JP2016184288A - Flight path creation device, flight path creation method, and flight path creation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily create a suitable flight path on which an aircraft does not depart from the path and flight does not fail.SOLUTION: A flight path creation device 10 creates a flight path for an unmanned aircraft and comprises a display 120 and a CPU 14. The CPU 14 continuously displays, on the display 120, a plurality of path parts P corresponding to a plurality of types of path for the unmanned aircraft on the basis of a user's operation, and sets the details of the paths of the plurality of path parts P displayed on the display 120 within a range corresponding to flight performance of the unmanned aircraft on the basis of the user's operation.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a flight path creation technique for suitably creating a flight path of an aircraft.

  Conventionally, the flight path of an aircraft has been generally created so as to efficiently pass through a predetermined waypoint such as a waypoint (see, for example, Patent Document 1). However, with this route creation method, a flight route that does not necessarily correspond to the flight performance of the aircraft may be created.

For example, the gradient of the ascending route and the descending route in the flight route of the unmanned aircraft and the curvature of the turning route are restricted by altitude and speed as well as the performance of the aircraft. For this reason, if a waypoint exceeding the range of this restriction is specified, the unmanned aircraft may deviate from the route, or the flight may fail due to a stall or the like.
Therefore, conventionally, an operation for creating a flight path is performed by confirming that there is no path departure or flight failure by performance calculation, flight simulation, or the like.

Japanese Patent No. 3557445

However, the creation of a flight path by the above-described performance calculation or flight simulation is a complicated task, requiring time, and requires a computer with high computing capacity, resulting in an increase in apparatus cost.
Therefore, there has been a demand for a technique that can easily create a suitable flight route that does not cause a route departure or a flight failure.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to easily create a suitable flight route that does not cause a route departure or a flight failure.

In order to achieve the above object, the invention according to claim 1 is a flight path creation device for creating a flight path of an aircraft,
Display means;
Based on a user operation, a route part display unit that causes the display unit to display a plurality of route parts corresponding to a plurality of route types of the aircraft, and
Route content setting means for setting each route content of the plurality of route parts displayed on the display means within a range according to the flight performance of the aircraft, based on a user operation;
It is characterized by providing.

The invention according to claim 2 is the flight path creation device according to claim 1,
A route creation area display means for displaying on the display means a route creation area in which the plurality of route parts are arranged by a user;
In the route creation area, there is provided a non-flight region setting means for setting a non-flight region that prohibits the user from arranging route parts.

The invention according to claim 3 is the flight path creation device according to claim 1 or 2,
A route creation area display means for displaying on the display means a route creation area in which the plurality of route parts are arranged by a user;
Restricted area setting means for setting a flight restricted area for restricting the placement of route parts by the user in the route creation area;
Warning display means for displaying a warning on the display means when a user places the route part in the flight restriction area;
It is characterized by providing.

The invention according to claim 4 is the flight path creation device according to any one of claims 1 to 3,
Each route part displayed on the display means is provided with attribute information setting means capable of setting attribute information regarding the operation of the aircraft in the route part.

  The invention according to claim 5 is a flight path creation method having the same features as the flight path creation apparatus according to claim 1.

  A sixth aspect of the invention is a flight path creation program having the same features as the flight path creation device according to the first aspect.

According to the present invention, on the basis of a user operation, a plurality of route parts corresponding to a plurality of route types of an aircraft are displayed on the display unit (for example, a display) while being connected to each other, and each route content of the plurality of route parts is displayed. Is set within a range corresponding to the flight performance of the aircraft.
As a result, a flight route consisting of multiple route parts each corresponding to the flight performance of the aircraft is created, so that unlike conventional methods, it is confirmed that route departure and flight failure will not occur by performance calculation, flight simulation, etc. There is no need.
Therefore, it is possible to easily create a suitable flight route that does not cause a route departure or a flight failure.

