JP7112990B2 - Management device, program, system and management method - Google Patents

Description

The present invention relates to a management device, program, system and management method.

Stops where unmanned aerial vehicles could be stopped were known, such as drone ports for parking drones. (See Patent Document 1, for example).
[Prior art documents]
[Patent Literature]
[Patent Document 1] JP 2018-165115 A

It would be desirable to provide techniques to assist in properly landing an unmanned aerial vehicle at a stop.

SUMMARY OF THE INVENTION According to a first aspect of the present invention, there is provided a management device for managing the landing of an unmanned aerial vehicle to a parking area where the unmanned aerial vehicle can be stopped. The management device may comprise a landing point determiner that determines a landing point for landing the unmanned aerial vehicle of the parking lot. The management device may comprise a presentation control unit that presents a guidance marker at the landing point for guiding the unmanned aerial vehicle.

The management device may include a proximity determination unit that determines that the unmanned aerial vehicle has approached the stop when the distance between the stop and the unmanned aerial vehicle becomes shorter than a predetermined distance. The presentation control unit may present the guidance marker at the landing point in response to determining that the unmanned aerial vehicle has approached the stop. The presentation control unit may end the presentation of the guidance marker when the unmanned aerial vehicle has landed at the landing point. The management device may include a guidance route determination unit that determines a guidance route for guiding the unmanned aerial vehicle to the landing point, and the presentation control unit may move the guidance marker based on the guidance route.

The management device may include a distance acquisition unit that acquires a distance between the stop and the unmanned aerial vehicle, and the presentation control unit determines the guidance marker based on the distance between the stop and the unmanned aerial vehicle. You can change the size. The presentation control unit may reduce the size of the guidance marker as the distance between the stop and the unmanned aerial vehicle is shorter. The presentation control unit may cause the unmanned aerial vehicle to present the guidance marker including identification information for identifying the guidance marker corresponding to the unmanned aerial vehicle. The presentation control unit may present the guide marker including stop related information related to the stop. The stop related information may include notification information for notifying that the unmanned aerial vehicle cannot land at the stop. The presentation control unit may cause the plurality of guidance markers for guiding each of the plurality of unmanned aerial vehicles to be presented at landing points of the plurality of unmanned aerial vehicles.

The presentation control unit displays the guidance marker at a position corresponding to the landing point in the display area on a display arranged in the stop area so that the display area faces upward. You can control it. The presentation control unit may control the electronic paper arranged at the stop to display the guidance marker at a position of the electronic paper corresponding to the landing point. The presentation control unit may control a projector that emits light toward the stop to display the guidance marker at the landing point. The presentation control unit provides a mechanical flip board for presenting markers by rotating each of a plurality of boards having first surfaces and second surfaces of different colors, and the above one of the mechanical flip boards. You may control to display the said guidance marker in the position corresponding to a landing point. The guiding marker may be a barcode. The presentation control unit causes a light-emitting device having a plurality of light-emitting units arranged at the stop to emit light from a plurality of light-emitting units at positions corresponding to the landing point of the light-emitting device, thereby presenting the guidance marker. may be controlled to allow

According to a second aspect of the present invention, there is provided a program for causing a computer to function as the management device.

According to a third aspect of the invention, there is provided a system comprising the management device and the unmanned aerial vehicle.

According to a fourth aspect of the invention, there is provided a management method performed by a management device for managing the landing of an unmanned aerial vehicle at a stop where the unmanned aerial vehicle can be stopped. The management method may comprise a landing point determination step of determining a landing point of the parking lot for landing the unmanned aerial vehicle. The management method may comprise a presentation control stage for presenting a guidance marker at the landing site for guiding the unmanned aerial vehicle.

It should be noted that the above summary of the invention does not list all the necessary features of the invention. Subcombinations of these feature groups can also be inventions.

An example system 10 is shown schematically. An example of a process flow in system 10 is shown schematically. An example of the functional configuration of the management device 200 is shown schematically. An example of a mechanical flip board 130 is shown schematically. An example of a light emitting device 140 is shown schematically. Another example of system 10 is shown schematically. 1 schematically shows an example of a hardware configuration of a computer 1200 functioning as a management device 200. FIG.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential for the solution of the invention.

FIG. 1 schematically illustrates an example system 10 . System 10 includes drone port 100 , management device 200 and unmanned aerial vehicle 300 .

Drone port 100 may be an example of a parking area where unmanned aerial vehicle 300 may stop. The management device 200 manages the drone port 100 and the unmanned aerial vehicle 300 . Management device 200 may manage landing of unmanned aerial vehicle 300 at drone port 100 . Unmanned aerial vehicle 300 may be a so-called drone.

