JP6899605B2 - Route management control servers, methods and systems, and the 1st and 2nd aircraft used for them. - Google Patents

Description

The present invention relates to a route management control server, a method and a system, and the first and second aircraft used therein, and more particularly to a technique for managing and controlling the appropriate operation of a manned aircraft.

Patent Document 1 discloses a technique for displaying a planned flight path as a tunnel-shaped display on a display unit with respect to a technique for guiding a flight path of an air vehicle.

JP-A-2009-269604

However, the technique described in Patent Document 1 does not disclose the management and control of a plurality of flying objects at the same time.

Therefore, one object of the present invention is to provide a technique capable of simultaneously managing and controlling a plurality of flying objects.

According to the present invention, it is a route management control server that is communicably connected to a plurality of first aircraft via a network.
A storage means for storing location data including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates.
A control means for reading the location data and the route data, and
Read A route management control server including a transmission means for transmitting the location data and the route data to each of the first aircraft can be obtained.

According to the present invention, a plurality of flying objects can be managed and controlled at the same time.

It is a block diagram of the network used for the route management control system by embodiment of this invention. It is a block diagram which shows the hardware configuration of the route management control server of FIG. It is a block diagram which shows the hardware composition of the computer mounted on the 1st Air Division of FIG. It is a block diagram which shows the hardware composition of the computer mounted on the 2nd flying body of FIG. It is an image diagram which shows typically the content of the data used for the route management control system of FIG. It is a schematic diagram which shows the outline of the route management control system of FIG. It is a screen display example of the display part of the 1st Air Division of FIG. It is another schematic diagram which shows the outline of the route management control system of FIG. It is another schematic diagram which shows the outline of the route management control system of FIG.

The contents of the embodiments of the present invention will be described in a list. The route management control server, method and system according to the embodiment of the present invention, and the first and second aircraft used therein have the following configurations.
[Item 1]
A route management control server that is communicatively connected to multiple 1st Air Divisions via a network.
A storage means for storing location data including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates.
A control means for reading the location data and the route data, and
A route management control server including a transmission means for transmitting the read location data and the route data to each of the first aircraft.
[Item 2]
The route management control server according to item 1.
Further provided with a receiving means for receiving the traffic information of the route,
The transmitting means transmits the received traffic information to the first aircraft.
Route management control server.
[Item 3]
The route management control server described in item 2.
The receiving means receives the traffic information from one of the first aircraft and receives the traffic information.
The transmitting means transmits the received traffic information to the other first aircraft.
Route management control server.
[Item 4]
The route management control server according to item 2 or item 3.
The control means generates new route data based on the received traffic information, and generates new route data.
The transmitting means transmits the generated new route data to the first aircraft.
Route management control server.
[Item 5]
The route management control server according to any one of items 2 to 4.
The control means generates a flight control instruction based on the received traffic information.
The transmitting means transmits the generated flight control instruction to the first aircraft.
Route management control server.
[Item 6]
The route management control server according to any one of items 1 to 5.
The route data has latitude information, longitude information and altitude information.
Route management control server.
[Item 7]
The route management control server according to any one of items 1 to 6.
The route data has speed limit information associated with the first specific area of the route.
Route management control server.
[Item 8]
The route management control server according to any one of items 1 to 7.
The route data has charge information associated with the second specific area of the route.
The route management control server is a payment means that starts payment processing for the first aircraft when the first aircraft enters the second specific area based on the position information received from the first aircraft. Further equipped,
Route management control server.
[Item 9]
A second aircraft capable of communicating with the route management control server according to any one of items 2 to 8 via a network.
Power unit for flight and
Positioning unit for positioning position information and
A collection unit that collects the traffic information of the route, and
A transmission unit that transmits the collected traffic information to the route management control server is provided.
Second aircraft.
[Item 10]
The second aircraft according to item 9,
Further equipped with a detection means for detecting an abnormality from the collected traffic information,
The transmitting means transmits information about the detected abnormality to at least the route management control server, the first aircraft, or another second aircraft.
Second aircraft.
[Item 11]
The first air vehicle according to any one of items 1 to 10.
Power unit for flight and
Positioning unit for positioning position information and
A receiving unit that receives at least either the location data or the route data from the route management control server.
A control unit for accepting operations by the operator and controlling the flight of the first aircraft,
A first air vehicle including at least a display unit that displays the received route data to an operator.
[Item 12]
The first aircraft according to item 11,
A transmission unit that transmits the positioned position information to the route management control server is further provided.
1st Air Division.
[Item 13]
The first aircraft according to item 11 or item 12, which is the first aircraft.
The control unit controls the power unit based on the route data and the position information.
1st Air Division.
[Item 14]
It is a route management control server that uses a computer that is communicatively connected to multiple 1st Air Divisions via a network.
A storage step in which the computer stores location data, including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates.
A control step for reading the location data and the route data,
Read A route management control method including a transmission step of transmitting the location data and the route data to each of the first aircraft.
[Item 15]
A route management control system including a plurality of first aircraft, a plurality of second aircraft, and a route management control device.
The first air vehicle, the second air vehicle, and the route management control device are connected to each other so as to be able to communicate with each other via a network.
The route management control device is:
A storage means for storing location data including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data ;,
Read As a transmission means for transmitting the location data and the route data to each of the first aircraft;
It has a receiving means to receive route traffic information;
The 1st Air Division is:
With the power unit for flight;
With a positioning unit that positions position information;
With a receiver that receives at least either the location data or the route data from the route management control server;
With a control unit for accepting operations by the operator and controlling the flight of the first aircraft;
It is equipped with at least a display unit that displays the received route data to the operator;
The second aircraft is:
With the power unit for flight;
With a positioning unit that positions position information;
With a collecting unit that collects the traffic information of the route;
In a route management control system including a transmission unit that transmits the collected traffic information to the route management control server;
The control means of the route management control device generates new route data based on the received traffic information, and the transmission means of the route management control device uses the generated new route data for the first flight. Transmit to the body and the 2nd Air Division,
Route management control system.

