JP2016173722A - Unmanned aircraft operation system, and control method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a rapid operation of an unmanned aircraft while preventing the unmanned aircraft from approaching a non-permission zone, and to prevent the unmanned aircraft from approaching a non-permission zone also when an apparatus and authentication information are stolen.SOLUTION: Operation permission information storing means 210 stores operation permission information received from unmanned aircraft operation managing means 400. Desired movement route information receiving means 220 receives desired movement route information from an operation terminal. Desired movement route information adaptability determining means 230 determines whether the desired movement route information is adaptive to the operation permission information. Movement route information transmitting means 240 transmits, to an unmanned aircraft 100, only the movement route information determined to be adaptive by the desired movement route information adaptability determining means 230.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned aircraft operation system and a control method thereof.

  In recent years, the use of drones has been rapidly expanding. By using an unmanned aerial vehicle, it is expected to obtain various benefits such as monitoring from low altitudes and enabling work in hazardous areas. At the same time, there are concerns that drones will be misused. For this reason, manufacturers who sell unmanned aerial vehicles set operational rules, limit sales destinations, confirm the location of unmanned aircraft, and conduct safety training for unmanned aircraft operations. However, when the drone and the operating means are transferred to a malicious third party due to theft or the like, there is a concern that it may be misused for attacks on important facilities or acts of obstruction to places where people gather. Therefore, there is a need for a mechanism that can ensure safety even when the drone reaches a third party.

  For example, Patent Document 1 discloses a technique in which an unmanned aerial vehicle flies autonomously according to a flight route program whose validity has been verified. The operator applies a flight plan (flight route data file) to the flight authentication server, and the flight authentication server creates and returns a flight route program only for the flight plan determined to be valid. The operator stores this flight route program in the drone, and the drone autonomously flies according to the flight route program. According to the above procedure, the drone moves only the flight route determined to be valid by the flight authentication server. That is, the drone cannot move except for the flight route that the flight authentication server determines to be valid.

  Further, Patent Document 2 discloses a technique for preventing an unmanned machine from being operated by an operation terminal that is not authenticated by the relay station by sending an operation signal to the unmanned machine via the relay station having an authentication function. It is disclosed.

JP 2008-105591 A JP 2013-162346 A

  However, the technique of Patent Document 1 has a problem that the drone cannot be operated quickly. The cause is that it is necessary to create a flight route program by the flight authentication server every time it is operated. For this reason, it was necessary to wait for the program to be received after applying for the flight plan. In particular, when a plurality of unmanned aircraft are operated simultaneously at a disaster site, there is a risk that the waiting time may become longer due to congestion of applications.

  Further, the technique of Patent Document 2 has a problem that it is impossible to prevent an unmanned aircraft from entering an area where it is not permitted when both the operation terminal and the authentication information are stolen.

  The present invention has been made in view of the above problems, and is to provide a method that allows a drone to operate quickly while preventing the drone from entering an area where it is not permitted. . It is also to prevent the drone from entering an area where it is not permitted even if the equipment and authentication information are stolen.

In order to solve the above problems, an unmanned aircraft operation system of the present invention includes an unmanned aircraft that autonomously moves according to predetermined moving route information, a movement route information setting unit that sets the movement route information in the drone, An operation terminal for operating the drone, and an unmanned aircraft operation management means for managing the operation of the drone,
The operation terminal is
Operation permission application means for applying for operation permission to the unmanned aircraft operation management means, and desired movement route information transmission means for transmitting desired movement route information to the movement route information setting means,
The drone operation management means is:
Operation permission information setting means for setting operation permission information for limiting the movement route of the drone to a predetermined range in response to the operation permission application and transmitting the operation permission information to the movement route information setting means;
The travel route information setting means includes
Operation permission information storage means for storing the operation permission information, desired movement route information receiving means for receiving the desired movement route information, and a desired movement route for determining whether the desired movement route information is compatible with the operation permission information. Information suitability determining means, and travel route information transmitting means for transmitting only the desired travel route information determined by the desired travel route information suitability determining means as the travel route information to the drone,
The drone
A movement path information storage means for storing the movement path information; and a movement means for moving according to the movement path information.