From 2018, under the leadership of the Ministry of Land, Infrastructure, Transport and Tourism, level 3 drone flight demonstration experiments have begun. Level 3 is flight beyond visual line of sight in uninhabited areas (parcel delivery to remote islands and mountainous areas). Level 1 is visual line-of-sight flight, level 2 is line-of-sight flight (no maneuvering), and level 4 is line-of-sight flight in manned areas (urban logistics).

In the future, it is expected that the demand for drone ports will increase in drone logistics. For example, the drone port can be used as a logistics hub for unloading, charging drones, and the like. Also, for example, the drone port can be used as a relay point during long-distance flight of the drone and in the event of trouble. Also, for example, a drone port may be utilized as a command center for industrial applications.

For BVLOS flights, drone ports are required to have multiple functions, such as drone landing guidance, wind speed/direction prediction, and third party intrusion detection. Moreover, when it tries to cooperate with UTM(Unmanded Aerial System Traffic Management)400, the network connection function for communicating with UTM400 is also needed.

Drone ports that have been considered in the past are assigned to one drone port, and there has not yet been a design in which multiple drones share a drone port. In the system 10 according to this embodiment, the management device 200 controls landing of the plurality of unmanned aerial vehicles 300 at the drone port 100 .

Drone port 100 comprises presenter 110 , antenna 122 , anemometer 124 and camera 126 . Presenter 110 presents guidance markers 112 for guiding unmanned aerial vehicle 300 . The guiding marker 112 is, for example, a barcode. The induction marker 112 is, for example, a QR code (registered trademark) (Quick Response Code).

FIG. 1 illustrates a case where the presenter 110 is a display device arranged such that the display area faces upward of the drone port 100 . Such display devices include liquid crystal displays, organic EL (Electro-Luminescence), and electronic paper.

Antenna 122 is used for wireless communication with unmanned aerial vehicle 300 . The anemometer 124 measures wind speed and direction at the drone port 100 . A camera 126 images the drone port 100 .

Management device 200 wirelessly communicates with unmanned aerial vehicle 300 via antenna 122 . The method of wireless communication via antenna 122 may be any wireless communication method. Examples of the wireless communication method include the WiFi (registered trademark) (Wireless Fidelity) communication method.

Management device 200 may communicate with unmanned aerial vehicle 300 via radio base station 30 and network 20 . Wireless communication between the management device 200 and the radio base station 30 may be performed according to a mobile communication system such as a 3G (3rd Generation) communication system, a LTE (Long Term Evolution) communication system, and a 5G (5th Generation) communication system. . Also, the management device 200 may access the network 20 via a WiFi access point. Network 20 includes a mobile communication network. Network 20 may include the Internet.

The management device 200 may manage the weather information of the location where the drone port 100 is located and predict changes in the weather by analyzing the measurement results from the anemometer 124 . Also, the management device 200 may manage weather information and predict weather changes by accessing a weather information service that provides weather information via the wireless base station 30 and the network 20, for example.

Management device 200 may determine empty space on drone port 100 by analyzing images captured by camera 126 . In addition, the management device 200 may detect obstacles on the drone port 100 and intrusion of a third party into the drone port 100 by analyzing the image captured by the camera 126 . The management device 200 may detect an intrusion of a third party into the drone port 100 by activating a human sensor (not shown) and acquiring the detection result of the human sensor.

The management device 200 determines, for example, a landing point for the unmanned aerial vehicle 300 in the drone port 100, and causes the presenter 110 to present the guidance marker 112 to the landing point. The management device 200 displays the guide marker 112 at a position corresponding to the landing point in the display area of the presentation device 110, for example.

The number of guidance markers 112 may be arbitrary, the information read from the guidance markers 112 may be variable, and unmanned aerial vehicle 300 may be able to identify which guidance marker 112 it should land on. The management device 200 adjusts the position and number of the guide markers 112 according to the number and size of the unmanned aerial vehicles 300 that need to land on the drone port 100, the degree of congestion at that time, and the like.

The management device 200 may communicate with a plurality of unmanned aerial vehicles 300 in the sky and grasp the remaining flight time of each of the plurality of unmanned aerial vehicles 300 to determine which 300 to land preferentially. The remaining flight time depends on the remaining battery capacity of the unmanned aerial vehicle 300, the weight of the unmanned aerial vehicle 300, the weight of the cargo when the unmanned aerial vehicle 300 is holding cargo, and the state of the propeller of the unmanned aerial vehicle 300. It is determined. The remaining flight time may be derived by the unmanned aerial vehicle 300 and transmitted to the management device 200 . The management device 200 may also receive the remaining flight time of each of the plurality of unmanned aerial vehicles 300 from the UTM 400 .