<Details of the embodiment>
Hereinafter, the route management control server, the method and the system according to the embodiment of the present invention, and the route management control warehouse management system realized by the 1st Air Division and the 2nd Air Division used therein will be described with reference to the drawings. ..

<Overview>
The route management control system (hereinafter referred to as "control system") according to the present invention particularly appropriately controls the operation of a manned small aircraft (hereinafter referred to as "air mobile"). The control system cooperates with a plurality of surveillance rotary-wing aircraft (hereinafter referred to as "surveillance drones") to perform more appropriate operation control.

An air mobile is a small flying object that can be ridden by a person, and has the size of a small scooter or a general automobile. The air mobile according to the present embodiment is a so-called multicopter having a plurality of rotor blades. Although the power source is mainly a rotary blade, it may have a lift generation source other than this, and may be able to move on water, on land, or in water. In this case, it may have auxiliary power means, various instruments, a control device, etc. according to the situation of the moving place. The hardware configuration of the information processing device mounted on the air mobile will be described later.

The surveillance drone is an unmanned aerial vehicle, and includes a battery, a plurality of motors, a position detection unit, a control unit, a driver, a storage device, a wireless communication device, a voltage sensor, a current sensor, and the like. These components are mounted on a frame having a predetermined shape. The hardware configuration of the information processing device mounted on the surveillance drone will be described later. As for these basic structures, known techniques can be appropriately adopted.

<Structure>
As shown in FIG. 1, the control system 100 according to the present embodiment includes a route management control server (hereinafter, simply referred to as “server”) 1, an air mobile 2, and a monitoring drone 3.

The server 1, the air mobile 2, and the monitoring drone 3 are so-called client-server model systems that are connected to each other so as to be able to communicate with each other via the network 4. Although the network 4 according to the present embodiment is an IP-based computer network, it may be shared with a carrier network for mobile phones, smartphones, and the like. Here, computer networks are used in a broader concept, including the Internet built by interconnected IP networks. Further, the computer network may include a wireless network constructed by a wireless base station (for example, WiFi) (not shown). The carrier network and the IP network are connected via, for example, a gateway or the like, but the present invention is not limited to this.

