JP2013162346A - Remote control system, operation terminal and method of managing operation terminal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a corresponding device to be controlled from being abused even in the case where any arbitrary one of a plurality of operation terminals is stolen or resold illegally, in a remote control system where each of a plurality of devices to be controlled is operated by a plurality of operators via the plurality of operation terminals.SOLUTION: A machine body discrimination apparatus 21 of a ground relay station 2 collates a key stored in a storage device of the machine body discrimination apparatus 21 beforehand with transmitted information for identification and determines an operable machine body, an order of priority and a validity based on a result of the collation. In the case where the key cannot be collated with the information or the validity expires, an operation signal to the determined machine body is invalidated and the operation of the operable machine body is disabled. The operable machine body and the order of priority transmitted from the machine body discrimination apparatus 21 are inputted to a flight priority discrimination apparatus 22. The flight priority discrimination apparatus 22 transmits operation signals to be transmitted to machine bodies 6A-6Z, in accordance with the order of priority.

Description

  The present invention relates to a remote operation system, an operation terminal, and an operation terminal management method, and more particularly, to a remote operation system, an operation terminal, and an operation terminal for transmitting and receiving data to and from a plurality of manned or unmanned flying objects. It relates to the management method.

  In recent years, various remote operation systems have been developed in order to efficiently remotely operate a plurality of operated devices in the fields of manned or unmanned flying objects, construction machines, financial terminal devices, and the like. Further, in view of the importance of handling a large number of operated devices all at once, operation management is important for such a remote operation system. For example, in the event that the operation terminal encounters a theft damage, it is essential to authenticate and confirm that the operator of the operation terminal is an authorized operator registered in advance. Has been.

  As a specific example, in a remote control system that operates an unmanned flying object, etc., for the purpose of reconnaissance at a disaster site, multiple unmanned flying objects are made to fly, and each of a plurality of operation terminals corresponding to each flying object is connected to the ground. Remote operation systems that operate via relay stations have been developed. According to this remote operation system, for example, by assigning an operator who conducts reconnaissance to each of a plurality of operation terminals, it is possible to efficiently search a disaster site. However, it is necessary to prepare for any of the operation terminals in the unlikely event that they are stolen.

  As a known technique in this field, Patent Document 1 discloses that authentication information for authentication is safely shared before remote operation between the target device and the operation terminal, and even if the operation terminal is stolen. A technique for reducing the possibility of a remote operation occurring is disclosed.

  Further, in Patent Document 2, when simultaneous operations do not compete, functions corresponding to the respective operations are processed, respectively, and when simultaneous operations compete, a predetermined priority operation is processed as effective, It is disclosed that there is no problem when operations compete.

  Further, Patent Document 3 discloses a remote control capable of supporting simultaneous access from a plurality of users to a target controlled device inside a house by specifying and managing a mobile terminal device for remote operation. A system is disclosed.

  Further, in Patent Document 4, in a command support device that transmits an execution command to a plurality of unmanned aircraft and remotely operates each of the plurality of unmanned aircraft, a user quickly grasps and determines the situation, It is disclosed that an execution command can be promptly transmitted to each of the drones.

JP 2003-230186 A Japanese Patent No. 3996413 JP 2004-186738 A JP 2007-093045 A

  By the way, in the known remote operation system described in the above background art, when each of a plurality of controlled devices is operated by a plurality of operators, it is prepared in a one-to-one correspondence with the plurality of controlled devices. There are many cases that are implemented one-on-one via an operation terminal. In such a situation, if the operator leaves the installation position of his / her own operation terminal due to leaving his / her seat, etc., he / she possesses a plurality of operation terminals and has another operation right for the controlled device corresponding to him / her. There was a need for delivery to other places through other means of communication.

  However, when there are a large number of operators, communication regarding the transfer of operation rights becomes complicated, there are cases where the cellular phone is disconnected during a disaster, and the radio waves do not reach because the operator is far away. Therefore, there is a problem that a problem occurs in the transfer of control rights. Furthermore, when the operation terminal is stolen or when the entire operation terminal is illegally resold to a third party, the controlled device corresponding to the operation terminal is freely operated by another person. Therefore, there is a problem that a safety problem occurs such as a risk of misuse.

  An object of the present invention is to provide a remote operation system, an operation terminal, and an operation terminal management method for solving the above-described problems.

  In order to solve the above-mentioned problems, a remote operation system according to the present invention includes means for inputting an operation signal, key information, information for authenticating an operator, and information for inputting an operation signal to an operation terminal. Input means, and means for transmitting an operation signal, key information, and information for authenticating the operator to the relay station, and the relay station includes key information and information for authenticating the operator. Means for checking the expiration date operable via the operation terminal by collating with pre-registered information, and determining the priority order for the controlled device and the operation right operable via the operation terminal; Means for determining an operation signal capable of operating the controlled device from a plurality of pieces of information indicating the operable aircraft and the priority order for the operation right, and transmitting the determined operation signal to the target controlled device; Provided.

