JP6666316B2 - Management device, program, management method, and flight device - Google Patents

Description

  The present invention relates to a management device, a program, a management method, and a flying device for controlling flight and operation of a flying device.

  In recent years, drones, which are flight devices that can be remotely operated, have become widespread. Patent Literature 1 discloses a technique for controlling the flight of a flying device according to various control means.

JP-T-2017-501475

  In the control means for controlling the flight of the flying device, there are manual control in which the user operates the flying device via an operation terminal such as a radio transmitter and a smartphone, and automatic control in which the flight device automatically flies without using the operation terminal. It is roughly divided into two. As described in Patent Literature 1, the flying device autonomously determines a flight route based on a target position set by the user, and controls the user via the operation terminal in accordance with the determined flight route. Can be navigated. At this time, it is preferable that the flight route is determined in consideration of the remaining battery level of the flying device and the time desired by the user. However, if the flight device deviates from the determined flight route due to manual control, the battery will consume more battery than expected when determining the flight route and will not be able to reach the destination May occur. Further, there is a possibility that the flight device consumes more time than expected when determining the flight route and cannot reach the destination within the desired time.

  Therefore, the present invention has been made in view of these points, and an object of the present invention is to provide a management device, a program, a management method, and a flight device for reducing a situation in which a flight device cannot reach a destination. Aim.

  The management device according to the first aspect of the present invention sets the control mode of the flying device to one of an automatic flight mode for automatically flying according to a preset first flight route and a manual flight mode for manually flying via an operation terminal. A mode switching unit that switches to the crab, an acquisition unit that acquires position information indicating the position of the flying device at predetermined intervals, and a case where the mode switching unit switches the control mode of the flying device to the manual flight mode. A route search unit configured to search for a second flight route different from the first flight route based on the position information obtained last by the obtaining unit, and a second flight route searched by the route search unit to the flight device. An estimating unit for estimating a resource state when the airplane has flown, and notifying the operation terminal when the resource state estimated by the estimating unit falls below a predetermined threshold. It has a notification unit, the.

  The estimating unit calculates a designated arrival time designated by a user as a time at which the flight device arrives at a destination of the first flight route from a flight start time at which the flight device has departed from the departure point of the first flight route. The remaining time when the flight device flies the second flight route searched by the route search unit may be estimated from the time allotted until the time, and the notifying unit may include the estimating unit. May be notified to the operation terminal when the estimated remaining time is less than the remaining time threshold set for the first flight route.

  The acquisition unit may acquire battery remaining amount information indicating a battery remaining amount of the flying device, and the estimating unit searches the route search unit based on the battery remaining amount information acquired by the acquiring unit. The flying device may estimate the remaining battery level of the flying device when the flying device has flown through the second flight route, and the notification unit may determine that the remaining battery level estimated by the estimation unit is related to the first flying route. The operation terminal may be notified when the battery level falls below the set threshold value.

  When the mode switching unit switches the control mode of the flying device to a manual flight mode, the route search unit determines a destination of the first flight route from a position indicated by the position information acquired last by the acquisition unit. The new flight route up to may be searched as the second flight route.

  When the mode switching unit switches the control mode of the flying device to the manual flight mode, the route search unit determines an object of the first flight route from a point on the first flight route that has been switched to the manual flight mode. A flight route obtained by adding, to the first flight route that is a route to the ground, a flight route that passes through each of the positions indicated by the plurality of pieces of position information acquired by the acquisition unit after the mode switching unit switches to the manual flight mode. May be set as the second flight route.

  The route search unit, when the mode switching unit switches the control mode of the flying device to the manual flight mode, the flight distance exceeds a reference threshold set as an opportunity to start searching for the second flight route , The second flight route may be searched.

The mode switching unit may switch to the automatic flight mode when the resource estimated by the estimation unit falls below the predetermined threshold.
The mode switching unit permits switching to the automatic flight mode on condition that the flying device returns to the first flight route when the control mode of the flying device is switched to the manual flight mode. May be.

  The route search unit, wherein the mode switching unit switches the control mode of the flying device to a manual flight mode, and the remaining battery level of the flying device indicates that the flying device is flying to a destination of the first flight route. If the battery level is equal to or less than the battery level estimated by the estimating unit based on the second flight route, the flight device may search for a flight route flying to the starting point of the first flight route as a new second flight route. The notification unit may notify the new second flight route when the remaining battery level of the flying device is equal to or greater than the remaining battery level estimated by the estimation unit based on the new second flight route. May be.

  A program according to a second aspect of the present invention provides an automatic flight mode for causing a computer to automatically fly a control mode of a flight device according to a preset first flight route, and a manual flight mode for manually flying via an operation terminal. Switching to any one of; a step of acquiring position information indicating a current position of the flying device at predetermined intervals; and a case where the control mode of the flying device is switched to a manual flight mode in the switching step. Searching for a second flight route different from the first flight route based on the position information obtained last in the step of performing the search, and flying the second flight route searched in the step of searching for the second flight route. Estimating the resource state when the device flies, and the resource estimated in the estimating step. Determining whether over scan state is below a predetermined threshold value, if it is determined to be below a predetermined threshold value in said determining step, to execute the steps of notifying the operating terminal.

