JP2019113808A - Uav navigation-purpose network data generation device, uav navigation-purpose network data generation method, uav navigation-purpose route image generation device, uav navigation-purpose route data generation device - Google Patents

Abstract

To make it possible to broadly and readily generate network data required for a route preparation upon causing a UAV to autonomously navigate.SOLUTION: A control unit 22 is configured to acquire information about features having continuity from a continuous feature cloud DB group 10 through communication I/F 21. A node setting unit 28 is configured to set a plurality of nodes serving one of attributes of UAV navigation-purpose network data used for preparation of navigation route of UAV on the basis of the acquired information about the feature having the continuity. Link setting means is configured to set a link connecting between respective nodes of the plurality of nodes serving another one of the attributes of the UAV navigation-purpose network data, and set by the node setting unit 28. Accordingly, the UAV navigation-purpose network data is generated that is composed of the node and link.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a network data generation device, a route data generation device, a route image generation device, and a method for establishing autonomous navigation by setting a navigation route of an aircraft called UAV (Unmanned aerial vehicle).

  Various unmanned aerial vehicles (hereinafter referred to as UAVs) are being used in various fields. For example, Patent Document 1 described later discloses an invention related to an unmanned air vehicle delivery system. The invention disclosed in Patent Document 1 uses a UAV to deliver a product according to a customer's order from a distribution center to a destination such as a customer's home.

  In addition, according to the flight performance of a drone, which is a type of UAV, Patent Document 2 enables the user to set the drone flight path while confirming on the display so that no route deviation or flight collapse occurs. An invention related to a flight path creation device and the like is disclosed. The invention described in Patent Document 2 creates a flight path of a drone by displaying flight parts such as takeoff, landing, straightness, climb, and descent on a display based on user operation.

  In addition, in Non-Patent Document 1, in order to automatically navigate the drone, the flight route is created and set as the drone by specifying the departure point, the passing point, the destination, the altitude, and the speed, and the drone Information is disclosed regarding application software that enables auto-navigation.

US Patent Application Publication No. 2015/0120094 JP, 2016-184288, A

100 questions to become a drone pilot Internet <http://dronejo.hatenablog.com/entry/2016/09/15/182240>

  In the future, UAVs will often use the UAV to navigate from a starting point to an invisible destination, such as delivery of goods etc., understanding of traffic congestion and weather observation, and photographing of places where people are difficult to approach. It is considered to be. At present, UAVs are mainly for navigation by visual remote control, but with the expansion of the range of application, it is thought that the rate at which the UAV has to autonomously travel will be high. In this case, it is necessary to create a navigation route for each UAV. The creation of the navigation route for UAV, as described in the above-mentioned patent documents and non-patent documents, indicates the place of departure, the place of passage, the destination, takeoff place, ascending route, straight route, descending route, etc. Can be created by connecting objects according to the navigation state.

  However, UAVs can not navigate unconditionally anywhere. Being able to navigate the UAV freely without restriction could undermine the safety of manned aircraft, people on the ground, buildings, and operating vehicles. For this reason, guidelines such as UAVs for safe navigation and aviation laws have been developed. Specifically, in the drone, which is a type of UAV, (A) airspace above the surface or water surface + 150 m or more, (B) airspace around the airport, (C) the upper area of the population concentration area secures security and permits You will not be able to navigate the drone unless you In addition, even if it is an airspace where drone navigation other than the above (A), (B), and (C) is possible by receiving permission, the drone excludes the use for the purpose of inspection of the building, etc. It must be maintained at a distance of 30m from the roof and sides of the building.

  For such autonomous navigation of UAVs in accordance with guidelines and aviation laws, it is necessary to prepare UAV navigation network data for creating UAV navigation routes. This UAV navigation network data is equivalent to road network data in a car navigation system. However, large-scale survey, development period and maintenance are required to generate (create) UAV navigation network data that covers the whole country and conforms to guidelines and aviation laws.

  In view of the above, the present invention makes it possible to easily generate network data for UAV navigation, which is required when navigating a UAV, in a wide area, and navigation route data using the generated network data. And it aims at enabling creation of a navigation route picture.

In order to solve the above-mentioned subject, the network data generating device for navigation by UAV of the invention according to claim 1 is
Acquisition means for acquiring information on a feature having continuity;
A node setting unit configured to set a node of UAV navigation network data based on the information on the continuous feature acquired through the acquisition unit;
And a link setting unit configured to set a link connecting each of the plurality of nodes set by the node setting unit.

  According to the present invention, it is possible to easily generate (create) UAV navigation network data in a wide area and on the basis of a feature having continuity. In addition, it is possible to create the navigation route of the UAV using the generated network data for navigation of UAV.

It is a block diagram for explaining the example of composition of the network data generation device for navigation of UAV of an embodiment. It is a figure for demonstrating the example of the map which shows the positional relationship of wiring of each wired electric wire which is an example of the terrestrial feature with continuity. It is a figure for demonstrating the example in the case of setting the node and link of network data for UAV navigation according to the positional relationship of wiring of an electric wire. It is a figure for demonstrating the example of the map which shows the positional relationship of the river and the channel which is an example of the feature with continuity. It is a figure for demonstrating the example in the case of setting the node and link of the network data for UAV navigation according to the positional relationship of a river and a water channel. It is a figure for demonstrating the example in the case of setting the node of the network data for UAV navigation according to the positional relationship of a river and a water channel. It is a figure for demonstrating connection of a link. It is a figure for demonstrating the structural concept of the network data for UAV navigation. It is a figure for demonstrating the example of the node data and link data which are formed in NWDB for UAV navigation. It is a flowchart for demonstrating the production | generation process of the network data for UAV navigation. It is a block diagram for explaining the example of composition of the route creation Cloud device for UAV navigation of an embodiment. It is a figure for demonstrating the example of the storing data of the route data file according to UAV. It is a figure for demonstrating the example of the navigation route of UAV. It is a figure for demonstrating the example of a connection from the departure place of UAV to the optimal link. It is a figure for demonstrating the example of another connection from the departure place of UAV to the optimal link. It is a figure for demonstrating the example of another connection from the departure place of UAV to the optimal link. It is a figure for demonstrating the example of another connection from the departure place of UAV to the optimal link.

