JP2007093045A - Command device and command method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a user rapidly obtain/determine circumstances and rapidly transmit an execution command to unmanned vehicles 200a to 200c in a command support device 100 (command device) for transmitting the execution command to the unmanned vehicles 200a to 200c (execution device) and remote-controlling the unmanned vehicles 200a to 200c. <P>SOLUTION: A map of a region where the unmanned vehicles 200a to 200c are active (action region map), information of the region (region information), position information of the unmanned vehicles 200a to 200c, and information collected by the unmanned vehicles 200a to 200c (collected information) are displayed with the usage of a display device 110 (display input device). The user inputs the execution command to the unmanned vehicles 200a to 200c by indicating a figure displayed on a display screen of the display device 110, and an unmanned vehicle communication part 170 (execution command notifying part, execution device information acquiring part) transmits it to the unmanned vehicles 200a to 200c. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a command device that transmits execution commands to a plurality of execution devices.

  In a system in which an execution command is transmitted to a large number of execution devices and remotely controlled, a human may determine information collected by the execution device and determine an execution command based on the determination result.

For example, in recent years, unmanned aircraft such as UAVs (Unmanned Aerial Vehicles) and UGVs (Unmanned Ground Vehicles) have been used for various operations such as information collection, transportation of goods, and battles in conflict areas. It has been a great achievement.
In order to achieve further results, the US military is considering cooperation between multiple unmanned aircraft and other systems.
For example, the US Navy's MMH (Multi-Mission Helicopter) / UAV collaboration concept aims to realize sharing of sensor information.
In addition, construction of an integrated operation system for unmanned aircraft by the US Army, Air, Sea, and Air Forces is being promoted.
Currently, research and development related to information integration of unmanned aircraft utilizing a network is underway, and JAUS (Joint Architecture for Integrated System) and JUSC2 (Joint Unmanned Systems Common Control: technology verification control common to unmanned systems). Has been done.
In particular, the ICWS (Integration Combat Weapons System) program, one of the JUSC2 development programs, conducts battle experiments with high-speed boats and multiple unmanned aircraft, and displays information necessary to control all unmanned aircraft on a single screen. Is possible (FIG. 20).
Defense Technology Journal, December 2004 issue, P16-P25, "Trends of defense drones-1st" General overview of drones and underwater / water drones "-" Defense Technology Journal, February 2005, P14-P24, “Trends in Unmanned Aerial Vehicles for Defense-Third“ Aircraft drone and operational environment ”” Defense Technology Journal, March 2005, P20-P31, “Trends in Unmanned Aerial Vehicles for Defense: Final Report“ Trends in Unmanned Vehicle Communication Technology / Integrated Operations and Payloads ””

Thus, when urgency is required for the operation of the execution device, various elements can become a bottleneck.
For example, with respect to a method for presenting collected information to a human being, a large number of execution devices collect information, so the collected information becomes enormous. It is necessary to devise a method for presenting collected information to humans so that accurate judgment can be made from this vast amount of information.
The above-described conventional technology solves this problem.

  In addition, since it is impossible for one person to make a decision based on a large amount of information regarding the decision-making method, a large number of persons are involved in the determination. Therefore, it is necessary to make sure that the execution commands from each person do not contradict each other.

  Furthermore, regarding the method for transmitting the determined execution command to a large number of execution devices, if there are a large number of execution devices, the number of execution commands corresponding to the execution devices becomes enormous. Therefore, it is necessary to devise a method for transmitting the execution command to the execution device.

For example, in the information display device for an unmanned aircraft developed by the ICWS, it is possible to display information collected from a plurality of unmanned aircraft and vehicles on the same screen. However, conventional operation devices, including ICWS operation devices, specialize in displaying collected information, and it is impossible to command or operate multiple unmanned aircraft by multiple people at the same time. Has a problem.
In addition, a conventional command to an unmanned aircraft needs to pass through a plurality of devices such as a control device and a controller of each unmanned aircraft other than the information display device, which takes a lot of time and effort. This induces operational errors and transmission errors, and has the problem that improvements are required for accurate and faster command execution.

  The present invention has been made in order to solve the above-described problems, for example, and an object thereof is to provide a command device that supports the execution of a strategy more accurately and efficiently overlooking the whole.

The command device according to the present invention is:
A communication device that communicates with the execution device;
A display input device that includes a display screen for displaying a map, and detects an indicated position when an arbitrary position on the display screen is indicated;
Using the display input device, the terrain information display unit for displaying the terrain information of the active area of the execution device as an active area map on the display screen;
Using the display input device, based on the information about the current position of the execution device, a graphic indicating the execution device is displayed on the display screen, superimposed on the activity area map displayed by the topographic information display unit. A position information display section;
Using the display input device, a collection information display unit that displays the information collected by the execution device on the display screen, overlaid on the activity area map displayed by the terrain information display unit,
Using the display input device, an execution command input unit that inputs an execution command for commanding the execution device to execute a function;
Using the communication device, an execution command notification unit for notifying the execution device of an execution command for the execution device input by the execution command input unit;
Using the communication device, an execution device information acquisition unit for acquiring information about the current position of the execution device notified by the execution device and information collected by the execution device;
It is characterized by having.

  According to the present invention, for example, information acquired by a plurality of unmanned aircraft can be collectively managed and the appropriate information presented to the user in the same device, thereby facilitating information sharing and situation recognition by a plurality of people. By allowing a plurality of users to directly command a plurality of unmanned aircraft directly from the spot, it is possible to support the execution of the operation more accurately and efficiently overlooking the whole.

Embodiment 1 FIG.
In this embodiment, a command support device (an example of a command device) that enables simultaneous operation of a wide variety of unmanned aircraft (an example of an execution device) such as UAV and UGV will be described.

FIG. 1 is a hardware configuration diagram illustrating an example of a hardware configuration of the command support apparatus 100 according to this embodiment.
The command support device 100 includes a CPU 901 (Central Processing Unit), a storage device 902 (for example, an internal memory such as a ROM (Read Only Memory) / RAM (Random Access Memory), an external memory such as a hard disk device, etc.), It includes a display device 110 (an example of a display input device), a communication device 903, and a network interface device 904.

The CPU 901 realizes each functional block described below by executing a program or the like stored in the storage device 902.
The storage device 902 stores a program group and a file group executed by the CPU 901.

The program group stored in the storage device 902 stores programs that execute the functions described as “˜unit” and “˜agent” in the description of the embodiments described below. The program is read and executed by the CPU 901.
In the file group, what is described as “determination result of”, “calculation result of”, and “processing result of” in the description of the embodiment described below is stored as “˜file”. .
In addition, the arrow portion of the flowchart described in the description of the embodiment described below mainly indicates input / output of data, and for the input / output of the data, the data is RAM or a magnetic disk device, FD (Flexible Disk), It is recorded on other recording media such as an optical disc, CD (compact disc), MD (mini disc), and DVD (Digital Versatile Disk). Alternatively, it is transmitted through a signal line or other transmission medium.

  In addition, what is described as “˜unit” in the description of the embodiment described below may be realized by firmware stored in a ROM. Alternatively, it may be implemented by software alone, hardware alone, a combination of software and hardware, or a combination of firmware.

The display device 110 is a large screen display device having a display screen for displaying image information such as a map and character information.
Further, the display device 110 detects which part of the displayed information is indicated by, for example, a touch panel sensor. Thereby, for example, a user can touch a button displayed on the screen to input a command.
The display device 110 has, for example, a table shape, and has a size that allows the periphery of the display device 110 to be surrounded by several to ten or more people. Thereby, a plurality of users can share the same information by viewing the information displayed on the display device 110 at the same time. The display device 110 may be a wall-hanging type.
As an instruction method, for example, there are methods such as touching the screen with a hand or instructing the screen with a laser pointer or the like. A method using a laser pointer or the like is preferable because an instruction can be given even if it is out of reach.

  The communication device 903 wirelessly communicates with the drone 200, thereby transmitting a command (command) to the drone 200 and receiving information from the drone 200.

  The network interface device 904 is connected to, for example, a LAN (Local Area Network) or the Internet, and enables information exchange between the command support device 100 and other devices.

