JP6678831B1 - Control device and control method - Google Patents

Abstract

An information processing unit (103) that acquires information on the other device (10N) and position information of the control target device (10), and performs control based on the acquired information on the other device and position information of the control target device. A map processing unit (104) for creating an AGE map indicating an elapsed time since a control target device or another device has searched for a certain area cell with respect to a search area in which the target device exists, and a created AGE map A control determining unit (107) for calculating a control vector of the control target device based on the control vector, and a control execution unit (108) for controlling the control target device based on the calculated control vector.

Description

  The present invention relates to a technique for controlling the behavior of a device constituting a device group.

In the fields of defense, disaster prevention, security, cleaning, and the like, monitoring work, observation work, maintenance work, and the like often include work with a high degree of risk and work for a long time. For this reason, utilization of unmanned aerial vehicles for monitoring work, observation work, maintenance work, and the like in this field is being studied. Usually, since the sensing range of an unmanned aerial vehicle is limited, development for a plurality of unmanned aerial vehicles to efficiently realize work by cooperative operation has been actively performed.
For example, the control device described in Patent Literature 1 is a control device that controls at least one unmanned aerial vehicle that constitutes a group of unmanned aerial vehicles. A comparison value is calculated for each type of action, an action to be taken by the own device is selected based on the calculated comparison value, and the operation amount of the own device is used using information on the selected action and information on the state of another device. Is calculated, and the operation set value of the actuator that operates the own machine is set, and the action of the whole unmanned machine group is optimized.

International Publication No. WO2018 / 105599

  The control device described in Patent Document 1 is based on the premise that a plurality of other devices are always within the communicable range of the control device. Therefore, when a plurality of unmanned aerial vehicles cooperatively search in one area, and when all the plurality of unmanned aerial vehicles are not necessarily within the communication range of the control device, optimal control is realized. There was a problem that it was not possible.

  The present invention has been made in order to solve the above-described problem, and is directed to a case where a plurality of devices cooperatively search in one area, and all of the plurality of devices do not necessarily fall within a communicable range. Even if it is not, the purpose is to realize optimal control of the device.

The control device according to the present invention includes information on another device including information on an AGE map held by a control device of another device, position information on the other device, and information indicating a search direction vector indicating a direction in which the other device is traveling. And an information processing unit that acquires the position information of the control target device, and each area cell of the search area in which the control target device exists based on the information of the other device and the position information of the control target device obtained by the information processing unit. An AGE map in which an AGE value indicating the elapsed time since the device was searched for was calculated , and the time elapsed information and the control target device were searched for an area cell using the AGE map. A first AGE map is created based on the search information indicating the status and the update information of the AGE map of another device. Based on search information indicating that a cell has been searched, AGE map update information of another device, and information indicating the possibility of searching for a certain area cell of another device ascertained from information of the other device, Using a map processing unit that creates a second AGE map and a search direction vector that is calculated based on the second AGE map created by the map processing unit and that indicates the direction in which the control target device should head, the control target device A control determining unit that calculates the control vector of the control device, a control execution unit that controls the control target device based on the control vector calculated by the control determining unit, and a first AGE map created by the map processing unit. And an information output unit for performing control for outputting to the control device .

  According to the present invention, in a case where a plurality of devices cooperatively search in one area, even when not all of the plurality of devices are within the communicable range, the optimum device is searched. Control can be realized.

FIG. 4 is a diagram showing an example of a search area of the control device according to the first embodiment. 2A and 2B are diagrams illustrating a control algorithm of the control device according to the first embodiment. FIG. 4 is a diagram illustrating sharing of an AGE map of the control device according to the first embodiment. FIG. 4 is a diagram illustrating a control example when the control device according to the first embodiment shares an AGE map. FIG. 5 is a diagram illustrating a control example of adding a repulsive force vector of the control device according to the first embodiment. FIG. 6 is a diagram illustrating a control example in which a distance from a current position of a device of the control device according to Embodiment 1 to a target area cell is considered. 7A and 7B are explanatory diagrams illustrating the influence of the communicable range of the control device according to the first embodiment. FIG. 2 is a diagram illustrating a configuration of a control system including the control device according to the first embodiment. FIG. 2 is a block diagram illustrating a configuration of a control device according to the first embodiment. 10A and 10B are diagrams illustrating an example of a hardware configuration of the control device according to the first embodiment. FIGS. 11A and 11B are diagrams illustrating a processing example of the map processing unit of the control device according to the first embodiment. FIG. 5 is a diagram illustrating a process in which a map processing unit of the control device according to the first embodiment assigns a GE value adjustment region. 5 is a flowchart illustrating an operation of the control device according to the first embodiment. 5 is a flowchart illustrating an operation of a map processing unit of the control device according to the first embodiment.