The management device 200 holds and grasps information such as the current availability of the drone port 100 and the size and shape of the unmanned aerial vehicles 300 that are landing, so that the size and number of the drones 300 that can be landed on the drone port 100 may be grasped and shared with the UTM 400.

In the case of one-way communication from management device 200 to unmanned aerial vehicle 300 , management device 200 may include information to be transmitted to unmanned aerial vehicle 300 in guidance marker 112 . Management device 200 encodes information to be transmitted to unmanned aerial vehicle 300 into guidance marker 112, which may be a barcode or QR code, for example. Unmanned aerial vehicle 300 may receive information by imaging guidance marker 112 with a camera and reading the encoded information. The management device 200 may also transmit information to the unmanned aerial vehicle 300 by blinking the guide marker 112, for example.

FIG. 2 schematically shows an example of a process flow in system 10. As shown in FIG. Here, the flow of processing by the system 10 when one unmanned aerial vehicle 300 lands at the drone port 100 will be described.

In step (sometimes abbreviated as S) 102 , unmanned aerial vehicle 300 transmits unmanned aerial vehicle information related to unmanned aerial vehicle 300 to management device 200 via antenna 122 . The unmanned aerial vehicle information includes unmanned aerial vehicle identification information with which unmanned aerial vehicle 300 can be identified. Unmanned aerial vehicle information may include the affiliation and flight number of unmanned aerial vehicle 300 . Unmanned aerial vehicle information may include the body size of unmanned aerial vehicle 300 . Unmanned aerial vehicle information may include remaining flight time of unmanned aerial vehicle 300 .

In S<b>104 , the management device 200 transmits an authentication request for the unmanned aerial vehicle 300 to the UTM 400 . The authorization request may include some or all of the unmanned aerial vehicle information. UTM 400 identifies unmanned aerial vehicle 300 by, for example, unmanned aerial vehicle identification information included in the authorization request, and determines whether unmanned aerial vehicle 300 is authorized to land at drone port 100 .

At S<b>106 , the UTM 400 transmits the authentication result to the management device 200 . Here, the explanation will be continued assuming that the authentication is permitted. Note that if the authentication is denied, the management device 200 may transmit a signal indicating refusal of landing to the unmanned aerial vehicle 300 via the antenna 122 .

Note that the system 10 does not have to execute S104 and S106. That is, system 10 may proceed to S108 in response to receiving unmanned aerial vehicle information from unmanned aerial vehicle 300 in S102.

At S<b>108 , the management device 200 determines the landing point of the unmanned aerial vehicle 300 . The management device 200 may determine the landing point of the unmanned aerial vehicle 300 based on the empty space of the drone port 100, the size of the unmanned aerial vehicle 300, and the like.

In S<b>110 , the management device 200 determines the position and size of the guidance marker 112 . The management device 200 determines the position and size of the guidance marker 112 based on the landing point determined in S108, the distance between the unmanned aerial vehicle 300 and the drone port 100, and the like. For example, the management device 200 increases the size of the guidance marker 112 as the distance between the unmanned aerial vehicle 300 and the drone port 100 increases.

In S112, the management device 200 causes the presentation device 110 to present the guidance marker 112 at the position and size determined in S110. The management device 200 causes the presenter 110 to present, for example, a guiding marker 112 containing one-time information valid only once. At S<b>114 , the management device 200 transmits the one-time information included in the guidance marker 112 to the unmanned aerial vehicle 300 via the antenna 122 . These allow unmanned aerial vehicle 300 to identify guidance markers 112 for guiding unmanned aerial vehicle 300 .

Note that the management device 200 may cause the presenter 110 to present the guidance marker 112 including the unmanned aerial vehicle identification information of the unmanned aerial vehicle 300 in S112. This allows unmanned aerial vehicle 300 to identify guidance marker 112 for guiding unmanned aerial vehicle 300 . In this case, S114 may not be executed.

At S116, the unmanned aerial vehicle 300 detects the guidance marker 112 by analyzing the image captured by the camera. At S 118 , unmanned aerial vehicle 300 moves over guidance marker 112 and lands on guidance marker 112 .