  An embodiment of the apparatus and method of the present invention will be described below with reference to the drawings.

[Configuration Example of UAV Navigation Network Data Generation Device]
FIG. 1 is a block diagram for explaining a configuration example of the UAV navigation network data generation device 1 according to this embodiment. The UAV navigation network data generation apparatus 1 includes a continuous feature DB (Date Base) group 10 and a network data generation unit 20. In the following, the UAV navigation network data generation device 1 is simply referred to as the generation device 1.

  The continuous feature cloud DB group 10 is configured as a cloud system. BACKGROUND OF THE INVENTION With the development and spread of the Internet, cloud computing methods that provide users with software and hardware usage rights as services over networks are widely used. The various data centers and server device groups provided on the Internet to realize such a cloud computing system are called a cloud. The cloud provides the user with target software, hardware, information communication, and the like without making the user aware of a real server device.

  The continuous feature cloud DB group 10 is composed of a plurality of databases in which information on the positions and attributes of continuous features is stored. Here, the term "a feature having continuity" means all natural and artificial objects on the ground having the property of being continuous and continuous. It should be noted that even though "it is continuous without break", in reality there are not many things that continue without breaks on the ground, and if it is sustained at a certain distance, it is considered to have continuity. Do.

  And "a feature with continuity" is a wire (transmission line / wiring line or telephone line), track, river, waterway, canal, road, roadside tree, mountain ridge line, valley line, coastline, lake water line, nature There are forest zones, green areas, banks, embankments, moats, moats, sidewalks, median dividers, and center lines. In addition, if a roadside tree is planted relatively long distance and along a road, it can be said that it is a feature with continuity. Also, the above illustration of "a feature having continuity" is merely an example, and all the natural objects / artifacts existing on the ground with continuity are all included in the continuous feature cloud DB group 10 It is possible to store the position and attribute.

  Then, in the continuous feature cloud DB group 10, the map DB 11, the aerial photograph DB 12, the distribution distribution map DB 13, the other continuous feature DB 14, ... are installed in the generation device 1 of this embodiment. The map DB 11 stores, for example, various maps such as a residential map, a city map, a road map, a wide area map, a local map, and a national map. With various maps, it is possible to specify the position of a feature having continuity such as the above-mentioned electric wire, track, river, water channel and the like. In addition, about an electric wire, a position can be pinpointed by the transmission and distribution chart stored in transmission and distribution chart DB13.

  Further, in the map, the sizes and heights of various features are managed. Therefore, each feature can be expressed in 3D (three dimensions). This makes it possible to set an area where navigation of the UAV is prohibited as a 3D geofence and display it. In this specification, the geofence means an area on the map surrounded by virtual boundaries. Therefore, in this embodiment, the navigation prohibited area of the UAV, which is a 3D geofence, can be grasped by a map.

  The aerial photograph DB 12 stores image data forming a photographic image (feature image) on the ground taken by a UAV such as an aircraft, a helicopter, or a drone in association with latitude, longitude, and height. By overlaying and analyzing the image data stored in the aerial photograph DB 12, features having continuity such as electric wires, tracks, rivers, and waterways can be recognized, and the positions thereof can be identified. In addition, in the case of rivers, waterways, canals, roads, etc., it is possible to grasp the width etc. Although aerial photographs are used here, it is also possible to use so-called satellite photographs taken by artificial satellites together with or in place of aerial photographs.

  In addition, the transmission and distribution diagram DB 13 manages transmission and distribution networks such as transmission lines and distribution lines that connect from the power plant to the consumers, such as power plant → transmission line → substation → distribution line → each household. From the transmission and distribution data of the transmission and distribution diagram DB 13, it is possible to grasp where there are steel towers and utility poles and how transmission lines and distribution lines are connected. In addition, the transmission and distribution data of the transmission and distribution diagram DB 13 can also identify a section for each type of transmission line (500,000 volts, 275,000 volts, 154,000 volts, 66,000 volts, etc.). The transmission and distribution data of the transmission and distribution diagram DB 13 also indicates the height from the ground to the tip of the steel tower or electric pole, the installation position of the electric wire from the ground (installation height), and the like.

  The other continuous feature DB 14 means various databases storing data on the position etc. of various features having continuity. Other continuous feature DB 14 includes, for example, a database on wiring networks of telegraph poles and telephone lines, a database on laying positions of railway lines, a database on positions of agricultural waterways, etc., installation positions of track of cable cars and ropeways There are various things, such as a database.

  The network data generation unit 20 generates network data for UAV navigation based on the feature having continuity, using the database of the continuous feature cloud DB group 10. That is, the network data generation unit 20 regards a feature having continuity as a network, sets nodes and links, and generates network data for UAV navigation. Then, as shown in FIG. 1, the network data generation unit 20 includes a communication I / F 21, a control unit 22, an input I / F 23, a storage device 24, an NWDB 25 for UAV navigation, an area setting unit 26, and a continuous feature selection unit 27. , And a node setting unit 28 and a link setting unit 29.

  The communication I / F 21 implements a communication function. The control unit 22 is a central processing unit and controls each unit of the network data generation unit 20. The input I / F 23 receives an instruction input from the user, and is, for example, a keyboard.

  The storage device 24 is, for example, a large capacity recording medium such as a hard disk. The storage device 24 stores various software and data required for processing. The UAV navigation NWDB 25 stores generated UAV navigation network data.

  The area setting unit 26 sets an area for generating network data for UAV navigation according to an input instruction from the user. Specifically, in the case of Japan, areas such as municipal units, prefectural units, local units such as the Kanto region and the Tohoku region are set. In addition, it is possible to set network data generation for UAV navigation of an area (area) specified by at least three or more positions (latitude, longitude).