Hereinafter, in order to explain this invention in greater detail, the preferred embodiments of the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
In the first embodiment, a case will be described as an example where a plurality of devices cooperate and traverse one search area. The search area is represented by a plurality of area cells, for example, divided into grids. The plurality of devices circulate in each region cell at the same circulating cycle to perform work and the like. When a plurality of devices cooperate and circulate in each area cell at the same circulating cycle, the elapsed time since the last search by the device for each area cell is set. The control device that controls the devices performs control to reduce the maximum value and the average value of the elapsed time over the entire search area, so that the purpose of a plurality of devices cooperating and circulating through each region is achieved. Hereinafter, the elapsed time since the device last searched for a certain area cell is referred to as AGE.

FIG. 1 is a diagram illustrating an example of a search area of the control device according to the first embodiment.
In FIG. 1, a search area 1 is divided into a plurality of area cells 2 by dividing the area into a grid, and the location information 3 of the device is shown in the area cells 2. The device is, for example, an unmanned aerial vehicle. The device is equipped with a sensor for observing the surrounding situation and has a communication function for transmitting and receiving information to and from other devices. The observation range of the sensor mounted on the device and the communication range of the device are variously set. FIG. 1 shows a communicable range 4 in which the communication area of the device is shown in a circular shape around the position information 3 of the device.

AGE is a value set in each area cell 2, and is a value indicating the elapsed time since the last observation by a sensor mounted on any device. In the example of FIG. 1, the value indicating the elapsed time is indicated by the shade of the color. The darker the color of the area cell 2, the longer the time has elapsed since the last observation by a sensor mounted on any device. Comparing the density of the area cell 2a and the area cell 2b in FIG. 1, the color of the area cell 2a is darker. This indicates that a longer time has elapsed since the area cell 2a was observed by the sensor mounted on any device than the area cell 2b.
The control device of each device has the search area information (hereinafter referred to as an AGE map) 5 shown in FIG. The control device has a control algorithm for causing the device to search for an area cell having a large AGE value with reference to the AGE map owned by the control device.

2A and 2B are diagrams illustrating a control algorithm of the control device according to the first embodiment.
FIG. 2A is a diagram for explaining control of the device 10A, and shows an AGE map 5a held by the control device of the device 10A. FIG. 2B is a diagram for explaining control of the device 10B, and shows an AGE map 5b held by the control device of the device 10B.
FIG. 2A shows a control in which the control device of the device 10A refers to the AGE map 5a owned by the device 10A and searches the area cell 2c having a large AGE value from the point indicated by the position information 3a.
Similarly, FIG. 2B shows a control in which the control device of the device 10B refers to the AGE map 5b owned by the device 10B and searches for the area cell 2d having a large AGE value from the point indicated by the position information 3b. ing.

  As shown in FIGS. 2A and 2B, the control device refers to the AGE map owned by the control device and controls the device to be controlled to search for an area cell having a large AGE value. As a result, the control system realizes keeping the AGE value of the entire search area small.

  On the other hand, it is inefficient that the control device controls the device to be controlled without using the AGE map owned by itself and cooperating with other devices. The control device desirably shares information such as an AGE map in order to coordinate devices located in the search area and perform more efficient control. By sharing information between devices located in the communicable range, it becomes possible to share the current movement and the past movement of each device. The control device adds the current movement and the past movement of each shared device to its own AGE map, thereby lowering the AGE value of the area cell circulated by any of the devices, and In the search order can be lowered. Thereby, the control device can suppress the overlap of the search in which the area cell searched by any device searches for the device to be controlled, and can realize more efficient device control.

FIG. 3 is a diagram illustrating sharing of the AGE map of the control device according to the first embodiment.
When the device 10B enters the communicable range 4a, the control device of the device 10A exchanges information such as an AGE map with the control device of the device 10B, and updates its own AGE map. The control device of the device 10A shares the AGE map 5a held by itself and the AGE map 5b held by the control device of the device 10B, and creates an updated AGE map 5c. Similarly, the control device of the device 10B shares the AGE map 5b held by itself and the AGE map 5a held by the control device of the device 10A, and creates an updated AGE map 5c. When sharing the AGE map, the control device of the device 10A and the control device of the device 10B compare the AGE values of the respective area cells, determine that the smaller value is closer to the true value, and determine the smaller AGE value. Is used to update its own AGE map.

When the AGE map is shared between the control devices, each control device controls the device with reference to the same AGE map, and there is a possibility that the inefficient control of causing the same area cell to search for the device may be performed. is there.
FIG. 4 is a diagram illustrating a control example when the AGE map of the control device according to the first embodiment is shared.
The control device of the device 10A and the control device of the device 10B refer to the same AGE map 5d. As a result, each control device controls the device 10A and the device 10B to search for the same area cell 2e.

When a plurality of control devices refer to the same AGE map, it is known to perform, for example, the following two controls in order to suppress inefficient control of causing the same area cell to search for a plurality of devices. (See Non-Patent Document 1).
First control A control in which repulsive force is applied to a search direction vector as devices approach each other. Second control A control in consideration of "AGE value / distance from device to area cell to be searched" Non-Patent Document 1
W. Yuan et al., “Semi-Flocking-Controlled Mobile Sensor Networks for Dynamic Area Coverage and Multiple Target Tracking,” IEEE SENSORS JOURNAL, VOL.18, No.21, Nov 1, 2018.