  In the management method according to the third aspect of the present invention, the control mode of the flying device, which is executed by the computer, is caused to fly automatically according to a preset first flight route, and to fly manually via an operation terminal. A step of switching to one of the manual flight modes, a step of acquiring position information indicating the current position of the flying device at predetermined intervals, and a case where the control mode of the flying device is switched to the manual flight mode in the switching step. Searching for a second flight route different from the first flight route based on the position information obtained last in the obtaining step, and searching for the second flight route in the step of searching for the second flight route Estimating a resource state when the flying device flies, and estimating the And resource state determining if below a predetermined threshold and, if it is determined to be below a predetermined threshold value in said determining step, and a step of notifying the operating terminal.

  The flying device according to the fourth aspect of the present invention switches the control mode to any one of an automatic flight mode for automatically flying according to a preset first flight route and a manual flight mode for flying manually via an operation terminal. A mode switching unit, an acquisition unit that acquires position information indicating a flying position at predetermined intervals, and when the mode switching unit switches the control mode to the manual flight mode, A route search unit for searching a new flight route from the position indicated by the acquired position information to the destination of the first flight route as a second flight route, and flying the second flight route searched by the route search unit An estimating unit for estimating a resource state in the case of performing, and a step of notifying the operation terminal when the resource state estimated by the estimating unit is below a predetermined threshold value It has a.

  The route search unit, when the mode switching unit switches the control mode to the manual flight mode, from the point on the first flight route switched to the manual flight mode to the destination of the first flight route A flight route obtained by adding a flight route that passes through each of the positions indicated by the plurality of pieces of position information acquired by the acquisition unit after the mode switching unit switches to the manual flight mode to the first flight route that is the route, to the second flight route A flight route may be used.

  ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that the situation where a flight device cannot reach a destination can be reduced.

It is a figure for explaining an outline of a flight system. It is a figure showing an example of a display screen displayed on a display of an operation terminal. FIG. 2 is a diagram illustrating a configuration of a management device. FIG. 6 is a diagram for explaining a second flight route searched by a route search unit. 6 is a flowchart illustrating a flow of a process performed by the management device.

[Overview of Flight System S]
FIG. 1 is a diagram for describing an outline of the flight system S. The flight system S is a system that controls the flight of the flying device 1. The flight system S includes a flight device 1, a base station 2, an operation terminal 3, and a management device 4.

  The flight device 1 is a device that can be operated by a user using the operation terminal 3, and is, for example, a drone. The flying device 1 is provided with a camera capable of capturing an image, a position information positioning function such as a GPS (Global Positioning System), and a battery management function for acquiring the remaining amount of the battery mounted on the flying device 1. The flying device 1 transmits to the management device 4 the image captured by the camera, the position information obtained by GPS, and the remaining battery level obtained by the battery management function. Although details will be described later, there are an automatic flight mode and a manual flight mode as control modes for controlling the flight of the flying device 1. When the control mode is the automatic flight mode, the flying device 1 automatically flies according to the flight route transmitted from the management device 4, and when the control mode is the manual flight mode, the flight device 1 Fly as you fly.

  The base station 2 has a role of relaying communication between the flying device 1, the operation terminal 3, and the management device 4 in a wireless communication line. The wireless communication line is, for example, a Wi-Fi (registered trademark) line or an LTE line.

  The operation terminal 3 is, for example, a radio, a PC (Personal Computer), a smartphone, and a tablet. The operation terminal 3 is a terminal that can transmit control information for operating the flying device 1 via a wireless communication line. The operation terminal 3 includes a display that displays an image captured by a camera included in the flying device 1. The operation terminal 3 can perform an operation of switching the control mode of the flying device 1 to either the automatic flight mode or the manual flight mode. When the control mode of the flying device 1 is switched to the manual flight mode, the user can control the flying device 1 using the operation terminal 3.

  The management device 4 is, for example, a server. The management device 4 sets a flight route for the flight device 1 to fly. The management device 4 controls control information transmitted from the operation terminal 3 via the base station 2 and manages resources of the flying device 1 (for example, the amount of power and time required for the flying device 1 to fly).

  The straight line connecting the departure point and the destination shown in FIG. 1 is a preset first flight route. The management device 4 sets a first flight route that is a route from the departure point to the destination based on the departure point and destination specified by the user using the route setting software that can be used on a PC or a smartphone. I do. Here, in the first flight route set by the management device 4, a flight route including a flight altitude is set based on 3D map data including terrain or building height information. In the first flight route set by the management device 4, a flight route that takes into account at least the remaining battery level of the flight device 1 is set.

  In FIG. 1, points indicated by crosses indicate positions where the control mode is switched from the automatic flight mode to the manual flight mode. The solid line from the cross to the flying device 1 shown in FIG. 1 is the route that the flying device 1 flew in the manual flight mode. A dashed line connecting the flight device 1 to the destination shown in FIG. 1 is a second flight route that is a new route for the management device 4 to fly from the current location of the flight device 1 to the destination.

