JP2017010135A - Autonomous mobile body management device, autonomous mobile body management system, autonomous mobile body management method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate a safe operation of an autonomous mobile body.SOLUTION: A safe operation management server detects information relating to a member having completed a proficiency test corresponding to an ID of the member having completed the proficiency test from a control device management DB of the member having completed the proficiency test, management information of an air craft corresponding to an aircraft ID from an aircraft management ID, management information of the control device corresponding to a control device ID from the control device management DB, respectively in response to an enquiry for permission or denial of a flight of a small-sized unmanned helicopter by transmitting an ID of a member having completed a proficiency test, an aircraft ID, a control device ID and the like to a safe operation management server by a base station PC via a network. The safe operation management server determines whether the flight conditions permitting the flight of the small-sized unmanned helicopter are satisfied on the basis of the information relating to the management information of the aircraft and the control device and information relating to the member having completed the proficiency test. The safe operation management server, when determined that the flight conditions are satisfied, transmits an enquiry result for permitting the flight of the small-sized unmanned helicopter to the base station PC via a network.SELECTED DRAWING: Figure 9

Description

  The present invention relates to an autonomous moving body management apparatus, an autonomous moving body management system, an autonomous moving body management method, and a program, and more particularly, an autonomous moving body management apparatus, an autonomous moving body management system, and an autonomous moving body management method that enable safe operation of an autonomous moving body, And programs.

  A small unmanned helicopter that can be easily operated for flight and facilitates work performed from the sky has been attracting attention (see, for example, Patent Document 1).

Japanese Patent Laying-Open No. 2015-042539

  However, at present, many small unmanned helicopters are easily available, and there is nothing to guarantee the skill of the pilot. Also, even if a small unmanned helicopter had a problem, it was left to the discretion of the operator to decide whether or not to fly.

  Under these circumstances, if the pilot of a small unmanned helicopter is malicious, if the skill of the pilot of a small unmanned helicopter is immature even if it is not malicious, and the pilot neglects to check the small unmanned helicopter, If a small inspection is not performed, there is a risk that a large unmanned helicopter crashes and crashes, and photographing with a camera mounted on the small unmanned helicopter causes serious human and property damage. Not only that, but in some cases, it can develop into defense and diplomatic issues.

  For this reason, there is a strong demand for the construction of a system that secures the operator's identity and skill of a small unmanned helicopter and manages the state and flight path of the small unmanned helicopter.

  The present invention has been made to solve the above problems, and provides an autonomous moving body management apparatus, an autonomous moving body management system, an autonomous moving body management method, and a program that enable safe operation of an autonomous moving body. With the goal.

  In order to achieve the above object, an autonomous moving body management apparatus according to the first aspect of the present invention is an autonomous moving body management database that registers an autonomous moving body identifier that can identify an autonomous moving body and management information of the autonomous moving body in association with each other. In response to an inquiry about whether the operation of the autonomous moving body is permitted or not performed by a terminal transmitting the autonomous moving body identifier to the autonomous moving body management device via a network. Management information detecting means for detecting management information of the autonomous moving object corresponding to the information from the autonomous moving object management database, and allowing the operation of the autonomous moving object based on the management information of the autonomous moving object detected by the management information detecting means An operating condition determining unit that determines whether or not the operating condition is satisfied, and the operating condition determining unit determines that the operating condition is satisfied. If it, characterized in that it comprises, as the operation permission inquiry result transmitting means for transmitting the query results to allow operation of the autonomous moving body to the terminal via the network.

In the above autonomous moving body management device, the operating condition determining means includes an accident factor specifying means for specifying an accident factor of the autonomous moving body from the management information of the autonomous moving body detected by the management information detecting means, and the accident factor specifying By determining whether or not the degree of risk evaluated by the degree of risk evaluation means is within a predetermined range, and a degree of risk evaluation means for evaluating the degree of risk of operating the autonomous moving body having the accident factor specified by the means And a risk determination unit that determines whether or not the operation condition is satisfied, and the operation permission inquiry result transmission unit determines that the risk is within the predetermined numerical range by the risk determination unit. If the operation condition is satisfied, an inquiry result that permits the operation of the autonomous moving object is transmitted to the terminal via the network. That may be one.

  In the above-described autonomous moving body management apparatus, the risk level evaluation unit is configured to determine a risk level of operating the autonomous moving body having the accident factor specified by the accident factor specifying unit, a frequency at which the autonomous moving body generates an accident, and the accident It may be one that is evaluated according to the severity of damage in the event of occurrence.

  In the above autonomous moving body management apparatus, the autonomous moving body can operate autonomously in accordance with a preset operation mode, and the operation condition determination unit is configured to operate in the operation mode transmitted from the terminal via the network. Based on this, it may be determined whether or not the operating condition is satisfied.

  The autonomous moving body management device described above is a skill for registering a skill test completed person identifier that can identify a person who has completed a skill test related to handling of the autonomous moving object, and information related to the person who has completed the skill test. The certification completion person management database is further provided, and the management information detection unit is configured to transmit the autonomous moving body identifier and the skill certification completion person identifier to the autonomous moving body management apparatus via the network. In response to an inquiry about whether or not a moving object is permitted, management information of the autonomous moving object corresponding to the autonomous moving object identifier is detected from the autonomous moving object management database, and the skill test completed person corresponding to the skill test completed person identifier is detected. Information related to the skill test completion person management database is detected, and the operation condition determination means is the management information detection means. Therefore, based on the information on the management information and the skill test graduates of the detected said autonomous moving body to determine whether to satisfy the operation condition may be one.