  The first control is a control for applying a repulsive force to the search direction vectors of both devices like a spring. FIG. 5 is a diagram illustrating a control example of adding a repulsive force vector of the control device according to the first embodiment. The control device of the device 10A adds, for example, a repulsive force vector 7a shown in FIG. 5 to a search direction vector 6a targeted for searching the same area cell 2e shown in FIG. Similarly, the control device of the device 10B adds the repulsive force vector 7b shown in FIG. 5 to the search direction vector 6b. Thereby, the two search direction vectors 6a and 6b heading in the same direction become vectors heading in different directions.

  The second control is a control in which not only the value of the AGE but also the distance from the current position of the device to the area cell targeted for search is considered. Even if the AGE value of the AGE map referred to by each control device is the same, the distance from the current position of each device to the area cell differs for each device, so that a difference occurs in the area cell targeted for search. This is a control utilizing

FIG. 6 is a diagram illustrating a control example in which the distance from the current position of the device of the control device according to the first embodiment to the area cell targeted for search is considered.
The AGE values of the AGE maps referred to by the control device of the device 10A and the control device of the device 10B are the same, and the area cell 2e is the first search target and the area cell 2f is the second search target. The control device considers the distance from the current position of the device 10A or the device 10B to the area cell 2e and the area cell 2f. As a result, the control device of the device 10B calculates a search direction vector 6c that is a search target of the area cell 2f whose distance from the current position is shorter than the device 10A. Further, the control device of the device 10A calculates a search direction vector 6a that is a search target of the area cell 2e.

Note that the above-described first control and the second control may not be able to exert the above-described effects depending on conditions such as a communicable range of the device. For example, if the communication range of the devices is narrow with respect to the size of the area cell of the AGE map, if the devices are separated by a certain distance, they cannot be recognized from each other. In this case, the control device of each device ends up searching for the same area cell.
7A and 7B are explanatory diagrams illustrating the influence of the communicable range of the control device according to the first embodiment.
FIG. 7A shows a case where the communicable range 4 of the device 10A and the device 10B is narrow, and the device 10A and the device 10B cannot recognize each other. In this case, the control device of the device 10A and the control device of the device 10B calculate the search direction vector 6a and the search direction vector 6b using the same area cell 2e as a search target.

Further, for example, when the communicable range of each device is narrower than the size of the area cell of the AGE map, when the devices can communicate with each other, the devices are located close to each other. In this case, the control device of each device ends up searching for the same area cell even if the distance from the device to the area cell is considered.
FIG. 7B shows a state in which the device 10A and the device 10B can communicate with each other, but are located at points close to each other. In this case, the control device of the device 10A and the control device of the device 10B determine the search direction vector 6d and the search direction vector 6d as the search target even if the distance from the current position of the devices 10A and 10B to the area cell is considered. The search direction vector 6c is calculated.

The control system including the control device according to the first embodiment described below performs control in consideration of the influence of the communication range of the above-described device.
FIG. 8 is a diagram illustrating a configuration of a control system including the control device 100 according to the first embodiment.
The control system includes a plurality of devices and a plurality of control devices that control the devices. In the example illustrated in FIG. 8, devices 10, 10A, 10B, 10C, 10D, and 10E controlled by control devices 100, 100A, 100B, 100C, 100D, and 100E, which will be described later, exist in search area 1. The devices 10, 10A, 10B, 10C, 10D, and 10E cooperate in the search area 1 based on the control of the control devices 100, 100A, 100B, 100C, 100D, and 100E. FIG. 8 shows an example in which six devices 10, 10A, 10B, 10C, 10D, and 10E are located in search area 1, but the number of control target devices 10 is limited to six. is not.

FIG. 9 is a block diagram showing a configuration of the control device 100 according to the first embodiment.
The control device 100 includes a communication unit 101, a sensor information acquisition unit 102, an information processing unit 103, a map processing unit 104, a map storage unit 105, an information output unit 106, a control determination unit 107, and a control execution unit 108. The control device 100 is a device that controls the device 10 shown in FIG. Hereinafter, the device 10 is referred to as a control target device 10. Hereinafter, the other control devices 100A, 100B, 100C, 100D, and 100E are collectively referred to as another control device 100N. Hereinafter, the devices 10A, 10B, 10C, 10D, and 10E are collectively referred to as another device 10N.
As shown in FIG. 9, the control device 100 is connected to another control device 100N and a sensor 20 mounted on the control target device 10.

  The communication unit 101 performs wireless communication with another control device 100N to transmit and receive information. The sensor information obtaining unit 102 obtains sensor information of the sensor 20 mounted on the control target device 10. Here, the sensor information is position information or the like indicating the position of the control target device 10. The information processing unit 103 acquires information of another device 10N via the communication unit 101. The information processing unit 103 acquires the position information of the control target device 10 from the sensor information acquired by the sensor information acquisition unit 102, and combines the information with the information of the other devices 10N into a format that can be calculated by the map processing unit 104. Perform processing.

