic for the arrangement control is installed in the unmanned craft in advance for performing autonomous control. However, with the method in NPL 1, in some cases, arrangement control in consideration of highly prioritized areas and points based on human experience and intuition may be required, or control that cannot be performed only with sensing information from the unmanned craft may be required. In those cases, the method in NPL 1 cannot flexibly change operations caused by control in consideration of a command from an operator only with the autonomous control by the unmanned craft.
In other words, PTL 1 and NPL 1 have a problem that an unmanned craft group cannot behave autonomously while following changes of peripheral situations in consideration of a command from an operator. This is because, in PTL 1 and NPL 1, information on a command from an operator and information for autonomous behavior generated by the unmanned craft are not associated with each other.
An object of the present invention is to solve the above-mentioned problems and to provide a control system that achieves an operation in which an unmanned craft group behaves autonomously by following situation changes while reflecting a command from an operator when unmanned crafts are arranged and controlled autonomously in a specific area.
A control system according to the present invention, which controls at least one unmanned craft arranged in a specific area, includes an area-priority integration means configured to calculate an integrated area-priority by integrating, as input, a designated-area priority calculated based on a priority of an externally-designated area, and a detected area-priority calculated based on a priority of an area detected by a sensor mounted on the unmanned craft, and a control means configured to deliver, to the unmanned craft, a control signal for controlling the unmanned craft, based on the integrated area-priority calculated by the area-priority integration means.
A control method according to the present invention is a control method for controlling at least one unmanned craft arranged in a specific area, and includes calculating an integrated area-priority by integrating, as input, a designated-area priority calculated based on a priority of an externally-designated area, and a detected area-priority calculated based on a priority of an area detected by a sensor mounted on the unmanned craft, and delivering, to the unmanned craft, a control signal for controlling the unmanned craft, based on the calculated integrated area-priority.
A program according to the present invention is a control program for controlling at least one unmanned craft arranged in a specific area, and causes a computer to execute processing of calculating an integrated area-priority by integrating, as input, a designated-area priority calculated based on a priority of an externally-designated area, and a detected area-priority calculated based on a priority of an area detected by a sensor mounted on the unmanned craft, and processing of delivering, to the unmanned craft, a control signal for controlling the unmanned craft, based on the calculated integrated area-priority.
According to the present invention, it is possible to provide a control system that achieves an operation in which an unmanned craft group behaves autonomously by following situation changes while reflecting a command from an operator when the unmanned crafts are arranged and controlled autonomously in a specific area.
Now, with reference to the drawings, description is made on example embodiments of the present invention. In the example embodiments described below, limitations technically preferred for carrying out the present invention are given, but the scope of the present invention is not limited to the following. Note that, in all the drawings referred in the description of the example embodiments below, similar components are denoted with the same symbols unless otherwise specified. Further, in the following example embodiments, repeated description for similar configurations and operations may be omitted in some cases. Further, the orientations of the arrows in the drawings are merely examples, and do not limit the directions of the signals between the blocks.
First, with reference to the drawings, description is made on a configuration of an unmanned craft group control system (also referred to as a control system) according to a first example embodiment of the present invention. The unmanned craft group control system according to this example embodiment is configured to control at least one unmanned craft arranged in a specific area.
Note that the number of unmanned crafts 20 included in the unmanned craft control system according to this example embodiment is not limited. Further, the communication network 30 is a channel to be used for transmitting information between the control device 10 and the unmanned crafts 20. The communication network 30 may be included in the configuration of the present invention in the case of a dedicated line, and may not be included in the configuration of the present invention in the case of a public line such as the Internet.
The control device 10 receives information on a prioritized area, which is inputted by an operator. Further, the control device 10 converts the information on the prioritized area, which is inputted by the operator, into numerical values, and delivers the numerical values to each unmanned craft 20. Note that the information on the prioritized area, which is inputted by the operator, corresponds to priority of an area that is externally designated.
