JP6771253B1 - Aircraft management server and management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To store arbitrary point information regarding an arbitrary point instructed by an operator on a flight route in a work in which an air vehicle acquires information at a planned information acquisition point on the flight route. To provide a management server and management system that makes it easy to check information about arbitrary points.
A management server according to the present invention is a management server connected to a user terminal and an air vehicle via a network and manages acquired information acquired by the air vehicle, and transmits a planned flight route to the air vehicle. Information about the point where the aircraft plans to acquire the acquired information on the scheduled flight route Information to store the information about the planned acquisition point The information storage unit for the planned flight point and the scheduled flight route are instructed during the flight. It is provided with an arbitrary point information storage unit for storing arbitrary point information regarding the arbitrary points.
[Selection diagram] FIG. 7

Description

The present invention relates to an air vehicle management server and management system.

In recent years, Drones and unmanned aerial vehicles (UAV: Unmanned Aeria)
Vehicles such as vehicles (hereinafter collectively referred to as “vehicles”) are beginning to be used in industry. Under these circumstances, Patent Document 1 discloses a system in which a flying object sequentially photographs an imaged object at a plurality of preset waypoints.

Japanese Unexamined Patent Publication No. 2014-089160

However, when the disclosed technology of Patent Document 1 is used for surveying, inspection, etc., the operator decides to collectively check the photographed images after sequentially photographing the objects to be photographed at a plurality of waypoints set in advance. Become. Therefore, when the object to be photographed is large or wide, the number of images confirmed by the operator can be enormous. Then, when the worker reconfirms the image set as the attention target, for example, by discovering an abnormality, the worker must search for the image of interest from a large number of images having similar appearances. However, the confirmation work becomes complicated. Furthermore, it is difficult to intuitively understand at which position on the map the point at which the attention image was taken was taken.

Further, it is possible to consider a configuration in which the operator causes the flying object to shoot at an arbitrary point instead of the form as the disclosure technique of Patent Document 1, but the shooting point may be different each time, and this method is used. Not suitable for fixed point observation.

The present invention has been made in view of such a background, and in particular, in the work of the flying object acquiring information at the information acquisition scheduled point on the flight route, any point instructed by the operator on the flight route. It is an object of the present invention to provide a management server and a management system that can store arbitrary point information regarding arbitrary points and can easily confirm the information regarding arbitrary points after the fact.

The main invention of the present invention for solving the above problems is a management server connected to a user terminal and an air vehicle via a network and manages acquired information acquired by the air vehicle, and the flight is performed on a planned flight route. Flying the communication unit to be transmitted to the body, the information acquisition planned point information storage unit for storing the information acquisition planned point information regarding the point at which the flying object is scheduled to acquire the acquired information on the flight scheduled route, and the flight schedule route. It includes an arbitrary point information storage unit that stores arbitrary point information regarding the arbitrary point instructed therein, and the arbitrary point information is the position information of the arbitrary point or the elapsed time from the flight start point to the arbitrary point. A management server characterized in that it is information, information, or information on flight distance from a flight start point to the arbitrary point.

According to the present invention, in particular, in the work of an air vehicle acquiring information at a planned information acquisition point on a flight route, arbitrary point information regarding an arbitrary point instructed by an operator on the flight route is stored. It is possible to provide a management server and a management system that make it easy to confirm information on arbitrary points after the fact.

It is a figure which shows the structure of the management system by embodiment of this invention. It is a block diagram which shows the hardware configuration of the management server of FIG. It is a block diagram which shows the hardware configuration of the user terminal of FIG. It is a block diagram which shows the hardware composition of the flying object of FIG. It is a block diagram which shows the function of the management server of FIG. It is a flow chart which shows the outline of the processing flow of this system. It is a flow chart which shows the process flow which is related to the acquisition of arbitrary point information in particular among the process flow of this system. It is a figure which shows the generation example of the report by embodiment of this invention. It is a figure which shows the other generation example of the report by embodiment of this invention.

