JP2018095034A - Flying device, flight control device, and flight control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flying device that can determine the position of a portable terminal of a sufferer even if there is no another portable terminal near the sufferer.SOLUTION: A flying device 1 has: a flight control part 173 controlling the flying device to fly within a predetermined range of distance to the ground on the basis of map data including height information; an information acquisition part 172 acquiring area information indicating areas to which no radio wave reaches from any base stations of a portable telephone network; a position information acquisition part 171 acquiring position information indicating a flight position; a communication control part 174 transmitting a notification signal which a portable terminal can receive and receiving a response signal to the notification signal, when the flight position indicated by the position information is in the area indicated by the area information; and an output part 14 outputting report information indicating receiving of the response signal when the communication part 174 receives the response signal.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a flying device, a flight control device, and a flight control method for specifying the position of a mobile terminal.

  In recent years, an increasing number of people enjoy climbing as a hobby or entertainment. On the other hand, unexpected accidents can occur in such natural areas. For this reason, many people carry communicable portable terminals such as cellular phones as emergency contact means. However, there are many cases in which it is outside the communication area in the mountains, and communication may not be possible. Patent Document 1 discloses a technique for transmitting data to a server via another mobile terminal in the vicinity when the communication area is out of range.

JP 2010-177851 A

  In the technique described in Patent Document 1, data is transmitted / received to / from other portable terminals in the vicinity by performing communication between terminals using Bluetooth (registered trademark). However, when the user is distressed outside the area, other climbers are not always in a range where the mobile terminal owned by the user can communicate. Further, even when another mobile terminal is in the vicinity, if the other mobile terminal is also outside the area, the mobile terminal cannot communicate with the server.

  Therefore, the present invention has been made in view of these points, and even when there is no other mobile terminal in the vicinity, the flying device and the flight for identifying the position of the mobile terminal of the victim It is an object to provide a control device and a flight control method.

  The flight device of the present invention does not receive radio waves from a flight control unit that controls the distance to the ground to fly within a predetermined range based on map data including height information and a base station of a mobile phone network An information acquisition unit that acquires area information indicating an area, a position information acquisition unit that acquires position information indicating a flight position, and the flight position indicated by the position information is within the area indicated by the area information A communication signal that can be received by the mobile terminal, a communication control unit that receives a response signal to the notification signal, and the communication control unit that has received the response signal, the response signal is received. And an output unit that outputs report information indicating.

  The information acquisition unit further acquires flight path information indicating a flight path in the area indicated by the area information, and the flight control unit is configured to acquire the flight path based on the position information acquired by the position information acquisition unit. You may control to fly along the said flight path | route which information shows.

  The information acquisition unit acquires the area information including radio wave state information indicating a radio wave intensity distribution of the base station, and the communication control unit, based on the position information and the radio wave state information, It may be detected that the user is in the area where the radio wave does not reach.

  The communication control unit may transmit the notification signal on condition that the radio wave intensity of the base station is equal to or less than a predetermined threshold.

  The communication control unit may transmit the notification signal including identification information of the mobile terminal that is a search target.

  The output unit may output the report information when the response signal received by the communication control unit includes identification information of the mobile terminal to be searched.

  The output unit may output the report information including the position information at the time when the response signal is received.

  The communication control unit transmits the plurality of notification signals at a plurality of different timings and receives the plurality of response signals for the plurality of notification signals, and the output unit receives the plurality of response signals. The report information including the position information at the time when the response signal having the highest radio field intensity is received may be output.

  The output unit may transmit the report information to a predetermined destination by transmitting the report information to the base station at a position where the radio field intensity of the base station is a predetermined value or more. .

  The flight control device of the present invention includes an information transmission unit that transmits flight route information indicating a flight route in an area where a radio wave of a base station of a mobile phone network does not reach to the flight device, and an area where the radio wave of the base station does not reach An information receiving unit that receives report information indicating that a response signal to the notification signal transmitted by the flying device during flight has been received from a portable terminal; an output unit that outputs the report information received by the information receiving unit; Have

  The information transmitting unit may transmit different flight route information to the plurality of flying devices, and the information receiving unit may receive the plurality of report information from the plurality of flying devices.

  The flight control method of the present invention includes a step of controlling a distance to the ground to fly within a predetermined range based on map data including height information, which is executed by a computer, and a base station of a mobile phone network. When acquiring area information indicating an area where radio waves do not reach, acquiring position information indicating a flight position, and when the flight position indicated by the position information is within the area indicated by the area information Transmitting a notification signal receivable by the mobile terminal; receiving a response signal to the notification signal; and outputting report information indicating that the response signal has been received when the response signal is received. Steps.