The unmanned craft 20 receives, from the control device 10, the information obtained by converting the information on the prioritized area, which is inputted by the operator, into the numerical values. While following the information, the unmanned craft 20 controls an arrangement of the own craft autonomously by acquiring sensing information from a sensor 27 in accordance with the operation.
As illustrated in
The input means 11 receives input of the information on the prioritized area from the operator. For example, the input means 11 is achieved by a graphical input interface through which points are inputted in a drawing of the specific area. For example, the input means 11 receives designation of the prioritized area through the interface that displays the specific area divided into a plurality of sub-areas.
The designated-area priority calculation means 12 converts the inputted information of the prioritized area into numerical values (designated-area priority). For example, the designated-area priority calculation means 12 calculates the designated-area priority for each sub-area designated through the input means 11.
The communication means 13 (also referred to as a control-side communication means) performs information communication with the unmanned craft 20 via the communication network 30.
As illustrated in
the communication means 21 (also referred to as an unmanned craft-side communication means) performs information communication with the control device 10 via the communication network 30. The communication means 21 may communicate with the control device 10 wirelessly, or may communicate with the control device 10 through wires. Practically, the case of wireless communication between the control device 10 and the unmanned craft 20 is assumed.
The area-priority integration means 22 integrates the designated-area priority, which is delivered from the control device 10 to each of the unmanned craft 20, and detected area-priority, which is calculated by each of the unmanned craft 20. The area-priority integration means 22 then calculates area priority that is integrated (hereinafter, referred to as an integrated area-priority). For example, the area-priority integration means 22 calculates the integrated area-priority for each sub-area by integrating the designated-area priority, which is calculated by the designated-area priority calculation means 12, and detected area-priority, which is calculated by the detected area-priority calculation means 26.
Based on the integrated area-priority, the control means 23 calculates a control amount for determining the arrangement of the own craft in the specific area. The control means 23 outputs a control signal, which contains information on the calculated control amount, to the control unit 24.
The control unit 24 is an equipment for changing the arrangement of the unmanned craft 20. The control unit 24 functions in response to the control signal from the control means 23.
For example, when the unmanned craft 20 is an aircraft, the control unit 24 corresponds to unit such as a propeller for flying. Further, when the craft is a land vehicle, the control unit 24 corresponds to unit such as a wheel for travelling.
The designated-area priority maintaining means 25 maintains the information on the prioritized area (the designated-area priority), which is inputted from the control device 10.
The detected area-priority calculation means 26 calculates priority of the area (detected area-priority) based on sensing information acquired by the sensor 27 mounted on the unmanned craft 20. For example, the detected area-priority calculation means 26 calculates the detected area-priority for each sub-area based on the area priority detected by the unmanned craft 20.
The sensor 27 is a unit for acquiring information on the specific area. For example, the sensor 27 is achieved by a camera, an acoustic sensor, a global positioning system (GPS), and the like. Note that the sensor 27 is not particularly limited as long as the sensor 27 can grasp a position of the unmanned craft 20 itself and a positional relationship among the unmanned crafts 20.
The configuration of the unmanned craft group control system according to this example embodiment is thus described above.
Now, with reference to the drawings, description is made on operations of the unmanned craft group control system according to this example embodiment.
In
Here, with reference to
Subsequently, the control device 10 converts the inputted information on the designated area into numerical values (designated-area priority) (Step S12).
Here, referring back to
Subsequently, the control device 10 delivers, to the unmanned crafts, the information on the prioritized area (the designated-area priority), which is converted into the numerical values (Step S13). As a method of delivering the designated-area priority to the unmanned crafts, it is possible to adopt a simultaneous transmission method such as broadcasting, a transmission method achieved with multi-hop among the unmanned crafts 20, and the like, and no particular limitation is given.