It is a block diagram which shows the function structure of a flight route production apparatus. It is a figure which shows a path | route information storage table. It is a figure which shows an attribute information storage table. It is a flowchart which shows the flow of a flight route creation process. (A) It is a figure for demonstrating a flight impossible area | region, (b) It is a figure for demonstrating a flight restriction area | region. It is a figure which shows the example of a display of a display in a flight route creation process. It is a figure which shows the example of a display of a display in a flight route creation process.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Configuration of Flight Route Creation Device 10]
First, the configuration of the flight path creation device 10 in the present embodiment will be described.
FIG. 1 is a block diagram showing a functional configuration of the flight route creation device 10, FIG. 2 is a diagram showing a route information storage table 131 described later, and FIG. 3 is a diagram showing an attribute information storage table 132 described later. It is.

The flight path creation device 10 creates a flight path of an aircraft. In the present embodiment, the flight path creation device 10 is particularly for creating a flight path for an unmanned aircraft.
Specifically, as shown in FIG. 1, the flight path creation device 10 includes an input unit 11, a display unit 12, a storage unit 13, a CPU (Central Processing Unit) 14, and the like. It is configured to be communicable.

The input unit 11 includes a keyboard 110 having a key group (not shown) and a mouse 111 as a pointing device, and sends signals corresponding to the pressed key positions on the keyboard 110 and user operations with the mouse 111 to the CPU 14. Output.
The display unit 12 includes a display 120 and displays various information on the display 120 based on a display signal input from the CPU 14.

The storage unit 13 is a memory that stores programs and data for realizing various functions of the flight path creation device 10 and also functions as a work area of the CPU 14. In the present embodiment, the storage unit 13 stores a flight route creation program 130.
The flight route creation program 130 is a program for causing the CPU 14 to execute a flight route creation process (see FIG. 4) described later.

  The storage unit 13 stores a route information storage table 131 and an attribute information storage table 132.

As shown in FIG. 2, the route information storage table 131 is a storage table of information related to a plurality of route types of the unmanned aircraft, and each route content and route part diagram are associated with the plurality of route types. It is. In the present embodiment, flight forms such as take-off (start), landing (stop), straight line, ascending, descending, accelerating, decelerating, and turning are stored in the path information storage table 131 as a plurality of path types.
The route content is numerical information (each altitude, each speed, each azimuth and distance at the entrance (start point) and the exit (end point)) that identifies each route type. In the route information storage table 131, a numerical range that can be set (input) or a relational expression with other parameters is set so that the user can set the route contents within the range according to the flight performance of the unmanned aircraft. It is remembered.
The route part diagram shows the shape of an arrow-shaped route part P (see FIG. 7 and the like) representing each route type. The information on the horizontal plane and the vertical plane is stored in the path information storage table 131 for each path type. In FIG. 2, for the sake of simplicity, an unmanned aerial vehicle is also illustrated, and only a route part P on a horizontal plane or a vertical plane is illustrated.

  As shown in FIG. 3, the attribute information storage table 132 is a storage table of various attribute information that can be set in the route part P, and associates the attribute type with the setting content. The attribute information is information on the operation performed by the unmanned aircraft in the set route part P. In this embodiment, as this attribute information, a communication request, a radio wave blocking request, a device operation request, a device stop request, a remote operation permission, a remote operation prohibition, a specific state permission, a specific state prohibition, etc. are stored in the attribute information storage table 132. It is remembered.

The storage unit 13 includes a non-flightable area storage area 133 and a flight restriction area storage area 134.
The non-flightable area storage area 133 is a memory area in which information on a non-flightable area described later is stored in advance.
The flight restriction area storage area 134 is a memory area in which information on a flight restriction area described later is stored in advance.

  As shown in FIG. 1, the CPU 14 performs processing based on a predetermined program in accordance with an input instruction, performs instructions to each functional unit, transfers data, and the like, and controls the flight path creation device 10. Control. Specifically, the CPU 14 reads out various programs stored in the storage unit 13 in accordance with an operation signal or the like input from the input unit 11, and executes processing according to the program.