  The continuous feature selection unit 27 selects the type of feature having continuity used when generating network data for UAV navigation. The continuous feature selecting unit 27 can also select a plurality of types of features having continuity in accordance with the input and instructed priority. For example, telephone lines, transmission lines, and distribution lines may be ranked first, and rivers and waterways may be ranked second.

  The node setting unit 28 sets nodes of the UAV navigation network based on the features having continuity selected by the continuous feature selecting unit 27 in the area set by the region setting unit 26. The node setting unit 28 forms node data corresponding to the set node and stores the node data in the NWV 25 for UAV navigation. The link setting unit 29 sets a link connecting the nodes set by the node setting unit 28. Then, the link setting unit 29 forms link data corresponding to the set link, and stores the link data in the NWV 25 for UAV navigation.

  As described above, the generation device 1 uses the data related to the feature having continuity stored in each database of the continuous feature cloud DB group 10, and the network data generation unit 20 generates the network data for UAV navigation. It generates and stores it in the NWDB 25 for UAV navigation.

[Specific example of generation process of network data for UAV navigation]
Hereinafter, generation processing of network data for UAV navigation performed in the generation device 1 of this embodiment will be illustrated. The following is an example of generating network data for UAV navigation using “transmission lines / distribution lines” and “rivers / waterways” as features with continuity in the area around “Kushida-cho, Sumida-ku, Tokyo”. It is.

The area setting unit 26 sets the area around “Kinshi-cho, Sumida-ku, Tokyo” to the area, and the continuous feature selection unit 27 selects “power transmission line / distribution line” and “river / water channel” types. Do.
Hereafter, “transmission line / distribution line” will be described as transmission line etc., and “river / waterway” will be described as river etc.

  First, the case of generating network data for UAV navigation corresponding to a transmission line or the like provided on the ground will be described. FIG. 2 is a view for explaining an example of a map showing the arrangement position of the electric wire which is an example of the feature having continuity. FIG. 2 is also an example of a map showing the positions of the utility poles, since the wires are delivered between the utility poles. In the map shown in FIG. 2, power poles D1 to D12 are provided at positions shown by black circles, and power transmission lines etc. are provided at positions shown by dotted lines connecting between the power poles D1 to D12. It is shown that it is being done. Therefore, it is also understood that, for example, the transmission line or the like is not wired between the power pole D1 and the power pole D7 or the power pole D8.

  The map illustrated in FIG. 2 is managed in the map DB 11 of the continuous feature cloud DB group 10, and the arrangement positions of the power poles D1 to D12 and the like can be specified by the latitude and the longitude. In addition to the arrangement position of the utility pole, information such as the length from the ground surface of the utility pole to the upper end portion (top side) is managed in the power distribution map DB 13 of the continuous feature cloud DB group 10. There are six types of utility poles (power columns) in 1 m steps from 11 m to 16 m in total length, and one sixth of them are buried in the ground.

  FIG. 3 is a diagram for describing a specific example in the case of setting nodes and links of network data for UAV navigation according to the arrangement position of the utility pole. As shown in FIG. 3, the positions (latitude, longitude) of the respective power poles D1, D2, D3,... Can be identified from the map shown in FIG. In FIG. 3, lat1, lat2, lat3, ... indicate the latitude, and lon1, lon2, lon3, ... indicate the longitude. The height from the ground surface to the upper end of each of the power poles D1, D2, D3,... Can be specified by the information of the power transmission and distribution diagram DB 13 as described above.

  The node setting unit 28 of the generating device 1 sets the nodes N1, N2, N3 ... at a position at least 30 m away from the upper end of each of the utility poles D1, D2, D3, ... and 150 m or less from the ground surface. I assume. The height is represented by At1, At2, At3,. When the height of the power pole D1, D2, D3 is 12.5 m, At1, At2, At3 is 42.5 m at 12.5 m + 30 m.

  Therefore, as shown in FIG. 3, the node setting unit 28 sets the node N1 at a position (lat1, lon1, At1) located 30 m away from the upper end of the utility pole D1. Similarly, the node N2 is set at a position (lat2, lon2, At2) above the pole D2, and the node N3 is set at a position (lat3, lon3, At3) above the pole D3.

  Then, as indicated by the power transmission lines DL1, DL2, and DL3 in FIG. 3, the link setting unit 29 connects the links L1 and L2 so as to connect between the nodes provided above the power pole to which the electric wire is delivered. , Set L3. In this example, the link setting unit 29 sets the link L1 between the node N1 and the node N2, and sets the link L2 between the node N2 and the node N3, as shown in FIG. A node N3 is set between the node 3 and the node N4 (not shown). As a result, UAV navigation network data represented by nodes and links are generated corresponding to the utility poles and transmission lines actually provided on the ground surface.

  The node data of each node is represented by (latitude, longitude, height), for example, as (lat1, lon1, At1) in FIG. Also, the link data of each link is represented by a combination of two consecutive nodes, for example, (N1, N2).

  Next, a case of generating network data for UAV navigation corresponding to a river or the like present on the ground will be described. FIG. 4 is a diagram for explaining an example of a map showing a positional relationship of a river or the like which is an example of a feature having continuity. In FIG. 4, the rivers and the like are indicated by solid lines, and the metropolitan expressways and the Keiyo roads are indicated by dotted lines. Roads other than the Tokyo Metropolitan Expressway and Keiyo Road, buildings, bridges, etc. are omitted to clearly show rivers, etc.

  On the left side of the map in FIG. 4, the meandering Sumida River of the river width is located, and at the upper left end, the Kanda River connected to the Sumida River is located. Further, in the map of FIG. 4, the Yokojuma River is located on the right side, and the Onagi River is located so as to connect the Sumida River and the Yokotenma River. In addition, rivers and waterways connected to the Sumida River and the Onagi River are shown.