The information of the other device 10N includes the information of the AGE map held by the other control device 100N with which the communication unit 101 has communicated, the position information of all the other devices 10N that can be obtained, and all the other devices 10N that can be obtained. Is a search direction vector that indicates the direction in which. The position information of all the other devices 10N that can be obtained and the search direction vector indicating the direction in which the other devices 10N that can be obtained go are not limited to the current information. The other control device 100N stores the acquired position information and the search direction vector in a buffer or the like in combination with information indicating how many steps before the information is, and transmits the information to the control device 100 as appropriate. Controller 100, the position information and the search direction vector of another device 10N, nothing by combination with information indicating which steps prior information obtained from another control device 100 N, another device 10N is always And information indicating which position is located and in which direction there is a possibility of searching. The acquired information is shared with another control device 100N.

  The map processing unit 104 calculates the AGE value of each area cell in the search area where the control target device 10 exists based on the information of the other device 10N input from the information processing unit 103 and the position information of the control target device 10. Is calculated, and an AGE map is created. The map processing unit 104 uses the created AGE map to obtain information on the passage of time, information indicating that the control target device 10 has searched for a certain area cell (hereinafter, referred to as search information), and the other control device 100N. The first AGE map is created based on the update information of the AGE map of another device 10N acquired by the information exchange.

In addition, the map processing unit 104 uses the created AGE map to display information about the passage of time, search information for a certain area cell of the control target device 10, and other devices obtained by information exchange with another control device 100N. A second AGE map is created based on information indicating the possibility of searching for a certain area cell of another device 10N in addition to the update information of the 10N AGE map. The details of the first AGE map and the second AGE map will be described later. The map processing unit 104 causes the map storage unit 105 to store the created first AGE map and second AGE map. The map storage unit 105 stores the first AGE map and the second AGE map created by the map processing unit 104.

  The information output unit 106 performs control to output the first AGE map stored in the map storage unit 105 to another control device 100N via the communication unit 101. The timing at which the information output unit 106 outputs the first AGE map can be set as appropriate, such as a preset timing or a timing at which a request is input from another control device 100N.

  The control determining unit 107 determines a control vector of the control target device 10 at a certain time. First, the control determination unit 107 refers to the second AGE map stored in the map storage unit 105, and calculates a search direction vector indicating a direction to which the control target device 10 should go. In calculating the search direction vector, the control determination unit 107 may refer to the entire AGE map or may refer to only a certain range of the AGE map. In calculating the search direction vector, the control determination unit 107 determines the area cell having the largest AGE value as the area cell to which the control target device 10 should go. Alternatively, the control determination unit 107 evaluates each area cell using a function including the value of AGE and the current position of the control target device 10 and the distance to the region cell, and determines the area cell to which the control target device 10 should go. May be determined. The control determination unit 107 calculates a search direction vector from the current position of the control target device 10 to the determined area cell.

  Next, the control determination unit 107 refers to the second AGE map and calculates a repulsive force vector indicating an acting force for separating the control target device 10 from the other device 10N. The control determination unit 107 determines a repulsive force according to the distance between the control target device 10 and the other device 10N when another device 10N exists within a range in which the control target device 10 can communicate. The repulsive force may be a function such as F = −kx (k is a constant) in the spring, or may be a repulsive force shown in a discrete table. The control determining unit 107 calculates a repulsion vector based on the determined repulsion and the positional relationship between the control target device 10 and another device 10N.

  Next, the control determination unit 107 calculates an obstacle vector indicating an action force for moving the controlled device 10 away from the obstacle. The obstacle is, for example, a wall existing in the search area, a no-go area, or the like. Obstacle information may be registered in the second AGE map in advance, or may be stored in a storage area (not shown) in advance. The control determination unit 107 refers to the information on the obstacle, and when the control target device 10 approaches the position where the obstacle exists, the control target device 10 determines whether the control target device 10 Obstacle vector for moving away from is calculated.

  The control determining unit 107 may calculate a vector for adjusting the search direction (hereinafter, referred to as an adjustment vector) in addition to the above. The control determination unit 107 calculates a control vector by multiplying each of the search direction vector, the repulsion vector, and the obstacle vector by a weighting coefficient, and then adding the weighted coefficients. The weighting coefficient is set in advance according to which of the search direction vector, the repulsion vector and the obstacle vector is to be prioritized. The control determination unit 107 outputs the calculated control vector to the control execution unit 108. The control execution unit 108 executes control of the controlled device 10 based on the control vector input from the control determination unit 107.