[Operation of flight path creation device 10]
Next, an operation when the flight path creation device 10 executes the flight path creation process will be described.
FIG. 4 is a flowchart showing the flow of the flight path creation process, FIG. 5 (a) is a diagram for explaining a non-flying area described later, and FIG. 5 (b) is a flight restriction area described later. It is a figure for demonstrating.

  The flight path creation process is a process of creating a flight path of an unmanned aircraft based on a user operation. This flight route creation process is executed by the CPU 14 reading out and developing the flight route creation program 130 from the storage unit 13 when an instruction to execute the flight route creation process is input by a user operation.

As shown in FIG. 4, when the flight route creation process is executed, first, the CPU 14 causes the display 120 to display two route creation windows W, a plurality of route part setting buttons B,. Step S1; see FIG.
In this step, the CPU 14 sets a region for creating a flight route based on a user operation.

  The two route creation windows W are operation areas in which the user continuously arranges the route parts P to create a flight route, and a horizontal route creation window Wh on which the flight route viewed in a horizontal plane and a vertical plane is displayed. It consists of a vertical path creation window Wv. In the horizontal path creation window Wh and the vertical path creation window Wv, only the coordinate axes and the origin are displayed when no path part P is selected. Further, the horizontal path creation window Wh and the vertical path creation window Wv correspond to each other, and when the user performs an operation in one of the windows, the contents of the operation are reflected and displayed in the other window. It is like that.

  The plurality of route part setting buttons B,... Are operation buttons for selecting a route type (route part P) that the user wants to set. A plurality of route types corresponding to those in the route information storage table 131 are individually assigned to the plurality of route part setting buttons B,..., And the route type corresponding to the operated route part setting button B is assigned. The route part P and the route contents are read from the route information storage table 131.

The route information display column L is an area where the route content of the route type (route part P) designated by the user is displayed. In the route information display column L, a number type display column L1 and a route content input column L2 are displayed.
In the number type display column L1, the route number (sequential number along the flight route) and the route type name of the route type (route part P) designated by the user are displayed.
The route content input field L2 is an area where the user inputs the route content, and the route content can be input or selected within a range set in the route information storage table 131, as will be described later.
Note that at the time of Step S1 when none of the route part setting buttons B is operated, the route information display column L is all blank.

Next, the CPU 14 selects and displays the route part P based on the user operation (step S2).
Specifically, in this step, when the user operates one of the route part setting buttons B, the CPU 14 sets the route part P of the route type corresponding to the operated route part setting button B to the route information storage table 131. Are displayed in the two route creation windows W. At this time, when the route part P is a route start (for example, the route type is “takeoff”), the entrance is displayed so as to overlap the origin, and when it is the second or later on the route, the entrance is It is displayed so as to continue to the exit of the route part P immediately before that.
At this time, the CPU 14 displays the route number and route type name of the selected route part P in the number type display column L1.

Next, the CPU 14 receives a user input for the route contents of the route part P selected and displayed in step S2 (step S3).
In this step, the route content of the route part P, that is, the altitude, speed, direction and distance at the entrance and exit of the route part P are input or selected by the user in the route content input field L2. .
However, in the route content input field L2, the route content can be input or selected only within the range set in the route information storage table 131, that is, within the range that the flight performance of the unmanned aircraft can accommodate. For example, when the altitudes of the entrance and exit are input to the route part P of “up” and “descent”, the distance of the route part P is set to a value necessary for the unmanned aircraft to obtain this height difference. It is determined.
Further, the entrance conditions (entrance altitude, speed, direction, etc.) of the route part P are automatically set so as to coincide with the exit conditions of the route part P immediately before it on the route.

Next, the CPU 14 determines whether or not the route part P, to which the route content is input in step S3, is disposed (stradded) in the non-flightable region (step S4).
As shown in FIG. 5A, the non-flying region is a region where flight is difficult mainly due to performance problems of the unmanned aircraft (for example, a low altitude, a high altitude, a region where the radio waves do not reach) And is stored in advance in the non-flightable area storage area 133 of the storage unit 13 as an area for prohibiting the placement of the route part P by the user. The CPU 14 reads out information on the non-flying area from the non-flying area storage area 133, and determines whether or not the route part P is arranged in the non-flying area.