  According to the present invention, even when there are no other mobile terminals in the vicinity, the position of the mobile terminal of the victim can be specified.

It is a figure which shows the structure of a position specification system. It is a figure which shows the structure of a flight apparatus. It is a figure for demonstrating the area information containing radio wave state information. It is a figure which shows the structure of a flight control apparatus. It is a flowchart which shows operation | movement of a flight apparatus. It is a figure for demonstrating the method of receiving a some response signal. It is a figure for demonstrating the method of acquiring multiple boundary position of the intensity | strength of an electromagnetic wave. It is a figure for demonstrating the method to identify the area | region where the portable terminal M exists from several response signals.

[Outline of this embodiment]
FIG. 1 is a diagram showing a configuration of the position specifying system S. As shown in FIG. The position specifying system S is a position specifying system for specifying the position of the mobile terminal M owned by the victim. The position specifying system S is used, for example, in a search team that searches for a victim who has been lost in a place where radio waves from the base station 3 do not reach.

  The position specifying system S includes a flying device 1, a flight control device 2, a mobile phone network base station 3, and a mobile terminal M. The flying device 1 is a flying device that flies based on flight route information indicating a flight route, for example, a drone. The flight control device 2 is a control device that transmits flight information indicating a flight path to the flight device 1 that is used by the search team. The flight control device 2 is, for example, a desktop PC, a tablet, or a smartphone. The base station 3 of the mobile phone network transmits a notification signal to the mobile terminal M and receives a response signal. The mobile phone network is, for example, an LTE line. The mobile terminal M is a mobile terminal possessed by a victim, for example, a mobile phone or a smartphone.

  The search party operates the flight control device 2 to set a flight path that flies around a place where the distress who owns the mobile terminal M is thought to have suffered. The flight control apparatus 2 transmits to the flying apparatus 1 flight path information indicating a flight path and area information indicating an area where the radio wave of the base station 3 does not reach. The flying device 1 starts flying when it acquires flight path information. The flying device 1 flies along a flight path, and transmits a notification signal at a constant interval or a preset timing while flying in a place where radio waves of the base station 3 do not reach. The notification signal transmitted by the flying device 1 is a signal based on a communication protocol equivalent to the notification signal transmitted by the base station 3.

When the mobile terminal M owned by the victim receives the notification signal transmitted from the flying device 1, the portable terminal M transmits a response signal to the flying device 1. When the flying device 1 receives the response signal transmitted from the mobile terminal M, the flying device 1 acquires the position of the aircraft itself when it is received. The flying device 1 transmits report information including the position of the own aircraft acquired when the response signal from the portable terminal M is received to the flight control device 2 while flying in a place where the radio waves of the base station 3 reach. The flight control device 2 displays the received report information on the display device. Based on the report information displayed on the display device, the search team specifies an area where the mobile terminal M is likely to exist and searches for the victim.
Hereinafter, the configuration of the flying device 1 and the flight control device 2 will be described in detail.

[Configuration of the flying device 1]
FIG. 2 is a diagram illustrating a configuration of the flying device 1. The flying device 1 includes a detection unit 11, an imaging unit 12, a communication unit 13, an output unit 14, a flight mechanism 15, a storage unit 16, and a control unit 17. The control unit 17 includes a position information acquisition unit 171, an information acquisition unit 172, a flight control unit 173, and a communication control unit 174.

  The detection unit 11 includes, for example, an altimeter, an acceleration sensor, and a GPS (Global Positioning System) receiver, and specifies the state of the flying device 1 such as the flight altitude, the flight speed, the inclination, and the flight position of the flying device 1. Is output to the flight control unit 173. In addition, the detection unit 11 notifies the position information acquisition unit 171 of the detected flight position. The imaging unit 12 captures the vicinity of the flying position of the flying device 1 and generates captured image data. The imaging unit 12 outputs the generated captured image data to the control unit 17.

  The communication unit 13 is a communication module that transmits and receives radio waves for communication using an LTE line. The communication unit 13 includes a modulator that modulates transmission data input from the communication control unit 174, and a high-frequency unit that transmits the modulated data as a high-frequency signal in a frequency band assigned to LTE. The communication unit 13 includes a demodulator that demodulates the high-frequency signal received from the flying device 1 by the high-frequency unit. The demodulator inputs the demodulated received data to the communication control unit 174. The communication unit 13 has a function equivalent to that of the base station 3 of the mobile phone network.