In S120, the unmanned aerial vehicle 300 notifies the management device 200 that the landing has been completed. In S122, the unmanned aerial vehicle 300 notifies the UTM 400 that landing has been completed. In S1124, the management device 200 causes the presentation device 110 to end presentation of the guidance marker 112 in response to the notification in S120.

FIG. 3 schematically shows an example of the functional configuration of the management device 200. As shown in FIG. The management device 200 includes a stop information acquisition unit 202 , a stop information storage unit 204 , a landing control unit 210 and a presentation control unit 220 .

The stop information acquisition unit 202 acquires information related to the drone port 100 . The stop information acquisition unit 202 acquires, for example, wind speed and wind direction information at the drone port 100 measured by the anemometer 124 . In addition, the stop information acquisition unit 202, for example, the empty space of the drone port 100, the obstacles on the drone port 100, and the obstacles to the drone port 100 derived by analyzing the captured image captured by the camera 126 Acquire information such as intrusion by a third party. The stop information storage unit 204 stores the information acquired by the stop information acquisition unit 202 .

The landing control unit 210 controls landing of the unmanned aerial vehicle 300 . Landing controller 210 may exchange various information with unmanned aerial vehicle 300 via antenna 122 . The landing control unit 210 may control landing of the unmanned aerial vehicle 300 using unmanned aerial vehicle information received from the unmanned aerial vehicle 300 and information stored in the stop information storage unit 204 .

The landing point determination unit 211 determines a landing point at which the unmanned aerial vehicle 300 is to land in the drone port 100 . The landing point determination unit 211 may determine the landing point of the unmanned aerial vehicle 300 based on the empty space of the drone port 100 and the size of the unmanned aerial vehicle 300 .

When multiple unmanned aerial vehicles 300 land at the drone port 100 , the landing point determining unit 211 determines landing points for each of the multiple unmanned aerial vehicles 300 . The landing point determination unit 211 may determine landing points for each of the plurality of unmanned aerial vehicles 300 so as not to interfere with each other's landing. For example, the landing point determination unit 211 determines multiple landing points such that the distance between the landing points of the multiple unmanned aerial vehicles 300 is greater.

The guidance route determination unit 212 determines a guidance route that guides the unmanned aerial vehicle 300 to the landing point determined by the landing point determination unit 211 . For example, the guidance route determination unit 212 first moves the unmanned aerial vehicle 300 to a first point above the drone port 100, then moves it to the landing point via one or more points, and then moves the unmanned aerial vehicle 300 to the landing point. By lowering the unmanned aerial vehicle 300 from the sky above, a guidance route for landing the unmanned aerial vehicle 300 at the landing point is set. The guidance route determination unit 212 determines the position of each point based on the wind speed and direction at the drone port 100, for example.

A distance acquisition unit 213 acquires the distance between the unmanned aerial vehicle 300 and the drone port 100 . The distance acquisition unit 213 derives the distance between the unmanned aerial vehicle 300 and the drone port 100 by analyzing the image of the unmanned aerial vehicle 300 captured by the camera 126, for example. Further, for example, if the drone port 100 has a ranging sensor that measures the distance to the unmanned aerial vehicle 300 in the sky, the distance acquisition unit 213 may acquire the distance measured by the ranging sensor. good.

The distance acquisition unit 213 may receive the distance to the drone port 100 measured by the unmanned aerial vehicle 300 from the unmanned aerial vehicle 300 . The distance acquisition unit 213 receives the distance measured by the unmanned aerial vehicle 300 via the antenna 122, for example. Also, the distance acquisition unit 213 receives, for example, the distance measured by the unmanned aerial vehicle 300 via the wireless base station 30 via the network 20 .

The proximity determination unit 214 determines that the unmanned aerial vehicle 300 has approached the drone port 100 . The proximity determination unit 214 determines that the unmanned aerial vehicle 300 has approached the drone port 100, for example, when the distance acquired by the distance acquisition unit 213 becomes shorter than a predetermined distance.

The priority determination unit 215 determines the priority of the plurality of unmanned aerial vehicles 300 when the plurality of unmanned aerial vehicles 300 are about to land at the drone port 100 . The priority determining unit 215 may determine priority based on the unmanned aerial vehicle information of each of the plurality of unmanned aerial vehicles 300 . For example, the priority determining unit 215 gives the highest priority to the unmanned aerial vehicle 300 with the shortest remaining flight time, and lowers the priority as the remaining flight time becomes longer.

The landing control unit 210 causes the presentation control unit 220 to present the guidance marker 112 . The presentation control section 220 presents the guidance marker 112 according to the instruction from the landing control section 210 .