  The operation terminal according to the present invention includes an information input means for inputting an operation signal, key information, and information for authenticating the operator, and an input operation signal, key information, and operator authentication. Means for transmitting information to be performed to the relay station.

  Furthermore, the operation terminal management method according to the present invention can be operated via the operation terminal by collating the key information received from the operation terminal and the information for authenticating the operator with information registered in advance. A plurality of pieces of information indicating a priority order relating to a controlled device and an operation right that can be operated via an operation terminal, and a priority order relating to an operable aircraft and an operation right. A step of determining an operation signal capable of operating the control device and transmitting the determined operation signal to a target controlled device.

  As described above, according to the remote operation system of the present invention, even when the operation terminal is stolen or illegally resold, the controlled device that can be operated from the operation terminal is prevented from being abused. There is an effect that can be.

It is a block diagram which shows the whole structure of the remote control system which concerns on embodiment of this invention.

  Hereinafter, embodiments of a remote operation system, an operation terminal, and an operation terminal management method of the present invention will be described in detail with reference to the drawings. FIG. 1 is a configuration diagram showing the overall configuration of a remote control system according to an embodiment of the present invention. In the figure, a remote operation system 10 according to the present embodiment includes a plurality of operation terminals 1A to 1Z, a ground relay station 2, a plurality of airframes 6A to 6Z that are controlled devices, and a communication network 20. . The ground relay station 2 includes an airframe determination device 21, a flight priority determination device 22, and a data transmission / reception device 23. The communication network 20 can include a public line network, a satellite communication network, and the like. A priority order indicating a flight priority is assigned to each of the plurality of operation terminals 1A to 1Z. In addition, a key is attached and a recognition processing module for confirming the operator who corresponds to each terminal device is attached. In addition, the aircraft may be an example of the “flying object” in the present invention.

  In addition to the means for transmitting the operation signal, the operation terminals 1A to 1Z are provided with means for inputting key information and means for inputting information for identity verification. The key information may be input using physical means. For example, a unit that detects an electrical ON / OFF or a USB memory includes a key code, and when the unit or the USB memory is mounted, means for inputting the key code. Also good.

  It is assumed that the key information and the information for identity verification are transmitted to the ground relay station 2 and checked by the ground relay station 2. In addition, in the operation terminals 1A to 1Z, when a unit or a USB memory is mounted, the code and a code assigned in advance to the operation terminals 1A to 1Z are collated and checked. Further, the means for confirming the identity may be a means using an existing fingerprint authentication device or face authentication device. From the operation terminals 1A to 1Z, the key information generated by the above-described means and the information for identity verification are transmitted to the machine identification device 21 provided in the ground relay station 2 together with the operation signal. This transmission means is assumed to be via a communication network 20 including a public line network and a satellite communication network.

  The machine identification device 21 collates the key stored in the storage device in advance with the transmitted identity verification information, and based on the collation result, the priority order regarding the operable machine and the operation right, and the operation Determine possible expiration dates. If this verification cannot be obtained or the expiration date has expired, the aircraft identification device 21 invalidates the determined operation signal to the aircraft and disables the operation of the determined aircraft. The priority order regarding the operable aircraft and the operation right and the operable expiration date transmitted from the aircraft identification device 21 are input to the flight priority determination device 22.

  The flight priority determination device 22 selects and transmits an operation signal to be transmitted to the airframes 6A to 6Z according to the priority order. When there are a plurality of operation signals transmitted to the same machine, the priority order regarding the operation right for the plurality of operators is determined by disabling the operation signal having the low priority first. The operation signal of the operable machine is transmitted to the machine corresponding to the operation signal via the data transmitting / receiving device 23, and the machine operates according to the transmitted operation signal. The flight priority determination device 22 transmits the presence / absence of the priority related to the operation right to each of the operation terminals 1A to 1Z. Thereby, the operator can confirm the presence or absence of his own operation right.

  Hereinafter, functions of the remote control system according to the present embodiment will be described. The remote control system of the present invention is particularly suitable for use for exploration purposes such as a large-scale disaster area. Each of the plurality of users operates a corresponding one of the plurality of operation terminals 1 </ b> A to 1 </ b> Z, and thereby operates the plurality of aircraft 6 </ b> A to 6 </ b> Z via the ground relay station 2 including the data transmission / reception device 23. Can be operated. Here, the positional relationship between each of the operation terminals 1A to 1Z and the terrestrial relay station 2 may be placed at a location distant from each other, and information exchange between them is a screen provided on each of the operation terminals 1A to 1Z. Just to be able to do it. Furthermore, even if any of the operation terminals 1A to 1Z encounters theft or is resold illegally, these devices can be prevented from being misused and the safety of the devices can be ensured. I have to.