  In the flight device 1 shown in FIG. 1, while flying on the first flight route in the automatic flight mode, the control mode is switched to the manual flight mode at the point indicated by the cross, and the flight device 1 is flying on a route distant from the first flight route. In this case, the management device 4 searches for a second flight route, which is a route from the position of the flying device 1 to the destination, and estimates the remaining battery level when the flying device 1 has flown on the second flight route. The management device 4 notifies the operation terminal 3 via the base station 2 when, for example, the estimated remaining battery level is lower than the threshold value of 30%.

  FIG. 2 is a diagram illustrating an example of a display screen displayed on the display of the operation terminal 3. In the example shown in FIG. 2, the display screen includes an information area 31, a message area 32, a route map area 33, and a live image area 34. The information area 31 is an area for displaying setting information set for the first flight route and status information such as the remaining battery level of the flying device 1. The message area 32 is an area for displaying a message notified from the management device 4. The route map area 33 is an area for displaying a place where the flying device 1 is flying on a map. The live image area 34 is an area where the image captured by the camera of the flying device 1 is displayed live.

  As shown in FIG. 2, when receiving a notification from the management device 4 via the base station 2, the operation terminal 3 displays a message in the message area 32. When the operation terminal 3 obtains information indicating the second flight route from the management device 4 via the base station 2, the route from the position of the flight device 1 to the destination is indicated by a broken line as shown in the route map area 33. As shown in the live image area 34, the navigation by the user is navigated according to the second flight route. The user who operates the operation terminal 3 controls the flying device 1 according to the navigation displayed on the live image area 34 before the flying device 1 cannot reach the destination due to insufficient battery power.

As described above, even when the flying device 1 is separated from the first flight route in the manual flight mode, the management device 4 notifies the flying device 1 before it can no longer reach the destination. It is possible to reduce a situation in which the user cannot arrive at the destination.
Hereinafter, details of the management device 4 will be described.

[Configuration of Management Device 4]
FIG. 3 is a diagram illustrating a configuration of the management device 4. The management device 4 includes a communication unit 41, a storage unit 42, and a control unit 43.
The communication unit 41 includes a wireless communication controller for transmitting and receiving data to and from the flying device 1 and the operation terminal 3 via the base station 2.

  The storage unit 42 is a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a hard disk. The storage unit 42 stores map data including terrain or building height information used for searching for a flight route. The storage unit 42 stores various programs executed by the control unit 43.

  The control unit 43 is, for example, a CPU (Central Processing Unit). The control unit 43 controls the functions of the management device 4 by executing a program stored in the storage unit 42. The control unit 43 functions as an acquisition unit 431, a mode switching unit 432, a route search unit 433, an estimation unit 434, and a notification unit 435 by executing the program.

  The acquisition unit 431 acquires position information indicating the position of the flying device 1 at predetermined intervals via the communication unit 41. The position information is information including latitude, longitude, and altitude. The acquisition unit 431 can grasp the current position of the flying device 1 and acquire the route on which the flying device 1 has flew by acquiring the position information at predetermined intervals.

  The predetermined interval may be a predetermined interval (for example, every 10 seconds), or may be determined based on terrain around the flight device 1 based on map data or the presence or absence of an obstacle. For example, when determining the predetermined interval based on the terrain, the acquiring unit 431 increases the interval at which the position information is acquired when there is a flat land with little undulation of the terrain, Shorten the interval for acquiring location information. On the other hand, for example, in the case where the predetermined interval is determined based on the presence or absence of an obstacle, in an urban area where there are many high-rise buildings, the acquisition unit 431 shortens the interval at which the position information is acquired, and In some cases, the interval for acquiring position information is increased. The acquisition unit 431 causes the storage unit 42 to store the acquired position information in association with the acquired date and time.

  The acquisition unit 431 acquires the battery remaining amount information indicating the battery remaining amount of the flying device 1 via the communication unit 41. The battery remaining amount information is information indicating a remaining amount ratio (for example, 60%) in a battery capacity of the flying device 1. Since the battery remaining amount information is used to determine whether or not the flying device 1 can reach the destination, the acquiring unit 431 determines whether the predetermined interval for acquiring the position information is a fixed value or an interval. Is a short fluctuation value, the battery remaining amount information is acquired at the same timing as the position information. On the other hand, when the predetermined interval at which the position information is obtained is a long fluctuation value, the obtaining unit 431 obtains the remaining battery amount information at a timing different from the position information. By doing so, the acquisition unit 431 can prevent the interval for acquiring the remaining battery amount information from the flying device 1 from becoming long. The acquisition unit 431 causes the storage unit 42 to store the acquired battery remaining amount information.