  The effect of the present invention is that the drone can be operated quickly while preventing the drone from entering an area where it is not permitted. In addition, even if the equipment and authentication information are stolen, the drone can be prevented from entering an area where it is not permitted.

It is a block diagram which shows 1st Embodiment. It is a block diagram which shows 2nd Embodiment. It is a sequence diagram which shows operation | movement of 2nd Embodiment. It is a block diagram which shows 3rd Embodiment. It is a block diagram which shows the specific example of 3rd Embodiment. It is a block diagram which shows 4th Embodiment. It is a block diagram which shows the 1st example of 5th Embodiment. It is a block diagram which shows the 2nd example of 5th Embodiment. It is a schematic diagram which shows the 3rd example of 6th Embodiment.

  Hereinafter, the present invention will be described in detail with reference to the drawings. In addition, about the same component in each drawing, the same symbol is attached | subjected and repeated description may be abbreviate | omitted.

(First embodiment)
FIG. 1 is a block diagram showing the first embodiment. The unmanned aerial vehicle operation system 1000 of the present embodiment includes the unmanned aerial vehicle 100, a movement path information setting unit 200, an operation terminal 300, and an unmanned aircraft operation management unit.

  The operation terminal 300 includes an operation permission application unit 310 that applies an operation permission to the unmanned aircraft operation management unit 400, and a desired movement route information transmission unit 320 that transmits the desired movement route information to the movement route information setting unit. ing.

  The drone operation management unit 400 includes an operation permission information setting unit 410. The operation permission information setting unit 410 sets operation permission information that limits the movement route of the drone 100 to a predetermined range in response to an operation permission application from the operation terminal 300. Then, the operation permission information is transmitted to the movement route information setting means 200.

  The movement route information setting unit 200 includes an operation permission information storage unit 210, a desired movement route information reception unit 220, a desired movement route information compatibility determination unit 230, and a movement route information transmission unit 240.

  The operation permission information storage unit 210 stores the operation permission information received from the drone operation management unit 400. Desired travel route information receiving means 220 receives desired travel route information from the operation terminal. Desired travel route information compatibility determining means 230 determines whether the desired travel route information is compatible with the operation permission information. The travel route information transmission unit 240 transmits only the travel route information that the desired travel route information suitability determination unit 230 determines to be compatible to the drone 100.

  The drone 100 includes a movement route information storage unit 110 that stores movement route information, and a movement unit 120 that moves according to the movement route information. The moving unit 120 moves the drone according to the moving route information.

  With the above configuration, the drone can be quickly operated while preventing the drone from entering an area not permitted by the operation permission information. In addition, even if the equipment and authentication information are stolen, the drone can be prevented from entering an area where it is not permitted.

(Second Embodiment)
FIG. 2 is a block diagram showing the configuration of the unmanned aircraft operation management system 1000 according to the present embodiment. The unmanned aircraft operation management means 400 of this embodiment is in addition to the configuration of the first embodiment. Operator information storage means 420, drone information storage means 430, and permitted area information storage means 440 are provided.

  The operator information storage means 410 stores information on an operator (user) who operates the drone. The operator information includes authentication information for accessing the drone operation management means 400, authority given for drone operation, and the like.

  The drone information storage unit 430 stores information related to the drone 100. The drone information includes the machine number, model, and the like.

  The permitted area information storage unit 440 stores permitted area information. The permitted area information is information on an area where the operator can operate the drone 100, and is determined in association with the operator or the drone 100.

  Next, the operation of the drone operation management system 1000 will be described. FIG. 3 is a sequence diagram showing the operation.

  First, the operation terminal 300 transmits authentication information to the drone operation management means 400 (S1). If the authentication is successful, the drone operation management unit 400 transmits an authentication success notification to the operation terminal 300 (S2). A well-known technique can be used for the above authentication procedure. For example, an identification number and a password can be used. Alternatively, biological information or the like may be used. Also, it is desirable to perform these communications with encryption. Next, the drone operation management unit 400 generates operation permission information based on the operator information, the drone information, and the permitted area information (S4). Then, the operation permission information is transmitted to the movement route information setting means 200 (S5). The movement route information setting means 200 stores this operation permission information (S6).