Next, an example of a hardware configuration of the control device 100 will be described.
FIGS. 10A and 10B are diagrams illustrating a hardware configuration example of the control device 100 according to the first embodiment.
The communication unit 101 in the control device 100 is a transmitting / receiving device 100a that performs communication with another control device 100N. Each function of the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108 in the control device 100 is realized by a processing circuit. That is, the control device 100 includes a processing circuit for realizing each of the above functions. The processing circuit may be a processing circuit 100b which is dedicated hardware as shown in FIG. 10A, or a processor 100c which executes a program stored in a memory 100d as shown in FIG. 10B. Good.

  As illustrated in FIG. 10A, when the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108 are dedicated hardware, the processing circuit 100b 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 is applicable. Each function of each unit of the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108 may be realized by a processing circuit. The processing may be realized by one processing circuit.

  As shown in FIG. 10B, when the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108 are the processor 100c, the function of each unit is software , Firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 100d. The processor 100c reads out and executes the program stored in the memory 100d, so that the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108 Implement each function. That is, when the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108 are executed by the processor 100c, FIGS. Is provided with a memory 100d for storing a program that results in execution of each step shown in FIG. Further, these programs may cause a computer to execute the procedures or methods of the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108. I can say.

Here, the processor 100c is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a processor, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
The memory 100d may be, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), and an EEPROM (Electrically EPROM). Alternatively, the optical disk may be a magnetic disk such as a hard disk or a flexible disk, or an optical disk such as a mini disk, a CD (Compact Disc), or a DVD (Digital Versatile Disc).

  Note that some of the functions of the sensor information acquisition unit 102, the information processing unit 103, the map processing unit 104, the information output unit 106, the control determination unit 107, and the control execution unit 108 are partially implemented by dedicated hardware. May be realized by software or firmware. As described above, the processing circuit 100b in the control device 100 can realize each of the above-described functions by hardware, software, firmware, or a combination thereof.

Next, details of the map processing unit 104 will be described.
As described above, the map processing unit 104 creates the first AGE map and the second AGE map. First, the process of creating the first AGE map will be described. The map processing unit 104 adds “1” to the AGE values of all the area cells for each time step in the created AGE map. In one time step, it is assumed that the time is set in advance. In addition, the map processing unit 104 is used only when search information for a certain area cell by the control target device 10 or update information of an AGE map of another device 10N obtained by exchanging information with another control device 100N is obtained. Lower the value of AGE. The created first AGE map is information exchanged with another control device 100N. The map processing unit 104 stores the created first AGE map in the map storage unit 105.

  Next, a process of creating the second AGE map will be described. The map processing unit 104 adds “1” to the AGE values of all the area cells for each time step in the created AGE map. The map processing unit 104 performs the AGE only when the control target device 10 acquires search information for a certain area cell or AGE map update information of another device 10N acquired by information exchange with another control device 100N. Decrease the value. Further, the map processing unit 104 also lowers the AGE value of an area cell predicted to be searched by another device 10N in the future by exchanging information with the other control device 100N.

  Regarding the process of lowering the AGE value of the area cell predicted to be searched by the other device 10N in the future, when the control device 100 estimates the action of the other device 10N and lowers the AGE value, the control target device 10 and all There is a possibility that another device 10N will give up the search for the area cell. Therefore, the map processing unit 104 assigns priorities to the control target device 10 and all other devices 10N. The map processing unit 104 performs control to search for an area cell that targets the control target device 10 or another device 10N with a high priority. Thereby, it is possible to suppress the control target device 10 and all the other devices 10N from giving each other.

  The priorities may be assigned in accordance with the order of the IDs assigned to the control target device 10 and all other devices 10N. If the control system has a performance difference between the control target device 10 and all the other devices 10N, the priority may be determined based on the performance difference. It is desirable that all of the control device 100 and the other control devices 100N constituting the control system know the priority. However, even when all of the control device 100 and the other control devices 100N do not know the priority, the control device 100 and all of the other control devices 100N follow the mechanism of prioritizing by communication in advance. What is necessary is just to be a structure.

The map processing unit 104 grasps which other device 10N may search in which direction based on the information of the other device 10N input from the information processing unit 103. The map processing unit 104 uses the information of the other device 10N having a higher priority than the control target device 10 among the information indicating which other device 10N may search in which direction, as the second AGE. Reflect on the map. In addition, the map processing unit 104 discards information before the preset number of steps from among the information on the other devices 10 </ b> N having higher priority than the control target device 10. Accordingly, the map processing unit 104 suppresses the use of the old information even if the information is of the other device 10 </ b> N having a higher priority than the control target device 10, and prevents the second AGE map from deviating from the current state. can do.
The map processing unit 104 stores the created second AGE map in the map storage unit 105.

FIG. 11 is a diagram illustrating a processing example of the map processing unit 104 of the control device 100 according to the first embodiment.
FIG. 11A shows an AGE map of another device 10 </ b> N having a higher priority than the control target device 10, and FIG. 11B shows an AGE map of the control target device 10. The map processing unit 104 determines the control target device 10 based on information (see FIG. 11A) indicating that another device 10N having a higher priority than the control target device 10 may search in the arrow X direction. An AGE map for avoiding the search in the arrow X direction and creating the search in the arrow Y direction is created (see FIG. 11B).