  The mode switching unit 432 switches the control mode of the flying device 1 to one of two control modes, an automatic flight mode and a manual flight mode, based on the control mode information transmitted from the operation terminal 3. As described above, the automatic flight mode is control means for automatically flying the flying device 1 according to a preset first flight route, and the manual flying mode is for flying the flying device 1 manually via the operation terminal 3. Control means.

  The mode switching unit 432 may switch the control mode to the manual flight mode when the flying device 1 deviates from the first flight route. For example, when the flight device 1 is flying in the automatic flight mode, when the accuracy of the GPS provided in the flight device 1 temporarily deteriorates and deviates from the first flight route, or when the flight device 1 When deviating from one flight route, the mode switching unit 432 may switch the control mode to the manual flight mode. In addition, the mode switching unit 432 may switch the control mode to the manual flight mode when an obstacle that obstructs the course on the flight route is detected by the camera included in the flying device 1.

  The mode switching unit 432 transmits control mode information indicating the switched control mode to the flying device 1 via the communication unit 41. Further, the mode switching unit 432 inputs the control mode information to the route search unit 433.

  When the mode switching unit 432 switches the control mode of the flying device 1 to the manual flight mode, the route search unit 433 performs a second flight different from the first flight route based on the position information acquired last by the acquisition unit 431. Find a route. Specifically, when the mode switching unit 432 switches the control mode of the flying device 1 to the manual flight mode, the route search unit 433 determines the distance from the position indicated by the position information acquired last by the acquisition unit 431 to the destination. The new flight route is searched as the second flight route.

  More specifically, first, when the control mode information input from the mode switching unit 432 is the manual flight mode, the route search unit 433 determines the acquisition date and time among the plurality of pieces of position information stored in the storage unit 42. Get the latest location information. The route search unit 433 searches a new flight route from the position indicated by the acquired position information to the destination as the second flight route based on the map data stored in the storage unit 42. Then, the route search unit 433 inputs information indicating the searched second flight route to the estimation unit 434.

  When the mode switching unit 432 switches to the manual flight mode, the route search unit 433 performs the second flight based on a condition that the flight distance exceeds a reference threshold set as a trigger for starting the search for the second flight route. A route may be searched. The reference threshold may be a fixed value (for example, a distance of 10 meters away from a point off the first flight route or a point switched to the manual flight mode), a distance of the first flight route, or a battery of the flying device 1. A variation value that changes according to the remaining amount may be used. For example, when the reference threshold value is a fluctuation value, the route search unit 433 determines whether the distance of the first flight route is long, the battery level of the flying device 1 is low, the distance of the first flight route is short, or The second flight route is searched for at an earlier timing than when the battery level of the device 1 is large. By doing so, even when the mode is switched to the manual flight mode, the route search unit 433 does not search for the second flight route until it exceeds the reference threshold value. Can be reduced.

  The estimating unit 434 estimates the resource state when the flying device 1 has flown on the second flight route searched by the route searching unit 433. The resource is, for example, the amount of power required for the flight device 1 to fly. The resource status in this case is the remaining battery level of the flying device 1 when the flying device 1 has flown on the second flight route searched by the route search unit 433. In this case, the estimating unit 434 determines the remaining battery level of the flying device 1 when the flying device 1 flies the second flight route searched by the route searching unit 433 based on the remaining battery information acquired by the acquiring unit 431. Is estimated. By estimating the remaining battery level when the flying device 1 has flown on the second flight route in this way, the management device 4 can determine whether or not the flying device 1 can reach the destination.

  The resource is not limited to the electric power, and may be a flight time required for the flying device 1 to reach the destination. For example, when the flight device 1 is used in the delivery of a package, it is assumed that the arrival time at which the package is delivered is specified. In this case, the period from the flight start time at which the flying device 1 departs from the departure point of the first flight route to the designated arrival time specified by the user as the time at which the flying device 1 arrives at the destination of the first flight route is set. , The time allotted to the flight device 1. The specified arrival time when the user specifies a time zone is the end time of the time zone. For example, when the flight start time is 10:00 and the designated arrival time is 12:00, the holding time is 2 hours, which is between 10:00 and 12:00. The resource status in this case is the remaining time of the flying device 1 when the flying device 1 has flown on the second flight route searched by the route search unit 433.

  In this case, the estimation unit 434 estimates the remaining time when the flying device 1 has flown on the second flight route searched by the route search unit 433. For example, when the holding time is 2 hours, the estimating unit 434 determines that 30 minutes have elapsed since the flying device 1 flew from the starting point to the current location, and the flying device 1 flies the second flight route from the current location. If it is estimated that the time taken in this case is one hour, the remaining time is estimated to be 30 minutes. In this way, the management device 4 can determine whether the vehicle can reach the destination until the designated arrival time, that is, within the allotted time allocated to the flying device 1. The estimation unit 434 inputs resource information indicating the estimated resource state to the notification unit 435.