  Next, the operation terminal 300 generates desired travel route information (S7) and transmits it to the travel route information setting means 200 (S8).

  Next, the travel route information setting 200 determines whether the received desired travel route information is compatible with the operation permission information (S9). If it matches, the desired route information is transmitted to the unmanned aircraft 100 as regular movement route information (S10). Then, the operation terminal 300 is notified that the conformity determination result is acceptable (S11).

  Upon receiving the travel route information, the drone 100 stores it in the travel route information storage means (S12). Thereafter, the drone can start moving according to the moving route information. The timing for starting movement is not particularly limited. For example, the movement start timing may be a time point when a movement start instruction is issued from the operation terminal.

  Although not shown, if it is determined in S9 that the desired route information does not match the operation permission information, the moving route information setting unit 200 sends the moving route information to the drone 100. Do not send. Then, the operation terminal 300 is notified that the suitability determination has failed. Further, the drone operation management unit 400 may be notified of an alarm indicating that inappropriate desired travel route information has been received. With the above operation, the drone 100 cannot move according to the desired route information determined to be incompatible. That is, even if the drone 100 and the operation terminal 300 are in the hands of a third party, the drone 100 is not operated outside the permitted area.

  Further, the movement route information setting unit 200 may appropriately transmit operation information indicating which movement route information is transmitted to which drone to the drone operation management unit 400. Similarly, the drone 100 may transmit operation information such as which route information the own machine is moving to the unmanned machine operation management unit 400 as appropriate. In this way, the drone operation management means 400 can grasp and manage the operation state such as which drone is currently operated and how.

  In addition, specifically, the above drone can be moved on the air, the ground, the water surface, the water, the ground, and the like.

  As described above, according to the unmanned aircraft operation system of the present embodiment, it is possible to prevent the unmanned aircraft from being operated outside the area where the operation is permitted. In addition, the operator can operate the drone freely in the operation permission area. For this reason, compared with the technique of patent document 1, a drone can be operated rapidly.

(Third embodiment)
FIG. 4 is a block diagram showing the third embodiment. In the present embodiment, the unmanned aircraft operation management means 400 has an entry prohibited area information storage means 450. Further, the travel route information setting means 200 has an entry prohibited area violation alarm notification means 250. In addition, it is good also as a structure which does not provide the entry prohibition area violation alarm 250.

  The entry prohibition area information storage means 450 stores information on areas where the drone is prohibited from entering. The operation permission information indicates an area where the operation of the drone is permitted. However, there may be a case where a separate entry prohibited area is included in the area. An example is shown in FIG. Within the rectangular operation-permitted areas, a, b, c, d, e, and f entry prohibited areas are dotted. Specific examples of the prohibited entry areas include an airfield, a SDF base, an embassy, and the like.

  As in the above example, when the entry-prohibited area is included in the operation-permitted area, the unmanned aircraft operation management unit 400 sets operation-permitted information reflecting the entry-prohibited area and moves the route information setting unit 200. Send to.

  The movement route information setting means 200 determines suitability of the desired movement route information transmitted from the operation terminal 300 using this operation permission information. If the desired travel route information includes an entry prohibited area, the suitability determination is rejected. Here, when the movement route information setting means 200 has the entry prohibition zone infringement alarm notification means 250, it is possible to notify the drone operation management means 400 of an alarm that the warning level has increased. In many cases, prohibited areas are places where unmanned aircraft are not allowed to enter due to social wisdom, and there are high concerns about misuse by third parties if they are set as desired travel route information. It is because it is considered.

  As described above, according to the present embodiment, it is possible to set the movement route information by excluding the entry prohibited area existing in the area where the operation is permitted. Moreover, when the entry prohibition area is included in the desired travel route information, it is possible to increase a warning level against misuse by a third party.

(Fourth embodiment)
FIG. 6 is a block diagram showing the fourth embodiment. The movement path information setting unit 200 of this embodiment has an encryption unit 260, and the drone has a decryption unit 130. Other configurations may be the same as those of any of the first to third embodiments, but in FIG. 6, the configuration of the second embodiment is used.