The contents of the embodiments of the present invention will be described in a list. The flight management server and flight management system according to the embodiment of the present invention have the following configurations.
[Item 1]
It is a management server that manages the acquired information acquired by the aircraft, which is connected to the user terminal and the aircraft via the network.
A communication unit that transmits the planned flight route to the aircraft,
Information on the point where the aircraft plans to acquire the acquired information on the scheduled flight route Information for storing the planned acquisition point information The information acquisition point information storage unit
An arbitrary point information storage unit that stores arbitrary point information regarding an arbitrary point instructed during flight on the planned flight route,
With
The arbitrary point information is any one of the position information of the arbitrary point, the elapsed time information from the flight start point to the arbitrary point, and the flight distance information from the flight start point to the arbitrary point. A management server that features.
[Item 2]
An optional acquisition information setting unit that sets the acquisition information related to the arbitrary point information or the acquisition information of the information acquisition schedule point closest to the arbitrary point as the arbitrary acquisition information, and the optional acquisition information in the acquisition information. Further provided with a marker giving unit that gives a marker that can be identified as
The management server according to item 1, characterized in that.
[Item 3]
A report generation unit that generates a report in which the arbitrary points or display information indicating the arbitrary point information is superimposed on a map image is further provided.
The management server according to item 1 or 2, characterized in that.
[Item 4]
The report generation unit generates a report emphasizing the arbitrarily acquired information.
The management server according to item 3, characterized in that.
[Item 5]
The acquired information is an image taken from the flying object.
The management server according to items 1 to 4, characterized in that.
[Item 6]
An aircraft management system that includes a management server that manages acquired information acquired by the aircraft, which is connected to the user terminal and the aircraft via a network.
The management server is:
Send the planned flight route to the aircraft;
Information on the point at which the aircraft plans to acquire the acquired information on the scheduled flight route.
At the point where the information is to be acquired, the aircraft acquires the information;
Memorize any point information about any point instructed during flight on the planned flight route;
The arbitrary point information is any one of the position information of the arbitrary point, the elapsed time information from the flight start point to the arbitrary point, and the flight distance information from the flight start point to the arbitrary point;
Aircraft management system.

<Details of the embodiment>
Hereinafter, an embodiment of a management system (hereinafter referred to as “the present system”) will be described with respect to the management server and flight management system of an unmanned vehicle according to the embodiment of the present invention. In the accompanying drawings, the same or similar elements are given the same or similar reference numerals and names, and duplicate description of the same or similar elements may be omitted in the description of each embodiment. In addition, the features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.

<Composition>
As shown in FIG. 1, this system includes a management server 1, a plurality of user terminals 2, and 3.
It has one or more flying objects 4 and one or more flying objects storage devices 5. The management server 1, the user terminals 2, 3 and the flying object 4 and the flying object storage device 5 are connected to each other so as to be able to communicate with each other via a network. The illustrated configuration is an example, and is not limited to this. For example, a configuration may be carried by a user without having the flying object storage device 5.

<Management server 1>
FIG. 2 is a diagram showing a hardware configuration of the management server 1. The illustrated configuration is an example, and may have other configurations.

As shown in the figure, the management server 1 is connected to a plurality of user terminals 2, 3 and an air vehicle 4, and an air vehicle storage device 5 to form a part of the system. The management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.

The management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, and these are electrically connected to each other through a bus 15.

The processor 10 is an arithmetic unit that controls the operation of the entire management server 1, controls the transmission and reception of data between each element, and performs information processing and the like necessary for application execution and authentication processing. For example, the processor 10 is a CPU (Central Processing Unit).
It), and each information processing is performed by executing a program or the like for this system stored in the storage 12 and expanded in the memory 11.

The memory 11 is a DRAM (Dynamic Random Access Memory).
Main memory composed of volatile storage devices such as y), flash memory and HDD (Hard)
Includes auxiliary storage configured with a non-volatile storage device such as Disc Drive). The memory 11 is used as a work area of the processor 10, and also has a BIOS (Basic Input / Output System), which is executed when the management server 1 is started.
And various setting information etc. are stored.

The storage 12 stores various programs such as application programs. A database storing data used for each process may be built in the storage 12.

The transmission / reception unit 13 connects the management server 1 to the network and the blockchain network. The transmission / reception unit 13 includes Bluetooth (registered trademark) and BLE (Blue).
It may be provided with a short-range communication interface (Bluetooth Low Energy).

The input / output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.

The bus 15 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

<User terminals 2, 3>
The user terminals 2 and 3 shown in FIG. 3 also have a processor 20, a memory 21, and a storage 2.
2. The transmission / reception unit 23, the input / output unit 24, and the like are provided, and these are electrically connected to each other through the bus 25. Since the functions of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.

<Aircraft 4>
FIG. 4 is a block diagram showing a hardware configuration of the air vehicle 4. The flight controller 41 can have one or more processors such as a programmable processor (eg, a central processing unit (CPU)).