  The notification unit 435 notifies the operation terminal 3 via the communication unit 41 when the resource state estimated by the estimation unit 434 falls below a predetermined threshold. The predetermined threshold is provided for each type of resource. The predetermined threshold value may be a fixed value or a variable value that changes according to the distance of the second flight route. When the resource state is the remaining battery level, the notification unit 435 notifies the operation terminal 3 when the remaining battery level estimated by the estimation unit 434 is lower than the threshold of the remaining battery level set for the first flight route. . The threshold value of the remaining battery level may be a fixed value (for example, 30% of the battery capacity of the flying device 1) or a variable value that changes according to the distance of the first flight route. Further, the threshold value of the battery remaining amount may be set by the user when setting the first flight route.

  On the other hand, when the resource state is the remaining time allotment, the notifying unit 435 sets the operation terminal when the remaining time allotted by the estimating unit 434 is less than the remaining time allotment set for the first flight route. Notify 3. The threshold of the remaining time is determined by the designated arrival time. The remaining time threshold may be a fixed value based on the designated arrival time (for example, 10 minutes remaining until the designated arrival time) or a variable value that varies according to the distance of the first flight route.

  When the designated arrival time is not set, the notification unit 435 does not have to notify the operation terminal 3 of the remaining time allotted when flying the second flight route. When the mode switching unit 432 switches to the manual flight mode, the notification unit 435 transmits, via the communication unit 41, navigation information that is information indicating a route of the first flight route or the second flight route to the operation terminal 3. Send to

  By the way, even when the notification unit 435 notifies the operation terminal 3 that the battery level of the flying device 1 is low, if the control mode of the flying device 1 is the manual flight mode, the flight is performed according to the navigation. It is left to the user to decide whether or not to fly the device 1 to the destination. If the user does not fly the flying device 1 to the destination according to the navigation, a situation may occur in which the flying device 1 cannot reach the destination due to insufficient battery power. Therefore, the mode switching unit 432 may switch to the automatic flight mode when the resource estimated by the estimation unit 434 falls below a predetermined threshold. In addition, when the resource estimated by the estimation unit 434 is lower than the first threshold which is a predetermined threshold, the notification unit 435 notifies the operation terminal 3 and the resource estimated by the estimation unit 434 is lower than the first threshold. When the value falls below the second threshold value, which is the threshold value, the mode switching unit 432 may forcibly switch to the automatic flight mode. In this way, the mode switching unit 432 can prevent a situation in which the flying device 1 cannot reach the destination.

[Process of searching for second flight route]
Subsequently, a process in which the route search unit 433 searches for the second flight route will be described. The route of the second flight route searched by the route search unit 433 differs depending on the purpose of using the flying device 1. For example, if the flight device 1 is used in the delivery of luggage, it is necessary to arrive at the destination by the specified arrival time, so the destination must be reached to make up for the time spent in the flight in the manual flight mode. It is assumed that you fly on the route that can be reached in the shortest distance. Further, for example, when using the flying device 1 for inspection work of a power generation facility or a bridge, etc., it is necessary to confirm the state of the facilities through a preset first flight route. It is assumed that the user returns to the point where he left, and flies the remaining first flight route.

  Therefore, the route search unit 433 searches for a plurality of second flight routes that are new flight routes from the position indicated by the position information acquired last by the acquisition unit 431 to the destination. FIG. 4 is a diagram for explaining the second flight route searched by the route search unit 433. The solid line shown in FIG. 4 is the first flight route, and the broken line is the second flight route. In FIG. 4, the first flight route and the first flight route included in the second flight route do not overlap, but this is for convenience of description, and the first flight route included in the first flight route and the second flight route is not included. One flight route is the same route.

  The second flight route R1 illustrated in FIG. 4 is a second flight route searched as a route that arrives at the destination in the shortest distance. When the mode switching unit 432 switches to the manual flight mode, the route search unit 433 is a route from the position indicated by the position information acquired last by the acquisition unit 431 to the destination based on the map data, and is the shortest. The distance route is searched as the second flight route.

  The second flight route R2 illustrated in FIG. 4 is a second flight route searched as a route that returns to the first flight route with the shortest distance. First, the route search unit 433 searches for the shortest distance point on the first flight route from the position indicated by the position information acquired last by the acquisition unit 431. Based on the map data, the route search unit 433 searches for the shortest route from the position indicated by the position information last obtained by the obtaining unit 431 to the shortest distance point on the searched first flight route as a return route. Then, the route search unit 433 searches, as the second flight route, a flight route obtained by adding the return route to the first flight route that is the route from the searched point on the first flight route to the destination of the first flight route. I do.

  The second flight route R3 illustrated in FIG. 4 is a second flight route searched as a route returning to the first flight route according to the route that has flown in the manual flight mode. When the mode switching unit 432 switches the control mode of the flying device 1 to the manual flight mode, the route search unit 433 determines the distance from the point on the first flight route that has been switched to the manual flight mode to the destination of the first flight route. A flight route obtained by adding a flight route that passes through each of the positions indicated by the plurality of pieces of position information acquired by the acquisition unit 431 after the mode switching unit 432 has switched to the manual flight mode to the first flight route that is the route is a second flight route. To search for.