  The output unit 14 is a communication module that transmits and receives radio waves for communication using a wireless communication line. The wireless communication line is, for example, an LTE line, Wi-Fi (registered trademark), or Bluetooth (registered trademark). The output unit 14 receives the report information generated by the communication control unit 174, and outputs the report information to an output destination registered in advance. When the communication control unit 174 receives a response signal, the output unit 14 outputs report information indicating that the response signal has been received. Further, the output unit 14 may output report information to an output destination registered in advance via another flight device 1.

  The flight mechanism 15 includes a propeller, a motor that rotates the propeller, a rudder, and the like. The flight mechanism 15 can change the flight altitude, the flight speed, and the flight direction by operating these mechanisms based on the control of the flight control unit 173.

  The storage unit 16 is a storage medium including a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 16 stores a program executed by the control unit 17. The storage unit 16 is used as a work memory of the control unit 17 and temporarily stores, for example, flight path information, area information, and position information acquired by the position information acquisition unit 171 received from the flight control device 2.

  The control unit 17 is, for example, a CPU (Central Processing Unit). The control unit 17 functions as a position information acquisition unit 171, an information acquisition unit 172, a communication control unit 174, and a flight control unit 173 by executing a program stored in the storage unit 16.

  The position information acquisition unit 171 controls the detection unit 11 to acquire position information indicating the flight position. In addition, the position information acquisition unit 171 transmits position information indicating the acquired flight position to the communication control unit 174 or the flight control unit 173.

  The information acquisition unit 172 acquires area information received by the communication control unit 174 and indicating an area where radio waves of the base station 3 of the mobile phone network do not reach. The information acquisition unit 172, for example, as area information indicating an area where radio waves do not reach, area information including information for specifying an area where radio waves do not reach, or area information including information for specifying areas where radio waves reach To get. The information acquisition unit 172 can further acquire flight path information indicating the flight path in the area indicated by the area information received by the communication control unit 174. The information acquisition unit 172 notifies the flight control unit 173 of the acquired flight path information. The information acquisition unit 172 can acquire area information including radio wave state information indicating the radio wave intensity distribution of the base station 3. FIG. 3 is a diagram for explaining area information including radio wave state information. The base station 3 in the lower right part of FIG. 3 is a base station of a mobile phone network installed in an urban area, and transmits a base station signal to be notified to the mobile terminal M.

  The portion filled with diamonds in FIG. 3 indicates a place where the distance from the base station 3 is short and the radio field intensity of the base station signal is high. The shaded portion in FIG. 3 indicates a place where the distance from the base station 3 is medium and the radio field intensity of the base station signal is medium. The part filled with the vertical line in FIG. 3 indicates a place where the distance from the base station 3 is relatively far and the radio field intensity of the base station signal is low. The unfilled portion in FIG. 3 indicates an area where the distance from the base station 3 of the mobile phone network is long and the radio wave of the base station signal does not reach. The information acquisition unit 172 acquires area information including radio wave state information indicating the radio wave intensity distribution of the base station signal notified by the base station 3 as described above.

  In addition, the area information indicating an area where radio waves do not reach may be different for each height from the ground. Specifically, for example, the area where the radio wave of the base station signal at a height of 10 m from the ground does not reach the area where the radio wave of the base station signal at a height of 20 m from the ground does not reach. The information acquisition unit 172 of the flying device 1 may acquire an area where the radio wave of the base station signal at a height from the ground recommended for the aircraft to fly does not reach based on the aircraft information of the aircraft. . Also, the area information indicating the area where the radio wave reaches may be different for each height from the ground, similarly to the area information indicating the area where the radio wave does not reach.

  The flight control unit 173 controls the flight mechanism so that the distance to the ground flies within a predetermined range based on the map data including the height information. Further, the flight control unit 173 acquires flight path information indicating the flight path received by the communication control unit 174 or flight path information stored in the storage unit 16. The flight control unit 173 controls the flight mechanism 15 to fly along the flight path indicated by the flight path information based on the position information acquired by the position information acquisition unit 171.

  The flight control unit 173 can change the flight path as appropriate. The flight control unit 173 changes the flight path based on, for example, the battery level of the aircraft, the wind direction at the flight position, the wind speed, and the amount of rainfall. Further, the flight control unit 173 changes the flight path based on the weather forecast information acquired by the communication control unit 174.