  As a specific method, first, a means for inputting a key and identification information is added to each of the operation terminals 1A to 1Z in addition to an operation signal input means. In addition, a module for recognizing these pieces of information is added to the machine identification device 21 of the ground relay station 2. Further, necessary information including an operation signal is encrypted and transmitted from each of the operation terminals 1A to 1Z to the machine body discrimination device 21 provided in the ground relay station 2. As the encryption means used in this encryption, a publicly known means can be used. As a result, the machine identification device 21 collates the received key and identification information with the key and identification information registered in the machine identification device 21 in advance, and operates among the plurality of aircraft 6A to 6Z. Aircrafts that can be operated with signals, their priorities, and expiration dates are determined. However, if this collation cannot be obtained, the operation signal from the operation terminal 1 is invalidated.

  If the above-mentioned expiration date has expired, the signal for operating the aircraft that can be operated is invalidated, the operator is confirmed and the aircraft is located for a certain period of time, and it is misused by theft or unauthorized sale Prevent it. The airframe determination device 21 transmits the airframe that can be operated and information indicating the priority order to the flight priority determination device 22. The flight priority discriminating device 22 that has received this discriminates a signal for operating the airframe from the information indicating the received airframe and its priority order, and transmits it to the airframe via the data transmitting / receiving device 23. When a plurality of operators operate the same aircraft, the operation signal with the highest priority is validated to enable one-to-one operation.

  Hereinafter, the operation of the remote control system according to the present embodiment will be described with reference to FIG. However, here, in order to simplify the explanation, only four of the operation terminals 1A to 1C and 1Z among the operation terminals 1A to 1Z are shown. In addition, it is assumed that the following conditions are given to the operation terminals 1A to 1C and 1Z. The first condition is that key information + identification information is assigned and inputted to the operation terminals 1A to 1C. The second condition is that the operation terminal 1Z is a terminal device that may be used illegally in the event of theft. Although key information + identification information is assigned, they have not been input yet. It is not. Note that it is assumed that only authorized users can input key information + identity verification information, and unauthorized users cannot.

  In this case, the operation signals of the operation terminals 1A to 1C are given to the operation terminal 1A, for example, according to the comparison result, for example, the priority N1, the expiration date OK, and the operation right of the body 6A. . The operation terminal 1B is given priority N2, validity period OK, and operation right of the machine body 6B. Further, the operation terminal 1C is given an expiration date OK, a priority N3, and an operation right for the aircraft 6A.

  However, since the operation signal collation result is NG in all items of the key information + identification information in the operation terminal 1Z, the operation signal becomes invalid. On the other hand, the flight priority discriminating device 22 determines that the operation signals are duplicated when the operation terminal 1A and the operation terminal 1C are permitted to operate the same body 6, and according to the priority order permitted to both. The operation signal of the operation terminal 1C is invalidated. Then, the flight priority determination device 22 validates only the operation signal of the operation terminal 1A and transmits it to the body 6A.

  Since the flight priority determination device 22 determines that the operation signal of the operation terminal 1B has no overlapping portion with another, the operation signal of the aircraft 6B is transmitted. Thus, the operation signal can be transmitted safely, accurately, and automatically to the machine body that is the operated device even in an environment where there are a plurality of operation terminals. Furthermore, in this case, the flight priority determination device 22 sends a notification of priority to the operation terminal 1A and the operation terminal 1B. On the other hand, a notification of no priority right is sent to the operation terminal 1C. Thereby, the operator of the operation terminals 1A to 1C can also check the current situation of the user.

  According to the remote operation system according to this embodiment, the key information + identity confirmation information is collated with the operation terminals 1A to Z by the machine identification device 21 provided in the ground relay station, and the flight priority determination device 22 is The priority when operating the machine as the operated device is determined. As a result, transmission of the operation signal to the aircraft is appropriately controlled, so that there is an effect that the operation of the aircraft by a plurality of operation terminals can be performed without error or crosstalk. In addition, the machine identification device 21 collates key information + identification information that can be input only by authorized users. In this way, even when the operation terminal encounters theft or is resold illegally and an unauthorized user sends an operation signal to the machine operable with the operation terminal, the machine Since the determination device 21 invalidates the signal, the aircraft can be prevented from being used illegally. Therefore, there is an effect that the safety of the system and the site to be searched can be maintained and improved.

  A part or all of the above-described embodiment can be described as in the following supplementary notes, but is not limited thereto.