  Specifically, first, the route search unit 433 indicates a plurality of pieces of position information acquired by the acquisition unit 431 after the mode switching unit 432 switches the control mode of the flying device 1 to the manual flight mode based on the map data. A route that passes through each position is searched for as a return route. Then, the route search unit 433 calculates the second flight route obtained by adding the return route to the first flight route that is the route from the point on the first flight route switched to the manual flight mode to the destination of the first flight route. Search as a flight route.

  The estimating unit 434 estimates a resource state when the flying device 1 has flown on each of the plurality of second flight routes searched by the route searching unit 433. Then, when any one of the plurality of resource states estimated by the estimating unit 434 is lower than a predetermined threshold, the notifying unit 435 sends each of the plurality of second flight routes searched by the route searching unit 433 to the user of the operation terminal 3. Notify in a selectable manner. The notification unit 435 allows the user of the operation terminal 3 to select each of the plurality of second flight routes searched by the route search unit 433 when all of the plurality of resource states estimated by the estimation unit 434 are below a predetermined threshold. The notification may be made in a mode.

  The notifying unit 435 includes the route search unit 433 when all of the resource states estimated by the estimation unit 434 for each of the second flight routes R2 and R3 searched as the first candidates by the route search unit 433 are below a predetermined threshold. May search for the second flight route R1 as a second candidate. As described above, the route search unit 433 searches for a plurality of second flight routes, so that the user who operates the operation terminal 3 can select the second flight route according to the use of the flying device 1.

  Here, even if the notification unit 435 notifies the operation terminal 3 that the remaining battery level is lower than the threshold, if the flying device 1 continues to fly in the manual operation mode without going to the destination, Insufficiency may prevent you from reaching your destination. Therefore, the route search unit 433 searches for a route returning to the starting point as a second flight route, as shown in a second flight route R4 in FIG.

  Specifically, the route search unit 433 determines that the mode switching unit 432 switches the control mode of the flying device 1 to the manual flight mode, and the remaining battery level of the flying device 1 indicates that the flying device 1 is to fly to the destination. If the battery level is equal to or less than the battery level estimated by the estimating unit 434 based on the flight route, the flying device 1 searches for a flight route flying to the starting point of the first flight route as a new second flight route.

  In this case, the notification unit 435 flies to the starting point when the distance from the position of the flying apparatus 1 to the destination is shorter than the distance to the destination and the battery can be reached with the remaining amount of the flying apparatus 1. The operation terminal 3 is notified that the operation is possible. Specifically, when the remaining battery level of the flying device 1 is equal to or greater than the remaining battery level estimated by the estimating unit 434 based on the new second flight route, the notification unit 435 displays the new second flight route. Notice. By doing so, the notification unit 435 can return to the departure point even when the flying device 1 cannot reach the destination.

  Incidentally, it is preferable that the route search unit 433 searches for the second flight route based on the 3D map data. However, the 3D map data has a large amount of information, and the search of the second flight route by the route search unit 433 requires a lot of load. Therefore, when searching for a simple route such as the second flight route R2 in FIG. 4, for example, the management device 4 searches based not on the 3D map data but on the 2D map data that does not include the terrain or the height information of the building. By doing so, the load of the search process can be reduced.

  However, when the flying device 1 flies in the automatic flight mode according to the second flight route that does not consider the terrain or the height of the building using the 2D map data, if there is an obstacle such as a building at the flying height, It is not possible to fly according to the second flight route. Further, even when the second flight route is searched based on the 3D map data, the flying device 1 may be a new building that does not exist in the map data or a construction crane installed on a building that is not reflected in the map data. , It is impossible to fly according to the second flight route. In this case, it is preferable that the user controls the flying device 1 in the manual flight mode and flies while avoiding obstacles based on the video displayed in the live image area 34 of the operation terminal 3.

  Therefore, when switching to the manual flight mode, the mode switching unit 432 may permit switching to the automatic flight mode on condition that the flying device 1 returns to the first flight route. The mode switching unit 432 permits switching of the automatic flight mode, for example, when the flying device 1 flies in a local area with few buildings, even when the flying device 1 has not returned to the first flight route. I do. Conversely, the mode switching unit 432 prohibits the switching of the automatic flight mode when the flying device 1 does not return to the first flight route when the flying device 1 flies in an urban area with many buildings. Allows switching of automatic flight mode when returning to the flight route.

  Specifically, the mode switching unit 432 switches from the operation terminal 3 to the automatic flight mode when the flying device 1 does not return to the first flight route when the flying device 1 flies in an urban area with many buildings. Even if the control mode information is transmitted, the control mode is not switched. On the other hand, when the flight device 1 flies in an urban area with many buildings, when returning to the first flight route, the mode switching unit 432 is based on the control mode information for switching to the automatic flight mode transmitted from the operation terminal 3. To switch the control mode. By doing so, the mode switching unit 432 can control the switching of the control mode according to the accuracy of the map data or the situation around the flying device 1.