  The map illustrated in FIG. 4 is stored in the map DB 11 of the continuous feature cloud DB group 10, and the position of each river or the like can be identified by the polygon linked to the latitude and the longitude. Further, in FIG. 4, the position and height of the road, and the position, shape, and height of a feature such as a building located along the river / water channel can be specified by the stored data of the map DB 11.

  The node setting unit 28 and the link setting unit 29 of the generation device 1 correspond to the rivers and the like corresponding to the rivers and the like based on the map showing the positions of the rivers and the like as an example of the features having continuity shown in FIG. Set up nodes and links for UAV navigation network data in the sky. FIG. 5 is a diagram for describing an example of setting nodes and links of network data for UAV navigation according to the position of a river or the like. In FIG. 5, black circles NA to NS indicate nodes set, and straight lines LA to LT connecting the nodes indicate links set.

  That is, as indicated by the nodes NA to NS, the node setting unit 28 is an upper part of the river or water channel, and when the links are set by connecting adjacent nodes, the nodes are positioned at straight lines. Set Also, as indicated by the links LA to LT, the link setting unit 29 sets a link connecting the set nodes. The links are basically set so as not to deviate from the rivers and waterways.

  FIG. 6 is a diagram for explaining an example of setting nodes of network data for UAV navigation according to the position of a river or the like. As shown in FIG. 6, the node setting unit 28 sets a node Nx in the vicinity of the center of the horizontal width of a river or the like as a reference position P, and rises above the reference position P by height Atx. The height in this case shall be a suitable height, securing a margin of 30 m from the surrounding building structure.

  However, in the case of the example shown in FIGS. 4 and 5, there are places (links) where it is necessary to cross the Metropolitan Expressway and the Keiyo Road. For this reason, in the case of this example, the height obtained by adding the height h1 from the water surface of the river or the like to the ground surface, the height h2 from the ground surface to the expressway, and the margin is set from the reference position P on the water surface The height Atx to the node Nx is obtained.

  The nodes NA to NS set above the river or the like need not all be provided at the same height. Normally, a node is provided 30 m above the water surface, and for two nodes sandwiching the expressway, the height h1 from the water surface to the surface and the height h2 from the surface to the expressway are added to 30 m It may be provided at the height. In this case, the links connecting between adjacent nodes provided at different heights are links that rise obliquely upward or descend downward.

  And in the case of this example, as shown in FIG. 5, the network for UAV navigation represented by the node and link corresponding to the river etc. which actually exist is produced | generated. Also in this case, in the case of the UAV navigation network provided corresponding to the river, etc., the node data of each node is (latitude, longitude, as shown as (latx, lonx, Atx) in FIG. , Height). Also, the link data of each link is represented by a combination of two consecutive nodes, for example, (NA, NB).

  When the links cross each other or the links are provided vertically adjacent to each other, a more flexible UAV navigation network can be formed by appropriately setting additional nodes. FIG. 7 is a diagram for explaining connection of links. As shown in FIG. 7A, it is assumed that the link connecting the node N101 and the node N102 and the link connecting the node N103 and the node N104 are set to intersect. In this case, the node setting unit 28 provides a new node N 105 at the intersection.

  Thus, the link setting unit 29 can divide and set two links into four links L101, L102, L103, and L104. Therefore, when the node N105 is not provided, for example, navigation from the node N101 to the node N103 and the node N104 and navigation from the node N103 to the node N101 and the node N102 can not be performed. However, by providing the node N105 at the intersection, for example, navigation from the node N101 to the node N103 and the node N104, navigation from the node N102 to the node N103 and the node N104, and vice versa is also possible. .

  Further, as shown in FIG. 7B, the link connecting the node Na and the node Nb and the link connecting the node Nα and the node Nβ are relatively adjacent to each other at different positions in the vertical direction (vertical direction). I suppose. In this case, node Nc is provided at the midpoint of the link connecting nodes Na and Nb, node Nγ is provided at the midpoint of the link connecting node Nα and node Nβ, and node Nc is connected to node Nγ. Set link Lud. This allows navigation between the links located above and below. It is possible to navigate from the node Na to the node Nα or the node Nβ, and from the node Nb to the node Nα or the node Nβ.

  In this way, highly flexible UAV navigation network data can be generated by providing nodes at the intersections of the links or by providing nodes at the midpoints of the links located at the top and bottom and connecting the links. it can.

  FIG. 8 is a diagram for explaining the structural concept of the UAV navigation network data generated as described above. In FIG. 8, a large number of small black circles N1, N2, N3,... Indicate nodes, and lines L1, L2, L3,. As described above, the navigation route of the UAV is provided by providing the plurality of nodes N1, N2, N3,... And the links L1, L2, L3,. A UAV navigation network is formed to search for The data representing such a UAV navigation network is the UAV navigation network data.

  As described above, the node setting unit 28 sets a node, and stores node data corresponding to the set node in the NWDB 25 for UAV navigation. The link setting unit 29 sets a link based on the node set by the node setting unit 28, and stores link data corresponding to the set link in the NWDB for UAV navigation 25. FIG. 9 is a diagram for explaining an example of the node data and the link data formed in the NWV 25 for UAV navigation. That is, FIG. 9 shows an example of network data consisting of node data and link data representing a UAV navigation network.

  As shown in FIG. 9A, the node data includes information of “node ID”, “latitude, longitude, height”, “node type”, “classification”, and “others”. The "node ID" is identification information of a node that can uniquely identify each node. “Latitude, longitude, height” is information for specifying the position of a node in a three-dimensional space, as described above. The “node type” is information indicating what kind of node each node is, and specifically, information indicating a start point, an end point, a branch point, and the like. "Other" is set according to the situation, the information required each time.

  As shown in FIG. 9 (B), the link data is made up of information of “link ID”, “node”, “link type”, and “other”. The “link ID” is identification information of a link that can uniquely identify each link. The "node" is information for identifying nodes at both ends of the link, and the location of the link can also be identified. The “link type” is information indicating the type of the link. For example, an attribute according to the shape can be provided, such as a straight line, a Bezier curve, or a polyline. "Other" is set according to the situation, the information required each time.