When each of the unmanned craft 20 receives the designated-area priority delivered from the control device 10, the unmanned craft 20 stores the received designated-area priority in the designated-area priority maintaining means 25 (Step S14). The information stored in the designated-area priority maintaining means 25 is read at the time of autonomous arrangement control processing to be described later.
The operation of converting the information on the prioritized area, which is inputted to the control device 10, into the numerical values and delivering the information converted into the numerical values to each unmanned craft 20 is thus described above.
Now, with reference to
In
For example, as illustrated in
Subsequently, the unmanned craft 20 calculates the detected area-priority based on the acquired sensing information (Step S22).
For example, as illustrated in
Subsequently, the unmanned craft 20 reads out the designated-area priority stored in the designated-area priority maintaining means 25 (Step S23).
Subsequently, the unmanned craft 20 integrates the designated-area priority and the detected area-priority (Step S24).
For example, as illustrated in
Further, based on the integrated area-priority, the unmanned craft 20 performs calculation for determining the arrangement of the own craft, and outputs a control signal, which contains information on the control amount for moving to the position, to the control unit 24 (Step S25).
For example, the unmanned craft 20 determines a range where the own craft takes charge based on the positional information of the adjacent unmanned crafts 20 through use of a Voronoi diagram. Further, the unmanned craft 20 may determine the arrangement of the own craft by calculating the area priority in the determined range and an evaluation value calculated by a distance between the area and the own craft. However, the calculation method for the arrangement of the unmanned craft 20 through use of the area priority in this example embodiment is not limited to the method described herein.
As described above, in this example embodiment, the information on the prioritized area, which is inputted by the operator, and the information on the prioritized area, which is generated from the information sensed by the unmanned craft, are integrated on the unmanned craft side, and the unmanned craft autonomously performs the arrangement control based on the integrated information. In this example embodiment, both the information on the prioritized area, which is inputted by the operator, and the information on the prioritized area, which is generated from the information sensed by the unmanned craft, are converted into numerical values and integrated.
As a result, according to this example embodiment, it is possible to achieve the operation in which the unmanned craft group behaves autonomously by following the situation changes while reflecting the command from the operator when the unmanned crafts are arranged and controlled autonomously in the specific area. In other words, according to this example embodiment, the efficient arrangement control of the operation performed by the plurality of unmanned crafts can be achieved.
Now, with reference to the drawings, description is made on an unmanned craft group control system (also referred to as a control system) according to a second example embodiment of the present invention. The unmanned craft group control system according to this example embodiment is different from the first example embodiment in that the control device performs the integration of the area priority and the calculation of the control amount for each unmanned craft. In the following description, description for the configurations and operations similar to those in the first example embodiment may be omitted in some cases.
The control device 10-2 receives input information on a prioritized area, which is inputted by the operator. Further, the control device 10-2 receives sensing information from each unmanned craft 20, and maintains the received sensing information. Further, the control device 10-2 calculates the sensor-based area priority (detected area-priority) from the sensing information. Further, the control device 10-2 calculates integrated area-priority obtained by integrating the detected area-priority, which is calculated, and the designated-area priority. Further, based on the integrated area-priority, which is calculated, the control device 10-2 outputs a control signal for controlling the unmanned craft 20-2 to the unmanned craft 20-2.
The unmanned craft 20-2 transmits the sensing information acquired from the sensor 27 to the control device 10-2, and is controlled in accordance with the control signal from the control device 10-2.
In addition to the input means 11, the designated-area priority calculation means 12, and the communication means 13, the control device 10-2 includes a designated-area priority maintaining means 14, an area-priority integration means 15, a control means 16, a detected area-priority calculation means 17, and a sensing information management means 18.
Operations of the input means 11, the designated-area priority calculation means 12, and the communication means 13 are the same as the means in the first example embodiment, and hence, detailed description therefor is omitted.
The designated-area priority maintaining means 14 is a means for maintaining, on the control device 10-2 side, the numerical value information (designated-area priority) on the priority of the designated area.