For example, the presentation control unit 220 causes a liquid crystal display, an organic EL display, or the like arranged in the drone port 100 such that the display area faces upward, by the landing point determination unit 211 in the display area. A guidance marker 112 is displayed at a position corresponding to the determined landing point.

Also, the presentation control unit 220 causes the electronic paper arranged in the drone port 100 to display the guidance marker 112 at a position corresponding to the landing point determined by the landing point determination unit 211 in the display area, for example. .

The presentation control unit 220 may present the guidance marker 112 for the unmanned aerial vehicle 300 in response to the proximity determination unit 214 determining that the unmanned aerial vehicle 300 has come close to the drone port 100 . The presentation control unit 220 may end the presentation of the guidance marker 112 when the unmanned aerial vehicle 300 has landed at the landing point.

The presentation control section 220 may move the guidance marker 112 based on the guidance route determined by the guidance route determination section 212 . For example, when the guidance route includes a first point, a second point, and a third point above the landing point, the presentation control unit 220 first presents the guidance marker 112 immediately below the first point. , to move the guidance marker 112 from the first point toward the second point in response to the unmanned aerial vehicle 300 moving to the first point. Unmanned aerial vehicle 300 moves from the first point to the second point as guidance marker 112 moves.

In response to unmanned aerial vehicle 300 moving to the second point, presentation control unit 220 moves guidance marker 112 from the second point toward the third point. Unmanned aerial vehicle 300 moves from the second point to the third point as guidance marker 112 moves. In this manner, the presentation control unit 220 may guide the unmanned aerial vehicle 300 to move along the guidance route determined by the guidance route determination unit 212 by moving the guidance marker 112 .

The presentation control unit 220 may change the size of the guidance marker 112 based on the distance between the unmanned aerial vehicle 300 and the drone port 100 acquired by the distance acquisition unit 213 . For example, the presentation control unit 220 reduces the size of the guidance marker 112 as the distance between the unmanned aerial vehicle 300 and the drone port 100 is shorter. For example, presentation controller 220 reduces the size of guidance marker 112 as unmanned aerial vehicle 300 approaches drone port 100 . As a result, the unmanned aerial vehicle 300 can be guided to the landing point more precisely.

The presentation control unit 220 may cause the unmanned aerial vehicle 300 to present the guidance marker 112 including identification information for identifying the guidance marker 112 corresponding to the unmanned aerial vehicle 300 . The identification information is, for example, unmanned aerial vehicle identification information. Also, the identification information may be one-time information.

The presentation control unit 220 may cause the guidance marker 112 including information related to the drone port 100 to be presented. The presentation control unit 220 presents, for example, the guidance marker 112 including notification information that notifies that the unmanned aerial vehicle 300 cannot land at the drone port 100 . The presentation control unit 220 controls the guidance marker 112 that does not include notification information for notifying that the unmanned aerial vehicle 300 cannot land on the drone port 100 in response to the change to a situation in which the unmanned aerial vehicle 300 can land on the drone port 100. , or the drone port 100 is caused to present a guidance marker 112 including notification information that notifies that the unmanned aerial vehicle 300 can land.

FIG. 4 schematically shows an example of a mechanical flip board 130. As shown in FIG. Mechanical flip board 130 may be an example of presenter 110 .

The mechanical flip board 130 has a plurality of boards 132 having different colors on the first side and the second side. A mechanical flip board 130 can present any marker by rotating each of the plurality of boards 132 .

The mechanical flip board 130 can rotate each of the plurality of boards 132 around a rotation axis 134 by, for example, a plurality of electromagnets. Further, the mechanical flip board 130 can rotate each of the plurality of boards 132 about the rotation axis 134 by, for example, a plurality of motors.

As long as the color of the first surface and the color of the second surface are different, each color may be an arbitrary color. The example shown in FIG. 4 illustrates the case where the first surface is black and the second surface is white. The material of the first surface may be a light absorbing material and the material of the second surface may be a light reflecting material.

The mechanical flip board 130 may have a plurality of boards 132 arranged in a matrix, as shown in FIG. can be

The presentation control unit 220 may control the mechanical flip board 130 to present the guide marker 112 at a position corresponding to the landing point determined by the landing point determination unit 211 of the mechanical flip board 130.

By adopting the mechanical flip board 130 as the presenter 110, it is possible to present the large guide marker 112 that can be visually recognized from a distance without using a display. Further, by using a light absorbing material for the first surface and a light reflecting material for the second surface, it is possible for the unmanned aerial vehicle 300 to read the guidance marker 112 even under strong sunlight. In addition, it is possible to allow the unmanned aerial vehicle 300 to read the guidance marker 112 even under illumination at night. Also, at night, the projection of light from the unmanned aerial vehicle 300 can also allow the unmanned aerial vehicle 300 to read 112 .