Further, the flight controller 41 has a memory 411 and can access the memory. Memory 411 stores logic, code, and / or program instructions that the flight controller can execute to perform one or more steps. Further, the flight controller 41 includes an inertia sensor (acceleration sensor, gyro sensor), GP.
Sensors 412 such as S-sensors and proximity sensors (eg, riders) may be included.

Memory 411 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. The data acquired from the cameras / sensors 42 may be directly transmitted and stored in the memory 411. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory. The camera 42 is installed on the aircraft 4 via the gimbal 43.

The flight controller 41 includes a control module (not shown) configured to control the state of the flying object. For example, the control module has six degrees of freedom (translational motion x, y and z, and rotational motion θ _x , θ _y and θ _z ) in the spatial arrangement, velocity, and / of the flying object.
Or to adjust the acceleration, ESC44 (Electric Speed Control)
The propulsion mechanism (motor 45, etc.) of the flying object is controlled via the roller). Battery 4
The propeller 46 is rotated by the motor 45 supplied from the vehicle 8 to generate lift of the flying object. The control module can control one or more of the states of the mounting unit and the sensors.

The flight controller 41 is configured to transmit and / or receive data from one or more external devices (eg, a transmitter / receiver (propo) 49, a terminal, a display device, or another remote control). It is possible to communicate with the unit 47. The transmitter / receiver 49 can use any suitable communication means such as wired communication or wireless communication.

For example, the transmission / reception unit 47 uses one or more of a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, and cloud communication. can do.

The transmission / reception unit 47 transmits and / or receives one or more of the data acquired by the sensors 42, the processing result generated by the flight controller 41, the predetermined control data, the user command from the terminal or the remote controller, and the like. be able to.

The sensors 42 according to the present embodiment include inertial sensors (acceleration sensor, gyro sensor),
It may include GPS sensors, proximity sensors (eg, riders), or vision / image sensors (eg, cameras).

<Management server function>
FIG. 5 is a block diagram illustrating the functions implemented in the management server 1. The management server 1 includes a communication unit 110, a flight mission generation unit 120, an arbitrary acquisition information setting unit 130, a marker addition unit 140, a report generation unit 150, and a storage unit 160. The flight mission generation unit 120 includes a route generation unit 122, an evaluation unit 124, and a correction unit 126. Further, the storage unit 160 includes various databases of a flight route information storage unit 162, a flight log storage unit 164, an arbitrary point information storage unit 166, and an interface information storage unit 168. Although not shown, the flight route information storage unit 162 stores information acquisition scheduled point information, which is information related to preset information acquisition scheduled points (so-called waypoints) on the flight route. The scheduled point storage is also included.

The communication unit 110 communicates with the user terminals 2 and 3 and the flying object 4. The communication unit 110 also functions as a reception unit that receives flight requests from the user terminals 2 and 3. The flight request may include any of the flight location, flight purpose, and number of flying objects. The flight mission generation unit 120 generates a flight mission. Flight missions include at least planned flight routes. The scheduled flight route is generated by the route generation unit 122 with reference to the flight route information storage unit 162. The scheduled flight route is information on the flying object storage device 5 managed by the management server 1 (for example, position information, storage state information, storage device information, etc.).
It may be generated as a flight route including the position of the flying object storage device 5 of the departure destination or the return destination based on the above.

In the present embodiment, an evaluation unit 124 for evaluating whether or not the generated flight mission is appropriate may be provided. The evaluation unit 124 may evaluate the appropriateness of the flight mission by a score or the like by, for example, an operation from the user for the flight mission, machine learning based on the flight mission accumulated in the past, or the like. If the score is not within the predetermined range, the flight mission is corrected by the correction unit 126.

In the present embodiment, for example, the information (still image, video, sound, and other information) acquired by the aircraft 4 at the information acquisition planned point on the scheduled flight route set in the flight mission is the flight. It is stored in the log storage unit 164. Further, when the user instructs an arbitrary point on the planned flight route different from the information acquisition planned point from the user terminals 2 and 3, the arbitrary point information regarding the arbitrary point (for example, the position information acquired from the GPS sensor and the flight). (Elapsed time information, flight distance information, etc. from the start point) is stored in the arbitrary point information storage unit 166. In addition, when the arbitrary point information is acquired, the flying object can also acquire the information. As a result, the acquired information regarding the arbitrary point information can be acquired separately from the acquired information regarding the information acquisition scheduled point. However, in that case, the data management of both acquired information becomes complicated, and there are problems such as an increase in the data capacity in the management server 1 and the amount of communication from the aircraft 4, so in the following, the management server 1 is the arbitrary point information. An embodiment in which only the data is stored will be described, but the present embodiment is not limited to the following embodiment when the problem is acceptable.