  When the flight control unit 173 receives a response signal from the mobile terminal M with respect to a notification signal transmitted by the communication control unit 174 described later, the flight control unit 173 changes the flight path based on the radio wave state information. Specifically, when the communication control unit 174 receives the response signal, the flight control unit 173 is closest to the current position included in the area where the radio wave of the base station 3 does not reach based on the radio wave state information. The flight path is set so as to go to the area where the radio waves of the base station 3 reach. The flight control unit 173 controls the flight mechanism so as to fly along the changed flight path. By doing so, the flying device 1 can quickly fly to an area where the radio waves of the base station 3 reach when receiving a response signal from the mobile terminal M.

  The communication control unit 174 detects that the mobile station is in an area where the radio waves of the base station 3 do not reach based on the position information and the radio wave state information acquired by the position information acquisition unit 171. Specifically, when the position information indicating the flight position is included in a location where the radio wave intensity of the base station 3 indicated by the radio wave state information is equal to or less than a predetermined value, the communication control unit 174 It detects that it is in an area where the radio wave of station 3 does not reach. The communication control unit 174 detects the radio wave intensity of the base station 3 and transmits a notification signal on condition that the radio wave intensity of the base station 3 is equal to or less than a predetermined threshold. As described above, the communication control unit 174 of the flying device 1 transmits the notification signal based on the actually measured value of the radio wave of the base station 3, and therefore can transmit the notification signal without interfering with the existing mobile phone network. it can.

  For example, the communication control unit 174 transmits a notification signal including identification information of the mobile terminal M that is a search target stored in the storage unit 16. The portable terminal M receives the notification signal including identification information transmitted by the communication control unit 174 of the flying device 1. The portable terminal M transmits a response signal when the identification information included in the received notification signal matches the identification information of its own device.

  The communication control unit 174 transmits a notification signal that can be received by the mobile terminal M when the flight position indicated by the position information is within an area where the radio wave of the base station 3 indicated by the area information does not reach, and the notification A response signal to the signal is received. When the communication control unit 174 receives a response signal that matches the identification information of the mobile terminal M to be searched, the communication control unit 174 may transmit a predetermined message to the mobile terminal M to be searched. The communication control unit 174 transmits report information indicating that the response signal has been received to the output unit 14. The output unit 14 outputs report information when the response signal received by the communication control unit 174 includes identification information of the mobile terminal M that is a search target.

  The communication control unit 174 transmits report information including position information indicating the flight position at the time of receiving the response signal acquired by the position information acquisition unit 171 to the output unit 14. The output unit 14 outputs report information including position information at the time when the response signal from the mobile terminal M is received. In addition, the communication control unit 174 may transmit report information including the radio wave intensity of the acquired response signal to the output unit 14. The output unit 14 may output report information including the radio wave intensity of the response signal when the response signal from the mobile terminal M is received.

  The communication control unit 174 may acquire position information acquired by the mobile terminal M by communicating with the mobile terminal M. Specifically, the communication control unit 174 of the flying device 1 transmits an acquisition request to the application installed in the mobile terminal M so as to transmit the position information acquired by the mobile terminal M. The control unit of the mobile terminal M acquires the position information of the mobile terminal M and transmits the position information of the mobile terminal M to the communication control unit 174 of the flying device 1. The communication control unit 174 transmits report information including the location information of the mobile terminal M to the output unit 14. Further, the communication control unit 174 may acquire radio wave intensity information including the radio wave intensity of the notification signal received by the mobile terminal M by communicating with the mobile terminal M. Specifically, the control unit of mobile terminal M detects the radio field intensity of the notification signal received by mobile terminal M, and transmits the radio field intensity information including the radio field intensity of the notification signal to communication control unit 174 of flying device 1. To do. The communication control unit 174 transmits report information including the radio wave intensity information received from the mobile terminal M to the output unit 14.

  The communication control unit 174 detects the radio wave intensity of the base station 3. The communication control unit 174 determines whether or not the radio wave intensity of the base station 3 is equal to or higher than a predetermined value. If the radio wave intensity of the base station 3 is equal to or higher than a predetermined value, the communication control unit 174 notifies the output unit 14 of the report information. At the same time, it is notified that the intensity of the radio wave is a predetermined value or more. The output unit 14 transmits the report information to the base station 3 at a position where the radio field intensity of the base station 3 is equal to or higher than a predetermined value, thereby transmitting the report information to a predetermined transmission destination. The predetermined transmission destination is, for example, a rescue center PC.

[Configuration of Flight Control Device 2]
FIG. 4 is a diagram illustrating the configuration of the flight control device 2. The flight control device 2 includes a communication unit 21, an output unit 22, a storage unit 23, and a control unit 24. The control unit 24 includes an information transmission unit 241 and an information reception unit 242.