  The map processing unit 104 sets the AGE adjustment area P on an area where another device 10N may search on the AGE map. The map processing unit 104 performs a process of lowering the AGE value of the area cell in which the AGE adjustment area P has been set. The area cell whose AGE value has been lowered is no longer the area cell targeted by the controlled device 10 for search. As a result, the control target device 10 is directed in the arrow Y direction, which is a search target of another area cell 2g, and suppresses a plurality of devices from searching for the same area cell.

FIG. 12 is a diagram illustrating a process in which the map processing unit 104 of the control device 100 according to the first embodiment assigns an AGE adjustment region.
It is assumed that the map processing unit 104 processes, for example, information indicating that the device 10N has headed in the Pb direction at the position Pa before the T time step as information of another device 10N having a higher priority than the control target device 10. In this case, the map processing unit 104 sets the AGE adjustment region P in the second AGE map as shown in FIG. The AGE adjustment region P has a fan shape having a center angle T [deg] extending in the Pb direction around the coordinate position Pa. The fan shape of the AGE adjustment region P may have its radius changed according to the time step. Note that the shape of the AGE adjustment region P is not limited to a fan shape. The shape of the AGE adjustment region P may be a shape in consideration of the characteristics of the control target device 10 and the other device 10N. Further, the AGE adjustment area P may be a distribution calculated from the information of the other device 10N and representing the existence probability of the other device 10N.

  The map processing unit 104 lowers the AGE value of the area cell located in the set AGE adjustment area P. When the center point of the area cell exists in the set AGE adjustment area P, for example, the map processing unit 104 sets the AGE value of the area cell to “0” or reduces the AGE value by half. . The map processing unit 104 can apply a process of lowering the value of AGE according to the characteristics of the search area and the search target.

Next, the operation of the control device 100 will be described.
FIG. 13 is a flowchart illustrating the operation of the control device 100 according to the first embodiment.
The sensor information acquisition unit 102 acquires sensor information of the control target device 10 (step ST1). The sensor information acquisition unit 102 outputs the acquired sensor information to the information processing unit 103. The information processing section 103 acquires information of the other device 10N acquired via the communication section 101 (step ST2). The information processing unit 103 acquires the position information of the control target device 10 from the sensor information, and performs a process of combining the information with the information of the other device 10N into a format that can be processed by the map processing unit 104 (step ST3). The information processing section 103 outputs the processed information to the map processing section 104.

  The map processing unit 104 creates an AGE map of the search area in which the control target device 10 exists based on the information of the other device 10N input from the information processing unit 103 and the position information of the control target device 10 (Step S10). ST4). The map processing unit 104 uses the AGE map created in step ST4 to transmit the time lapse information, search information for a certain area cell of the control target device 10, and other information obtained by exchanging information with another control device 100N. A first AGE map is created based on the update information of the AGE map of the device 10N (step ST5).

  The map processing unit 104 uses the AGE map to elapse information of time, search information for a certain area cell of the control target device 10, and an AGE map of another device 10N obtained by exchanging information with another control device 100N. A second AGE map is created based on information indicating the possibility of another device 10N searching in addition to the update information (step ST6). The map processing unit 104 causes the map storage unit 105 to store the created first AGE map and second AGE map (step ST7). The information output unit 106 outputs the first AGE map stored in the map storage unit 105 to another control device 100N via the communication unit 101 (step ST8).

  The control determination unit 107 refers to the second AGE map stored in the map storage unit 105, and calculates a search direction vector indicating a direction to which the control target device 10 should go (step ST9). The control determining unit 107 calculates, for example, a repulsion vector and an obstacle vector as other adjustment vectors (step ST10). The control determination unit 107 calculates a control vector using the search direction vector calculated in step ST9 and other adjustment vectors calculated in step ST10 (step ST11). The control determination unit 107 outputs the calculated control vector to the control execution unit 108. The control execution unit 108 controls the control target device 10 based on the control vector input from the control determination unit 107 (step ST12). Thereafter, the flowchart returns to the process of step ST1, and repeats the above-described process.

Next, a detailed processing operation from step ST5 to step ST7 shown in the flowchart of FIG. 13 will be described.
FIG. 14 is a flowchart illustrating the operation of the map processing unit 104 of the control device 100 according to the first embodiment.
The map processing unit 104 refers to the AGE map created in step ST4, and determines whether or not one preset time step has elapsed since the last time the AGE map was created or updated (step ST21). When one time step has elapsed (step ST21; YES), the map processing unit 104 adds “1” to the AGE values of all the area cells of the AGE map created in step ST4 (step ST22). On the other hand, when one time step has not elapsed (step ST21; NO), the map processing unit 104 proceeds to the process of step ST23.