FIG. 2 is a block configuration diagram showing an example of a functional block configuration of the command support apparatus 100 in this embodiment.
The command support device 100 includes a display device 110, a display information management unit 120, an unmanned aircraft management unit 130, an external information management unit 140 (an example of an area information acquisition unit), a database 150 (an example of a terrain information storage unit), a user authentication unit 160 (an example of a user authentication unit) and a drone communication unit 170 (an example of an execution command notification unit and an execution device information acquisition unit).

The display information management unit 120 manages unmanned aerial vehicle information and terrain information displayed on the display device 110, and generates a screen using the acquired data.
The drone management unit 130 is an example of an unmanned machine agent 131 (131a to 131c, an execution device information storage unit, and a position information storage unit) that manages information and possessed functions of the displayed individual drone 200 (200a to 200c). ) And execute control of individual drones.
The external information management unit 140 receives information (external information, area information) from an external information source 300 such as a radar device or an artificial satellite that provides information on the area where the drone 200 is deployed, such as monitoring information and weather information. And provided to the display information management unit 120 as display information.
The database 150 includes all data such as information and command history acquired by the drone 200, topographic information developed by the drone acquired by the external information management unit 140, basic data of each drone, and basic scenario of the operation. Save.
The user authentication unit 160 performs user management and authentication for the authority to instruct the drone.
The drone communication unit 170 manages communication with the drone 200.

FIG. 3 is a detailed block diagram illustrating an example of details of the display information management unit 120 in this embodiment.
The display information management unit 120 includes a terrain information display unit 121, a zone information display unit 122, a position information display unit 123, a collection information display unit 124, an execution command input unit 125, and a display command input unit 126.

The terrain information display unit 121 generates a map of an area in which the drone 200 is active (activity area map) based on the terrain information stored in the database 150 using the storage device 902 and displays the map using the display device 110. .
The area information display unit 122 displays external information (area information) such as weather information acquired from the external information source 300 by the external information management unit 140 on the activity area map and displays it using the display device 110.
The position information display unit 123 displays a graphic (for example, icons 401 a to 401 c) indicating the drone 200 based on the position information stored by the drone agent 131 of the drone management unit 130 using the storage device 902. The position is obtained, superimposed on the activity area map, and displayed using the display device 110.
The collection information display unit 124 receives information (collection information) such as photographing data and the remaining amount of fuel stored by the unmanned aircraft agent 131 of the unmanned aircraft management unit 130 using the storage device 902 in accordance with a user instruction. The information is displayed on the active area map using the display device 110.
The execution command input unit 125 displays a graphic (for example, a photographing button) indicating a command that can be executed by the drone 200 selected by the user in the vicinity of the graphic indicating the drone 200 using the display device 110. When the user instructs the displayed graphic, the command indicated by the graphic is input. The execution command input unit 125 notifies the drone agent 131 of the drone management unit 130 of the input command as an execution command.
The display command input unit 126 uses the display device 110 to display a figure (for example, an image display button) indicating information (for example, the remaining amount of fuel, shooting data, and the like) about the unmanned machine 200 selected by the user. It is displayed in the vicinity of the figure indicating 200. When the user instructs the displayed graphic, a display command for requesting the drone agent 131 of the drone management unit 130 to acquire information indicated by the graphic is notified. The drone agent 131 notifies the collection information display unit 124 of the information requested by the display command. The collected information display unit 124 displays the information requested by the display command using the display device 110.

  FIG. 4 is a diagram illustrating an example of a state during operation of the command support apparatus 100 according to this embodiment.

The command support apparatus 100 according to the present embodiment is unmanned, such as terrain information of a region in which a strategy is executed, position information obtained from a plurality of unmanned aircraft 200 under operation management, shooting data, operational status of the unmanned aircraft 200, and the like. All the information obtained from the machine 200 is stored and managed, information is displayed in response to a user request, and all the unmanned machines 200 displaying user commands such as information collection and movement are simultaneously instructed on the same screen. it can.
The drone 200 transmits the collected information and the retained internal information to the command support apparatus 100, and receives a user command to execute a function installed in the drone 200.

  In FIG. 4, the command support apparatus 100 displays terrain information, the position of the drone 200, information requested by the user, and the like, and executes a function to execute the movement of the drone 200 and functions attached to the drone 200. Command).

Assume that a strategy using the drone 200 determined in advance has been executed according to the start time.
At that time, the command support apparatus 100 acquires the basic scenario of the strategy and the basic data of the unmanned aircraft from the database 150 at the time of activation, and the unmanned aircraft agents of the unmanned aircraft 200a to 200c in the internal processing area. 131a to 131c are created and management processing of the drone 200 is started. The drone management unit 130 can process a plurality of drone agents 131 independently.

The drone agent 131 is resident in a processing area (such as a memory in the computer) of the drone management unit 130 as a calculation process of the drone 200 that is actually acting, and the user until the drone 200 completes the action. And the mediation of interaction between the drone 200 and the data management of the drone.
The drone management unit 130 generates the drone agent 131 based on the basic data of the agent acquired from the database 150 in response to the communication from the drone 200, and starts processing.

The drone agent 131 acts as a proxy for the drone 200 with respect to the display information management unit 120 and the like. That is, a command for the drone 200 is received from the display information management unit 120, and information collected by the drone 200 is stored and delivered to the display information management unit 120 or the like.
For example, when the drone agent 131 receives a movement command designating a destination, the drone agent 131 calculates an actual movement route based on the terrain information stored in the database 150 (terrain information storage unit) and the like. Generate directives. Thereby, the display information management unit 120 or the like only needs to issue an abstract command. In addition, it is possible to reduce the amount of calculation in the unmanned aerial vehicle 200 having a lower calculation capability than the command support apparatus 100.

The drone agent 131 is based on the data of the drone 200 (flight speed, fuel efficiency, equipment, weapons, etc.) and the basic scenario of the operation currently being executed (initial purpose, fuel, missile number, etc.). Hold as data.
Further, the drone agent 131 periodically acquires the current situation of the drone 200 such as fuel consumption over time and a decrease in the number of missiles due to an attack using the drone communication unit 170, and the drone agent 131 stores the current situation in the drone agent 131. It is temporarily recorded as internal data along with the time of day, and information is periodically transmitted to the database 150.

The drone agent 131 (position information storage unit, execution device information storage unit) receives the position information and collected information of the drone 200 transmitted by the drone 200 and received by the drone communication unit 170 (execution device information acquisition unit). Remember and manage. In this example, these pieces of information are managed by registering them in the database 150 and storing them in the storage device 902. However, the data may be stored directly in the storage device 902 without using the database 150.
When an inquiry about collection information such as the position information of the drone 200 and the remaining amount of fuel is received from the display command input unit 126 of the display information management unit 120, the drone agent 131 stores and manages the information. Therefore, it is not necessary to communicate with the drone 200 each time, and necessary information can be displayed quickly.

Normally, the command support apparatus 100 displays on the display device 110 information on the location where the drone 200 is deployed and current position information on the drone 200 moment by moment.
The location information includes terrain information developed by the drone, radar monitoring information provided by the external information source 300, weather information, and the like (area information).
In the display information management unit 120, the terrain information display unit 121 acquires map information (terrain information) from the database 150 (terrain information storage unit).
Further, the area information display unit 122 acquires information (area information) of other places from the external information management unit 140 (area information acquisition unit).
Further, the position information display unit 123 acquires the position information of the drone 200 from the drone management unit 130.
The display information management unit 120 maps other information to the terrain information and displays the information using the display device 110.
The display device 110 displays the drone 200 and surrounding conditions on the display screen, and a plurality of users can view it simultaneously. The display device 110 includes a large touch panel screen in order to perform operations such as information display and commands on the same screen.

  In addition, since the drone 200 of this embodiment is operated by the command support device 100, for example, the function of measuring the current position using GPS (Global Positioning System), the remaining amount of fuel and missiles A function that collects resource information such as, a function that monitors the status of internal computers and engines and other abnormalities, information that is collected on demand, or data that has been collected on demand or specified conditions , A function for receiving a command from the outside and controlling the execution and behavior of the process, and a function for communicating with the command support apparatus 100 according to a set condition, for example, a frequency or a protocol.