[Processing of Management Device 4]
Subsequently, a flow of processing performed by the management device 4 will be described. FIG. 5 is a flowchart illustrating a flow of a process performed by the management device 4. This flowchart starts when the mode switching unit 432 switches the control mode of the flying device 1. In this flowchart, description will be made assuming that the resource is the remaining battery power.

  The route search unit 433 determines whether the control mode information input from the mode switching unit 432 is the manual flight mode (S1). When the route search unit 433 determines that the control mode information is not the manual flight mode, that is, it is the automatic flight mode, the process ends. On the other hand, when the route search unit 433 determines that the control mode information is the manual flight mode, the route search unit 433 determines whether the flying device 1 has flown a predetermined distance after switching to the manual flight mode (S2). Specifically, the route search unit 433 determines whether or not the flight distance has exceeded a reference threshold set as a trigger for starting the search for the second flight route.

  If the route search unit 433 determines that the flight distance has not exceeded the reference threshold, the process returns to S2, and repeats until it determines that the flight distance has exceeded the reference threshold. On the other hand, when determining that the flight distance has exceeded the reference threshold, the route search unit 433 determines whether the flying device 1 has left the first flight route (S3). If the route search unit 433 determines that the flying device 1 has not departed from the first flight route, the process returns to S3, and repeats until it determines that the flying device 1 has departed from the first flight route. On the other hand, when determining that the flying device 1 has departed from the first flight route, the route search unit 433 searches for a second flight route (S4). The route search unit 433 inputs information indicating the searched second flight route to the estimation unit 434.

  When the information indicating the second flight route is input from the route search unit 433, the estimation unit 434 estimates the remaining battery level when the flying device 1 has flown on the second flight route indicated by the information (S5). The estimation unit 434 inputs information indicating the estimated remaining battery level to the notification unit 435.

  When the information indicating the estimated remaining battery level is input from the estimation unit 434, the notification unit 435 determines whether the estimated remaining battery level indicated by the information is lower than a predetermined threshold (S6). When the notifying unit 435 determines that the estimated battery remaining amount does not fall below the predetermined threshold, the notifying unit 435 ends the process. On the other hand, when the notification unit 435 determines that the estimated remaining battery level is lower than the predetermined threshold, the notification unit 435 notifies the operation terminal 3 that it may not be possible to reach the destination (S7).

[Effects in the present embodiment]
As described above, when the flight system S according to the present embodiment switches the control mode of the flying device 1 to the manual flight mode and flies along a route distant from the first flight route, the flight system S A second flight route to the ground is searched, and a resource state when the second flight route is flown is estimated. Then, the flight system S notifies the operation terminal 3 when the estimated resource state is lower than the predetermined threshold. By notifying the operation terminal 3 that the resource state is below the predetermined threshold, the flight system S can prompt the user who operates the operation terminal 3 to respond. As a result, even when the flight system S switches the flight device 1 to the manual flight mode and moves away from the preset first flight route, the flight device S may not be able to reach the destination. Can be reduced.

[Modification]
In the above description, the management device 4 controls the control mode of the flying device 1 and manages the flight route on which the flying device 1 flies, but is not limited thereto. For example, the flying device 1 may control a control mode of the flying device 1 itself and manage a flight route on which the flying device 1 itself flies. In this case, the flying device 1 has a flight control unit (not shown) that flies according to a flight route in addition to the configuration of the management device 4. When the control mode is the automatic flight mode, the flight control unit causes the flying device 1 to fly according to the first flight route or the second flight route. On the other hand, when the control mode is the manual flight mode, the flight control unit causes the flying device 1 to fly according to the instruction of the operation terminal 3.

  As described above, the present invention has been described using the embodiment, but the technical scope of the present invention is not limited to the scope described in the above embodiment, and various modifications and changes are possible within the scope of the gist. is there. For example, the specific embodiment of the dispersion / integration of the apparatus is not limited to the above-described embodiment, and all or a part of the apparatus may be functionally or physically dispersed / integrated in an arbitrary unit. Can be. Further, new embodiments that are generated by arbitrary combinations of the plurality of embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

Reference Signs List 1 flying device 2 base station 3 operation terminal 31 information area 32 message area 33 route map area 34 live image area 4 management device 41 communication unit 42 storage unit 43 control unit 431 acquisition unit 432 mode switching unit 433 route search unit 434 estimation unit 435 Notification section

Claims (13)