[Summary of processing of network data generation unit 20]
FIG. 10 is a flowchart for explaining the generation process of network data for UAV navigation performed by the network data generation unit 20 of the generation device 1 of this embodiment.

  The area setting unit 26 sets an area for generating a UAV navigation network based on the area setting information received through the input I / F 23 (step S101). The continuous feature selection unit 27 selects a feature having one or more continuity on the basis of an instruction input from the user received through the input I / F 23 (step S102).

  The node setting unit 28 sets nodes based on the feature having the continuity selected in step S102 in the area set in step S101 with reference to the map DB 11 and the aerial photograph DB 12 (step S103). The link setting unit 29 sets a link so as to connect the nodes set in step S103 (step S104).

  The node setting unit 28 refers to the map DB 11 and the aerial photograph DB 12 and sets a node at a point where the links intersect as described with reference to FIG. 7A (step S105). With reference to the map DB 11 and the aerial photograph DB 12, the node setting unit 28 sets a node at a position where a link is newly connected to the already set link, as described with reference to FIG. 7B. (Step S106).

  In addition, in step S106, there is a case where nodes are set in order to connect the links set at the same height as well as the case where the links existing at different heights are connected to each other. Furthermore, due to the occurrence of divergence between a plurality of continuous features, the UAV navigation networks set based on different continuous features can not be connected to each other and are separated. It is assumed that For example, it is assumed that the transmission line and the river / waterway are separated. In such a case, an appropriate link is set to connect the transmission line and the river / waterway.

  Appropriate links use other continuity features such as road, fence, row of trees such as street trees other than the features with continuity selected in step S102 including node settings and link settings You may The link setting unit 29 sets a link between the nodes set in step S106, and generates link data corresponding to the set link. (Step S107).

  As mentioned above, the network data for UAV navigation which consists of a node and a link are set up promptly and appropriately to the set area concerned, and it stores in NWDB25 for UAV navigation. When there are multiple UAV navigation networks created from features with continuity, and they are in close positional relationship, they enter the transmission line network from the departure point, pass through the river and waterway network from the middle, and again the transmission line network A series of routes back to the destination may be the optimal route.

[Configuration Example of a Route Creation Cloud Device for UAV Navigation]
FIG. 11 shows the configuration of a UAV navigation route creation cloud device (hereinafter referred to as creation device 2) that creates navigation routes for a plurality of UAVs using the network data for UAV navigation generated by the generation device 1 It is a block diagram for explaining an example. The creation device 2 is configured as a cloud system as in the case of the generation device 1.

  Then, UAV navigation route image DB31, UAV navigation NWDB32, map DB33, control unit 45, communication I / F 41, navigation condition setting unit 42, image creating unit 43, route data creating unit 44, input I / Each of the F 46 and the UAV path data file 47 is provided in a data center or server device group on the cloud. In this way, the creation device 2 implements its function using a data center or server device group on the cloud. Among these, the map DB 33 is equivalent to the map DB 11 of the generation device 1.

  The airborne NWDB 32 for drone is the same as the airborne NWDB 25 for drone generated by the generating device 1. The UAV navigation route image DB 31 is the continuity required for navigation positioning of the UAV based on the node data and link data that constitute the network data for UAV navigation described with reference to FIGS. 9A and 9B. The feature having the symbol is divided into nodes and links, and the feature of the feature and the background for each coordinate are stored by assigning numbers for each coordinate as an image captured from a camera viewpoint mounted on the UAV.

  The UAV-based route data file 47 stores and holds UAV-based navigation route data created by the route data creation unit 44.

  Then, the route data creation unit 44 of this embodiment receives the creation request including the creation condition of the air route from the navigation condition setting unit 42, refers to the NWV 32 for UAV aviation, and creates the navigation route of the UAV. The data created for the UAV-specific route is stored in the UAV-specific route data file 47. Each UAV acquires this stored navigation route via the communication unit I / F 41, sets it in the pilot system of the UAV, and carries out actual navigation.

  FIG. 12 is a diagram for explaining the data of the UAV path data file 47. As shown in FIG. The UAV-based route data file 47 manages “UAV-ID”, “IP address”, “navigation condition”, and “navigation route (creation result)” for each UAV. “UAV-ID” is identification information that can uniquely identify a UAV, and is mainly used for identifying the UAV at the side of the operator who operates the UAV.

  The "IP address" is used when specifying an individual UAV through an IoT platform or the like and performing communication in a communicable area. The “navigation condition” is condition information for creating a navigation route for each UAV provided from the navigation condition setting unit 42, and includes a departure place, a destination, a passing place, and the like. Set the departure point, destination point and transit point by latitude and longitude. It is possible to set even if you convert the latitude and longitude by entering the address etc.

  The “navigation route (creation result)” is information indicating a navigation route created based on the navigation conditions. Specifically, (1) route data from the departure point to the nodal point on the departure point, (2) route data created based on the network data, and (3) from the destination nodal point to the destination It consists of route data. In addition, when the via point is set, the route data from the nodal point on the via point side to the via point is also included.

  When the navigation condition setting unit 42 is set to acquire the vision positioning navigation image for the UAV from the navigation condition setting unit 42, the UAV-specific route image number corresponds to (2) the coordinates of the route data created based on the network data. The image of the feature having the property and the background is searched by the UAV navigation route image DB 31 and the image numbers are stored in the order of the created route.

  When guiding the navigation route of UAV, it is necessary to ensure that nodes do not get stuck in the existing road network specific mechanism such as entering the road network from node and leaving the road network from node as in the case of using road network data. There is. That is, it is necessary to be able to enter the UAV navigation network wherever the UAV takes off, and to be able to leave the UAV navigation network wherever the landing is. Therefore, in addition to (2) route data created on the basis of network data, (1) route data from a departure point to a junction point on the departure point side, and (3) from a destination point junction point to a destination point Route data is required.