  In the autonomous moving body management apparatus, the autonomous moving body includes a body and a control device that controls the body, and the autonomous moving body management database includes a body identifier that can identify the body and management information of the body. A machine management database to be registered in association with each other; a control device management database in which the control device identifier capable of specifying the control device and management information of the control device are registered in association with each other; In response to an inquiry about whether or not the autonomous moving body is permitted to operate by transmitting the body identifier and the control apparatus identifier to the autonomous moving body management apparatus via the network, the terminal corresponds to the body identifier. Detecting the management information of the aircraft from the aircraft management database, the management information of the control device corresponding to the control device identifier Whether or not the operation condition determination unit satisfies the operation condition based on the expected management information detected by the management information detection unit and the management information of the control device. It may be a discriminating one.

  In order to achieve the above object, an autonomous moving body management system according to a second aspect of the present invention transmits the above autonomous moving body management device and the autonomous moving body identifier to the autonomous moving body management device via the network. In response to receiving an inquiry result permitting the operation of the autonomous moving object transmitted through the network by the operation permission inquiry result transmitting means, and inquiring whether the operation of the autonomous moving object is permitted or not The terminal comprising: operable means for enabling the operation of the autonomous moving body.

  In the above autonomous moving body management system, the terminal further includes an operation history uploading unit that uploads an operation history of the autonomous moving body to the autonomous moving body management device via the network after the operation of the autonomous moving body is completed, The autonomous moving body management device may update the management information of the autonomous moving body based on the operation history uploaded via the network by the operation history uploading means.

  In the above autonomous moving body management system, the autonomous moving body two-dimensional code includes an information area in which the autonomous moving body identifier is represented by a cell distribution pattern, and a correction area in which correction information for correcting an error is represented by a cell distribution pattern. And a part of the correction area includes an exclusive logic of a first correction bit string generated from the part and a second correction bit string generated from a part of the correction area different from the part. The terminal is replaced with a sum, and the terminal reads the autonomous moving body two-dimensional code to obtain the correction information, and the correction information obtained by the two-dimensional code reading means is used to obtain the correction information. An error detecting means for detecting an exclusive OR of one correction bit string and the second correction bit string as an error; and the first correction bit string included in the correction information; Two-dimensional authentication for authenticating the autonomous moving body two-dimensional code by determining whether or not an exclusive OR with the error detected by the writing error detection means matches the second correction bit string included in the correction information A code authentication unit, wherein the operation permission / inquiry inquiry unit inquires whether the operation of the autonomous moving object is permitted or not on condition that the two-dimensional code authentication unit authenticates the autonomous moving object two-dimensional code. It may be.

  In order to achieve the above object, an autonomous moving body management method according to a third aspect of the present invention includes an autonomous moving body management database that registers an autonomous moving body identifier that can identify an autonomous moving body and management information of the autonomous moving body in association with each other. An autonomous moving body management method by an autonomous moving body management device comprising: a terminal responding to an inquiry about whether or not the operation of the autonomous moving body is performed by transmitting the autonomous moving body identifier to the autonomous moving body management device via a network A management information detecting step for detecting management information of the autonomous moving body corresponding to the autonomous moving body identifier from the autonomous moving body management database, and the autonomous moving body based on the management information of the autonomous moving body detected by the management information detecting step. An operating condition determining step for determining whether or not an operating condition permitting the operation is satisfied, and the operating condition determining step Therefore, when it is determined that meets the operating conditions, characterized in that it comprises, as the operation permission inquiry result transmission step of transmitting to the terminal via the network query results to allow operation of the autonomous moving body.

  In order to achieve the above object, a program according to a fourth aspect of the present invention is an autonomous system including an autonomous moving body management database that registers an autonomous moving body identifier that can identify an autonomous moving body and management information of the autonomous moving body in association with each other. In response to an inquiry about whether or not the operation of the autonomous moving object is performed by a terminal transmitting the autonomous moving object identifier to the autonomous moving object managing device via a network to the computer of the moving object managing device, the terminal corresponds to the autonomous moving object identifier A management information detection procedure for detecting the management information of the autonomous moving body from the autonomous moving body management database, and an operating condition that allows the operation of the autonomous moving body based on the management information of the autonomous moving body detected by the management information detection procedure. When the operating condition is satisfied by the operating condition determining procedure for determining whether the operating condition is satisfied and the operating condition determining procedure If you separate, to execute, and operation allowance inquiry result transmission step of transmitting to the terminal via the network query results to allow operation of the autonomous moving body.

  ADVANTAGE OF THE INVENTION According to this invention, the autonomous moving body management apparatus, autonomous moving body management system, autonomous moving body management method, and program which enable safe operation of an autonomous moving body can be provided.

(A) is a figure which shows the structural example of the small unmanned helicopter management system which concerns on this embodiment, (b) is a figure which shows an example of a small unmanned helicopter skill certification completion certificate. It is a figure which shows the structural example of a small unmanned helicopter. It is a schematic diagram for demonstrating the embedding procedure of authentication information. It is a block diagram which shows the structural example of base station PC. It is a figure which shows an example of a flight log. It is a block diagram which shows the structural example of a safe operation management server. It is a figure which shows the structural example of safe operation management DB. It is a figure which shows the structural example of a risk evaluation table. It is a flowchart which shows an example of a flight permission inquiry process. It is a flowchart which shows an example of a flight permission inquiry process. It is a flowchart which shows an example of safe operation management DB update process.

   Hereinafter, a configuration of a small unmanned helicopter management system according to an embodiment of the present invention will be described with reference to the drawings.

   FIG. 1A is a diagram illustrating a configuration example of a small unmanned helicopter management system according to the present embodiment, and FIG. 1B is a diagram illustrating an example of a small unmanned helicopter skill test certificate.