  The map processing unit 104 grasps the position where the control target device 10 exists based on the position information of the control target device 10, and determines whether or not a certain area cell has been searched (step ST23). When the control target device 10 searches for an area cell (step ST23; YES), the AGE value of the searched area cell is added to the AGE map to which the AGE value is added in step ST22 or the AGE map created in step ST4. Lower (step ST24). On the other hand, when the control target device 10 has not searched for an area cell (step ST23; NO), the map processing unit 104 proceeds to the process of step ST25.

  The map processing unit 104 refers to the AGE map information of the other device 10N input from the information processing unit 103, and determines whether or not the AGE value update information has been acquired (step ST25). When the update information of the AGE value is obtained (step ST25; YES), the AGE map in which the AGE value is added in step ST22, the AGE map in which the AGE value is reduced in step ST24, or the AGE map created in step ST4 is used. Then, the AGE value of the area cell indicated in the update information is reduced (step ST26). On the other hand, when the update information of the AGE value has not been acquired (step ST25; NO), the process proceeds to steps ST27 and ST28. The map processing unit 104 accumulates the AGE map on which the processing from step ST21 to step ST26 has been performed in the map accumulation unit 105 as a first AGE map (step ST27).

  The map processing unit 104 further performs the following processing on the AGE map on which the processing from ST21 to ST26 has been performed. The map processing unit 104 refers to the information of the AGE map of the other device 10N input from the information processing unit 103, and obtains information indicating which direction the other device 10N with high priority may search in. It is determined whether or not it exists (step ST28). In step ST28, a high priority indicates that the priority of the other device 10N is higher than the priority set in advance for the device 10 to be controlled. When the information exists (step ST28; YES), the map processing unit 104 sets the AGE adjustment area based on the information indicating which direction of the other device 10N with high priority is likely to be searched. (Step ST29). The map processing unit 104 lowers the AGE value of the area cell whose center is located in the AGE adjustment area set in step ST29 (step ST30).

  The map processing unit 104 accumulates the AGE map subjected to the processing of ST28 to step ST30 in the map accumulation unit 105 as a second AGE map (step ST31). When the process of step ST31 is completed and when there is no information (step ST28; NO), the flowchart proceeds to the process of step ST8 in the flowchart of FIG.

As described above, according to the first embodiment, the information processing unit 103 that acquires the information of the other device 10N and the position information of the control target device 10, the acquired information of the other device 10N, and the control target Based on the position information of the device 10, an AGE map indicating the elapsed time since the control target device 10 or another device 10 </ b> N has searched for a certain area cell for a search area in which the control target device 10 exists is created. A map processing unit 104, a control determining unit 107 that calculates a control vector of the control target device 10 based on the created AGE map, and a control execution unit that controls the control target device 10 based on the calculated control vector. 108.
Thereby, even when a plurality of devices cooperatively search within a single search area, and even when not all of the plurality of devices are within the communicable range, optimal device control can be performed. Can be realized.

Further, according to the first embodiment, the information processing unit 103 determines that the information of the other device 10N includes the information of the AGE map held by the control device 100N of the other device 10N, the position information of the other device 10N, and other information. Is configured to acquire information indicating the direction of travel of the device 10N.
This makes it possible to share when, where, and in what direction other devices may be present.

Further, according to the first embodiment, the map processing unit 104 generates the AGE map based on the elapsed time information, the search information for the area cell where the control target device is located, and the update information of the AGE map of another device. Then, a first AGE map is created, and in addition to the time lapse information, the search information for a certain area cell of the device to be controlled, and the AGE map update information of another device, the first AGE map is added to the certain area cell of another device. The second AGE map is configured to be created based on the information indicating the possibility of searching for the second AGE map.
As a result, it is possible to have two types of AGE maps, a normal AGE map managed by each control device and an AGE map indicating a direction in which other devices may travel.

Further, according to the first embodiment, the map processing unit 104 refers to the priorities of the control target device and the other devices, and transfers the information to the area cell including the other device having a higher priority than the control target device. The second AGE map is configured to be created using the information indicating the possibility of search.
In addition, the map processing unit 104 displays an AGE adjustment area on the second AGE map based on information indicating a possibility of searching for a certain area cell of another device 10N having a higher priority than the control target device 10. P is set, and a process of lowering the AGE value of the area cell located in the set AGE adjustment area P is performed.
Thereby, it is possible to suppress the control target device and all the other devices from yielding to a certain area cell.

Further, according to the first embodiment, the map processing unit 104 sets, in advance, the information indicating the possibility of searching for a certain area cell of another device 10 </ b> N having a higher priority than the control target device 10. It is configured to discard information before the specified number of steps.
This can prevent the second AGE map from deviating from the current state.

Further, according to the first embodiment, control determination unit 107 adjusts the search direction vector, which is calculated based on the second AGE map, and indicates the direction in which control target device 10 should head, and the search direction vector. The search vector and the adjustment vector are weighted using the adjustment vector, and the control vector is calculated.
Thus, the control target device and another device can search for the same area cell, or can calculate a control vector that can suppress the control target device from colliding with an obstacle or the like.