  Here, the departure point side node is a position or a node on a link near the departure point. And (1) The route data from the departure point to the departure point is a data indicating how to reach the node of the UAV navigation network from the departure point. Further, a node on the destination side is a position or a node on a link near the destination. The route data from the destination node to the destination is route data on how to reach the destination from the node of the UAV navigation network. The details of (1) route data from the departure point to the departure point side node and (3) route data from the destination point point to the destination point will be described later.

  The means for creating (1) route data from the departure point to the nodal point on the departure point side and (3) route data from the destination nodal point to the destination point will be described using FIG. The route data creation unit creates route data from the departure point (start position) indicated by the letter S to the node RS on the link L1. Further, the route data creation unit creates route data from the node RE on the link L6 to the destination (goal position) indicated by the letter G.

  Basically, as shown in FIG. 14 (A), when creating route data to reach the optimal link L1 in this case from the departure point S1, first, the link L1 is set from the departure point S1 By raising to a height, a midpoint T1 is obtained, and a line (vertical line) perpendicular to the link L1 is drawn from the midpoint T1, and an intersection of the perpendicular and the link L1 is set as a nodal point R1. Thus, the route from the departure point S1 to the midpoint T1 to the node point R1 obtained from the midpoint T1 is a path from the departure point S1 to the node point R1 on the departure point side. Then, the data indicating the route shown by the solid line S1 (lat1, lon 1, 0 m) → T1 (lot 1, lon 1, 50 m) → R1 (latX, lonY) is the data from the departure point S1 to the junction point R1 of the departure point It becomes route data.

  As described above, when the route is determined as follows: starting point S1 → intermediate point T1 → node point R1, node point R1 is located, for example, in the vicinity of node N2 as shown in FIG. Suppose that it became. In this case, when the angle θ between the straight line from the middle point T1 to the node N2 and the straight line from the middle point T1 to the node point R1 is equal to or less than a predetermined angle, for example, 45 degrees or less, It may be a node N2 instead of R1. Further, in this case, a restriction is provided, and when the angle θ shown in FIG. 14B is equal to or less than a certain angle and the node N2 is a node to be a passing point, the node is set to the node N2. If the node to be the passing point is N1, the nodal point may use the original nodal point R1.

  However, a perpendicular can not always be drawn from the midpoint T1 to a nearby link. For example, as shown in FIG. 15, a building such as a high-rise building is on the front from the departure place S1 toward the nearby link L1, and a geofence GF1 is provided to surround the area 30 m around the building , And link L1 is located on the rear side. As described above, the presence of the geofence GF1 can be grasped based on the map data of the map DB 33.

  In this case, it is assumed that the route from the departure point S1 to the node point R1 on the departure point side is set according to the procedure described using FIG. 15 (A). In this case, as shown in FIG. 15 (A), the route from the intermediate point T1 to the node point R1 has to use the inside of the geofence GF1 as the passing point as shown by the dotted arrow. Can not. Therefore, as shown in FIG. 15A, straight lines SL1 and SL2 that reach the link L1 are obtained from the middle point T1 through the outside of the geofence GF1.

  Therefore, when the geofence GF1 is viewed from above as shown by the arrow Aw1 in FIG. 15A, as shown in FIG. 15B, the geofence GF1 is avoided from the midpoint T1 to reach the link L1. Find straight lines SL1 and SL2. And let the intersection of straight line RL1 and link L1 be node point R2, and let the intersection of straight line RL2 and link L1 be node point R3. A straight line SL1 connecting the middle point T1 and the nodal point R2 is a route toward the node N1, and a straight line SL2 connecting the middle point T1 and the nodal point R3 is a route toward the node N2.

  Then, in the case of going from the departure place S1 to the node N1, the route from the departure place S1 → the middle point T1 → the node point R2 becomes a path from the departure place S1 to the node point R2 on the departure place side. In the route from the departure point S1 to the node N2, the route from the departure point S1 → the middle point T1 → the node point R3 is the path from the departure point S1 to the node point R3 on the departure point side.

  As shown in FIG. 16, since the geofence GF2 existing in the front from the departure point S1 toward the near link L1 is large, as described with FIG. 15, one from the midpoint T1 to the near link L1 Sometimes it can not be connected by the straight line of. In this case, an intermediate point may be further provided. Specifically, as shown in FIG. 16A, it is at the same height as the middle point T1, which is a position raised from the place of departure S1 to the same height as the link L1, and avoids the geofence GF2 to the link L1. Positions T2 and T3 at which perpendiculars can be drawn are taken as the second midpoint. Then, the intersections of the perpendicular line and the link L1 when the perpendicular line is drawn from the second midpoint T2 and T3 to the link L1 are set as node points R4 and R5.

  Therefore, the route from the departure point S1 to the node N1 reaches the link L1 by the route S1 → T1 → T2 → R4 and travels to the node N1. In addition, the route from the departure point S1 to the node N2 reaches the link L1 by the route S1 → T1 → T3 → R5 and travels to the node N2. Thus, when the geofence GF2 is viewed from above as shown by the arrow Aw2 in FIG. 16 (A), it is possible to set a route bypassing the geofence GF2 as shown by the solid arrow in FIG. 16 (B). In this case, although the distance from the departure place S1 to the nearby link L1 becomes long, it is possible to set a route which can reach the optimum link L1 from the departure place S1.

  If there is nothing other than geofence GF2 and there are no obstacles to the navigation of the UAV around the departure point S1, the setting of the midpoint T1 is omitted, the midpoints T2 and T3 are set, and from the departure point S1 The route to the node N1 can also reach the link L1 by the route S1 → T2 → R4 and can be routed to the node N1. The route from the departure point S1 to the node N2 can also reach the link L1 through the route S1 → T3 → R5 and travel to the node N2.

  Further, as shown in FIG. 17, the height of the geofence GF3 present in the front from the departure place S1 toward the nearby link L1 may not be so high. In this case, the optimal link L1 located on the rear side of the geofence GF3 exceeds the geofence GF3 rather than bypassing the side of the geofence as described with reference to FIGS. 15 and 16. In some cases, the link L1 can be reached in a shorter distance. In this case, two midpoints T4 and T5 are provided at a position higher than the geofence GF3 so as to sandwich the geofence GF3.