  As shown in FIG. 1A, the small unmanned helicopter management system 1 is roughly composed of a small unmanned helicopter 2, a base station PC (Personal Computer) 3, and a safety operation management server 4, and the base station PC 3 The safety operation management server 4 is connected to be able to communicate with each other via the network 5.

  The small unmanned helicopter skill certification completion certificate 6 is given to a person who has completed a skill certification regarding the handling of the small unmanned helicopter 2 (hereinafter referred to as a “skill certification completed person”). As shown in FIG. 1B, the small unmanned helicopter skill test certificate 6 is referred to as an identifier such as a registration number (hereinafter referred to as “skill test certificate ID (Identifier)”) that can identify a person who has completed the skill test. ), The name of the person who completed the skill test, the company name to which the person who completed the skill test belongs, and the expiry date of the small unmanned helicopter skill test certificate 6 are printed. In addition, a small unmanned helicopter skill certification certificate 6 is printed with a two-dimensional code (hereinafter referred to as “skill certification certificate”) 60 such as a QR code (registered trademark) indicating a skill certification certification ID. Yes.

   FIG. 2 is a diagram illustrating a configuration example of a small unmanned helicopter.

  The small unmanned helicopter 2 is called a multi-rotor type helicopter or an autonomous flight type helicopter, and includes a fuselage 20 and a control device 24 as shown in FIG. The small unmanned helicopter 2 may be equipped with a camera or the like.

  The airframe 20 includes six rotors 21 and six rotor motors 22, which are fixed or supported by the frame body 23. Further, the aircraft 20 has a two-dimensional code (hereinafter referred to as “aircraft code”) such as a QR code (registered trademark) indicating an identifier (hereinafter referred to as “aircraft ID”) such as a production number that can identify the aircraft 20. 200) is attached.

  The rotor 21 is composed of, for example, a general-purpose rotor or the like, and is connected to the rotor motor 22. The rotor 21 rotates based on the rotation of the rotor motor 22 and gives buoyancy to the helicopter. In the present embodiment, the small unmanned helicopter 2 includes the six rotors 21, but the present invention is not limited to this, and the small unmanned helicopter 2 includes the stable unmanned helicopter 2 as long as stable flight can be realized. The number of rotors 21 is arbitrary. The control device 24 also includes a two-dimensional code (hereinafter referred to as “control device code”) such as a QR code (registered trademark) indicating an identifier (hereinafter referred to as “control device ID”) such as an individual number that can identify the control device. 240) is attached.

  The rotor motor 22 is composed of, for example, a general-purpose motor or the like, and is provided corresponding to each of the six rotors 21. The rotor motor 22 rotates by receiving power supplied from a battery (not shown) to drive and rotate the rotor 21.

  The control device 24 controls the rotor motor 22 and includes, for example, a GPS (Global Positioning System), an IMU (Inertial Measurement Unit), a computer, a power supply board, and the like. The control device 24 adjusts the buoyancy of the small unmanned helicopter 2 by controlling the number of rotations and the like of each of the six rotor motors 22. Further, the control device 24 performs posture control based on position information measured by a GPS, an IMU, or the like.

  The control device 24 locks the rotor motor 22 in the initial state. The control device 24 is configured to be able to insert a nonvolatile memory such as a microSD (registered trademark) memory card. When the small unmanned helicopter 2 is set to the autonomous flight mode, the route of the small unmanned helicopter 2 set by the base station PC3 is recorded in the nonvolatile memory. The lock of the rotor motor 22 is not released unless a non-volatile memory is inserted into the control device 24.

  When the small unmanned helicopter 2 is set to the manual mode, the control device 24 responds to the reception of the lock release instruction from the base station PC 3 with the nonvolatile memory inserted, and the rotor motor 22 Release the lock. And the control apparatus 24 performs flight control of the small unmanned helicopter 2 based on the instruction | indication of a skill test completion person.

  When the small unmanned helicopter 2 is set to the autonomous flight mode, the control device 24 routes the small unmanned helicopter 2 autonomously flying from the base station PC 3 with the nonvolatile memory inserted (hereinafter referred to as “flight path”). In response to receiving the lock release instruction, the flight path is stored in the nonvolatile memory and the rotor motor 22 is unlocked. And the control apparatus 24 performs autonomous flight control of the small unmanned helicopter 2 according to the flight path memorize | stored in the non-volatile memory.

  The control device 24 has a function as a flight recorder, and records flight information in the nonvolatile memory when the power is turned on with the nonvolatile memory inserted. Flight information includes, for example, take-off time, landing time, cruise speed, maximum arrival speed, flight distance, total number of flights, total start-up time, total flight time, and GPS and IMU of the small unmanned helicopter 2 The measured position information is included.

  The control device 24 wirelessly transmits the flight information recorded in the nonvolatile memory to the base station PC3. When the small unmanned helicopter 2 is equipped with a camera, the control device 24 wirelessly transmits an image captured by the camera to the base station PC3 in association with position information measured by a GPS, an IMU, or the like. Good.

  In the present embodiment, the skill certification completion person code 60, the machine code 200, and the control device code 240 are realized by a self-authentication two-dimensional code in which authentication information is embedded in a correction area. Such a self-authentication type two-dimensional code is generated as follows from the original two-dimensional code in which the authentication information is not embedded.

  Here, the original two-dimensional code is, for example, a QR code (registered trademark) or the like, and includes three positioning symbols, an information code recording area, a timing cell, a format code, and the like.

  The information code recording area includes a code pair of an information code (information area) Cd and a corresponding RS (Reed-Solomon) code (correction area) Ce. The information code is obtained by coding predetermined information, and the predetermined information is expressed by a cell distribution pattern (cell pattern) included in the information code. The RS code Ce is obtained by encoding correction information obtained by encoding predetermined information using RS (Reed-Solomon), and is used for correction for correcting an error by a cell pattern included in the RS code. Expresses information.