  The encryption unit 260 and the decryption unit 130 perform encryption and decryption according to an encryption protocol defined as a pair. For example, the encryption unit 260 randomizes the movement path information with a random number sequence that can be decrypted only by the decryption unit 130, and the decryption unit 130 derandomizes the random number sequence that is paired with the random number sequence. By providing such a mechanism, even if the drone 100 and the operation terminal 300 are stolen, the drone can be prevented from being operated.

(Fifth embodiment)
In the present embodiment, a specific example of an implementation form of the movement route information setting unit 200 is shown. FIG. 7 is a block diagram illustrating an example of an implementation form. In the example of FIG. 7, the movement route information setting unit 200 is mounted integrally with the operation terminal 300. In this way, the creation of desired travel route information and the suitability determination for the operation permission information can be executed by the same operation terminal 300, so that workability is good. However, there is a high risk that the desired travel route information and the operation permission information are stolen at the same time.

  FIG. 8 is a block diagram illustrating an example in which the movement route information setting unit 200 is integrated with the drone 100. In this configuration, since the suitability determination of the desired travel route information is performed in the unmanned aircraft in the unmanned aircraft 100, even if the operation terminal 200 is stolen, the operation permission information is not known. For this reason, it can be said that the risk of abuse is lower than the example of FIG. However, if the operation terminal 300 and the drone 100 are stolen at the same time, there is a possibility of misuse.

  FIG. 9 is a schematic diagram illustrating an example in which the travel route information setting unit 200 is installed at a location different from the drone 100 and the operation terminal 300. FIG. 9 schematically illustrates that the drone 100 is in a range that can be visually recognized from the operation terminal 300 and that the movement route information setting unit 200 is in a position that cannot be visually recognized. Here, it is assumed that the unmanned aircraft operation management unit 400 is located at a location apart from the movement route information setting unit 200, the unmanned vehicle 100, and the operation terminal 300.

  By setting it as the above arrangement | positioning, the risk that a drone will be abused can be reduced. For example, it is assumed that the operation terminal 300 and the drone 100 are stolen at the same time by a third party, and the authentication for accessing the drone operation management unit 400 is also broken. In this case, the third party tries to set the movement route information in the drone using the operation terminal 300, but since the operation permission information is unknown, it is very difficult to set a movement route that matches the operation permission information. It is difficult to. In addition, even if a travel route suitable for the operation permission information can be set by trial and error, a corresponding time is required, so that the operator has time to take measures to stop the operation of the drone 100 during that time. You can earn.

  As described above, according to the present embodiment, it is possible to reduce the risk of the drone being abused even when the drone or the operation terminal is stolen.

  The scope of the present invention also includes a program for causing a computer to execute the processes of the first to fifth embodiments described above and a recording medium storing the program. As the recording medium, for example, a magnetic disk, a magnetic tape, an optical disk, a magneto-optical disk, a semiconductor memory, or the like can be used.

  The present invention has been described above using the above-described embodiment as an exemplary example. However, the present invention is not limited to the above embodiment. That is, the present invention can apply various modes that can be understood by those skilled in the art within the scope of the present invention.

DESCRIPTION OF SYMBOLS 100 Unmanned aircraft 110 Movement path information storage means 120 Movement means 130 Decoding means 200 Movement path information setting means 210 Operation permission information storage means 220 Desired movement path information reception means 230 Desired movement path information compatibility judgment means 240 Movement path information transmission means 250 entry prohibition area violation alarm notification means 260 encryption means 300 operation terminal 310 operation permission application means 320 desired travel route information transmission means 400 unmanned aircraft operation management means 410 operation permission information setting means 420 operator information storage means 430 unmanned aircraft information storage Means 440 Permitted area information storage means 450 Access prohibited area information storage means 1000 Unmanned aircraft operation management system

Next, the travel route information setting unit 200 determines whether the received desired travel route information is compatible with the operation permission information (S9). If it matches, the desired route information is transmitted to the unmanned aircraft 100 as regular movement route information (S10). Then, the operation terminal 300 is notified that the conformity determination result is acceptable (S11).