As data managed by the drone agent 131, there are, for example, two types of information: cycle information and event information.
The period information is a data string having position information (latitude / longitude), resource information, and state monitoring information inside the drone periodically acquired from the drone 200 with the current time as a main key.
The event information is information other than the periodic information generated by processing by some external factor such as an instruction from the user, an execution result of the instruction, action information automatically performed by the unmanned aircraft 200, and the current time Is a data string with a primary key.

The drone agent 131 periodically registers the cycle information and event information of the drone 200 in the database 150.
Similarly, the external information management unit 140 adds time data to information acquired from the external information source 300 and registers it in the database 150.

When the user (user) wants to check the information of the drone 200 of interest, for example, the image information taken by the drone 200 or the remaining fuel of the drone 200 and the available time, the display device 110. It is possible to touch the icon of the drone 200 displayed above and check the information on the display device 110 according to the displayed screen.
At this time, the fact that the drone 200 is designated on the display device 110 is transmitted to the drone agent 131 via the display information management unit 120.

The display device 110 (display input device) detects that the user has designated an arbitrary position on the display screen.
The display information management unit 120 determines what is displayed there from the indicated position detected by the display device 110.
When the display information management unit 120 determines that what is displayed there is an icon of the drone 200, the display information management unit 120 determines that the drone 200 is selected.
Alternatively, it is possible to determine that the drone 200 has been selected by pointing around the icon of the drone 200 without giving an exact indication of the icon of the drone 200 in consideration of the error of the designated position. .

The drone agent 131 searches and selects information according to the request and the display status from the database 150 and internal information, and transmits the information to the collected information display unit 124 of the display information management unit 120.
The collected information display unit 124 displays the data as a separate screen on the display device 110 in the vicinity of the icon indicating the designated drone 200.

  Hereinafter, as an example of the unmanned aerial vehicle 200, a case where two aircraft unmanned aerial vehicles 200a and 200b and a single land-based unmanned aircraft 200c are operated by four users will be described, and the operation will be described.

The drone 200a, the drone 200b, and the drone 200c are activated at a designated time according to the strategy.
At this time, the command support apparatus 100 has already been activated and is waiting until information is sent from the drones 200a to 200c.
The drone 200a, the drone 200b, and the drone 200c are activated, and at the same time, transmit the cycle information to the command unit (the command support apparatus 100).
The drone management unit 130 receives the periodic information transmitted by the unmanned drones 200a to 200c via the drone communication unit 170, generates the unmanned drone agents 131a to 131c based on the periodic information, and performs processing. To start.
The drone agents 131a to 131c transmit the position information of the drones 200a to 200c obtained from the cycle information to the position information display unit 123 of the display information management unit 120.

The display information management unit 120 first acquires the basic scenario of the strategy from the database 150.
The basic scenario data includes, for example, position information at the start of the operation.
The display information management unit 120 acquires information about the surrounding map, building, base, and the like from the database 150 from the position information in the basic scenario. At the same time, the information of the external information source 300 obtained from the external information management unit 140 and the position information of each of the drones 200a to 200c obtained from the drone management unit 130 are combined to generate display data and display it on the display device 110. . Thereafter, the periodic information of each of the drones 200a to 200c and the external information from the external information management unit 140 are periodically acquired, the display data is changed, and displayed on the display device 110.

FIG. 5 is a flowchart showing an example of the flow of a command method process (execution apparatus information reception process) using the command support apparatus 100 according to this embodiment.
In S61, the drone communication unit 170 receives the collected information (including position information) transmitted by the drones 200a to 200c using the communication device 903 (execution device information acquisition step).
In S62, the drone communication unit 170 notifies the received collected information to the corresponding drone agents 131a to 131c.
In S63, the drone agents 131a to 131c store the notified collection information using the storage device 902.
In S64, the drone agents 131a to 131c determine whether the notified collection information is information about a result of executing the execution command notified to the drones 200a to 200c. If it is the execution result of the execution command, the process proceeds to S65.
In S65, the drone agents 131a to 131c notify the collection information (execution result) to the collection information display unit 124.
In S66, the collection information display unit 124 acquires the collection information (execution result) notified by the drone agents 131a to 131c and displays it using the display device 110 (collection information display step).

FIG. 6 is a flowchart showing an example of a flow of a command method (display input process) using the command support apparatus 100 in this embodiment.
In S71, the terrain information display unit 121 acquires terrain information from the database 150, generates an active area map based on the acquired terrain information, and displays it using the display device 110 (terrain information display step).
In S72, the area information display unit 122 acquires external information (area information) from the external information management unit 140 and displays it using the display device 110 (area information display process).
In S73, the position information display unit 123 acquires position information from the drone agents 131a to 131c, calculates positions for displaying the icons 401a to 401c of the drones 200a to 200c based on the acquired position information, and displays the display device. 110 is displayed (position information display step).
In S74, it is determined whether or not the display device 110 has detected a user instruction. If detected, the process proceeds to S75.
In S75, the execution command input unit 125 and the display command input unit 126 determine whether the input content according to the user's instruction is an execution command or a display command. If it is an execution command, the process proceeds to S81. If it is a display command, the process proceeds to S91 (execution command input process / display command input process).

In S81, the execution command input unit 125 notifies the input execution command to the drone agent 131 of the selected drone 200.
In S <b> 82, the drone agent 131 notifies the drone communication unit 170 of the notified execution command.
In S <b> 83, the drone communication unit 170 transmits the notified execution command to the selected drone 200 using the communication device 903.

In S91, the display command input unit 126 notifies the input display command to the unmanned aircraft agent 131 of the selected unmanned aircraft 200.
In S92, the drone agent 131 notifies the collection information display unit 124 of information (collection information) specified by the display command.
In S93, the collection information display unit 124 displays the notified collection information using the display device 110 (collection information display step).

FIG. 7 is a flowchart showing an example of the flow of operations when conducting a command using the command support apparatus 100 in this embodiment.
FIG. 8 is a diagram showing an example of a screen displayed on the display device 110 for the unmanned aerial vehicle 200 assuming one aircraft unmanned aerial vehicle in this embodiment.

The user 801 selects the drone 200a displayed on the display device 110 (S01).
The display information management unit 120 (the execution command input unit 125 and the display command input unit 126) acquires information from the corresponding unmanned aircraft agent 131a. The display information management unit 120 generates the selection screen W21 based on the acquired information. The display information management unit 120 displays the generated selection screen W21 using the display device 110.
Here, on the selection screen W21, “photographed image display”, “unmanned aircraft status display”, “function execution”, and “end” for ending the operation are displayed as selection items.

The display information management unit 120 (the execution command input unit 125 and the display command input unit 126) displays the selection screen W21 for each of the selected plurality of unmanned aircraft 200 when a plurality of unmanned devices 200 are selected at the same time. indicate.
Therefore, while the screen related to the drone 200a is already displayed, the other user 802 selects the other unmanned machine 200b, and the other user 804 selects the other unmanned machine 200c. In addition, the selection screen W21 can be displayed on the display device 110.

When the user 801 wants to see the captured image in the past, the user 801 designates “captured image display” by touching “captured image display” on the selection screen W21 (S02).
The display device 110 detects this, and the display command input unit 126 determines that a “captured image display” command has been input.
Thereafter, the display command input unit 126 of the display information management unit 120 transmits a command (image data list request) to the drone agent 131a of the selected drone 200a.
The drone agent 131a searches the database 150, takes a picture of the past from the event information, acquires a list of displayable image data, and transmits it to the display command input unit 126 of the display information management unit 120.
The display command input unit 126 of the display information management unit 120 generates a captured image selection screen W22 from the transmitted information and displays it on the display device 110. On the photographed image selection screen W22, the photographing date / time, location, and the like of images photographed in the past are displayed as a list.

Here, the user 801 touches an image title in the list to designate an image to be viewed (S03).
The display device 110 detects this, and the display command input unit 126 determines which image has been designated. The display command input unit 126 transmits an acquisition request for the designated image data to the drone agent 131a.
The drone agent 131a receives the designation result of the user 801 and acquires the data of the designated image from the database 150.
The drone agent 131a transmits the acquired image data to the collected information display unit 124 of the display information management unit 120.
The collected information display unit 124 of the display information management unit 120 generates the image display screen W19 and displays the image display screen W19 on the display screen of the display device 110 (S04).
As a result, users around the command support apparatus 100 can share and view images almost simultaneously.