A mode switching unit that switches a control mode of the flying device to one of an automatic flight mode for automatically flying according to a first flight route set in advance and a manual flight mode for manually flying via an operation terminal;
An acquisition unit that acquires position information indicating the position of the flying device at predetermined intervals,
When the mode switching unit switches the control mode of the flying device to the manual flight mode, a second flight route different from the first flight route is searched for based on the position information acquired last by the acquisition unit. Route search section to do,
An estimating unit for estimating a resource state when the flight device flies the second flight route searched by the route searching unit;
When the resource state estimated by the estimating unit is lower than a predetermined threshold, a notification unit that notifies the operation terminal,
Management device having The estimating unit is configured to determine, from a flight start time at which the flight device departs from the departure point of the first flight route, a designated arrival time specified by a user as a time at which the flight device arrives at a destination of the first flight route Estimating the remaining time when the flight device flies the second flight route searched by the route search unit, among the time allotted to the period,
The notifying unit notifies the operating terminal when the remaining time allotted by the estimating unit is less than a threshold of the remaining time allotted for the first flight route,
The management device according to claim 1. The acquiring unit acquires battery remaining amount information indicating a battery remaining amount of the flying device,
The estimating unit estimates the remaining battery level of the flying device when the flying device flies the second flight route searched by the route search unit based on the remaining battery information acquired by the acquiring unit.
The notification unit notifies the operation terminal when the battery remaining amount estimated by the estimation unit is lower than a battery remaining amount threshold set for the first flight route.
The management device according to claim 1. When the mode switching unit switches the control mode of the flying device to a manual flight mode, the route search unit determines a destination of the first flight route from a position indicated by the position information acquired last by the acquisition unit. Search for a new flight route up to the second flight route,
The management device according to claim 1. When the mode switching unit switches the control mode of the flying device to the manual flight mode, the route search unit determines an object of the first flight route from a point on the first flight route that has been switched to the manual flight mode. A flight route obtained by adding, to the first flight route that is a route to the ground, a flight route that passes through each of the positions indicated by the plurality of pieces of position information acquired by the acquisition unit after the mode switching unit switches to the manual flight mode. Is the second flight route,
The management device according to claim 1. The route search unit, when the mode switching unit switches the control mode of the flying device to the manual flight mode, the flight distance exceeds a reference threshold set as an opportunity to start searching for the second flight route Searching for the second flight route on condition that
The management device according to claim 1. The mode switching unit, when the resource estimated by the estimation unit is less than the predetermined threshold, switch to the automatic flight mode,
The management device according to claim 1. The mode switching unit permits switching to the automatic flight mode on condition that the flying device returns to the first flight route when the control mode of the flying device is switched to the manual flight mode. Do
The management device according to claim 1. The route search unit, wherein the mode switching unit switches the control mode of the flying device to a manual flight mode, and the remaining battery level of the flying device indicates that the flying device is flying to a destination of the first flight route. When the battery level is equal to or less than the battery level estimated by the estimating unit based on the 2 flight routes, the flying device searches for a flight route flying to the starting point of the first flight route as a new second flight route,
The notification unit notifies the new second flight route when the battery remaining amount of the flying device is equal to or more than the battery remaining amount estimated by the estimation unit based on the new second flight route.
The management device according to claim 3. On the computer,
Switching the control mode of the flying device to one of an automatic flight mode for automatically flying according to a preset first flight route and a manual flight mode for manually flying via an operation terminal;
Acquiring position information indicating the current location of the flying device at predetermined intervals,
In the case where the control mode of the flying device is switched to the manual flight mode in the switching step, a second flight route different from the first flight route is searched based on the position information acquired last in the acquiring step. Steps and
Estimating a resource state when the flight device flies the second flight route searched in the step of searching for the second flight route;
Determining whether the resource state estimated in the estimating step is below a predetermined threshold,
Notifying the operation terminal when it is determined that the value is below a predetermined threshold in the determining step,
A program for executing Computer runs,
Switching the control mode of the flying device to one of an automatic flight mode for automatically flying according to a preset first flight route and a manual flight mode for manually flying via an operation terminal;
Acquiring position information indicating the current location of the flying device at predetermined intervals,
In the case where the control mode of the flying device is switched to the manual flight mode in the switching step, a second flight route different from the first flight route is searched based on the position information acquired last in the acquiring step. Steps and
Estimating a resource state when the flight device flies the second flight route searched in the step of searching for the second flight route;
Determining whether the resource state estimated in the estimating step is below a predetermined threshold,
Notifying the operation terminal when it is determined that the value is below a predetermined threshold in the determining step,
Management method having A mode switching unit that switches the control mode to one of an automatic flight mode for automatically flying according to a preset first flight route and a manual flight mode for manually flying via an operation terminal;
An acquisition unit that acquires position information indicating a position in flight at predetermined intervals,
When the mode switching unit switches the control mode to the manual flight mode, a new flight route from the position indicated by the position information acquired last by the acquisition unit to the destination of the first flight route is referred to as a second flight route. A route search unit for searching as two flight routes;
An estimating unit for estimating a resource state when flying the second flight route searched by the route searching unit;
When the resource state estimated by the estimating unit is lower than a predetermined threshold, a step of notifying the operation terminal,
A flying device having a. The route search unit, when the mode switching unit switches the control mode to the manual flight mode, from the point on the first flight route switched to the manual flight mode to the destination of the first flight route A flight route obtained by adding a flight route that passes through each of the positions indicated by the plurality of pieces of position information acquired by the acquisition unit after the mode switching unit switches to the manual flight mode to the first flight route that is the route, to the second flight route A flight route,
The flight device according to claim 12.

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