  The communication unit 21 is a communication interface connected to a network and includes, for example, a LAN (Local Area Network) controller. The communication unit 21 may include a communication module that transmits and receives radio waves for communication using a wireless communication line. The wireless communication line is, for example, an LTE line or Wi-Fi. The communication unit 21 transmits / receives information to / from the flying device 1 via the network.

  The output unit 22 outputs the report information received by the information receiving unit 242. The output unit 22 outputs report information as image data to be displayed on a display device that displays an image, for example. Moreover, the output part 22 outputs report information as text data, for example. The output unit 22 outputs report information to an information output device including, for example, a desktop PC, a tablet PC, and a smartphone. Moreover, the flight control apparatus 2 may include a display unit, and the output unit 22 may display report information on the display unit.

  The storage unit 23 is a storage medium including a ROM and a RAM. The storage unit 23 stores a program executed by the control unit 24. The storage unit 23 is used as a work memory for the control unit 24 and temporarily stores, for example, area information, flight path information including the flight path of the flying device 1, and report information received from the flying device 1.

The control unit 24 is a CPU, for example. The control unit 24 functions as an information transmission unit 241 and an information reception unit 242 by executing a program stored in the storage unit 23. The information transmission unit 241 transmits flight path information indicating a flight path in an area where radio waves of the base station 3 of the mobile phone network do not reach to the flying device 1. Further, the information transmission unit 241 transmits different flight path information to the plurality of flying devices 1. The information receiving unit 242 receives report information indicating that a response signal to the notification signal transmitted by the flying device 1 during flight in an area where the radio wave of the base station 3 does not reach is received from the portable terminal M. Further, the information receiving unit 242 receives a plurality of report information from a plurality of flying devices.
The information receiving unit 242 notifies the output unit 22 of the received report information.

[Operation of the flying device 1]
FIG. 5 is a flowchart showing the operation of the flying device 1. First, the information acquisition unit 172 of the flying device 1 acquires area information and flight path information (S10). Next, the flight control unit 173 starts flying so that the distance from the ground is within a predetermined range based on the map data including the height information and the flight altitude detected by the detection unit 11. Then, the flight control unit 173 controls the flight mechanism to fly along the flight path indicated by the flight path information, based on the position information acquired by the position information acquisition unit 171 (S12). Hereinafter, unless otherwise specified, the flight control unit 173 of the flying device 1 controls the flight mechanism so as to fly along the flight path.

  Based on the position information and the area information, the communication control unit 174 determines whether or not the mobile station has entered an area where the radio waves of the base station 3 do not reach (S14). When entering the area where the radio waves of the base station 3 do not reach, the communication control unit 174 detects the radio wave intensity of the base station 3 and determines whether or not it is below a predetermined threshold (S16). If the radio field intensity of the base station 3 is equal to or less than a predetermined threshold, the communication control unit 174 transmits a notification signal (S18).

  The communication control unit 174 of the flying device 1 determines whether a response signal has been received from the mobile terminal M (S20). When the communication control unit 174 receives a response signal from the portable terminal M, the position information acquisition unit 171 acquires position information indicating the flight position when the response signal is acquired (S22). The communication control unit 174 detects the radio wave intensity of the base station 3 and determines whether the radio wave intensity is equal to or greater than a predetermined threshold value (S26). The communication control unit 174 notifies the flight control unit 173 to continue the flight if the radio wave intensity of the base station 3 is not equal to or greater than a predetermined threshold value. If the radio field intensity of the base station 3 is equal to or greater than a predetermined threshold, the communication control unit 174 notifies the output unit 14 that it is equal to or greater than the predetermined threshold. The output unit 14 outputs report information to the flight control device 2 via the base station 3 of the mobile phone network (S28).

  Thus, since the output unit 14 of the flying device 1 outputs the report information including the position information of the own device when the response signal of the mobile terminal M is received, the search team searching for the victim who owns the mobile terminal M. Can specify that the mobile terminal M exists in the vicinity of the position when the communication control unit 174 of the flying device 1 receives the response signal.

In the above description, an example of the operation of the flying device 1, the operation of the flight control device 2, and the method by which the position specifying system S specifies the position of the mobile terminal has been shown.
Hereinafter, another method for specifying the position of the mobile terminal M will be described in detail.