When the user finishes viewing the image or performs the next operation, the user designates “End” displayed in each screen and erases the screen.
The display device 110 detects this, and the collected information display unit 124 deletes the image display screen W19 from the display screen of the display device 110.

If the user 802 wants to know the operating status of the drone 200b, the user selects the “unmanned aircraft status display” by touching “unmanned aircraft status display” after displaying the selection screen W21 in the same manner (S02). ).
The display device 110 detects this, and the display command input unit 126 determines that the “unmanned aircraft status display” command has been input.
The display command input unit 126 transmits a drone status acquisition request to the drone agent 131b of the selected drone 200b.
Thereafter, the drone agent 131b acquires the remaining amount of fuel, the cruising time, the failure location, etc. of the drone 200b from the database 150 or internal information, and transmits them to the collected information display unit 124 of the display information management unit 120.
The collected information display unit 124 of the display information management unit 120 generates an unmanned aircraft status display screen W20 based on the acquired information of the unmanned aircraft 200b and displays it on the display device 110.

  Similarly, the user 804 can display the operating status of the drone 200c on the display device 110.

Thereby, a plurality of people can see the operating status of the drone almost simultaneously (S05).
When you have finished viewing the image, or when you want to perform the next operation, specify “End” displayed in each screen and erase the screen.

When the user 801 instructs the drone 200a, “function execution” is designated by touching “function execution” on the selection screen W21 (S02).
The display device 110 detects this, and the execution command input unit 125 determines that the “function execution” command has been input.
The execution command input unit 125 requests the unmanned aircraft agent 131 of the selected unmanned aircraft 200a for a list of currently executable functions.
The drone agent 131 extracts currently executable functions from the internal information, creates a list, and transmits the list to the execution command input unit 125.
Thereafter, the execution command input unit 125 of the display information management unit 120 generates a function execution selection screen W23 based on the list of currently executable functions (execution command candidates) acquired from the drone agent 131a, and displays the display device 110. To display. For example, functions that can be executed at this time are displayed as “photographing”, “movement”, and “attack” on the function execution selection screen W23.

Here, when the user 801 designates “shooting” (S06), a shooting setting screen W24 is displayed. On the shooting setting screen W24, “place”, “time”, and “magnification” are displayed as setting items.
The user 801 considers the position and topography of the drone 200a displayed on the display device 110, information displayed on the drone status display screen W20, and the like, and discusses with the other users the unmanned drone 200a. This is used to determine which place to shoot, and the instruction content is designated in the order of “place”, “time”, and “magnification”.

First, “location” is set (S07).
The user 801 designates a shooting location by touching a desired location on the map displayed on the display device 110.
The display device 110 detects this, and the execution command input unit 125 determines that the shooting location has been designated.
The designated location is transmitted from the execution command input unit 125 of the display information management unit 120 to the drone agent 131a.
The drone agent 131a obtains the remaining amount of fuel and the current position of the drone 200a from the internal information, and calculates whether it can move to the designated location, the estimated arrival time in that case, and whether it can return to the base after shooting. The result is transmitted to the execution command input unit 125 of the display information management unit 120.
The execution command input unit 125 of the display information management unit 120 updates the display content of the shooting setting screen W24 using the processing result of the drone agent 131a.

In addition, when it is possible to move to the shooting location (S08), the shortest estimated arrival time is displayed as an initial setting value of “time”.
Here, when the displayed time is changed by the user 801, “time correction” next to “time” is designated, the input keyboard W27 is displayed on the display device 110, and the desired time is input. (S09).
When a time before the shortest estimated arrival time is input, the input field is reset and re-input is requested.
After the time designation is completed, “magnification” is selected, and after the magnification selection screen W25 is displayed, the magnification is selected (S10).

  If the drone cannot move to the designated place (S08), the place is designated again, waits for the determination result of the drone agent 131a, and thereafter similarly sets "time" and "magnification".

  After completing the setting of “location”, “time”, and “magnification”, the user 801 completes the command to the drone 200a by selecting “execute” on the shooting setting screen W24.

Next, the user authentication unit 160 (user authentication unit) authenticates whether the user 801 has the authority to issue a “shoot” command to the drone 200a.
In the vicinity of the screen displayed at this time, the execution command input unit 125 displays the user authentication screen W30 and the input keyboard W27.

  FIG. 9 is a diagram showing an example of a user authentication screen displayed on the display device 110 in this embodiment.

The user 801 inputs a user name and password on the user authentication screen W30. After entering the user name and password, “authentication” in the user authentication screen W30 is selected.
The display device 110 detects this, and the execution command input unit 125 acquires the user name and password.
After the selection, the user information (user name and password) is unmanned in the drone management unit 130 corresponding to the selected drone 200a by the execution command input unit 125 of the display information management unit 120 together with the command (“shooting” command). To the machine agent 131a.

The drone agent 131a transmits user information and individual information of the drone 200a to the user authentication unit 160, and requests authentication of whether the user can instruct the drone 200a.
The user authentication unit 160 stores a list of unmanned aircraft 200 that can be commanded by the user as data, and determines whether there is an unmanned aircraft 200a in the list using the specified user as a key from the input data. Is transmitted to the drone agent 131a (S11).

  If the authentication fails, the command content is discarded and the function execution selection screen W23 is displayed.

If the authentication is successful, the command (“shooting” command) is transmitted from the drone agent 131 a to the drone 200 a via the drone communication unit 170.
The drone 200a receives this, moves to the designated location according to the command, and captures the designated location.
The drone 200a transmits the execution result and the image data to the command support apparatus 100 after photographing the designated place (S12).

The execution result and photographing data transmitted by the drone 200a are acquired by the drone agent 131a via the drone communication unit 170.
The drone agent 131a holds this as event information and records it in the database 150 at the same time.
The execution result of the event information is transmitted to the collected information display unit 124 of the display information management unit 120. The collected information display unit 124 displays success / failure or the like in the vicinity of the icon 401a of the drone 200a on the display screen of the display device 110.
When the command is successful, the user 801 opens the selection screen W21 and the captured image selection screen W22 and confirms the captured image.

On the other hand, in parallel with the user 801 trying to issue a shooting command to the drone 200a, the user 804 can command the drone 200c displaying information to move.
The user 804 displays the function execution selection screen W23 according to the above-described procedure, and designates “move” on the function execution selection screen W23 (S06), the movement setting screen W26 is displayed.
That is, the display device 110 detects the operation of the user 804, and the execution command input unit 125 displays the movement setting screen W26 using the display device 110.

On the movement setting screen W26, “place” and “time” are displayed as setting items, and the user 804 discusses with the user 803 the destination of the drone and the movement time while viewing the entire situation, and displays the result. Then, the location and time are set by the same operation as the “shooting” command on the shooting setting screen W24 (S13, S14, S15), and a movement command is transmitted to the drone 200c (S16).
That is, the display device 110 detects the operation of the user 804, and the execution command input unit 125 inputs a movement command. The execution command input unit 125 notifies the drone agent 131c of the selected drone 200c. The drone agent 131c notifies the drone communication unit 170 of the movement command. The drone communication unit 170 transmits the notified movement command to the drone 200c using the communication device 903.

  However, the “magnification” is not set for “move”. The execution result of the command is displayed in the vicinity of the icon 401c of the designated unmanned aircraft 200c on the display device 110 in the same manner as the “shooting” command (S17).

On the other hand, almost simultaneously with the other user trying to issue a command to the drone, the user 802 can command the drone 200b displaying information to attack.
The user 802 displays the function execution selection screen W23 according to the above-described procedure, and designates “attack” on the function execution selection screen W23 (S06), the attack setting screen W28 is displayed.
That is, the display device 110 detects the operation of the user 802, and the execution command input unit 125 displays the attack setting screen W28 using the display device 110.