  If it is determined in step S4 that the route part P is located in the non-flightable region (step S4; Yes), the CPU 14 determines that the route part P that has been input is as shown in FIG. After rejecting the route contents and accepting a correction input by the user (step S5), the process proceeds to step S8 described later. At this time, the CPU 14 rejects the route content by, for example, displaying in red the route content input field that requires correction because the route part P is not arranged in the non-flightable region.

In Step S4, when it is determined that the route part P is not arranged in the non-flying region (Step S4; No), the CPU 14 arranges the route part P in the flight restriction region. It is determined whether or not (stretched) (step S6).
As shown in FIG. 5 (b), the flight restriction area is an area where flight is difficult mainly due to a flight environment problem (for example, a flight prohibition area, a terrain that obstructs flight, or an area with buildings). As a region for restricting the arrangement of the route parts P by the user, it is stored in advance in the flight restriction region storage area 134 of the storage unit 13. The CPU 14 reads information on the flight restriction area from the flight restriction area storage area 134 and determines whether or not the route part P is arranged in the flight restriction area.

  In this step S6, when it is determined that the route part P is not arranged in the flight restriction region (step S6; No), the CPU 14 shifts the processing to step S8 described later as shown in FIG. .

  Further, when it is determined in step S6 that the route part P is disposed in the flight restriction region (step S6; Yes), the CPU 14 indicates that the route part P is disposed in the flight restriction region. Is displayed in the display 120 (step S7). And CPU14 receives the correction input of the route content by a user as needed.

  Next, the CPU 14 determines whether or not the attribute information is added to the route part P by the user (step S8). If it is determined that the attribute information is not added (step S8; No), the process proceeds to step S10 described later. To migrate.

  If it is determined in step S8 that the attribute information is added to the route part P by the user (step S8; Yes), the CPU 14 reads the content of the attribute information selected by the user from the attribute information storage table 132. Then, the route part P is set (step S9).

Next, the CPU 14 determines whether or not an operation for finishing the flight route creation process is performed by the user (step S10). When it is determined that the user does not perform the operation (step S10; No), the process proceeds to the above-described step S2. Migrate processing.
In addition, when it is determined that the user has performed the end operation of the flight route creation process (step S10; Yes), the CPU 14 stores the created flight route in the storage unit 13 and then performs the flight route creation process. Exit.

[Operation example of flight path creation device 10]
Next, the operation of the flight path creation device 10 described above will be described with a specific example.
6 and 7 are diagrams showing display examples on the display 120 in the flight path creation process.

  First, when the user inputs an execution instruction for the flight route creation process, as shown in FIG. 6A, two route creation windows W, a plurality of route part setting buttons B,. (Step S1). At this time, only the coordinate axes and the origin are displayed in the two route creation windows W, and all the display / input fields of the route information display field L are blank.

  Next, when the user clicks on the route part setting button B of “takeoff” with the mouse 111, for example, the route part P of the route type “takeoff” is read from the route information storage table 131, and is shown in FIG. As shown in the figure, they are displayed in the horizontal path creation window Wh and the vertical path creation window Wv, respectively (step S2). At this time, the route parts P of the “takeoff” are displayed with default values while the entrance (start point) is overlapped with the origin, and each value of the corresponding route content is displayed in the route content input field L2.

  Next, the user directly inputs each value of the route content of the route part P of “takeoff” into the route content input field L2 or selects it from the drop-down list (step S3). At this time, the user can input each value of the route contents only within the range set in the route information storage table 131. In the present embodiment, for the route part P of “takeoff”, only the entrance direction is input. Can be arbitrarily input, and other values are fixed values (including a value corresponding to the entrance direction).

  Next, since the route part P of “takeoff” in which the route content is input does not straddle the non-flying region or the flight restriction region, and attribute information is not added (steps S4; No, S6; No, S8; No), the process proceeds to selection of the next route part P (step S10; No). Then, when the user sequentially selects and continues the route parts P (steps S2 to S10; No), a desired flight route is created as shown in FIG.