  The information code recording area is made up of a total of 134 symbols, for example, 44 information symbols constituting the information code Cd and 90 RS symbols constituting the RS code Ce. The information code recording area is divided into four blocks, two of which are composed of a total of 33 symbols including 11 information symbols and 22 RS symbols corresponding thereto, and the remaining blocks. The two blocks are composed of a total of 34 symbols including 11 information symbols and 23 RS symbols corresponding thereto.

  Then, by decoding each block of the original two-dimensional code having such a configuration in accordance with a predetermined code arrangement rule, an information bit string consisting of 11 information symbols and 22 or 23 RSs from each block An RS bit string made up of symbols is acquired.

  Next, 12 RS symbols are extracted from a predetermined position of the RS bit string of each block. Subsequently, 6 predetermined symbols are selected from the extracted 12 RS symbols, and a bit string m having a bit length of 192 consisting of a total of 24 RS symbols in a total of 4 blocks is acquired.

  Then, the bit string m is encrypted using elliptic curve cryptography to obtain the bit string c. Subsequently, the bit string c is divided into four according to the number of blocks to generate the bit string ci (i = 1 to 4). Subsequently, exclusive OR of the bit string ci (i = 1 to 4) and the bit string li (i = 1 to 4) consisting of the remaining 6 symbols out of the 12 RS symbols extracted from each block is calculated. Thus, a bit string ci (under bar) (i = 1 to 4) is generated. Then, for example, as shown in FIGS. 3A and 3B, the bit string c is embedded as authentication information by replacing the bit string li with a bit string ci (underbar).

  Subsequently, by arranging the information bit string and the RS bit string in which the authentication information is embedded according to the code arrangement rule of the original two-dimensional code, a self-authentication type two-dimensional code in which the authentication information is embedded in the correction area is generated. The

  As described above, in this embodiment, the authentication information is embedded in each of the correction areas of the skill certification completion person code 60, the machine body code 200, and the control device code 240.

  In addition, the skill certification completion person code 60, the machine code 200, and the control device code 240 are recognized as “1” and one or more colors of optical characteristics recognized as “0” by a general-purpose two-dimensional code reader. A logo Q (registered trademark) that indicates a skill certification completion person ID, an aircraft ID, and a control device ID, and a logo mark, a character, etc. are visually recognizable using one or more colors of optical characteristics ).

  Specifically, the skill certification completion person code 60, the machine body code 200, and the control device code 240 are less than the predetermined lightness (recognized as “0” by a general-purpose two-dimensional code reader) at a portion of the logo mark that has a predetermined lightness or higher. Cell dots of a certain brightness) are superimposed on the portion of the logo mark that is less than the prescribed brightness, with cell dots that are more than the prescribed brightness (brightness recognized as “1” by a general-purpose two-dimensional code reader). , Skill certification qualifier ID and aircraft according to the distribution pattern of cell dots and logo marks with a predetermined lightness or higher and portions with a predetermined lightness or higher, and cell dots and logo marks with a predetermined lightness or lower with portions less than the predetermined lightness. ID and control device ID are shown (for example, refer JP, 2008-15642, A).

  The skill certification completion person code 60, the body code 200, and the control device code 240 are obtained by superimposing a cell having a predetermined lightness or higher on a logo mark having a predetermined lightness, and a portion of the logo mark in which the cell is not overlapped. May be used to indicate a skill test completion ID, an aircraft ID, and a control device ID, respectively (see, for example, JP-A-2007-287004). Note that the skill certification completion person code 60, the machine body code 200, and the control device code 240 may be general-purpose two-dimensional codes composed of white cells and black cells.

  FIG. 4 is a block diagram illustrating a configuration example of the base station PC.

  The base station PC3 is composed of, for example, a general-purpose personal computer or the like, and as shown in FIG. 4, the input unit 30, the reading unit 31, the communication unit 32, the storage unit 33, the display unit 34, and the control unit 35. And are connected via a bus.

  The input unit 30 includes, for example, a keyboard and a mouse. Before and after the flight of the small unmanned helicopter 2, the shape of the airframe 20, the remaining amount of the battery, the state of the control device 24 such as a GPS antenna, and the like are inspected, and the inspection result is input through the input unit 30. Further, when the small unmanned helicopter 2 is set in the autonomous flight mode, the flight path is set in advance by the input unit 30. Furthermore, when a camera or the like is mounted on the control device 24 of the small unmanned helicopter 2, the mounted object is input through the input unit 30.

  The reading unit 31 is composed of, for example, a general-purpose two-dimensional code reader or the like, and when the small unmanned helicopter 2 is caused to fly, the skill test indicated by the skill test completion person code 60 printed on the small unmanned helicopter skill test certificate 6 The completion ID, the airframe ID indicated by the airframe code 200 attached to the airframe 20 of the small unmanned helicopter 2, and the control device ID indicated by the control device code 240 attached to the control device 24 are read.

  The communication unit 32 includes a communication device such as a NIC (Network Interface Card), for example, and receives flight information wirelessly transmitted from the small unmanned helicopter 2, a still image or a moving image. In addition, the communication unit 32 includes a skill test completion person ID indicated by the skill test completion person code 60 captured by the reading unit 31, a machine ID indicated by the machine code 200, a control device ID indicated by the control device code 240, and an input unit 30. The inputted inspection result before the flight and the set flight route of the small unmanned helicopter 2 are transmitted to the safe operation management server 4 via the network 5. Furthermore, the communication unit 32 wirelessly transmits a lock release instruction and a flight path to the small unmanned helicopter 2.