On the attack setting screen W28, “place”, “time”, and “weapon” are displayed as setting items, and the user 802 sets the location and time by the same operation as the “shoot” command on the shooting setting screen W24. Set (S18, S19, S20).
After setting the time, “weapon” is selected on the attack setting screen W28 in the same manner as other items, the weapon selection screen W29 is opened, and the weapon to be used is selected from the displayed weapons.
After the selection, the drone command is transmitted by the same operation as the “shooting” command (S22).
The execution result of the command is displayed in the vicinity of the designated unmanned aircraft 200b on the display device 110 in the same manner as the “shooting” command (S23).

As described above, according to this embodiment, it is possible for a plurality of users to display information collected by individual unmanned aircraft at the same time and to give instructions simultaneously.
As a result, it is possible to instruct commands in a short time without using a plurality of people or devices, obtain execution results, and execute and support operations quickly and accurately by unmanned aircraft. Play.

In this way, since the command to the execution device is input using the display input device that displays the status of the execution device, etc., the user can grasp the situation and issue the command on the spot. There is an effect that can be done.
In addition, the display input device detects that the user has instructed, and inputs a command or the like based on the object displayed at the instructed location, so that operation errors can be reduced and an accurate command can be performed. There is an effect.

  In addition, execution command candidates are displayed in the vicinity of the graphic indicating the execution device displayed on the display screen of the display input device, and the user selects an execution command from the displayed execution command candidates. While the user grasps the command, the command can be selected, and an effect is obtained that a quick judgment can be made.

  In addition, since a plurality of execution commands can be input in parallel using the display input device, a plurality of users can simultaneously input execution commands for a large number of execution devices using a single display input device. This is advantageous in that a prompt command can be input.

  Also, since location information, collected information, etc. are stored using a storage device, when a user wants to know the status of the execution device, information can be quickly displayed without communication with the execution device, and prompt situation determination is possible. There is an effect that can be.

  Moreover, since the information is displayed by inputting a display command for instructing the display of the information collected by the execution device, only the information that the user wants to know can be displayed from the vast amount of information. Play.

  In addition, since information about the active area of the execution device is displayed in an overlapping manner on the active area map, the situation can be easily grasped, and it is possible to make a quick decision.

  In addition, when an execution command is input, the input user is authenticated, and then the execution command is transmitted to the execution device. Therefore, for example, a plurality of users may issue contradictory execution commands to one execution device. There is an effect that can be prevented.

  In addition, since the display input device has a large display screen, a plurality of users can share the same information, and it is possible to prevent execution instructions contradicting each other.

  A command method for giving a command to an execution device using such a command device inputs a command to the execution device using a display input device that displays the status of the execution device and the like. It is possible to grasp and issue a command on the spot, and there is an effect that a quick command can be issued.

Embodiment 2. FIG.
FIG. 10 is a diagram illustrating an example of a functional block configuration of the command support device 100 (an example of a command device) according to this embodiment.

In FIG. 10, the command support apparatus 100 includes an external simulation management unit 180 (simulation execution result prediction unit) in addition to the units described in the first embodiment.
The external simulation management unit 180 transmits necessary information to the simulator 190, collects simulation results, and transmits them to the display information management unit 120 as display data.
The simulator 190 is connected to the command support apparatus 100 via a network.
In this example, the external simulation manager 180 predicts the execution result by acquiring the result of the simulation by the simulator 190 located outside. However, the external simulation management unit 180 may incorporate the simulator 190 and predict the execution result by performing simulation inside.

FIG. 11 is a detailed block diagram showing an example of details of the display information management unit 120 in this embodiment.
The display information management unit 120 includes a simulation execution command input unit 127 and a simulation execution result display unit 128. In addition, the display information management unit 120 includes a topographic information display unit 121, a zone information display unit 122, a position information display unit 123, a collection information display unit 124, an execution command input unit 125, and a display command input unit 126. However, since it is the same as that described with reference to FIG. 3 in Embodiment 1, the description is omitted here.

  The simulation execution command input unit 127 displays a graphic (for example, a simulation command button) indicating a command executable by the drone 200 selected by the user in the vicinity of the graphic indicating the drone 200 using the display device 110. To do. When the user instructs the displayed graphic, the command indicated by the graphic is input. However, the simulation execution command input unit 127 does not notify the input command to the drone agent 131 but notifies the external simulation management unit 180 as a simulation execution command.

  Based on the notified simulation execution command, the external simulation management unit 180 predicts the result of executing the command. The external simulation management unit 180 notifies the simulation execution result display unit 128 of the predicted result as a simulation execution result.

  The simulation execution result display unit 128 displays the simulation execution result notified from the external simulation management unit 180 using the display device 110.

FIG. 12 is a flowchart showing an example of an operation flow (extract) when conducting a command using the command support apparatus 100 in this embodiment.
FIG. 13 is a diagram showing an example of a display screen (extract) in this embodiment.

  In FIG. 13, on the display screen displayed by the command support apparatus 100, a selection screen W33 that enables selection of information on the simulator 190, and simulation settings for performing various settings necessary when the simulator 190 executes simulation. There are a screen W34, a simulation result display screen W35 for displaying a simulation result executed by the simulator 190 under the conditions set on the simulation setting screen W34, and the like.

When the user newly instructs the drone 200 by the command support device 100, the user wants to transmit the command to the drone 200 after grasping in advance the feasibility of the command or the change in the situation after the realization.
Therefore, the user designates the drone 200 to be simulated by touching the icon of the drone 200 displayed on the display device 110 (S01).

  The display device 110 detects this, and the display information management unit 120 determines the selected drone 200. The execution command input unit 125, the display command input unit 126, and the simulation execution command input unit 127 each generate a graphic indicating a selectable command and use the display device 110 to place the graphic near the icon of the selected drone 200. indicate.

  Similar to the first embodiment, when the drone 200 is designated, the selection screen W33 is displayed on the display device 110. At this time, when the simulator 190 related to the unmanned drone 200 selected outside is connected, the selection screen W33 displays “photographed image display” and “unmanned drone status display” as in the first embodiment. “Function execution” can be selected, and “Simulation” is displayed as a selection item.

The drone agent 131 determines whether the connected simulator 190 is related to the designated drone 200. If they are related, the simulation execution command input unit 127 displays “simulation” on the selection screen W33. If they are not related, the simulation execution command input unit 127 does not display “simulation”.
The drone agent 131 holds a list of related simulators 190 as basic data, acquires the name, type, and the like of the currently connected simulator 190 from the display information management unit 120, and determines whether they match the basic data. The result is transmitted to the display information management unit 120.
Based on this information, the simulation execution command input unit 127 of the display information management unit 120 determines whether to display “simulation” in the item of the selection screen W33.

If it is desired to simulate the drone 200 designated by the user, “simulation” is designated by touching “simulation” on the selection screen W33 (S02).
The display device 110 detects this, and the simulation execution command input unit 127 determines that the “simulation” command is selected.
Thereafter, the simulation execution command input unit 127 of the display information management unit 120 acquires information of the simulator 190 connected from the external simulation management unit 180. The simulation execution command input unit 127 generates a simulation setting screen W34 based on the acquired information and displays it on the display device 110.
The external simulation management unit 180 registers necessary conditions of the connected simulator 190 in advance, and transmits information on the corresponding simulator 190 in response to a request from the display information management unit 120.

Similarly to the first embodiment, the user inputs setting items on the simulation setting screen W34, inputs all setting items, and touches “setting completed” to designate “setting completed” (S25).
The display information management unit 120 transmits the setting information to the external simulation management unit 180. The external simulation management unit 180 transmits setting information to the simulator 190 and instructs simulation execution (execution result prediction).
After the simulation is completed, the external simulation management unit 180 acquires the simulation result from the simulator 190 and displays it on the display device 110 as a simulation result display screen W35 (S26).

For example, it is assumed that a simulator 190 that can simulate a change in terrain caused by a bomb is connected to the command support apparatus 100.
The simulator 190 is registered in the drone agent 131 as a simulator that can simulate the effect of an air drone attack.

When the user selects the air drone currently controlled and selects the simulation, the location and the type and number of weapons are set on the simulation setting screen W34.
The setting information is transmitted to the simulator 190 via the external simulation management unit 180, and the terrain change result due to the attack at the designated place is transmitted to the external simulation management unit 180.
This result can be confirmed by a plurality of users using the command support apparatus 100 to discuss the effectiveness of the command, and based on the result, the drone 200 can be commanded immediately on the display device 110. is there.