<Hardware configuration>
The hardware configurations of the server 1, the air mobile 2, and the monitoring drone 3 will be described with reference to FIGS. 2 to 4, respectively.

<Route management control server (server) 1>
As shown in FIG. 2, the server 1 is an information processing device for providing services through the route management control system 100, and may be a general-purpose computer such as a workstation or a personal computer, or a cloud computing device. It may be realized logically by ing. As shown in FIG. 2, the server 1 includes a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, which are electrically connected to each other through a bus 15.

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

The memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary memory composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). .. The memory 11 is used as a work area or the like of the processor 10, and also stores a BIOS (Basic Input / Output System) executed when the server 1 is started, various setting information, and the like. The storage 12 stores an application program and various programs such as an authentication program for each air mobile 2 and a monitoring drone 3. A database (location data, route data, etc., which will be described later) storing data used for each process may be built in the storage 12.

<Small aircraft (air mobile) 2>
As shown in FIG. 3, the air mobile 2 is equipped with an information processing device 200. The information processing device 200 receives the service of the route management control system 100 by executing information processing via communication with the server 1. The information processing device 200 includes at least a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, a positioning unit 26, a detection unit 27, and the like, and these are electrically connected to each other through a bus 25. .. The information processing device 200 may be a general-purpose computer such as a workstation or a personal computer, may be linked with a terminal having a touch panel such as a device such as a smartphone, a PDA, or a tablet computer, or may be linked with a terminal having a touch panel, or cloud computing. It may be realized logically by.

The processor 20 is an arithmetic unit that controls the operation of the information processing device 200, controls the transmission and reception of data between each element, and performs processing necessary for executing an application. For example, the processor 20 is a CPU and / or GPU (Graphical Processing Unit) or the like, and performs each necessary information processing by executing a program or the like stored in the storage 22 and expanded in the memory 21.

The memory 21 includes a main memory composed of a volatile storage device such as RAM and an auxiliary storage composed of a non-volatile storage device such as a flash memory and an HDD. The memory 21 is used as a work area or the like of the processor 20, and also stores a BIOS executed when the information processing apparatus 200 is started, various setting information, and the like. An application program or the like is stored in the storage 22.

The transmission / reception unit 23 connects the information processing device 200 to the network 4 and communicates with the server 1. The transmission / reception unit 23 also includes a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input / output unit 24 is an information input device such as a control stick (handle) switch and an output device such as a display, and presents and inputs information to the operator of the air mobile 2.

The bus 25 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

The positioning unit 26 detects at least the altitude of the air mobile 2. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, which detects the latitude, longitude, and altitude of the current position of the air mobile 2.

The detection unit 27 is for sensing the external environment of the air mobile 2 by various sensors such as voice, image, and infrared rays.

In addition to the information processing device 200, the air mobile 2 according to the present embodiment relays a power source, a motor connected to a rotor blade, and an information processing device 200 and a motor for movement and flight of the air mobile 2. Have at least more drivers. The information processing device 200 controls a plurality of motors to control the flight of the air mobile (control of ascending, descending, horizontal movement, etc.) and a plurality of gyros (not shown) mounted on the air mobile 2. Attitude control is also performed by controlling the motor of. The driver drives the motor according to a control signal from the information processing device 200. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. As a matter of course, the air mobile 200 has elements (for example, equipment for manned flight, other equipment for flight, etc.) which are not shown.

<Monitoring rotary wing aircraft (surveillance drone) 3>
As shown in FIG. 4, the monitoring drone 3 is equipped with an information processing device 300. The information processing device 300 constitutes a part of the system of the route management control system 100 by executing information processing via communication with the server 1. The information processing device 300 includes at least a processor 30, a memory 31, a storage 32, a transmission / reception unit 33, an output unit 34, a positioning unit 36, a detection unit 37, and the like, and these are electrically connected to each other through a bus 35. The information processing device 300 may be composed of, for example, a microcomputer or an ASIC (Application Specific Integrated Circuit), or may be logically realized by cloud computing.