  The storage unit 33 is configured by, for example, a hard disk drive or a flash memory, and stores the flight log 330 of the small unmanned helicopter 2.

  FIG. 5 is a diagram illustrating an example of a flight log.

  In the flight log 330, as shown in FIG. 5, the flight date, flight location, flight location weather information, aircraft ID indicated by the aircraft code 200, control device ID indicated by the control device code 200, and input by the input unit 30 And the mounted information such as the camera, the inspection result after the flight, and the flight information received by the communication unit 32 are included.

  The display unit 34 shown in FIG. 4 is composed of, for example, a general-purpose liquid crystal display device.

  The control unit 35 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The CPU uses the RAM as a work memory and stores it in the ROM, the storage unit 33, and the like. By appropriately executing the various programs, the operation of each part of the base station PC3 is controlled.

  The control unit 35 performs authentication of the skill certification completion person code 60, the body code 200, and the control device code 240 read by the reading unit 31, respectively.

  Specifically, the control unit 35 decodes each block of the self-authenticating type two-dimensional code read by the reading unit 31 according to the above-described code arrangement rule, so that an information bit string composed of 11 information symbols from each block. And an RS bit string made up of 22 or 23 RS symbols.

  Next, the control unit 35 detects the bit string c ′ (underbar) made up of 24 RS symbols as an error by obtaining an exclusive OR of the data before decoding and the data after decoding. .

  Subsequently, the control unit 35 embeds it as authentication information by calculating an exclusive OR of the bit string l included in the RS bit string and the bit string c ′ (underbar) detected as an error in the two-dimensional code authentication unit 6. The obtained bit string c ′ is obtained.

  Further, the control unit 35 obtains the bit string md by decrypting the bit string c ′ using the decryption key corresponding to the encryption.

  Then, the control unit 35 determines whether or not the decoded bit string md matches the bit string m included in the RS bit string, whereby the skill test completion code 60, the machine code 200, and the control device code 240 are determined. Authenticate.

  As a result of authentication, the control unit 35 determines that the skill test completion person code 60, the machine code 200, and the control device code 240 are not falsified, and if both do not match, It is determined that the skill certification completion person code 60, the body code 200, and the control device code 240 have been tampered with.

  When the control unit 35 determines that at least one of the skill certification completion person code 60, the body code 200, and the control device code 240 has been tampered with, the control unit 35 displays that fact on the display unit 34. On the other hand, if the control unit 35 determines that none of the skill certification completion person code 60, the body code 200, and the control device code 240 has been tampered with, the control unit 35 makes an inquiry for permission to fly the small unmanned helicopter 2. Allows instructions.

  Then, the control unit 35 responds to the input unit 30 instructing the flight permission of the small unmanned helicopter 2 and inputs the skill test completion person ID, the body ID, and the control device ID and the input unit 30. The inspected pre-flight inspection result is transmitted from the communication unit 32 to the safe operation management server 4 via the network 5 to inquire the safe operation management server 4 about the flight permission of the small unmanned helicopter 2. In addition, when the small unmanned helicopter 2 is set in the autonomous flight mode, the control unit 35 transmits the flight path of the small unmanned helicopter 2 preset by the input unit 30 from the communication unit 32 to the network 5. Is transmitted to the safe operation management server 4 via.

  The control unit 35 receives the inquiry result transmitted from the safety operation management server 4 via the network 5 by the communication unit 32. Then, when the communication unit 32 receives an inquiry result indicating that flight is not possible, the control unit 35 immediately displays on the display unit 34 that the cause of the accident is to be removed.

  In contrast, when the communication unit 32 receives the flight permission inquiry result, the control unit 35 transmits a lock release instruction to the control device 24 of the small unmanned helicopter 2 to lock the rotor motor 22. Let it be released. In addition, when the small unmanned helicopter 2 is set to the autonomous flight mode, the control unit 35 wirelessly transmits the flight path to the small unmanned helicopter 2 together with an instruction to unlock.

  Further, when the communication unit 32 receives an inquiry result of the flight permission and an instruction to promptly remove the accident factor, the communication unit 32 gives an indication to that effect and removes the accident factor as necessary. When the message is received, the fact is displayed on the display unit 34.

  After the flight of the small unmanned helicopter 2 ends, the control unit 35 generates a flight log 330 and stores it in the storage unit 33. Then, the control unit 35 uploads the flight log 330 from the communication unit 32 to the safe operation management server 4 via the network 5.

  FIG. 6 is a block diagram illustrating a configuration example of the safety operation management server.

  The safety operation management server 4 is composed of, for example, a general-purpose server computer, and includes a communication unit 41, a storage unit 42, and a control unit 43 as shown in FIG. 6, which are connected via a bus. ing.

  The communication unit 41 receives the skill test completion person ID, the body ID, the control device ID, the pre-flight inspection result, and the flight path of the small unmanned helicopter 2 transmitted from the base station PC 3 via the network 5. In addition, the communication unit 41 transmits an inquiry result indicating that the small unmanned helicopter 2 is permitted to fly or cannot fly to the base station PC 3 via the network 5. Further, the communication unit 41 receives the flight log 330 uploaded from the base station PC3 via the network 5.

  The storage unit 42 is composed of, for example, a hard disk drive or the like, and stores a safe operation management DB (Data Base) 420 and a risk evaluation table 424.

  FIG. 7 is a diagram illustrating a configuration example of the safe operation management DB.

  As shown in FIG. 7, the safety operation management DB 420 includes a skill certification completion person management DB 421, an aircraft management DB 422, and a control device management DB 423.