  That is, as shown in FIG. 17A, an intermediate point T4 is set at a position exceeding the height of the geofence GF3 from the departure point S1, the height is maintained, the geofence GF3 is crossed and the link L1 is maintained. The midpoint T5 is set at a position where the perpendicular line can be drawn. Then, a vertical line is lowered from the middle point T5 to the link L1, and a position where the vertical line intersects with the link L1 is taken as a node point R1. In the case where the geofence GF3 does not exist, this nodal point R1 draws a perpendicular from the midpoint S1 set to the same height as the link L1 from the origin S1 to the link L1, and the intersection of the perpendicular and the link L1 Match

  And the figure at the time of seeing geofence GF3 from the arrow Aw3 side of FIG. 17 (A) is shown to FIG. 17 (B). As shown in FIG. 17B, the route from the departure point S1 to the node N1 or the node N2 reaches the link L1 by the route S1 → T4 → T5 → R1, and thereafter from the node R1 to the node N1 or the node You can head for N2.

  In addition, the node on the said optimal link for connecting to the optimal link from the departure place S1 is specified with reference to FIGS. 14-17, and the node from the departure place S1 is specified. It has been described to create route data up to Similarly, a node on the optimal link for connecting from the destination to the optimal link can be identified, and route data from the identified node to the destination can be created.

  As a result, as shown in FIG. 13, it is possible to create UVA navigation route data indicating a continuous navigation route from the departure point indicated by the letter S to the destination indicated by the letter G.

[Use of image data]
The UAV acquires the feature image on the route and the background image thereof from the route image DB for UAV navigation via the communication unit I / F 41, and stores the feature image together with the route data in the UAV. In the UAV, the route image data is compared with the ground image taken through one or more cameras mounted on its own device. Then, the UAV traces a feature having continuity based on the route data, compares the route image and the camera image, and navigates while confirming that they match.

  In this case, not only features having continuity are compared, but background images of features having continuity are also compared. By comparing both the feature and the background image, it is possible to perform positioning more accurately than the determination of the match / mismatch between the terrain image and the camera image in the existing vision positioning.

  Thus, by individually recognizing the continuous features and the background thereof, it is possible to position the navigation according to the features having continuity. That is, although continuous features are consistent but the background has different features for each location, image recognition is performed and the UAV is navigated to follow the features having the continuity. be able to. The navigation route according to the feature having continuity is made navigable by also considering the background image as a complement in the following.

  However, depending on weather conditions such as rainfall, snowfall, and thick fog, it may not be possible to take a clear image of the ground depending on the camera mounted on the UAV. For this reason, combined use with navigation according to network data for UAV navigation of NWDB 25 for UAV navigation mentioned above is desirable.

  In addition, guidance of the navigation route may be complemented by arranging a beacon or the like. In particular, in the section where the feature having continuity breaks off, by guiding the navigation route using the beacon, it is possible to perform reliable guidance throughout the navigation route. In addition, a beacon means a facility that makes it possible to grasp the position of a UAV by receiving and analyzing radio waves (a beacon signal) emitted from a radio station or the like on the ground by a device mounted on the UAV. .

  It should be noted that a UAV capable of searching and guiding a navigation route by the UAV navigation route creation cloud device 2 of this embodiment includes a GPS receiving device and can navigate so as to follow a set route. Good. Furthermore, it is desirable to have a camera function capable of photographing on the ground and a function of tracing and navigating navigation routes while storing and holding image data of aerial photographs.

[Effect of the embodiment]
According to the generating device 1 of the embodiment described above, by using the feature having continuity on the ground, it is possible to generate network data for UAV navigation quickly and appropriately. Since a feature having continuity can be identified by map data and aerial photograph data, it is suitable as a base for generating network data for UAV navigation.

  Using the network data for UAV navigation generated based on the feature having continuity in the generation device 1, the navigation route of the UAV can be created. Thus, for example, even if the UAV has landed due to some reason or the like, it can be easily found by performing a search along a continuous feature.

  In addition, not only artifacts but also natural objects such as mountain ridge lines, valley lines, coastlines, lake lines, natural forest zones, and green areas are included in the features having continuity. Therefore, for example, by using mountain ridge lines or valley lines, natural forest zones, etc., UAV transportation of agricultural products and the like from mountainous areas can be easily performed. In addition, UAV transportation of marine products and the like from the coast can be easily performed by using the coastline and rivers.

  In addition, it is possible to navigate by tracing a feature having continuity while comparing a route image with a camera image captured by a camera mounted on the UAV. By combining navigation using the so-called vision positioning technology and navigation by GPS using the network data for UAV navigation, it is possible to mutually complement each other and realize highly reliable navigation.

  In this manner, it is possible to quickly and appropriately generate UAV navigation network data, and use this to quickly prepare an environment in which UAV navigation can be properly performed. As a result, even if there are areas where traffic networks such as roads are not sufficiently developed or there is a shortage of transportation means due to the shortage of drivers of vehicles due to the declining birth rate and aging, frequent transport by UAV compensates for these. It will be possible. That is, it is possible to specifically promote the realization of new distribution using UAV from the distribution relying on the existing transportation means.

[Modification]
In the embodiment described above, a transmission line or the like is used as one of the features having continuity. Among the transmission lines, high-voltage ones close to the power plant have 500,000 volts or more, and generate strong electromagnetic waves. When the UAV approaches such a high voltage power transmission line, the electronic circuit mounted on the UAV may malfunction, the communication control radio wave may not be properly received, or the magnetic sensor may not operate properly. Etc. may be affected.