[Method 1 for locating mobile terminal M]
Method 1 for specifying the position of the mobile terminal M is a method in which the communication control unit 174 transmits a plurality of notification signals at a plurality of different timings and receives a plurality of response signals for the plurality of notification signals.
FIG. 6 is a diagram for explaining a method of receiving a plurality of response signals. The flying device 1 flies along the flight path L1 and the flight path L2. A position P60 indicates the starting point of the flying device 1. The area filled with the vertical line in FIG. 6 is an area where the radio wave intensity of the response signal received by the communication control unit 174 is low. 6 is an area where the radio wave intensity of the response signal received by the communication control unit 174 is at a medium level. The area filled with diamonds in FIG. 6 is an area where the radio wave intensity of the response signal received by the communication control unit 174 is high.

  When the communication control unit 174 of the flying device 1 detects that it is in an area where the radio waves of the base station 3 do not reach, it transmits a notification signal at regular intervals. It is assumed that the communication control unit 174 transmits a notification signal and receives a response signal from the position P61 to the position P63. Referring to FIG. 6, the radio wave intensity of the response signal received by the communication control unit 174 at the position P61 is at a low level. The radio wave intensity of the response signal received by the communication control unit 174 at the position P62 is a medium level. The radio wave intensity of the response signal received by the communication control unit 174 at the position P63 is high.

  The position of the portable terminal M is considered to be close to the position where the response signal having the highest radio field intensity is received. Therefore, the communication control unit 174 transmits report information including position information indicating the position P63 that received the response signal having the highest radio wave intensity when receiving a plurality of response signals to the output unit 14. The output unit 14 outputs report information including position information at the time of receiving a response signal having the highest radio wave intensity when receiving a plurality of response signals. By doing in this way, the search party can specify that the mobile terminal M to be searched exists in the vicinity of the position indicating the flight position included in the report information.

[Method 2 for Locating Mobile Terminal M]
The method 2 for specifying the position of the mobile terminal M is a method for specifying an area where the mobile terminal M exists by acquiring a plurality of boundary positions of the radio wave intensity. FIG. 7 is a diagram for describing a method of acquiring a plurality of radio wave intensity boundary positions. The flight control unit 173 of the flying device 1 controls the flight mechanism 15 so as to fly along the flight path L3. 7 is a region where the radio wave intensity of the response signal received by the communication control unit 174 is low. In FIG. 7, the shaded area is an area where the radio wave intensity of the response signal received by the communication control unit 174 is at a medium level.

  It is assumed that the communication control unit 174 transmits a notification signal and receives a response signal from the position P71 to the position P76. Referring to FIG. 7, the radio wave intensity of the response signal received by communication control unit 174 at position P72, position P73, and position P76 is at a low level less than a predetermined value. The radio wave intensity of the response signal received by the communication control unit 174 at the position P71, the position P74, and the position P75 is an intermediate level that is equal to or higher than a predetermined value.

  In the above description, the flying device 1 detects the radio wave intensity of the response signal, but the mobile terminal M may detect the radio wave intensity of the notification signal. The portable terminal M can transmit a response signal to the flying device 1 together with the radio wave intensity information including the radio wave intensity of the detected notification signal. By doing in this way, the flying device 1 can acquire the radio field intensity of the notification signal received by the mobile terminal M from the mobile terminal M.

  A method for specifying the position of the mobile terminal M to be searched from the boundary positions of the plurality of radio wave intensities when the boundary positions of the plurality of radio waves are acquired will be described. The position P71 where the radio wave intensity is greater than or equal to a predetermined value and the position P72 where the radio wave intensity is less than the predetermined value are positions near the boundary where the radio wave intensity of the response signal changes. The radio wave of the response signal emitted from the mobile terminal M becomes stronger as the distance between the flying device 1 and the mobile terminal M gets closer. Therefore, it is considered that the mobile terminal M exists in the direction from the position P72 to the position P71. Therefore, the communication control unit 174 specifies that the region where the mobile terminal M may exist is in the direction from the position P72 indicated by the arrow L31 toward the position P71.

  Similarly, the portable terminal M is considered to exist in a direction from the position P73 to the position P74 and in a direction from the position P76 to P75. The communication control unit 174 has an area where the mobile terminal M may be present in a direction from the position P73 indicated by the arrow L32 toward the position P74 and a direction indicated by the arrow L33 from the position P76 toward the position P75. Identify. And the communication control part 174 specifies area | region R70 filled with the grid | lattice in the direction which arrow L31, arrow L32, and arrow L33 show as the area | region where the portable terminal M may exist.

  The communication control unit 174 reports information including an area R70 filled with a grid in which the mobile terminal M may exist, which is specified based on the radio wave intensity of the response signal at a plurality of positions near the boundary where the radio wave intensity changes. To the output unit 14. The output unit 14 outputs report information including a region where the received mobile terminal M may exist in the flight control device 2 used by the search party. By doing in this way, the search party can narrow down to an area where the mobile terminal M may be present.