As described above, according to this embodiment, the user displays the instruction simulation (simulation) result on the display device 110 before instructing the unmanned aerial vehicle 200, thereby preliminarily confirming the validity of the instruction content. There is an effect that it is possible to make a judgment.
In addition, selecting the best instruction from a plurality of instruction candidates also makes it possible to display a simulation result and make an objective determination by a plurality of persons, and to give a more efficient and effective instruction to the drone 200. There is an effect that it becomes possible.

Embodiment 3 FIG.
FIG. 14 is a diagram illustrating an example of a functional block configuration of the command support apparatus 100 according to this embodiment.
14, the command support apparatus 100 includes a simulated information management unit 185 (an example of a simulated execution result prediction unit and a simulated area information generation unit) and a mode switching unit 186 in addition to the units described in the first embodiment.

The simulated information management unit 185 manages information of the unmanned aircraft simulators 195a to 195c and the external information source simulator 196 connected via a network.
The unmanned aircraft simulators 195a to 195c simulate the unmanned aircraft 200a to 200c. That is, similar to the drones 200a to 200c, the collection command and the position information that the drones 200a to 200c will collect as a result of executing the notified execution command are simulated by calculation. The processing result (simulated execution result) is notified as if it was actually executed.
The external information source simulator 196 simulates information other than the drone such as radar information and weather conditions of the area where the drone is deployed. That is, instead of the external information (area information) notified by the external information source 300, external information (simulated area information) is generated and notified by performing simulation by calculation according to preset conditions.

  In this example, the simulation information management unit 185 predicts the simulation execution result by acquiring the simulation results performed by the external simulators 195a to 195c and 196 via the network, and generates simulation area information. ing. However, the simulation information management unit 185 may incorporate the simulators 195a to 195c and 196 and acquire simulation execution results / simulation area information by performing simulation inside.

  The mode switching unit 186 allows the operation mode of the command support apparatus 100 to be switched by a user operation. For example, the operation mode selected by the user is input by a switch, a button, or the like, and the operation mode is switched by notifying each unit of the command support apparatus 100 of the input operation mode.

The user replaces the external information source 300 such as the actual unmanned aircraft 200a to 200c and the radar device with the command support device 100 and the unmanned aircraft simulators 195a to 195c connected thereto, and the simulator 196 that provides information as an external information source. Is used.
At this time, the simulators 195a to 195c and the simulator 196 are connected to the simulation information management unit 185 via a network and can communicate with the command support apparatus 100.

In order to use the simulators 195 a to 195 c and the simulator 196, the command support apparatus 100 is provided with a mode switching unit 186.
The mode switching unit 186 transmits operation mode information of “actual machine” and “simulation” to each function in the command support apparatus 100 according to the user's decision.
In order for the user to determine the operation mode, for example, buttons “actual machine” and “simulation” are provided on the frame of the display device 110, and before the command support apparatus 100 is operated, Press the button.

The mode switching unit 186 determines the pressed button and inputs the operation mode.
The mode switching unit 186 transmits the operation mode information to the display information management unit 120, the drone management unit 130, the external information management unit 140, the database 150, the drone communication unit 170, and the simulation information management unit 185.
The external information management unit 140 and the drone communication unit 170 change the communication destination according to the operation mode information.
The display information management unit 120, the drone management unit 130, and the database 150 are in the “simulation” mode and do not change the internal processing.

  FIG. 15 is a detailed block diagram showing an example of details of the display information management unit 120 in this embodiment.

  The operation of each unit when the mode switching unit 186 inputs the “real machine” mode and notifies each unit is the same as that described in the first embodiment.

  When the mode switching unit 186 inputs the “simulation” mode and notifies the display information management unit 120, the execution command input unit 125 serves as a simulation execution command input unit, the collected information display unit 124 serves as a simulation execution result display unit, The information display unit 122 operates as a simulated area information display unit.

In the “simulation” mode, the external information management unit 140 acquires external information (simulated area information) from the simulated information management unit 185 instead of acquiring external information (area information) from the external information source 300. The acquired external information is notified to the area information display unit 122 as in the “real machine” mode.
The zone information display unit 122 operates as a simulated zone information display unit when the external information notified from the external information management unit 140 is simulated zone information, but the actual processing content is the case of the “real machine” mode. The same.

In the “simulation” mode, the drone communication unit 170 does not communicate with the drone 200 but communicates with the simulation information management unit 185. That is, an execution command is notified to the simulation information management unit 185, and collection information (simulation execution result) such as period information, event information, and execution result is acquired from the simulation information management unit 185.
Therefore, the execution command input unit 125, the collected information display unit 124, and the unmanned aircraft management unit 130 may perform the same processing as in the “real machine” mode, similarly to the area information display unit 122.

When the “actual machine” button is pressed, the operation mode information “actual machine operation” is transmitted from the mode switching unit 186.
The simulated information management unit 185 performs the same processing as in the first embodiment.
The simulated information management unit 185 stops the process.

When the “simulation” button is pressed, the operation mode information “simulation operation” is transmitted from the mode switching unit 186.
When receiving the operation mode information of “simulated operation”, the external information management unit 140 and the drone communication unit 170 switch the communication destination with the outside of the command support apparatus 100 to the simulated information management unit 185, respectively.
When the simulation information management unit 185 receives the operation mode, the simulation information management unit 185 starts communication with the simulators 195a to 195c and the simulator 196 connected via the network, and starts transmission to the external information management unit 140 and the drone communication unit 170. .
The subsequent operation of the command support apparatus 100 is the same as that in the first embodiment.

As described above, according to this embodiment, even if a user uses a simulator as an unmanned aerial vehicle or an external information source, the user can operate in the same operation environment as the actual operation.
Thereby, integrated command training by a plurality of users can be performed in a more realistic environment and situation, and the effect of improving the skill level of training is achieved.

Embodiment 4 FIG.
FIG. 16 is a block configuration diagram showing an example of a functional block configuration of the command support device 100 (an example of a command device) in this embodiment.

  In FIG. 16, the command support apparatus 100 includes a mode switching unit 186 and a recording / reproducing unit 187 in addition to the units described in the first embodiment.

The mode switching unit 186 switches the operation mode by inputting the operation mode selected by the user using, for example, a switch or a button, and notifying each unit of the command support apparatus 100 of the input operation mode. The operation mode in this embodiment includes a “recording” mode and a “reproduction” mode.
The recording / reproducing unit 187 records the process of the drone agent, the user's operation, and the information of the external information source, and manages the process for reproducing the information on the display device 110 according to the user's instruction.

FIG. 17 is a detailed block diagram showing an example of details of the display information management unit 120 in this embodiment.
The display information management unit 120 includes an execution command display unit 129 (operation history display unit).
The execution command display unit 129 displays the execution command history recorded by the recording / playback unit 187 using the display device 110 in the “playback” mode.
In the “reproduction” mode, the position information display unit 123, the collected information display unit 124, and the area information display unit 122 also operate as an operation history display unit.
In addition to this, the display information management unit 120 also has a terrain information display unit 121, an execution command input unit 125, and a display command input unit 126, but is the same as that described with reference to FIG. The description is omitted here.

FIG. 18 is a diagram showing an example of a screen when recording data is stored in this embodiment.
FIG. 19 is a diagram showing an example of a screen for selecting data when reproducing recorded data in this embodiment.

18 is displayed on the display device 110 in order to save data recorded after recording.
The reproduction data selection screen W42 in FIG. 19 is displayed on the display device 110 to select reproduction data from the list at the start of reproduction and to instruct the start of reproduction. The reproduction data list display screen W43 is stored in the recording / reproducing unit 187, is displayed on the display device 110 to display a list of reproducible data and allow the user to select data to be reproduced.

Similar to the third embodiment, the command support apparatus 100 is provided with a mode switching unit 186.
The mode switching unit 186 adds “record” and “reproduction” in addition to “real machine” and “simulation”, and enables mode switching of the recording / reproduction process.
For example, in addition to a “real machine” button and a “simulation” button, buttons “record” and “play” are provided on the frame of the display device 110, and before the command support device 100 is operated, Press any button.