The arbitrary acquisition information setting unit 130 is the same as or the same as the acquisition information related to the arbitrary point information storage unit 166 (for example, a still image or moving image that is the same as or includes the position information of the arbitrary point, or the elapsed time information of the arbitrary point). Information that is closest to an arbitrary point (for example, voice including time) or information that is the closest to an arbitrary point When the position information of an arbitrary point is compared with the position information of an information acquisition schedule point Arbitrary point information selected based on elapsed time information (acquisition information immediately before acquisition) is set as arbitrary acquisition information.

The marker giving unit 140 gives a marker that can be discriminated as the voluntary acquisition information after the fact to the acquired information set as the voluntary acquisition information. The marker may be in any form as long as it can be identified as voluntary acquisition information after the fact. For example, in data management, an identification code or a flag is given, or the acquired information itself is given a determinable mark (for example, , Superimposing characters and figures on a part of a still image or video, inserting a specific sound at the beginning or end of the sound, etc.) Form, adding a specific character string to the data name of the recorded data, etc. Not limited to this.

The report generation unit 150 generates report information for transmission to the user terminals 2 and 3 based on the flight log storage unit 164. The report according to the present embodiment can exemplify, for example, the inspection result of the facility to be inspected, the security result of the facility to be guarded, and the like, and may be various reports according to the needs.

In addition, the report generation unit 150 includes an arbitrary acquisition information setting unit 130, a marker assigning unit 140, and the like.
Report information may be generated with reference to the arbitrary point information storage unit 166. As a more specific example, when the report information is generated from the acquired information and the map image, the display information indicating the arbitrary point information is superimposed on the map image (for example, the arbitrary point information itself or the abbreviated one is used as characters). Display, superimpose a mark etc. on an arbitrary point, emphasize the display of the arbitrarily acquired information (for example, frame the thumbnail image of the still image or video set in the arbitrarily acquired information, the position of the acquired audio information The color of the mark, etc. superimposed on the image may be changed to a different color from the others), but the present invention is not limited to this.

The interface information storage unit 168 is a display unit (display or the like) of the user terminals 2 and 3.
Stores various control information for display in.

An outline of the processing flow of this system will be illustrated with reference to FIG. The user is the user terminal 2
Send a flight request from 3 (SQ101). The management server 1 is a storage unit 160 (FIG. 5).
See) (SQ102) to generate a flight mission (SQ104). The generated flight mission is transmitted directly (or indirectly via a terminal, a radio, etc.) to the aircraft 4 (SQ106). The aircraft 4 transmits (reports) the information acquired during the execution of the flight mission to the management server 1 in real time (or after the fact) (SQ108).
). The management server 1 generates a report based on the information (flight log) acquired from the aircraft 4 (SQ110). The management server 1 uses the generated report as a result of the user terminal 2.
Output to 3 (SQ112). The flight start position of the flight body 4 may be, for example, a place installed by the user, or the flight body storage device 5 selected by the management server 1. Also,
The same applies to the flight end position of the aircraft body 4.

With reference to FIG. 7, among the processing flows of this system, the processing flow particularly related to the acquisition of arbitrary point information will be illustrated. First, the management server 1 transmits a flight mission to the aircraft 4 (SQ106). The aircraft 4 starts acquiring information by the aircraft 4 at a planned information acquisition point (waypoint) on the scheduled flight route set in the flight mission (SQ201). When the instruction to acquire the arbitrary point information is transmitted from the user terminals 2 and 3 at the arbitrary point, the aircraft 4 acquires the arbitrary point information (SQ20).
2), the arbitrary point information is transmitted to the storage unit 160 and stored in the arbitrary point information storage unit 166 (SQ205). The arbitrary point information may be transmitted in real time, or may be transmitted together with the flight log after being accumulated in the flight object 4. Further, the instruction to acquire the arbitrary point information may be transmitted directly from the user terminals 2 and 3 to the flying object 4, or may be transmitted to the flying object 4 via the management server 1. When the aircraft 4 acquires information at all the information acquisition scheduled points (waypoints), the aircraft 4 ends the information acquisition (S).
Q206), the flight log is transmitted to the storage unit 160 and stored in the flight log storage unit 164 (SQ108). As described above, the management server 1 sets the arbitrary acquisition information in the arbitrary acquisition information setting unit 130, and assigns a marker in the marker addition unit 140 (SQ207). Finally, the management server 1 generates a report in the report generation unit 150 as described above (S).
Q110), the report is output to the user terminals 2 and 3 as a result (SQ112).