As the material of the board 132, a material compatible with infrared rays may be used. This allows the infrared camera of unmanned aerial vehicle 300 to read guidance marker 112 .

FIG. 5 schematically shows an example of a light emitting device 140. As shown in FIG. Light emitting device 140 may be an example of presenter 110 .

The light-emitting device 140 has a plurality of light-emitting portions 142 arranged in a matrix. The multiple light emitting units 142 are, for example, LEDs (light emitting diodes). Light-emitting device 140 can present a marker at an arbitrary position in light-emitting device 140 by controlling light emission of each of light-emitting units 142 .

The light emitting device 140 presents, for example, a guidance marker 112 consisting of four points as illustrated in FIG. The light-emitting device 140 can move the guide marker 112 by continuously changing the four light-emitting positions. Also, the light emitting device 140 can change the size of the guide marker 112 by adjusting the intervals between the four points. Each of the multiple light emitting units 142 may be capable of emitting multiple colors.

The presentation control unit 220 causes the light-emitting device 140 to present the guidance marker 112 by causing the plurality of light-emitting units 142 of the light-emitting device 140 at positions corresponding to the landing points determined by the landing point determination unit 211 to emit light. can be controlled as follows. The presentation control unit 220 may change the size of the guidance marker 112 by changing the distance between the plurality of light emitting units 142 that emit light according to the distance between the drone port 100 and the unmanned aerial vehicle 300, for example.

The presentation control unit 220 may cause the light emitting device 140 to present guide markers 112 of different colors as the guide markers 112 for each of the plurality of unmanned aerial vehicles 300 . For example, the presentation control unit 220 causes the first unmanned aerial vehicle 300 to present the red guidance marker 112 and the second unmanned aerial vehicle 300 to present the blue guidance marker 112 .

The presentation control unit 220 may control transmission of information to the unmanned aerial vehicle 300 by optical communication using light emitted by the light emitting device 140 . For example, the presentation control unit 220 causes the light-emitting device 140 to express information to be transmitted to the unmanned aerial vehicle 300 by a light-emitting pattern using flashing, color, or the like. Unmanned aerial vehicle 300 can acquire information from the light emission pattern read by the camera.

FIG. 6 schematically shows another example of system 10 . Here, differences from the system 10 of FIG. 1 are mainly described. In system 10 shown in FIG. 6, projector 150 presents guiding markers 152 .

The projector 150 emits light toward the drone port 100 . The presentation control section 220 may control the projector 150 to present the guidance marker 152 at the landing point determined by the landing point determination section 211 .

FIG. 7 schematically shows an example of a hardware configuration of a computer 1200 functioning as the management device 200. As shown in FIG. Programs installed on the computer 1200 cause the computer 1200 to function as one or more "parts" of the apparatus of the present embodiments, or cause the computer 1200 to operate or perform operations associated with the apparatus of the present invention. Multiple "units" can be executed and/or the computer 1200 can be caused to execute the process or steps of the process according to the present invention. Such programs may be executed by CPU 1212 to cause computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

Computer 1200 according to this embodiment includes CPU 1212 , RAM 1214 , and graphics controller 1216 , which are interconnected by host controller 1210 . Computer 1200 also includes input/output units such as communication interface 1222 , storage device 1224 , DVD drive 1226 , and IC card drive, which are connected to host controller 1210 via input/output controller 1220 . DVD drive 1226 may be a DVD-ROM drive, a DVD-RAM drive, and the like. Storage devices 1224 may be hard disk drives, solid state drives, and the like. Computer 1200 also includes legacy input/output units, such as ROM 1230 and keyboard, which are connected to input/output controller 1220 via input/output chip 1240 .

The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. Graphics controller 1216 retrieves image data generated by CPU 1212 into a frame buffer or the like provided in RAM 1214 or itself, and causes the image data to be displayed on display device 1218 .

Communication interface 1222 communicates with other electronic devices over a network. Storage device 1224 stores programs and data used by CPU 1212 within computer 1200 . DVD drive 1226 reads programs or data from DVD-ROM 1227 or the like and provides them to storage device 1224 . The IC card drive reads programs and data from IC cards and/or writes programs and data to IC cards.

ROM 1230 stores therein programs that are dependent on the hardware of computer 1200, such as a boot program that is executed by computer 1200 upon activation. Input/output chip 1240 may also connect various input/output units to input/output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, and the like.