  As in the third embodiment, the mode switching unit 186 displays the operation mode information in accordance with a user operation, the display information management unit 120, the drone management unit 130, the external information management unit 140, the database 150, and the drone communication unit 170. Then, the data is transmitted to the recording / reproducing unit 187.

  When neither the “record” button nor the “playback” button is pressed, the mode switching unit 186 inputs the normal mode and notifies each unit. The operation of each unit that receives the notification of the normal mode is the same as that described in the first embodiment.

When the “record” button is pressed, the operation mode information “recording start” is transmitted from the mode switching unit 186.
The drone management unit 130 and the external information management unit 140 transmit the same information as the information transmitted to the database 150 from this point to the recording / reproducing unit 187 as well.
The recording / playback unit 187 stores the information received from the drone management unit 130 and the external information management unit 140 as recording data.
During recording, the user can perform the same processing as in the first embodiment.

When the user ends the “record” mode, the user presses the “record” button again.
Thereby, the mode switching unit 186 transmits the operation mode information of “recording end” to another function.
The drone management unit 130 and the external information management unit 140 that have received the operation mode information of “end recording” stop transmitting information to the recording / playback unit 187.
The display information management unit 120 causes the display device 110 to display a recording data storage screen W41.

When saving the data recorded by the user, the data name is input to the recording data saving screen W41. At this time, when the user selects the stored name, the input keyboard W27 is displayed in the display device 110.
After the user inputs an arbitrary data name, the user selects “save” on the record data save screen W41 to transmit the save command and the data name to the record / playback unit 187 via the display information management unit 120. Stored in 187.
When the user selects “Cancel”, a data discard command is transmitted to the recording / playback unit 187 via the display information management unit 120, and the data temporarily stored in the recording / playback unit 187 is discarded.

When the “reproduction” button is pressed, a reproduction data selection screen W42 is displayed on the display device 110.
The user selects “list” in the reproduction data selection screen W42.
At this time, the display information management unit 120 acquires a list of reproducible data names from the recording / playback unit 187, and generates and displays a playback data list display screen W43.
The user selects reproduction data from the reproduction data list display screen W43.

When the user selects data to be reproduced from the data name list on the reproduction data list display screen W43 and presses “OK”, the selected data name is displayed on the reproduction data selection screen W42.
The user selects “execute” when reproducing the data.
After selecting “execute”, the display information management unit 120 transmits a playback start command to the mode switching unit 186 and a playback data name to the recording / playback unit 187.
The mode switching unit 186 transmits “reproduction start” operation mode information to each unit in the command support apparatus 100.

Each unit that has received the “reproduction start” operation mode information switches from the current process to the reproduction process.
Thereafter, the recording / reproducing unit 187 starts transmission of the reproduced data to the drone management unit 130 and the external information management unit 140.
The drone management unit 130 and the external information management unit 140 transmit a display request to the display information management unit 120 based on the received data.
Based on the information, the display information management unit 120 displays data on the display device 110.

In the “reproduction” mode, the external information management unit 140 acquires external information (zone information history) from the recording / playback unit 187 instead of acquiring external information (zone information) from the external information source 300. The acquired external information is notified to the area information display unit 122 as in the normal mode.
The area information display unit 122 operates as an operation history display unit when the external information notified from the external information management unit 140 is the area information history, but the actual processing content is the same as in the normal mode. .

In the “reproduction” mode, the drone management unit 130 acquires position information / collection information (execution device information history) from the recording / reproduction unit 187 instead of the drone communication unit 170. The acquired position information (position information history) is notified to the position information display unit 123. Further, the collected information (collected information history) is notified to the collected information display unit 124.
The position information display unit 123 and the collection information display unit 124 operate as an operation history display unit when the position information and collection information notified from the drone management unit 130 are the position information history and the collection information history. The actual processing content is the same as in the normal mode.

  In the “reproduction” mode, the execution command input unit 125 does not perform processing. Therefore, the drone management unit 130 does not notify the execution command to the drone communication unit 170 or the recording / playback unit 187.

After the playback is completed, the operation mode information “end of playback” is transmitted from the recording / playback unit 187 to the mode switching unit 186.
The mode switching unit 186 that has received “end of reproduction” transmits “end of reproduction” to each unit.
Each unit that has received “end of playback” ends the playback mode and switches the internal processing to normal actual machine operation.

As described above, according to this embodiment, by adding the recording / reproducing unit 187, the current operation can be recorded and reproduced by the same apparatus.
This makes it possible for multiple users to evaluate the operation of the drone on the spot and to effectively use it as reference information for strategy planning, which is effective for the operation of the drone. .

  In the embodiment described above, a large number of pieces of information acquired from the drone by a plurality of users of the headquarters using one or a plurality of military drones (hereinafter referred to as drones) operating in a dangerous area or a conflict area. The present invention relates to a command support device that performs situation judgment and status analysis on the basis of information, shares information and recognition, and supports simultaneous ordering of decisions to a plurality of drones in a short time.

  The command support apparatus described here has the following features.

The command support device
A function execution instruction that continuously displays topographic information of the active area of one or more drones or position information indicating the current position of the drone and instructs the drone to execute the functions of the drone A display device that displays acquired information acquired by the drone based on the function execution instruction;
A database that stores all data such as information and command history acquired by drones, terrain information developed by drones, basic data of each drone and basic scenario of operations,
Managing unmanned aerial vehicle information and terrain information displayed on the display device, receiving the function execution and information display instructions from the display device, obtaining designated unmanned aircraft information, and designated unmanned aircraft A display information management unit that controls display of the generated screen in the vicinity of the drone specified by the display device,
Communication and information management with individual drones being displayed, information management, and function simulation are managed by generating a calculation process called an unmanned machine agent, providing information according to the request of the display information management unit, An unmanned aerial vehicle management unit that stores the acquired information and user instructions and execution results in the database;
An external information management unit that receives information from an external information source such as a radar device or an artificial satellite that provides information on the area where the unmanned aircraft is deployed, such as monitoring information and weather information, and provides it to the display information management unit as display information; ,
A user authentication unit that authenticates a user by inputting from the display device and transmits the result to the unmanned aircraft management unit, whether the user can instruct the drone via the display device,
An unmanned aerial communication unit that executes and manages the collection of information from the unmanned aerial machine while transmitting the command input by the display device to the drone,
It is provided with.

The command support device
Each simulator that simulates the operation corresponding to each of the above drones,
The simulation execution result of the simulator is made available.

The command support device
When an external information source such as the above drone, radar device, or meteorological satellite is replaced with a simulator, a simulation information management unit is added to manage the information, send instructions, obtain information from the simulator, etc. And the simulator and simulation and training are realized by the same device.

The command support device
Record the operation status such as instructions and information to the drone on the display device, add a recording / playback unit to manage the display of the data on the display device again, record the actual operation of the drone, Command support device that realizes playback with the same device.

As a result, one or more unmanned aircraft operating in a dangerous area or a battle area can be analyzed by multiple users based on information obtained from the unmanned aircraft, analyzed for the current situation, shared information and recognition, and decided on the spot. It is possible to provide a command support device that commands and supports a drone in a short time.
Multiple users can view terrain information, unmanned aircraft location information, and unmanned aircraft acquisition information specified by the user simultaneously on, for example, a touch panel type large screen display device. By touching the display device and touching the display device and inputting the setting items, the drone is instructed to shoot or move.