  Because the effect of electromagnetic waves is inversely proportional to the square of the distance from the source, when creating a network for navigation on UAV, the type of transmission line (500,000 volts, 275,000 volts, 154,000 volts, 6 Every 60,000 volts) to reflect the network data taking into consideration the distance from the transmission line. For example, in the case where the transmission line is 500,000 volts, nodes and links are set at a distance of, for example, 100 meters or more from the transmission line. When the transmission line is 275,000 volts, nodes and links are set at a distance of, for example, 60 meters or more from the transmission line. As described above, in the case of using a power transmission line as a feature having continuity, nodes and links are set in consideration of the type of power transmission line.

  In addition, when using mountain ridge lines, valley lines, coastlines, lake water lines, etc. as features having continuity, nodes and links are set in consideration of weather conditions such as specific strong winds. For example, when using a mountain ridge as a feature with continuity, there are places where strong winds that blow down or winds up are likely to occur, so nodes and links should be avoided to avoid such places. Set Thus, depending on the features of the features used to generate the UAV navigation network data and the location of the features, the factors affecting the UAV to be navigated are identified and the navigation of the UAV is affected. Set up nodes and links so that they do not exist.

  Further, in the above-described embodiment, it has been described that the node is set right above the utility pole for extending the power transmission line or the like. The power poles are erected in a straight line, which is suitable for setting links. Similarly, for example, when using a coastline or the like as a feature having continuity, as in the case of using a river or the like, start points are determined, and nodes are sequentially provided at positions where straight links can be set from there. To make it In this way, UAV navigation network data can be generated based on various features having continuity.

  Moreover, although the production | generation apparatus 1 was provided with the area setting part 26 and the continuous feature selection part 27 in embodiment mentioned above, these are not necessarily required. When the area where the network data for UAV navigation should be generated is already determined, if the area is set in advance, it is not necessary to set the area through the area setting unit 26. Moreover, when the feature having continuity to be used is fixedly determined, it is not necessary to select the feature having continuity to be used through the continuous feature selecting unit 27.

  In addition, when using vision positioning with UAV navigation route image data in combination, features with continuity can be recognized from the image captured by the camera mounted on the UAV, that is, can be recognized through the camera Must. However, it is considered that the UAV may cross the lake or cross the strait. In such a case, it is possible to set up the nodes and links in the sky above the lake or in the sky above the lake and generate network data for UAV navigation based on the ocean route map of the vessel route shown in the ocean route diagram. . However, navigation by vision positioning using UAV navigation route image data is not possible.

[Others]
Further, as can be understood from the description of the above-described embodiment, the function of the acquisition means of the UAV navigation network data generation device (hereinafter referred to as the generation device of the claim) of the claims is the generation of the embodiments. A communication I / F 21 and a control unit 22 of the device 1 (hereinafter, referred to as a generation device 1) are realized. Further, the function of the node setting unit of the generation device is realized by the node setting unit 28 of the generation device 1, and the function of the link setting unit of the generation device is realized by the link setting unit 29 of the generation device. ing. In addition, the function of the network data storage means of the generation device in claims is realized by the NWDB 25 for navigation through UAV of the generation device 1.

  Further, the method described with reference to the flowchart of FIG. 10 is one to which an embodiment of a method for generating network data for navigation by UAV of the present invention is applied. Further, a program for executing the process shown in the flowchart of FIG. 10 is formed and installed in an information processing apparatus, whereby the network data generating apparatus for navigating a UAV of the present invention can be realized.

  DESCRIPTION OF SYMBOLS 1 ... Network data generation device for UAV navigation, 10 ... continuous feature cloud DB group, 11 ... map DB, 12 ... aerial photograph DB, 13 ... transmission and distribution chart DB, 14 ... other continuous feature DB, 20 ... network data Generation unit, 21: communication I / F, 22: control unit, 23: input I / F, 24: storage device, 25: NWV for navigation through UAV, 26: area setting unit, 27: continuous feature selection unit, 28: Node setting part, 29 ... Link setting part

Claims (9)

Acquisition means for acquiring information on a feature having continuity;
A node setting unit configured to set a node of UAV navigation network data based on the information on the continuous feature acquired through the acquisition unit;
And a link setting unit configured to set a link connecting each of the plurality of nodes set by the node setting unit. The network data generator for navigating a UAV according to claim 1, wherein
The acquisition means is capable of acquiring information on a plurality of continuous features.
The UAV navigation network data generation apparatus, wherein the node setting means sets the plurality of nodes using information on a plurality of continuous features acquired through the acquisition means. The network data generator for navigating a UAV according to claim 2, wherein
In the case where a divergence occurs between the plurality of continuous features, the node setting unit sets a node between the features having a divergence taking into consideration at least the no navigation area. A network data generator for navigating a UAV characterized by The network data generator for navigating a UAV according to claim 2, wherein
When divergence occurs between the plurality of continuous features, the node setting unit uses the map data of the region where the divergence occurs, while avoiding the no-pass zone. A network data generator for navigating a UAV, characterized in that nodes are set between features having a divergence. A network data generator for navigating a UAV according to any one of claims 1, 2, 3, and 4.
A network data storage device for navigating a UAV, comprising: network data storage means for storing information on a node set by the node setting means and information on a link set by the link setting means. An acquisition step of acquiring information on a feature having continuity;
A node setting step of setting a node of network data for UAV navigation based on the information on the feature having the continuity acquired in the acquisition step;
And a link setting step of setting a link connecting each of the plurality of nodes set in the node setting step. A UAV navigation route image storage for capturing and storing successive feature images and background images along the UAV navigation network data generated by the UAV navigation network data generation device according to any one of claims 1 to 5. A UAV navigation route creation device comprising: means and route image acquisition means for obtaining a route image. A UAV navigation route creation device comprising: a route image acquired from the route image acquisition unit; and a navigation route data generated from the UAV navigation network data. In route creation for links connecting multiple nodes of UAV navigation network data with each other, it is not the route that directly connects the destination, the departure point and the destination in the existing scheme with the nearest node, but the optimum route in the vicinity A UAV navigation route creation device comprising means for calculating a connection route with a node or an optimum node to a link.

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