Claims (10)

Managing the drone autonomously moving according to predetermined movement route information, movement route information setting means for setting the movement route information in the drone, an operation terminal for operating the drone, and operation of the drone Drone operation management means,
The operation terminal is
Operation permission application means for applying for operation permission to the unmanned aircraft operation management means, and desired movement route information transmission means for transmitting desired movement route information to the movement route information setting means,
The drone operation management means is:
Operation permission information setting means for setting operation permission information for limiting the movement route of the drone to a predetermined range in response to the operation permission application and transmitting the operation permission information to the movement route information setting means;
The travel route information setting means includes
Operation permission information storage means for storing the operation permission information, desired movement route information receiving means for receiving the desired movement route information, and a desired movement route for determining whether the desired movement route information is compatible with the operation permission information. Information suitability determining means, and travel route information transmitting means for transmitting only the desired travel route information determined by the desired travel route information suitability determining means as the travel route information to the drone,
The drone
An unmanned aircraft operation system comprising: a movement path information storage means for storing the movement path information; and a movement means for moving according to the movement path information.   The unmanned aircraft operation system according to claim 1, wherein the operation permission information setting unit includes an entry prohibition area setting unit that sets a predetermined entry prohibition area within the predetermined range.   The moving path information setting means and the unmanned aircraft have encryption means and decryption means for performing communication according to an encryption / decryption procedure established only between them. The unmanned aircraft operation system according to claim 1 or claim 2.   The unmanned aircraft operation system according to claim 3, wherein the encryption / decryption procedure uses a unique random number sequence.   2. The apparatus according to claim 1, wherein when the drone and the operation terminal are arranged at a position where the drone can be seen from a certain point, the movement route information setting unit is arranged at a position where the drone cannot be seen from the certain point. The unmanned aircraft operation system according to any one of claims 4 to 5. Managing the drone autonomously moving according to predetermined movement route information, movement route information setting means for setting the movement route information in the drone, an operation terminal for operating the drone, and operation of the drone A drone operation system control method comprising:
The operation terminal is
Applying operation permission to the unmanned aircraft operation management means, the operation terminal transmits the desired movement route information to the movement route information setting means,
The drone operation management means is
In response to the application for the operation permission, set operation permission information for limiting the movement route of the drone to a predetermined range and transmit it to the movement route information setting means,
The travel route information setting means is
The operation permission information is stored, the desired travel route information is received, it is determined whether the desired travel route information is compatible with the operation permission information, and the desired travel route information compatibility determination unit determines that the request is compatible Only the movement route information is transmitted to the drone as the movement route information,
The drone
A method for controlling an unmanned aircraft operation system, wherein the movement route information is stored and moved according to the movement route information.   The method for controlling an unmanned aircraft operation system according to claim 6, wherein the operation permission information setting means sets a predetermined entry prohibited area within the predetermined range.   The unmanned aircraft operation system according to claim 6 or 7, wherein the movement path information setting means and the unmanned aircraft communicate with each other by an encryption / decryption procedure established only between the two. .   The said drone and the said operation terminal are arrange | positioned in the position which can be visually recognized from a certain point, and the said movement path information setting means is arrange | positioned in the position which cannot be visually recognized from the said certain point. The control method of the unmanned aircraft operation system according to any one of 8. Managing the drone autonomously moving according to predetermined movement route information, movement route information setting means for setting the movement route information in the drone, an operation terminal for operating the drone, and operation of the drone A control program for an unmanned aircraft operation system having unmanned aircraft operation management means,
The operation terminal is
Applying the operation permission to the unmanned aircraft operation management means, and the operation terminal transmitting desired movement route information to the movement route information setting means,
The drone operation management means is
Setting operation permission information for limiting the movement route of the drone to a predetermined range in response to the application for the operation permission, and transmitting the operation permission information to the movement route information setting means;
The travel route information setting means is
Storing the operation permission information; receiving the desired travel route information; determining whether the desired travel route information is compatible with the operation permission information; and the desired travel route information compatibility determining unit. Transmitting only the desired travel route information determined as conforming to the unmanned aircraft as the travel route information;
The drone
A control program for an unmanned aerial vehicle operation system, comprising: storing the movement route information; and moving according to the movement route information.

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