  The skill test completion person management DB 421 is for managing the person who has completed the skill test. For each person who has completed the skill test, the ID of the person who has completed the skill test, the name and company name of the person who has completed the skill test, and the small unmanned helicopter skill test certificate 6 is registered in association with information related to those who have completed the skill test, such as the validity period of 6 and whether or not they have joined non-life insurance.

  The airframe management DB 422 is for managing the airframe 20 of the small unmanned helicopter 2. For each airframe 20, the airframe ID, life cycle, manufacturer ID, seller name, flight history of the small unmanned helicopter 2, and airframe Management information such as 20 inspection histories is registered in association with each other. The life cycle includes the life cycle of the rotor 21, the rotor motor 22, and the battery. The flight history includes flight date, flight location, flight location weather information, flight information, and the like identified from the flight log 330. The inspection history of the aircraft 20 includes inspection results such as the shape of the aircraft 20 after the flight specified from the flight log 330 and the remaining battery level.

  The control device management DB 423 is for managing the control device 24 of the small unmanned helicopter 2. For each control device 24, the control device ID, the firmware revision of the control device 24, the manufacturer ID, and the control device 24 Management information such as inspection history is registered in association with each other. The inspection history of the control device 24 includes inspection results such as the state of the control device 24 such as a GPS antenna.

  FIG. 8 is a diagram illustrating a configuration example of the risk evaluation table.

  The risk evaluation table 424 is for evaluating a risk level for causing the small unmanned helicopter 2 to fly based on an accident factor assumed for the small unmanned helicopter 2. In the risk evaluation table 424, the risk level for causing the small unmanned helicopter 2 having an accident factor to fly is the frequency at which the small unmanned helicopter 2 causes an accident as shown in FIG. 8 (hereinafter referred to as “occurrence frequency”). And the severity of damage in the event of an accident.

  In the risk evaluation table 424, the severity of damage is classified into four levels “I” to “IV”. Fatal damage such as death or serious injuries that leave behind disability, irreversible environmental destruction, or diplomatic problems is rated as “I”. Serious damage such as serious injuries or many minor injuries that do not leave after effects, serious damage to other systems and assets, or damage amounts exceeding the specified amount is rated as “II”. Is done. A moderate damage that causes a small number of minor injuries, moderate damage to other systems or property, or a damage amount of less than a predetermined amount is rated as “III”. Minor damage that causes minor damage to other systems or property is rated severity IV.

  In the risk evaluation table 424, the frequency of occurrence is determined based on the number of occurrences per unit flight time of the small unmanned helicopter 2 having an accident factor, and “A” in descending order of the possibility of occurrence of damage. It is classified into five levels of “E”. The occurrence frequency may be determined based on the flight time of an actual small unmanned helicopter 2 having an accident factor and the number of times an accident has actually occurred, or the experience of the operator of the safety operation management server 4 It may be determined based on technical and technical judgment.

  In the risk evaluation table 424, the risk level for flying the small unmanned helicopter 2 having the accident factor with the severity of damage “I” and the occurrence frequency “A” is set to “1”. The risk level for flying a small unmanned helicopter 2 having an accident factor with an severity of “I” and an occurrence frequency of “B” is “2”, the severity of damage is “II”, and the occurrence frequency is “ The risk level for flying a small unmanned helicopter 2 having an accident factor of “A” is “3”, a small unmanned helicopter having an accident factor of “I” and the occurrence frequency of “C”. The risk level for flying 2 is “4”, and the risk level for flying a small unmanned helicopter 2 having an accident factor with a severity of damage “II” and an occurrence frequency “B” is “5”. It is said.

  In addition, the risk level of flying a small unmanned helicopter 2 having an accident factor with an injury severity of “I” and an occurrence frequency of “D” is set to “6”, and the severity of damage is “II”. The risk level of flying a small unmanned helicopter 2 with an accident factor of “C” at “7” is “7”, the severity of damage is “II”, and the accident factor is “D”. The risk level of flying a small unmanned helicopter 2 having a risk level of “8”, the risk level of flying a small unmanned helicopter 2 having an accident factor with a severity of damage “III” and an occurrence frequency “A” Is “9”, and the risk level of flying the small unmanned helicopter 2 having the accident factor with the severity of damage “III” and the occurrence frequency “B” is “10”.

  Furthermore, the risk level of flying a small unmanned helicopter 2 having an accident factor with a damage severity of “III” and an occurrence frequency of “C” is set to “11”, and the severity of damage is “I”. The risk level of flying a small unmanned helicopter 2 with an accident factor of “E” at “12” is “12”, the severity of damage is “IV”, and the accident factor is “A”. The risk level of flying a small unmanned helicopter 2 having a risk level of “13”, the risk level of flying a small unmanned helicopter 2 having an accident factor with a severity of damage of “III” and an occurrence frequency of “D” The risk level for flying a small unmanned helicopter 2 with an accident factor that causes damage severity “II” and occurrence frequency “E” is “15”. The severity is “IV” and the occurrence frequency is “B”. The risk level of flying a small unmanned helicopter 2 with an accident factor is “16”, and a small unmanned helicopter 2 with an accident factor with an accident severity of “III” and occurrence frequency “E” The risk level to be made is “17”.

  In addition, the risk level for flying a small unmanned helicopter 2 having an accident factor with an injury severity of “IV” and an occurrence frequency of “C” is “18”, and the severity of damage is “IV”. The risk level of flying a small unmanned helicopter 2 with an accident factor of “D” at “19” is “19”, the severity of damage is “IV”, and the accident factor of “E” is the frequency of occurrence The risk level for flying the small unmanned helicopter 2 having “20” is set to “20”.