The area-priority integration means 15 calculates the integrated area-priority obtained by integrating the area priority (detected area-priority), which is calculated from the sensing information received from each unmanned craft 20-2, and the designated-area priority.
The control means 16 calculates optimum arrangement and control amounts of each unmanned craft 20-2 in the area based on the integrated area-priority.
The detected area-priority calculation means 17 calculates the area priority (the detected area-priority) based on the sensing information acquired from each unmanned craft 20-2.
The sensing information management means 18 saves the sensing information sent from each unmanned craft 20-2.
The unmanned craft 20-2 includes a communication means 21, a control unit 24, and a sensor 27. The operations of components of the unmanned craft 20-2 are similar to those in the first example embodiment, and hence, detailed description therefor is omitted.
The configuration of the unmanned craft group control system according to this example embodiment is thus described above.
Now, with reference to the drawings, description is made on operations of the unmanned craft group control system according to this example embodiment.
In
Subsequently, the control device 10-2 converts the information on the prioritized area, which is designated, into the numerical values (designated-area priority) (Step S32).
Further, the control device 10-2 stores the designated-area priority in the designated-area priority maintaining means 14 in the own craft (Step S33).
The operation of converting the information on the prioritized area, which is inputted to the control device 10-2, into the numerical values and maintaining the information converted into the numerical values in the own craft is thus described above.
Now, with reference to
In
Subsequently, each unmanned craft 20-2 transmit the sensing information to the control device 10-2 through the communication means 21 (Step S42).
The control device 10-2 stores the sensing information received from the unmanned craft 20-2 in the sensing information management means 18 (Step S43).
The sensing information collection processing in which each unmanned craft 20-2 collect the sensing information and the control device stores the collected sensing information is thus described above.
Now, with reference to
Firstly, the control device 10-2 acquires the sensing information of each unmanned craft 20-2 through use of the sensing information management means 18 (Step S51).
Subsequently, the control device 10-2 calculates the detected area-priority through use of the acquired sensing information (Step S52).
Subsequently, the control device 10-2 reads out the designated-area priority from the designated-area priority maintaining means 14 (Step S53).
Further, the control device 10-2 integrates the designated-area priority and the detected area-priority (Step S54).
Further, the control device 10-2 calculates optimum arrangement of each unmanned craft 20-2 based on the integrated area-priority (Step S55).
Further, the control device 10-2 determines control amounts for moving each unmanned craft 20-2 to the calculated positions, and transmits the determined control amounts to each unmanned craft 20-2 (Step S56).
As described above, in this example embodiment, the information on the prioritized area, which is inputted by the operator, and the information on the prioritized area, which is generated from the information sensed by the unmanned craft, are integrated on the control device side, and the unmanned craft are arranged and controlled based on the integrated information. Also in this example embodiment, similarly to the first example embodiment, both the information on the prioritized area, which is inputted by the operator, and the information on the prioritized area, which is generated from the information sensed by the unmanned craft, are converted into numerical values and integrated.
As a result, according to this example embodiment, similarly to the first example embodiment, it is possible to achieve the operation in which the unmanned craft group behaves autonomously by following the situation changes while reflecting the command from the operator when the unmanned crafts are arranged and controlled autonomously in the specific area.
Now, with reference to the drawings, description is made on an unmanned craft group control device (also referred to as a control system) according to a third example embodiment of the present invention.
The unmanned craft group control device 1 according to this example embodiment is a device obtained by abstracting common characteristic functions among the unmanned craft group control systems according to the first example embodiment and the second example embodiment, and is included in the control device or the unmanned craft that configures the unmanned craft group control system according to the first example embodiment or the second example embodiment. In the case of the unmanned craft group control system according to the first example embodiment, the unmanned craft group control device 1 is included in the unmanned craft 20. In the case of the unmanned craft group control system according to the second example embodiment, the unmanned craft group control device 1 is included in the control device 10-2.