The program is provided by a computer-readable storage medium such as DVD-ROM 1227 or IC card. The program is read from a computer-readable storage medium, installed in storage device 1224 , RAM 1214 , or ROM 1230 , which are also examples of computer-readable storage media, and executed by CPU 1212 . The information processing described within these programs is read by computer 1200 to provide coordination between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing information operations or processing according to the use of computer 1200 .

For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded into the RAM 1214 and sends communication processing to the communication interface 1222 based on the processing described in the communication program. you can command. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as a RAM 1214, a storage device 1224, a DVD-ROM 1227, or an IC card, and transmits the read transmission data. Data is transmitted to the network, or received data received from the network is written in a receive buffer area or the like provided on the recording medium.

In addition, the CPU 1212 causes the RAM 1214 to read all or necessary portions of files or databases stored in external recording media such as the storage device 1224, DVD drive 1226 (DVD-ROM 1227), IC card, etc. Various types of processing may be performed on the data. CPU 1212 may then write back the processed data to an external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on recording media and subjected to information processing. CPU 1212 performs various types of operations on data read from RAM 1214, information processing, conditional decisions, conditional branching, unconditional branching, and information retrieval, which are described throughout this disclosure and are specified by instruction sequences of programs. Various types of processing may be performed, including /replace, etc., and the results written back to RAM 1214 . In addition, the CPU 1212 may search for information in a file in a recording medium, a database, or the like. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 selects the first attribute from among the plurality of entries. search for an entry that matches the specified condition of the attribute value of the attribute, read the attribute value of the second attribute stored in the entry, and thereby determine the first attribute that satisfies the predetermined condition An attribute value of the associated second attribute may be obtained.

The programs or software modules described above may be stored in a computer-readable storage medium on or near computer 1200 . Also, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, whereby the program can be transferred to the computer 1200 via the network. offer.

The blocks in the flowcharts and block diagrams in this embodiment may represent steps in the process in which the operations are performed or "parts" of the apparatus responsible for performing the operations. Certain steps and "portions" may be provided with dedicated circuitry, programmable circuitry provided with computer readable instructions stored on a computer readable storage medium, and/or computer readable instructions provided with computer readable instructions stored on a computer readable storage medium. It may be implemented by a processor. Dedicated circuitry may include digital and/or analog hardware circuitry, and may include integrated circuits (ICs) and/or discrete circuitry. Programmable circuits, such as Field Programmable Gate Arrays (FPGAs), Programmable Logic Arrays (PLAs), etc., perform AND, OR, EXCLUSIVE OR, NOT AND, NOT OR, and other logical operations. , flip-flops, registers, and memory elements.

A computer-readable storage medium may comprise any tangible device capable of storing instructions to be executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon may be illustrated in flowchart or block diagram form. It will comprise an article of manufacture containing instructions that can be executed to create means for performing specified operations. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer readable storage media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory) , electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc, memory stick , integrated circuit cards, and the like.

The computer readable instructions may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or object oriented programming such as Smalltalk, JAVA, C++, etc. and any combination of one or more programming languages, including conventional procedural programming languages, such as the "C" programming language or similar programming languages. good.

Computer readable instructions are used to produce means for a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or programmable circuits to perform the operations specified in the flowchart or block diagrams. A general purpose computer, special purpose computer, or other programmable data processor, locally or over a wide area network (WAN) such as the Internet, etc., to execute such computer readable instructions. It may be provided in the processor of the device or in a programmable circuit. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various modifications or improvements can be made to the above embodiments. It is clear from the description of the scope of the claims that forms with such modifications or improvements can also be included in the technical scope of the present invention.

The execution order of each process such as actions, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is etc., and it should be noted that they can be implemented in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the specification, and the drawings, even if the description is made using "first," "next," etc. for convenience, it means that it is essential to carry out in this order. not a thing

10 system, 20 network, 30 wireless base station, 100 drone port, 110 presenter, 112 guidance marker, 122 antenna, 124 anemometer, 126 camera, 130 mechanical flip board, 132 board, 140 light emitting device, 142 light emitting part, 150 projector, 152 guidance marker, 200 management device, 202 stop information acquisition unit, 204 stop information storage unit, 210 landing control unit, 211 landing point determination unit, 212 guidance route determination unit, 213 distance acquisition unit, 214 proximity determination Section, 215 Priority Order Determination Section, 300 Unmanned Aircraft, 400 UTM, 1200 Computer, 1210 Host Controller, 1212 CPU, 1214 RAM, 1216 Graphic Controller, 1218 Display Device, 1220 Input/Output Controller, 1222 Communication Interface, 1224 Storage Device, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 input/output chip