  The control unit 43 illustrated in FIG. 6 includes, for example, a CPU, a ROM, a RAM, and the like, and the CPU uses the RAM as a work memory and appropriately executes various programs stored in the ROM, the storage unit 42, and the like. The operation of each part of the safety operation management server 4 is controlled.

  The control unit 43 responds to the inquiry about the flight permission of the small unmanned helicopter 2 from the base station PC3, and the small unmanned helicopter skill certification completion certificate of the person who has completed the skill certification corresponding to the skill certification completion ID received by the communication unit 41. 6 is detected from the skill test completion person management DB 421, such as the expiration date of 6 and the presence or absence of participation in non-life insurance. Further, the control unit 43 detects management information such as the life cycle and inspection history of the aircraft 20 corresponding to the aircraft ID received by the communication unit 41 and the flight history of the small unmanned helicopter 2 from the aircraft management DB 422. Furthermore, the control unit 43 detects management information such as an inspection history of the control device 24 corresponding to the control device ID received by the communication unit 41 from the control device management DB 423.

  The control unit 43 identifies the accident factor of the small unmanned helicopter 2 from the information related to the person who has completed the skill test, the management information of the aircraft 20, the management information of the control device 24, the pre-flight inspection result received by the communication unit 41, etc. . In addition, when the small unmanned helicopter 2 is set in the autonomous flight mode, the control unit 43 determines the accident factor of the small unmanned helicopter 2 from the flight path of the small unmanned helicopter 2 received by the communication unit 41. Identify.

  For example, the expiry date of the small unmanned helicopter skill certification certificate 6, non-participation in non-life insurance, usage period of rotor 21, rotor motor 22, and battery, oversight in pre-flight inspection, remaining battery level, small size The fact that the flight path of the unmanned helicopter 2 deviates from a predetermined flight area is specified as an accident factor. Here, the usage period of the rotor 21, the rotor motor 22, and the battery is specified from the total activation time and the total flight time included in the flight information of the flight history of the small unmanned helicopter 2. Further, the oversight in the pre-flight inspection and the remaining amount of the battery are specified from the pre-flight inspection result and the like.

  The control unit 43 refers to the risk evaluation table 424, determines the risk level at which the small unmanned helicopter 2 flies from the identified accident factors, the frequency at which the small unmanned helicopter 2 having the accident factors causes the accident, and the accident Assess according to the severity of the damage that occurs.

  For example, when the controller 43 identifies an accident factor that the flight path of the small unmanned helicopter 2 deviates from a predetermined flight area, the severity of damage is “I” and the occurrence frequency is “A”. The risk level is evaluated as “1”. In addition, when the controller 43 identifies an accident factor that there is an oversight in the pre-flight inspection, the risk level is set to “2”, assuming that the severity of damage is “I” and the occurrence frequency is “B”. To evaluate.

  The controller 43 determines whether or not the evaluated risk level is “6” or more, thereby determining whether or not the flight conditions permitted for the flight of the small unmanned helicopter 2 are satisfied.

  When it is determined that the risk level is less than “6”, that is, when the risk level is “1” to “5”, the control unit 43 determines that the flight condition is not satisfied, along with the flight permission inquiry result, An instruction to immediately remove the cause of the accident is transmitted from the communication unit 41 to the base station PC3 via the network 5. On the other hand, if the control unit 43 determines that the risk level is “6” or higher, that is, if the risk level is “6” to “20”, it is determined that the flight condition is satisfied and the flight permission is granted. The inquiry result is transmitted from the communication unit 41 to the base station PC3 via the network 5.

  In addition, when the risk level is “6” to “10” along with the inquiry result of the flight permission, an instruction to promptly remove the accident factor is given, and when the risk level is “11” to “15”. Transmits an instruction to remove the accident factor as necessary from the communication unit 41 to the base station PC3 via the network 5.

  The control unit 43 detects the flight history of the small unmanned helicopter 2 corresponding to the aircraft ID included in the flight log 330 received by the communication unit 41 and the inspection history of the aircraft 20 from the aircraft management DB 422. Then, the control unit 43 writes and updates the flight date, flight location, flight location weather information, flight information, and the like included in the flight log 330 in the flight history of the small unmanned helicopter 2. Further, the control unit 43 writes and updates the shape and the like of the aircraft 20 included in the flight log 330 in the inspection history of the aircraft 20.

  The control unit 43 detects the inspection history of the control device 24 corresponding to the control device ID included in the flight log 330 received by the communication unit 41 from the control device management DB 423. Then, the control unit 43 writes and updates the state of the control device 24 included in the flight log 330 in the inspection history of the control device 24.

  Next, operation | movement of the small unmanned helicopter management system 1 provided with the said structure is demonstrated with reference to drawings.

  The small unmanned helicopter 2 is inspected before the flight, and the inspection result is input at the input unit 30 of the base station PC3. Further, when the small unmanned helicopter 2 is set to the autonomous flight mode, the flight path is set by the input unit 30. Furthermore, when a camera or the like is mounted on the control device 24 of the small unmanned helicopter 2, the mounted object is input through the input unit 30.

  Further, when the small unmanned helicopter 2 is caused to fly, the reading unit 31 reads the skill certification completion person ID indicated by the skill certification completion person code 60 printed on the small unmanned helicopter skill certification certificate 6 and the body of the small unmanned helicopter 2. 20, the machine ID shown by the machine code 200 attached to 20 and the control device ID shown by the control code 240 attached to the control device 24 are read.

  The control unit 35 performs authentication of the skill certification completion person code 60, the body code 200, and the control device code 240, respectively, and if all of them have not been tampered with, it is possible to instruct the flight permission inquiry of the small unmanned helicopter 2. And The small unmanned helicopter management system 1 starts the flight permission / inquiry inquiry processing in response to the inquiry about the flight permission of the small unmanned helicopter 2 being instructed by the input unit 30.