  In the present invention, it is possible to modify any components of the embodiment or omit any components of the embodiment within the scope of the invention.

  The technology according to the present invention is preferably applied to a control system or the like that controls a group of devices in a field where unmanned devices are used, such as monitoring work, observation work, and maintenance work.

  1 Search area, 2, 2a, 2b, 2c, 2d, 2e, 2f, 2g Area cell, 3, 3a, 3b Location information, 4, 4a, 4b Communication range, 5a, 5b, 5c, 5d AGE map, 6a , 6b, 6c, 6d Search direction vector, 7a, 7b Repulsive force vector, 10 controlled devices, 10A, 10B, 10C, 10D, 10E, 10N devices, 20 sensors, 100, 100A, 100B, 100C, 100D, 100E, 100N control device, 101 communication unit, 102 sensor information acquisition unit, 103 information processing unit, 104 map processing unit, 105 map storage unit, 106 information output unit, 107 control determination unit, 108 control execution unit.

Claims (9)

Other device information including AGE map information held by the control device of the other device, position information of the other device, and information indicating a search direction vector indicating the direction in which the other device is traveling, and position information of the control target device An information processing unit for acquiring
Elapsed time since the device was searched for each area cell in the search area where the controlled device is present, based on the information on the other devices and the position information of the controlled device obtained by the information processing unit. An AGE map is generated by calculating an AGE value indicating the time-lapse information, the search information indicating that the control target device has searched for a certain area cell, and the AGE of the other device. A first AGE map is created based on the update information of the map, time lapse information, search information indicating that the control target device has searched for a certain area cell, and the other AGE map, using the created AGE map. A second AGE map based on the update information of the AGE map of the device and information indicating the possibility of searching for a certain area cell of the other device, which is grasped from the information of the other device. And map processing unit that creates,
A control determining unit that calculates a control vector of the control target device using a search direction vector indicating a direction to which the control target device should head, calculated based on the second AGE map created by the map processing unit. When,
A control execution unit that executes control of the controlled device based on the control vector calculated by the control determination unit,
A control device comprising: an information output unit configured to control output of the first AGE map created by the map processing unit to a control device of the another device.   The information indicating the possibility of searching for a certain area cell of the other device, which is grasped from the information of the other device for creating the second AGE map in the map processing unit, is from the control target device. 2. The control device according to claim 1, wherein the control information is information indicating a possibility of searching for a certain area cell of another device having a high priority.   The second AGE map created by the map processing unit is configured to include, using the created AGE map, time lapse information, search information indicating that the control target device has searched for an area cell, and the other AGE map. On a map created based on the update information of the AGE map of the device, a search for a certain area cell of the other device is grasped from information of another device having a higher priority than the control target device. The control device according to claim 2, wherein the AGE map is an AGE map in which an AGE adjustment region is set based on information indicating a possibility.   In the second AGE map created by the map processing unit, when the center point of the area cell is located in the AGE adjustment area, a process of lowering the AGE value of the area cell is performed. The control device according to claim 3, wherein: The map processing unit updates the first AGE map and the second AGE map at each time step, and updates the first AGE map and the second AGE map more than the control target device acquired before a preset number of steps of the time step. 5. The control device according to claim 2, wherein information indicating a possibility of another device having a high priority searching for the certain area cell is discarded. 6.   The control vector calculated by the control determining unit is calculated using an adjustment vector for adjusting the search direction vector in addition to the search direction vector. The control device according to claim 1.   The control device according to claim 6, wherein the control vector calculated by the control determination unit is calculated by weighting the search direction vector and the adjustment vector.   The adjustment vector is a repulsive force vector indicating an acting force for separating the controlled device and the other device, and an obstacle vector indicating an acting force for separating the controlled device from an obstacle in the search area. 8. The control device according to claim 6, wherein the control device is provided. The information processing unit controls the AGE map information held by the control device of the other device, the position information of the other device, and the information of the other device, which is information indicating a search direction vector indicating a direction in which the other device proceeds, and control. Obtaining location information of the target device;
The map processing unit, based on the acquired information of the other device and the position information of the control target device, after the device for each area cell of the search area in which the control target device exists is searched. An AGE map in which an AGE value indicating the elapsed time is calculated is created, and using the AGE map, time lapse information, search information indicating that the control target device has searched for an area cell, and the other device Creating a first AGE map based on the updated information of the AGE map of the above, using the created AGE map, information on the passage of time, search information indicating that the controlled device has searched for a certain area cell, The second AGE is based on the update information of the AGE map of the other device and information indicating the possibility of searching for a certain area cell of the other device, which is grasped from the information of the other device. And a step to create a-up,
A step in which a control determining unit calculates a control vector of the control target device using a search direction vector indicating a direction to which the control target device should head, which is calculated based on the created second AGE map; ,
A control execution unit that executes control of the control target device based on the calculated control vector,
A control method, comprising: a step in which an information output unit performs control of outputting the created first AGE map to a control device of the other device.

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