Claims (18)

A management device for managing the landing of the unmanned aerial vehicle at a stop where the unmanned aerial vehicle can stop,
a landing point determination unit that determines a landing point at which the unmanned aerial vehicle lands in the parking area;
a guidance route determination unit that determines a guidance route for guiding the unmanned aerial vehicle to the landing point;
A presentation control unit for presenting a guidance marker at the landing point for guiding the unmanned aerial vehicle, wherein information to be transmitted to the unmanned aerial vehicle is included in the guidance marker, and the guidance marker is displayed based on the guidance route. a presentation control unit for moving and
The management device , wherein the presentation control unit encodes information to be transmitted to the unmanned aerial vehicle into the guidance marker, which is a bar code or a QR code, and moves the guidance marker based on the guidance route . a proximity determination unit that determines that the unmanned aerial vehicle has approached the stop when the distance between the stop and the unmanned aerial vehicle becomes shorter than a predetermined distance;
The management device according to claim 1, wherein the presentation control unit presents the guidance marker at the landing point in response to determination that the unmanned aerial vehicle has approached the stop. The management device according to claim 1 or 2, wherein the presentation control unit terminates presentation of the guidance marker when the unmanned aerial vehicle has landed at the landing point. a distance acquisition unit that acquires the distance between the stop and the unmanned aerial vehicle;
The management device according to any one of claims 1 to 3, wherein the presentation control unit changes the size of the guidance marker based on the distance between the stop and the unmanned aerial vehicle. The management device according to claim 4, wherein the presentation control unit reduces the size of the guide marker as the distance between the stop and the unmanned aerial vehicle is shorter. The management according to any one of claims 1 to 5, wherein the presentation control unit causes the unmanned aerial vehicle to present the guidance marker including identification information for identifying the guidance marker corresponding to the unmanned aerial vehicle. Device. The management device according to any one of claims 1 to 6, wherein the presentation control unit presents the guide marker including stop related information related to the stop. 8. The management device according to claim 7, wherein said stop related information includes notification information notifying that said unmanned aircraft cannot land at said stop. 9. The presentation control unit according to any one of claims 1 to 8, wherein the plurality of guidance markers for guiding each of the plurality of unmanned aerial vehicles are presented at respective landing points of the plurality of unmanned aerial vehicles. management device. The presentation control unit displays the guide marker at a position corresponding to the landing point in the display area on a display arranged in the parking area so that the display area faces upward. Management device according to any one of claims 1 to 8, for controlling. 9. The presentation control unit controls the electronic paper placed at the stop to display the guide marker at a position of the electronic paper corresponding to the landing point. Management device according to paragraph. The management device according to any one of claims 1 to 8, wherein the presentation control unit controls a projector that emits light toward the stop so that the guide marker is displayed at the landing point. The presentation control unit controls a mechanical flip board that presents markers by rotating each of a plurality of boards having a first surface and a second surface with different colors, one of the mechanical flip boards. The management device according to any one of claims 1 to 8, which controls to display the guidance marker at a position corresponding to a landing point. 13. Management device according to any one of claims 10 to 12, wherein said guiding marker is a bar code. The presentation control unit presents the guidance marker by causing a light-emitting device having a plurality of light-emitting units arranged at the stop to emit light from a plurality of light-emitting units at positions corresponding to the landing point of the light-emitting device. 9. The management device according to any one of claims 1 to 8, which controls to allow A program for causing a computer to function as the management device according to any one of claims 1 to 15. A management device according to any one of claims 1 to 15;
A system comprising: the unmanned aerial vehicle; A management method executed by a management device for managing the landing of the unmanned aerial vehicle at a stop where the unmanned aerial vehicle can stop, comprising:
a landing point determination step of determining a landing point for landing the unmanned aerial vehicle in the parking lot;
a guidance route determination step of determining a guidance route for guiding the unmanned aerial vehicle to the landing point;
a presentation control step of presenting a guidance marker at the landing point for guiding the unmanned aerial vehicle, wherein information to be transmitted to the unmanned aerial vehicle is included in the guidance marker, and the guidance marker is displayed based on the guidance route. a presentation control stage that moves and
The management method , wherein the presentation control step encodes information to be transmitted to the unmanned aerial vehicle into the guidance marker, which is a barcode or QR code, and moves the guidance marker based on the guidance route .

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