[Method 3 for locating mobile terminal M]
The method 3 for specifying the position of the mobile terminal M is a method for specifying an area where the mobile terminal M exists based on a plurality of response signals. If the radio wave reach of the notification signal transmitted by the communication control unit 174 of the flying device 1 is wide, the search party searches the wide range even if the communication control unit 174 knows the position where the response signal from the portable terminal M is received. There must be. Therefore, a method will be described in which the flying device 1 specifies an area where the mobile terminal M exists from a plurality of response signals as a narrow area.

  FIG. 8 is a diagram for explaining a method for specifying an area where the mobile terminal M exists from a plurality of response signals. The communication control unit 174 of the flying device 1 transmits a notification signal and receives a response signal at the position P81, the position P82, and the position P83. The radio wave reachable range R81 indicates the radio wave reachable range of the notification signal transmitted by the communication control unit 174 of the flying device 1 at the position P81. Similarly, radio wave reach ranges R82 and R83 indicate radio wave reach ranges of notification signals transmitted by the communication control unit 174 of the flying device 1 at positions P82 and P83, respectively.

As already described, the mobile terminal M that is the object of the search exists within the radio wave reach of the notification signal transmitted by the communication control unit 174 of the flying device 1. Therefore, the portable terminal M is considered to exist in the search range L84 in which the radio wave reachable range R81, the radio wave reachable range R82, and the radio wave reachable range R83 are overlapped. Therefore, the communication control unit 174 of the flying device 1 specifies the search range R84 and notifies the output unit 14 of report information including the search range R84. The output unit 14 outputs report information including the search range R84 to the flight control device 2 used by the search team. By doing in this way, the search corps can pinpoint the range in which the portable terminal M which is the object to search exists in a narrow range.
In the above description, one flying device 1 transmits a notification signal at a plurality of positions and receives a response signal. However, the present invention is not limited to this, and a plurality of flying devices 1 have response signals at different positions. May be received.

[Method 4 for Locating Mobile Terminal M]
Method 4 for specifying the position of the portable terminal M is a method for specifying the direction of transmission of the radio wave of the response signal by controlling the direction of the antenna. The flying device 1 has an antenna that transmits a notification signal, and can direct the direction of the antenna in a specific direction. The communication control unit 174 of the flying device 1 detects the radio field intensity of the response signal with respect to the notification signal according to the direction of the antenna. The output unit 14 outputs report information including position information, the antenna direction, and the radio wave intensity of the response signal to the notification signal corresponding to the antenna direction. By doing in this way, the search corps can specify the direction of the radio wave of the response signal transmitted by the mobile terminal M and the distance based on the radio wave intensity with respect to the position of the flying device 1 when the response signal is received.

[Method 5 for locating mobile terminal]
The method 5 for specifying the position of the mobile terminal M is a method for specifying the location of the mobile terminal M based on the distance from the ground. When the communication control unit 174 receives a response signal to the notification signal, the communication control unit 174 acquires the flight altitude of the own aircraft detected by the detection unit 11 and the reception strength of the response signal. The communication control unit 174 identifies an area where the mobile terminal M may exist based on the flight altitude of the aircraft and the reception intensity of the response signal.

Specifically, the communication control unit 174 specifies a right triangle having the flight altitude h of its own aircraft as a height and the distance r based on the radio wave intensity of the response signal as a hypotenuse. The communication control unit 174 specifies the linear distance a between the point P where the perpendicular line dropped from the flight position of the own aircraft intersects the ground and the mobile terminal M based on the following formula.
a ² = r ² −h ² (formula)

  The communication control unit 174 identifies the area within the circle around the point P and having the radius of the straight line distance a between the point P and the portable terminal M as the area where the portable terminal M may exist. The communication control unit 174 notifies the output unit 14 of report information including the specified area. By doing in this way, the search corps can specify the area | region where the portable terminal M may exist.

[Method 6 for Locating Mobile Terminal M]
The method 7 for specifying the position of the mobile terminal M is a method in which the plurality of flying devices 1 appropriately change the flight path. The flying device 1 can communicate with other flying devices 1 and transmits and receives flight route information including a flight route.