The processor 30 is an arithmetic unit that controls the operation of the information processing device 300, controls the transmission and reception of data between each element, and performs processing necessary for executing an application. For example, the processor 30 is a CPU and / or GPU (Graphical Processing Unit) or the like, and performs each necessary information processing by executing a program or the like stored in the storage 32 and expanded in the memory 31.

The memory 31 includes a main memory composed of a volatile storage device such as RAM and an auxiliary storage composed of a non-volatile storage device such as a flash memory and an HDD. The memory 31 is used as a work area or the like of the processor 30, and also stores a BIOS executed when the information processing apparatus 300 is started, various setting information, and the like. An application program or the like is stored in the storage 32.

The transmission / reception unit 33 connects the information processing device 300 to the network 4 and communicates with the server 1. The transmission / reception unit 33 also includes a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input / output unit 34 is an information input device such as a control stick (handle) switch and an output device such as a display.

The bus 35 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

The positioning unit 36 detects at least the altitude of the surveillance drone 3. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, which detects the latitude, longitude, and altitude of the current position of the air mobile 2.

The detection unit 37 is for sensing the external environment of the surveillance drone 3 by various sensors such as voice, image, and infrared rays.

In addition to the information processing device 300, the monitoring drone 3 according to the present embodiment relays the power supply, the motor connected to the rotor blade, the information processing device 300, and the motor for the movement and flight of the monitoring drone 3. Have at least more drivers. The information processing device 300 controls a plurality of motors to control the flight of the surveillance drone (control of ascent, descent, horizontal movement, etc.) and a plurality of gyros (not shown) mounted on the surveillance drone 3. Attitude control is also performed by controlling the motor of. The driver drives the motor according to a control signal from the information processing device 300. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. The surveillance drone 300 may have other elements (not shown).

<Data>
As shown in FIG. 5, in the present embodiment, location data 530 including at least one of map information, terrain information, and building information, route data 510 based on three-dimensional coordinates, and a state on the route. The traffic data 520 representing the above is used. These data are transmitted from the server 1 to a part or all of the air mobile 2 or the monitoring drone 3 and shared with each other.

More specifically, as shown in FIG. 5, the location data is map information and includes information about topography, buildings and other structures. The location data in the present embodiment includes so-called plane map information (latitude information and longitude information) as well as accurate height information (altitude information) of the structure. Further, particularly for a structure, it also has coordinate information of the volume occupied in the real space (that is, includes shape information of the structure for the air mobile 2 to fly without colliding).

The route data 510 serves as a road in the sky of the air mobile 2, and as will be described later, the route data is displayed on the display unit of the air mobile 2 to enable safe operation of the air mobile. Become. The route data has at least continuous latitude information, longitude information, and altitude information, and the route is specified by the information. In addition, the route data may have a certain width information that can be operated in the same manner as the width of a normal road. The route data 510 includes information on route branching, speed limit, distance from other routes, traveling direction, vehicle type restriction, and traffic restriction (information corresponding to a signal and information on operation restriction).

The traffic data 520 is information for identifying the area of the obstacle on the route, for example, when the route has an obstacle, and has at least the latitude information, the longitude information, the altitude information, and the content of the obstacle.

<Processing flow>
With reference to the conceptual diagram of the control system according to the present embodiment shown in FIG. 6, the server 1 reads out the location data and the route data and transmits them to the air mobile 2, and displays the serviceable area on the display unit of the air mobile 2. indicate. The display unit of the air mobile 2 according to the present embodiment is preferably a display means such as a head-up display that does not block the driver's field of vision, such as a method of projecting onto a windshield or AR (Augmented Reality). Various devices and the like using the technology can be adopted.