FIG. 8 is a diagram showing an example of generating a report according to the present embodiment. On the map image 80,
The scheduled flight route 81 (the route that has already been flown at the time of report generation) is displayed.
Note that FIG. 8 shows the scheduled flight route 81 and the planned information acquisition points 82 (information acquired points at the time of report generation) for the sake of explanation, but these may not be displayed at the time of report generation. Further, the still image 83 is superimposed on the map image 80 as acquired information, and the still image 85 is emphasized as optional acquired information by a frame enclosure different from other still images 83. Further, a mark 84 indicating an arbitrary point is superimposed on the map image 80, and the mark 84 is superimposed on the map image 80.
Arbitrary point information is displayed as characters on the mark 84.

FIG. 9 is a diagram showing another generation example of the report in the present embodiment. On the map image 80, only the still image 85 is superposed with the acquired information closest to the arbitrary point as the arbitrary acquired information, and for example, the frame is highlighted in red. Further, a mark 84 indicating an arbitrary point is superimposed on the map image 80, and the arbitrary point information is displayed as characters on the mark 84. As shown in FIG. 8, depending on the position of the arbitrary point, the mark 84
May be displayed so as to be superimposed on the still image 85.

Note that FIGS. 8 and 9 show an example of generating a report as an example, but the present invention is not limited to this, and the still image 8
3 may have ranges that overlap each other.

The air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. It can also be used in various industries such as security, agriculture, infrastructure monitoring, surveying, sports venue inspections such as golf courses and tennis courts, and building roof inspections such as factories and warehouses.

The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes an equivalent thereof.

1 Management server 2 User terminal 4 Aircraft

Claims (5)

A management server connected to the user terminal and the aircraft via a network.
A route generator that generates the planned flight route, and
A communication unit for receiving information obtained in the information acquisition schedule point on the flight plan route aircraft,
An arbitrary point information storage unit that stores arbitrary point information indicating an arbitrary point instructed from the user terminal while flying on the planned flight route, and
Information indicating the information acquisition planned point The information acquisition planned point information is compared with the arbitrary point information, and the acquired information at the information acquisition scheduled point that is the same as or closest to the arbitrary point is set as the arbitrary acquisition information at the arbitrary point. It is equipped with an arbitrary acquisition information setting unit.
A management server that features that. A marker assigning unit that assigns a marker to the acquired information set as the arbitrarily acquired information is further provided.
The management server according to claim 1. An aircraft management system that includes a management server connected to a user terminal and an aircraft via a network.
A route generator that generates the planned flight route, and
A communication unit for receiving information obtained in the information acquisition schedule point on the flight plan route aircraft,
An arbitrary point information storage unit that stores arbitrary point information indicating an arbitrary point instructed from the user terminal while flying on the planned flight route, and
Information indicating the information acquisition planned point The information acquisition planned point information is compared with the arbitrary point information, and the acquired information at the information acquisition planned point that is the same as or closest to the arbitrary point is set as the arbitrary acquisition information at the arbitrary point. With an optional acquisition information setting unit ,
The management server that have a least the route generation portion,
A management system characterized by that. It is a method of setting arbitrary acquisition information by the management server connected to the user terminal and the aircraft via the network.
The steps to generate the planned flight route by the route generator,
The communication unit, receiving the acquired information in the information acquisition schedule point on the flight plan route aircraft,
A step of storing arbitrary point information indicating an arbitrary point instructed from the user terminal while flying on the scheduled flight route by the arbitrary point information storage unit, and
The arbitrary acquisition information setting unit compares the information acquisition schedule point information indicating the information acquisition schedule point with the arbitrary point information, and obtains the acquisition information at the information acquisition schedule point that is the same as or closest to the arbitrary point. Execute the step to set as arbitrary acquisition information at the point,
Arbitrary acquisition information setting method characterized by that. A program that executes the arbitrary acquisition information setting method on the management server .
The optional acquisition information setting method is
The steps to generate the planned flight route by the route generator,
The step of receiving the acquired information from the aircraft at the information acquisition point on the scheduled flight route by the communication unit,
A step of storing arbitrary point information indicating an arbitrary point instructed from a user terminal while flying the scheduled flight route by the arbitrary point information storage unit, and
By any acquisition information setting unit, by comparing the information acquisition schedule point information acquisition schedule point information indicating and said arbitrary point information, the acquired information at any point is the same as or the closest information acquisition schedule point, the arbitrary point Steps to set as optional acquisition information in, and execute,
A program characterized by that.

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