  (Supplementary note 1) The operation terminal includes means for inputting an operation signal, key information and information for authenticating the operator, information input means for inputting the operation signal, the operation signal, the key information, and Means for transmitting information for authenticating the operator to a relay station, and the relay station collates the key information and the information for authenticating the operator with information registered in advance. Thus, a means for determining the priority for the controlled device that can be operated via the operation terminal and the operation right, as well as the expiry date that can be operated via the operation terminal, the operable body, and the operation right Remote control comprising: a means for determining an operation signal capable of operating the controlled device from a plurality of pieces of information indicating the priority order, and transmitting the determined operation signal to the target controlled device System.

  (Supplementary note 2) The remote operation system according to supplementary note 1, wherein the information input means uses a device that detects electrical on / off with a physical key or a USB memory.

  (Additional remark 3) The said operation terminal is a remote control system of Additional remark 1 or 2 further provided with the means to authenticate an operator.

  (Supplementary note 4) The remote control system according to any one of supplementary notes 1 to 3, wherein the controlled device is a flying object, and the relay station is installed on the ground.

  (Supplementary note 5) The remote control system according to any one of supplementary notes 1 to 4, wherein the relay station further includes means for transmitting information indicating a priority order regarding the operable body and the operation right to the operation terminal. .

  (Supplementary Note 6) The operation signal, the key information, and the information for authenticating the operator transmitted from the operation terminal to the relay station are encrypted as described in any one of Supplementary Notes 1 to 5. The remote control system described in.

  (Supplementary note 7) Information input means for inputting operation signals, key information, and information for authenticating the operator, and the input operation signals, key information, and information for authenticating the operator. An operation terminal comprising means for transmitting to a relay station.

  (Supplementary Note 8) The operation terminal according to Supplementary Note 7, wherein the information input unit uses a device that detects electrical on / off with a physical key or a USB memory.

  (Additional remark 9) While checking the key information received from the operation terminal and the information for authenticating an operator with the information registered beforehand, the expiration date which can be operated via the said operation terminal is checked, The step of determining the priority order regarding the controlled device and the operation right that can be operated via the operation terminal, and the operation of the controlled device from the plurality of pieces of information indicating the priority order relating to the operable body and the operation right. And an operation signal management method comprising: determining an operation signal that can be transmitted, and transmitting the determined operation signal to a target controlled device.

  (Supplementary note 10) The operation terminal management method according to supplementary note 9, wherein the operation signal received from the operation terminal, the key information, and the information for authenticating the operator are encrypted.

2 Ground Relay Station 10 Remote Operation System 20 Communication Network 21 Aircraft Discriminating Device 22 Flight Priority Discriminating Device 23 Data Transmitting / Receiving Device 1A-1Z Operation Terminal 6A-6Z Aircraft

Claims (10)

The operation terminal
Means for inputting an operation signal;
Information input means for inputting key information and information for authenticating an operator, and an operation signal;
Means for transmitting the operation signal, the key information, and information for authenticating the operator to a relay station,
The relay station is
By checking the key information and the information for authenticating the operator with information registered in advance, the expiration date that can be operated through the operation terminal is checked, and the operation is performed through the operation terminal. Means for determining priorities for possible controlled devices and operational rights;
Means for determining an operation signal capable of operating the controlled device from a plurality of pieces of information indicating priorities relating to operable airframes and operation rights, and transmitting the determined operation signal to the target controlled device; A remote operation system comprising: The remote control system according to claim 1, wherein the information input unit uses a device that detects electrical on / off with a physical key or a USB memory. The operation terminal is
The remote operation system according to claim 1, further comprising: means for authenticating the operator. The controlled device is a flying object,
The remote control system according to any one of claims 1 to 3, wherein the relay station is installed on the ground. The relay station is
The remote operation system according to any one of claims 1 to 4, further comprising: means for transmitting information indicating a priority order relating to the operable body and the operation right to the operation terminal. The operation signal transmitted from the operation terminal to the relay station, the key information, and information for performing authentication of the operator are encrypted. Remote control system. Information input means for inputting operation signals, key information, and information for authenticating the operator, and
An operation terminal comprising: means for transmitting the input operation signal, key information, and information for authenticating an operator to a relay station. The operation terminal according to claim 7, wherein the information input unit uses a device that detects electrical on / off with a physical key or a USB memory. By checking the key information received from the operation terminal and the information for authenticating the operator with information registered in advance, the expiration date operable via the operation terminal is checked, and the operation terminal is Determining priorities for controlled devices and operating rights that can be operated via;
A step of determining an operation signal capable of operating the controlled device from a plurality of pieces of information indicating priorities relating to operable aircraft and operation rights, and transmitting the calculated operation signal to a target controlled device; Management method of operation terminal comprising: The operation terminal management method according to claim 9, wherein the operation signal received from the operation terminal, the key information, and information for authenticating the operator are encrypted.

Images