As shown in FIG. 7, the windshield of the air mobile 2 displays the route 710 based on the route data 510. The state of the route 710 (congestion status, accident status, etc.) is collected by the monitoring drone 2 as traffic information and transmitted to the server 1. The traffic information may be automatically or manually transmitted from the air mobile 2 to the server 1. The traffic information is shared with each other among a plurality of air mobiles 2, a monitoring drone 3, and a server 1.

In the received traffic information, the server 1 generates data of a new route when the current route is not appropriate, for example, when it is congested. The generated new route data is transmitted to Air Mobile 2. As shown in FIG. 8, the generated new route 510'is set, and the information of the new route 510' is shared with the air mobile and the surveillance drone 3. The server 1 may generate and transmit a flight control instruction for (remotely) automatically controlling the air mobile so that the air mobile 2 flies over the new route 510'. In this case, the flight of the air mobile 2 is controlled based on the received flight control instruction.

The route data according to the present embodiment may further have speed limit information. That is, more appropriate route management can be performed by setting a speed limit for a part or all of the route as in the case of a road for automobiles. Further, for example, as shown in FIG. 9, the routes may be separate roads according to the up line, the down line, and the speed limit. As shown in FIG. 9, the route 520 having a high speed limit is set at an altitude higher than that of the route 530 having a low speed limit. When moving from route 530 to route 520, the air mobile 2 passes through a guidance route (a route connecting route 530 and route 520) (not shown).

Further, the route data may set a toll for a part or all of the route. The area where the toll is set (hereinafter referred to as "toll road") is specified by, for example, information such as latitude, longitude, and altitude. When the air mobile 2 enters the toll road based on the location information received from the air mobile, the server 1 starts the payment for the air mobile 2. Various conventional techniques can be used for payment.

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 Route management control server 2 Small aircraft 3 Monitoring rotary wing machine 4 Network 10 Processor 11 Memory 12 Storage 13 Transmission / output unit 14 Input / output unit 15 Bus 20 Processor 21 Memory 22 Storage 23 Transmission / output unit 24 Input / output unit 25 Bus 26 Positioning unit 27 Detection unit 30 Processor 31 Memory 32 Storage 33 Transmission / output unit 34 Input / output unit 35 Bus 36 Positioning unit 37 Detection unit 100 Route management Control system 200, 300 Information processing device 510, 510', 520, 530 Route data 520 Traffic data 530 Location data

Claims (7)

A route management control server that is communicatively connected to multiple 1st Air Divisions via a network.
A route based on three-dimensional coordinates that defines location data including at least one of map information, terrain information, or building information, and a route that is an operable area for the plurality of first aircraft to operate at least in the air. A storage means for storing data and
A control means for reading the location data and the route data, and
A transmission means for transmitting the read location data and the route data to each of the plurality of first aircraft, and a transmission means.
Further provided with a receiving means for receiving traffic information that identifies an area of obstruction on the route.
It said transmitting means transmits the traffic information received s husband of the plurality of first aircraft,
The route data includes information on toll roads for which tolls have been set.
When the control means determines that the first aircraft has entered the toll road based on the position information received from the first aircraft, the control means starts the settlement of the toll for the first aircraft. to, route management control server. The route management control server according to claim 1, wherein at least one of the location data, the route data, and the traffic information is shared by communicating with each other among the plurality of first aircraft. The route management control server according to claim 1 or 2.
The control means generates new route data based on the received traffic information, and generates new route data.
The control means generates a flight control instruction for automatically controlling the first aircraft to fly based on the new route data.
The transmitting means transmits the flight control instruction to the first aircraft.
Route management control server. The route management control server according to any one of claims 1 to 3, wherein the location data includes altitude information of the structure and coordinate information of the volume of the structure in the real space. The route management control server according to any one of claims 1 to 4, wherein the route data includes continuous latitude information, longitude information, and altitude information. The route management control server according to any one of claims 1 to 5, wherein the route data includes information regarding a traveling direction. The route management control server according to any one of claims 1 to 6, wherein the route data includes information on a guided route connecting routes having different heights.

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