[effect]
As described above, according to the present embodiment, a plurality of route parts P corresponding to a plurality of route types of an unmanned aerial vehicle are displayed on the display 120 while being connected to each other and based on a user operation. Each route content of P is set within a range corresponding to the flight performance of the unmanned aircraft.
As a result, a flight path is created by connecting a plurality of path parts P each corresponding to the flight performance of the unmanned aircraft. Therefore, unlike conventional systems, there is no path deviation or flight failure due to performance calculations or flight simulation. There is no need to check.
Therefore, it is possible to easily create a suitable flight route that does not cause a route departure or a flight failure.

  In addition, since a non-flightable region or a flight restriction region that prohibits or restricts the placement of the route part P can be set in the route creation window W, a safe flight route can be created more reliably.

  In addition, since attribute information can be set for each route part P displayed on the display 120, a flight route suitable for the actual operation of the unmanned aircraft can be created.

[Modification]
The embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit of the present invention.

  For example, in the above embodiment, the flight path creation apparatus 10 creates the flight path of the unmanned aircraft. However, the flight path creation apparatus according to the present invention is not limited to the flight path creation for unmanned aircraft, and the entire aircraft. It can be widely applied to the creation of flight routes.

Moreover, the information on the non-flying area and the flight restriction area stored in the storage unit 13 can be changed as appropriate.
The non-flightable region is changed, for example, when the communication equipment is increased to extend the radio wave reach, or the cargo loaded on the aircraft is reduced to increase the upper altitude performance.
The flight restriction area may be changed by the season or negotiations with related parties even in the same area. Basically, it is set and changed by a person who is not the manufacturer of the route creation device, such as the route creator or the flight manager. Is done.

10. Flight path creation device 120 Display (display means)
130 flight route creation program 131 route information storage table 132 attribute information storage table B route part setting button L route information display column L1 number type display column L2 route content input column P route part W route creation window (route creation area)

Claims (6)

A flight path creation device for creating a flight path of an aircraft,
Display means;
Based on a user operation, a route part display unit that causes the display unit to display a plurality of route parts corresponding to a plurality of route types of the aircraft, and
Route content setting means for setting each route content of the plurality of route parts displayed on the display means within a range according to the flight performance of the aircraft, based on a user operation;
A flight path creation device comprising: A route creation area display means for displaying on the display means a route creation area in which the plurality of route parts are arranged by a user;
The flight path creation device according to claim 1, further comprising: a non-flight area setting unit that sets a non-flight area that prohibits a user from arranging path parts in the path creation area. A route creation area display means for displaying on the display means a route creation area in which the plurality of route parts are arranged by a user;
Restricted area setting means for setting a flight restricted area for restricting the placement of route parts by the user in the route creation area;
Warning display means for displaying a warning on the display means when a user places the route part in the flight restriction area;
The flight path creation device according to claim 1, further comprising:   The attribute information setting means which can set the attribute information regarding the operation | movement of the said aircraft in the said route part is provided in each route part displayed on the said display means, The Claim 1 characterized by the above-mentioned. Flight path creation device. A flight path creation method for creating a flight path of an aircraft,
Using display means,
Based on a user operation, a route parts display step for displaying on the display means while continuously displaying a plurality of route parts corresponding to a plurality of route types of the aircraft;
A route content setting step for setting each route content of the plurality of route parts displayed on the display means within a range according to the flight performance of the aircraft, based on a user operation;
A flight path creation method comprising: A flight path creation program for creating a flight path of an aircraft,
In a computer provided with a display means,
Based on a user operation, a route parts display function that causes the display means to display a plurality of route parts corresponding to a plurality of route types of the aircraft, and
A route content setting function for setting each route content of the plurality of route parts displayed on the display means within a range according to the flight performance of the aircraft, based on a user operation;
The flight path creation program characterized by realizing.

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