  The communication control units 174 of the plurality of flight apparatuses 1 establish communication lines with the communication control units 174 of other flight apparatuses 1 and transmit / receive flight path information including flight paths. For example, the communication control unit 174 of the flying device 1a transmits its flight path to the flying device 1b flying in the vicinity. When receiving the flight path of the flying device 1a, the control unit 17 of the flying device 1b compares it with the flight path of its own aircraft. The flight control unit 173 of the flying device 1b does not change the flight route of the own device unless the flight route of the flying device 1a and the flight route of the own device overlap. The flight control unit 173 of the flying device 1b changes the flight route of the own device when the flight route of the flying device 1a and the flight route of the own device overlap. Note that the flight control unit 173 of the flying device 1b transmits instruction information for instructing the flight route to the flying device 1a via the communication control unit 174 when the flight route of the flying device 1a and the flight route of the own aircraft overlap. May be.

  By doing in this way, the several flight apparatus 1 can fly so that a flight path may not mutually overlap, and can transmit a notification signal. Therefore, the search party can specify the position of the mobile terminal M without setting detailed flight paths for the plurality of flying devices 1.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. In particular, the specific embodiments of the distribution / integration of the devices are not limited to those illustrated above, and all or a part thereof may be added in arbitrary units according to various additions or according to functional loads. It can be configured functionally or physically distributed and integrated.

DESCRIPTION OF SYMBOLS 1 Flight apparatus 2 Flight control apparatus 3 Base station 11 Detection part 12 Imaging part 13 Communication part 14 Output part 15 Flight mechanism 16 Storage part 17 Control part 21 Communication part 22 Output part 23 Storage part 24 Control part 171 Position information acquisition part 172 Information Acquisition unit 173 Flight control unit 174 Communication control unit 241 Information transmission unit 242 Information reception unit M Portable terminal S Position identification system

Claims (12)

A flight control unit for controlling the distance to the ground to fly within a predetermined range based on map data including height information;
An information acquisition unit for acquiring area information indicating an area where radio waves of a base station of a mobile phone network do not reach;
A position information acquisition unit for acquiring position information indicating a flight position;
A communication control unit that transmits a notification signal receivable by the portable terminal and receives a response signal to the notification signal when the flight position indicated by the position information is within the area indicated by the area information; ,
An output unit that outputs report information indicating that the response signal has been received when the communication control unit receives the response signal;
Having a flying device. The information acquisition unit further acquires flight path information indicating a flight path in the area indicated by the area information,
The flight control unit controls to fly along the flight path indicated by the flight path information based on the position information acquired by the position information acquisition unit.
The flying device according to claim 1. The information acquisition unit acquires the area information including radio wave state information indicating a radio wave intensity distribution of the base station,
The communication control unit detects, based on the position information and the radio wave state information, that it is in the area where radio waves of the base station do not reach,
The flying device according to claim 1 or 2. The communication control unit transmits the notification signal on condition that the radio wave intensity of the base station is a predetermined threshold value or less.
The flying device according to any one of claims 1 to 3. The communication control unit transmits the notification signal including identification information of the mobile terminal that is a target to be searched.
The flying device according to any one of claims 1 to 4. The output unit outputs the report information when the response signal received by the communication control unit includes identification information of the mobile terminal that is a search target.
The flying device according to any one of claims 1 to 5. The output unit outputs the report information including the position information at the time of receiving the response signal.
The flying device according to any one of claims 1 to 6. The communication control unit transmits a plurality of notification signals at a plurality of different timings, and receives a plurality of response signals for the plurality of notification signals,
The output unit outputs the report information including the position information at the time of receiving the response signal having the highest radio wave intensity when receiving the plurality of response signals.
The flying device according to claim 7. The output unit transmits the report information to a predetermined transmission destination by transmitting the report information to the base station at a position where the radio field intensity of the base station is equal to or higher than a predetermined value.
The flying device according to any one of claims 1 to 8. An information transmission unit that transmits flight path information indicating a flight path in an area where the radio wave of the base station of the mobile phone network does not reach, to the flying device;
An information receiving unit for receiving report information indicating that a response signal to a notification signal transmitted by the flying device during flight in an area where radio waves of the base station do not reach is received from a portable terminal;
An output unit for outputting the report information received by the information receiving unit;
A flight control device. The information transmitting unit transmits different flight path information to the plurality of flying devices,
The information receiving unit receives a plurality of the report information from the plurality of flying devices.
The flight control apparatus according to claim 10. The computer runs,
Controlling the distance to the ground to fly within a predetermined range based on map data including height information;
Obtaining area information indicating an area where radio waves of a mobile phone network base station do not reach;
Obtaining position information indicating a flight position;
When the flight position indicated by the position information is within the area indicated by the area information, transmitting a notification signal that can be received by the mobile terminal;
Receiving a response signal to the notification signal;
Outputting report information indicating that the response signal has been received when the response signal is received;
A flight control method.

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