The area-priority integration means 2 inputs the designated-area priority and the detected area-priority, and generates the integrated area-priority obtained by integrating the designated-area priority and the detected area-priority.
In the case of the first example embodiment, the area-priority integration means 2 corresponds to the area-priority integration means 22 included in the unmanned craft 20. In the case of the second example embodiment, the area-priority integration means 2 corresponds to the area-priority integration means 15 included in the control device 10-2.
The control means 3 delivers, to the unmanned crafts, the control signals for controlling the unmanned crafts based on the integrated area-priority calculated by the area-priority integration means 2.
In the case of the first example embodiment, the control means 3 corresponds to the control means 23 included in the unmanned craft 20. In the case of the second example embodiment, the control means 3 corresponds to the control means 16 included in the control device 10-2.
Also with this example embodiment, similarly to the first example embodiment and the second example embodiment, it is possible to achieve the operation in which the unmanned craft group behaves autonomously by following the situation changes while reflecting the command from the operator when the unmanned crafts are arranged and controlled autonomously in the specific area.
Here, description is made on a hardware configuration that achieves a control system of the unmanned craft group control system according to this example embodiment by exemplifying a computer 90 in
As described in
The processor 91 develops a program, which is stored in the auxiliary memory device 93 or the like, in the main memory device 92, and executes the developed program. This example embodiment may have a configuration that uses a software program installed in the computer 90. The processor 91 executes arithmetic processing and control processing that are executed by the control system according to this example embodiment.
The main memory device 92 has a region in which the program is developed. The main memory device 92 may be a volatile memory such as a dynamic random access memory (DRAM). Further, a nonvolatile memory such as a magnetoresistive random access memory (MRAM) may be configured or added as the main memory device 92.
The auxiliary memory device 93 is a means for storing data. The auxiliary memory device 93 is configured by a local disc such as a hard disc and a flash memory. Note that the main memory device 92 may be configured to store the data, and the auxiliary memory device 93 may be omitted.
The input/output interface 95 is a device for connecting the computer 90 and peripherals to each other based on connection standards of the computer 90 and the peripherals. The communication interface 96 is an interface for network connection such as the Internet and the Intranet based on standards and specifications. The input/output interface 95 and the communication interface 96 may be shared as an interface for connecting to external devices.
The computer 90 may be configured so as to be connected with input units such as a keyboard, a mouse, and a touch panel as needed. Those input units are used for inputting information and setting. Note that, in a case where the touch panel is used as an input unit, a display screen of a display unit may have a configuration to also function as an interface of the input unit. Transmission and receipt of the data between the processor 91 and the input unit may be performed through the input/output interface 95.
The communication interface 96 is connected to a system or a device such as another computer and a server through the network.
Further, the computer 90 may be provided with a display unit for displaying information. In the case where the display unit is provided, it is preferred that the computer 90 be provided with a display control device (not shown) for controlling display of the display unit. The display unit may be connected to the computer 90 through the input/output interface 95.
Further, the computer 90 may be provided with a reader/writer as needed. The reader/writer is connected to the bus 99. Between the processor 91 and a recording medium (also referred to as a program recording medium), not shown, the reader/writer mediates reading of data and a program from the recording medium and writing of processing results from the computer 90 to the recording medium, for example. The recording medium may be achieved by a semiconductor recording medium such as a secure digital (SD) card and a universal serial bus (USB) memory. Further, the recording medium may be achieved by a magnetic recording medium such as a flexible disc, an optical recording medium such as a compact disc (CD) and a digital versatile disc (DVD), and other recording media.
The example of the hardware configuration enabling the control system of the unmanned craft group control system according to the example embodiment of the present invention is thus given above. Note that the hardware configuration in
This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2016-224693, filed on Nov. 18, 2016, the disclosure of which is incorporated herein in its entirety by reference.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2016-224693 | Nov 2016 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2017/040674 | 11/13/2017 | WO | 00 |