FIG. 3 is a hardware configuration diagram illustrating an example of a hardware configuration of the command support apparatus 100 according to the first embodiment. FIG. 3 is a block configuration diagram illustrating an example of a functional block configuration of the command support apparatus 100 according to the first embodiment. FIG. 3 is a detailed block diagram illustrating an example of details of a display information management unit 120 in the first embodiment. FIG. 3 is a diagram illustrating an example of a state during operation of the command support apparatus 100 according to the first embodiment. The flowchart figure which shows an example of the flow of the process (execution apparatus information reception process) of the instruction | command method using the command assistance apparatus 100 in Embodiment 1. FIG. The flowchart figure which shows an example of the process (display input process) of the instruction | command method using the command assistance apparatus 100 in Embodiment 1. FIG. FIG. 3 is a flowchart showing an example of a flow of operations when conducting a command using the command support apparatus 100 in the first embodiment. In Embodiment 1, it is a figure which shows an example of the screen displayed on the display apparatus 110 regarding the unmanned aircraft 200 which assumed one aircraft unmanned aircraft. FIG. 6 shows an example of a user authentication screen displayed on the display device 110 in the first embodiment. The figure which shows an example of a structure of the functional block of the command assistance apparatus 100 in Embodiment 2 (an example of a command apparatus). FIG. 4 is a detailed block diagram illustrating an example of details of a display information management unit 120 according to Embodiment 2. The flowchart figure which shows an example of the flow (extract) of operation when conducting command using the command assistance apparatus 100 in Embodiment 2. FIG. 6 shows an example of a display screen (extract) in Embodiment 2. FIG. 10 is a diagram illustrating an example of a functional block configuration of a command support apparatus 100 according to Embodiment 3. FIG. 10 is a detailed block diagram illustrating an example of details of a display information management unit 120 in the third embodiment. The block block diagram which shows an example of a structure of the functional block of the command assistance apparatus 100 (an example of an instruction | command apparatus) in Embodiment 4. FIG. FIG. 10 is a detailed block diagram illustrating an example of details of a display information management unit 120 in a fourth embodiment. FIG. 20 is a diagram illustrating an example of a screen when recording data is stored in the fourth embodiment. FIG. 20 is a diagram showing an example of a screen for performing data selection when reproducing recorded data in the fourth embodiment. The system block diagram of a prior art example.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 Command assistance apparatus, 110 Display apparatus, 120 Display information management part, 121 Topographic information display part, 122 Area information display part, 123 Position information display part, 124 Collected information display part, 125 Execution command input part, 126 Display command input part 127 simulation execution command input unit, 128 simulation execution result display unit, 129 execution command display unit, 130 unmanned aircraft management unit, 131 unmanned aircraft agent, 140 external information management unit, 150 database, 160 user authentication unit, 170 unmanned aircraft communication , 180 external simulation management unit, 185 simulation information management unit, 186 mode switching unit, 187 recording / playback unit, 190, 195a to 195c, 196 simulator, 200, 200a to 200c drone, 300 external information source, 401a to 402c icon 801-804 users, W19 Image display screen, W20 drone status display screen, W21 selection screen, W22 shot image selection screen, W23 function execution selection screen, W24 shooting setting screen, W25 magnification selection screen, W26 movement setting screen, W27 input keyboard, W28 attack setting Screen, W29 weapon selection screen, W30 user authentication screen, W33 selection screen, W34 simulation setting screen, W35 simulation result display screen, W41 record data storage screen, W42 playback data selection screen, W43 playback data list display screen.

Claims (11)

A communication device that communicates with the execution device;
A display input device that includes a display screen for displaying a map, and detects an indicated position when an arbitrary position on the display screen is indicated;
Using the display input device, the terrain information display unit for displaying the terrain information of the active area of the execution device as an active area map on the display screen;
Using the display input device, based on the information about the current position of the execution device, a graphic indicating the execution device is displayed on the display screen, superimposed on the activity area map displayed by the topographic information display unit. A position information display section;
Using the display input device, a collection information display unit that displays the information collected by the execution device on the display screen, overlaid on the activity area map displayed by the terrain information display unit,
Using the display input device, an execution command input unit that inputs an execution command for commanding the execution device to execute a function;
Using the communication device, an execution command notification unit for notifying the execution device of an execution command for the execution device input by the execution command input unit;
Using the communication device, an execution device information acquisition unit for acquiring information about the current position of the execution device notified by the execution device and information collected by the execution device;
A command device characterized by comprising: The execution command input unit is
When the display input device detects that the position information display unit indicates the position where the graphic indicating the execution device is displayed on the display screen,
Using the display input device, an execution command that can be commanded to the execution device is displayed as an execution command candidate in the vicinity of the position where the graphic indicating the execution device is displayed,
When the display input device detects that the position where the execution command candidate is displayed is indicated,
The command device according to claim 1, wherein the execution command candidate is input as an execution command for the execution device. The execution command input unit is
The execution command for any execution device of the plurality of execution devices and the execution command for any other execution device of the plurality of execution devices can be input in parallel. The command device according to 1. The command device further includes:
A storage device for storing information;
An execution device information storage unit that stores information collected by the execution device acquired by the execution device information acquisition unit using the storage device;
Using the storage device, a position information storage unit that stores information about the current position of the execution device acquired by the execution device information acquisition unit;
Using the storage device, a terrain information storage unit that stores terrain information of the activity area of the execution device;
The command device according to claim 1, comprising: The command device further includes:
A display command input unit for inputting an information display command for commanding display of information collected by the execution device, using the display input device;
The collected information display section
The command device according to claim 1, wherein when the display command input unit inputs an information display command, the information collected by the execution device is displayed. The command device further includes:
An area information acquisition unit for acquiring information about the active area of the execution device;
Using the display input device, an area information display for displaying information about the active area of the execution device acquired by the area information acquisition unit on the display screen, overlaid on the active area map displayed by the topographic information display unit And
The command device according to claim 1, comprising: The command device further includes:
Using the display input device, when the execution command input unit inputs an execution command for the execution device, a user authentication unit that authenticates a user who has input the execution command,
The execution command notification unit
The command device according to claim 1, wherein when the user authentication unit authenticates the user and succeeds, the execution command input by the execution command input unit is notified to the execution device. The command device further includes:
A simulation execution result prediction unit that predicts a result of execution of the execution command for the execution device by the execution device and sets it as a simulation execution result;
Using the display input device, a simulation execution command input unit that inputs, as a simulation execution command, an execution command that causes the simulation execution result prediction unit to predict a simulation execution result;
Using the display input device, a simulation execution result display unit that displays the simulation execution result predicted by the simulation execution result prediction unit on the display screen;
The command device according to claim 1, comprising: The command device further includes:
A simulated area information generation unit that generates information on the active area of the execution device based on a predetermined assumption and sets it as simulated area information;
Using the display input device, a simulated area information display unit that displays the simulated area information generated by the simulated area information generation unit on the display screen, overlaid on the active area map displayed by the topographic information display unit,
The simulation execution result prediction unit
The command device according to claim 8, wherein the simulation execution result is predicted based on the simulated area information generated by the simulated area information generation unit. The command device further includes:
A storage device for storing information;
Using the storage device, an execution command history storage unit that stores, as an execution command history, a history of execution commands for the execution device input by the execution command input unit;
An execution device information history storage unit that stores, as the execution device information history, a history of information collected by the execution device acquired by the execution device information acquisition unit using the storage device;
A location information history storage unit that stores, as the location information history, a history of information about the current location of the execution device acquired by the execution device information acquisition unit using the storage device;
Based on the execution command history stored in the execution command history storage unit, the execution device information history stored in the execution device information history storage unit, and the location information history stored in the location information history storage unit, the operation of the execution device is performed. An operation history display unit that reproduces and displays the operation of the execution device reproduced using the display input device,
The command device according to claim 1, comprising: A display screen is provided for displaying a map, and when an arbitrary position on the display screen is indicated, the terrain information display unit uses the display input device that detects the indicated position to display the terrain information of the active area of the execution device. The terrain information display process to be displayed on the display screen as an activity area map,
Using the display input device, the position information display unit overlaps the activity area map displayed by the terrain information display unit in the terrain information display step based on the information about the current position of the execution device, and executes the execution device. A position information display step for displaying a graphic indicating the above on the display screen;
Using the display input device, the collection information display unit displays the information collected by the execution device on the display screen so as to overlap the activity area map displayed by the terrain information display unit in the terrain information display step. An information display process;
Using the display input device, the execution command input unit inputs an execution command for commanding the execution device to execute a function; and
Using the communication device that communicates with the execution device, the execution command notification unit notifies the execution device of an execution command for the execution device input by the execution command input unit in the execution command input step. When,
Using the communication device, the execution device information acquisition unit acquires the information about the current position of the execution device notified by the execution device and the information collected by the execution device; and
A command method characterized by comprising:

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