  9 to 10 are flowcharts showing an example of the flight permission / inquiry inquiry process.

  In the flight permission / inquiry inquiry process, as shown in FIG. 9, the control unit 35 first obtains the skill test completion person ID, the aircraft ID, and the control device ID, and the pre-flight inspection result input by the input unit 30. It transmits to the safe operation management server 4 from the communication part 32 via the network 5 (step S101). In addition, when the small unmanned helicopter 2 is set in the autonomous flight mode, the control unit 35 transmits the flight path of the small unmanned helicopter 2 preset by the input unit 30 from the communication unit 32 to the network 5. Is transmitted to the safe operation management server 4 via.

  On the other hand, in the safety operation management server 4, the control unit 43 transmits the skill test completion person ID, the aircraft ID, the control device ID, the pre-flight inspection result, and the small unmanned helicopter 2 transmitted from the base station PC 3 via the network 5. Is received by the communication unit 41 (step S102).

  Next, the control unit 43 determines the skills such as the expiration date of the small unmanned helicopter skill test certificate 6 of the skill test completion person corresponding to the skill test completion person ID received by the communication unit 41 and whether or not there is non-life insurance. Information related to those who have completed the certification is detected from the skill certification completion person management DB 421 (step S103).

  Further, the control unit 43 detects management information such as the life cycle and inspection history of the aircraft 20 corresponding to the aircraft ID received by the communication unit 41 and the flight history of the small unmanned helicopter 2 from the aircraft management DB 422 (step S104). .

  Furthermore, the control unit 43 detects management information such as an inspection history of the control device 24 corresponding to the control device ID received by the communication unit 41 from the control device management DB 423 (step S105).

  Subsequently, the control unit 43 determines the accident factor of the small unmanned helicopter 2 from the information related to the person who has completed the skill test, the management information of the fuselage 20, the management information of the control device 24, and the pre-flight inspection result received by the communication unit 41. Is specified (step S106). In addition, when the small unmanned helicopter 2 is set in the autonomous flight mode, the control unit 43 determines the accident factor of the small unmanned helicopter 2 from the flight path of the small unmanned helicopter 2 received by the communication unit 41. Identify.

  Then, the control unit 43 refers to the risk evaluation table 424, and determines the risk level for flying the small unmanned helicopter 2 from the identified accident factors, the frequency at which the small unmanned helicopter 2 having the accident factors generates an accident, Evaluation is made according to the severity of damage when the accident occurs (step S107).

  Subsequently, the control unit 43 determines whether or not the evaluated risk level is “6” or more, thereby determining whether or not the flight condition permitted for the flight of the small unmanned helicopter 2 is satisfied (Step S43). S108).

  When it is determined that the risk level is less than “6”, that is, when the risk level is “1” to “5”, the control unit 43 determines that the flight condition is not satisfied, along with the flight permission inquiry result, An instruction to immediately remove the cause of the accident is transmitted from the communication unit 41 to the base station PC3 via the network 5 (step S109).

  On the other hand, if the control unit 43 determines that the risk level is “6” or higher, that is, if the risk level is “6” to “20”, it is determined that the flight condition is satisfied and the flight permission is granted. The inquiry result is transmitted from the communication unit 41 to the base station PC3 via the network 5 (step S110). In addition, when the risk level is “6” to “10” along with the inquiry result of the flight permission, an instruction to promptly remove the accident factor is given, and when the risk level is “11” to “15”. Transmits an instruction to remove the accident factor as necessary from the communication unit 41 to the base station PC3 via the network 5.

  On the other hand, in the base station PC3, the control unit 35 receives the inquiry result transmitted from the safety operation management server 4 via the network 5 by the communication unit 32 (step S111).

  Then, when the communication unit 32 receives the inquiry result indicating that flight is not possible (step S112; No), the control unit 35 immediately displays on the display unit 34 that the cause of the accident is to be removed (step S113). End the process.

  On the other hand, when the communication unit 32 receives the flight permission inquiry result (step S112; No), the control unit 35 transmits a lock release instruction to the control device 24 of the small unmanned helicopter 2, thereby The lock of the motor 22 is released (step S114). In addition, when the small unmanned helicopter 2 is set to the autonomous flight mode, the control unit 35 wirelessly transmits the flight path to the small unmanned helicopter 2 together with an instruction to unlock.

  Further, when the communication unit 32 receives an inquiry result of the flight permission and an instruction to promptly remove the accident factor, the communication unit 32 gives an indication to that effect and removes the accident factor as necessary. If this is received, the fact is displayed on the display unit 34 (step S115), and the flight permission / inquiry inquiry process is terminated.

  The small unmanned helicopter 2 records flight information in the nonvolatile memory of the control device 24 during flight and wirelessly transmits the flight information to the base station PC3. On the other hand, in the base station PC3, the control unit 35 receives flight information wirelessly transmitted from the small unmanned helicopter 2 by the communication unit 32.

  And after completion | finish of the flight of the small unmanned helicopter 2, the small unmanned helicopter management system 1 performs safe operation management DB update process.

  FIG. 11 is a flowchart illustrating an example of the safe operation management DB update process.

  In the safe operation management DB update process, the control unit 35 first generates a flight log 330 and stores it in the storage unit 33 as shown in FIG. 11 (step S201).

  The control unit 35 uploads the flight log 330 from the communication unit 32 to the safe operation management server 4 via the network 5 (step S202).

  On the other hand, in the safety operation management server 4, the control unit 43 receives the flight log 330 uploaded from the base station PC3 via the network 5 by the communication unit 41 (step S203).

  The control unit 43 detects the flight history of the small unmanned helicopter 2 corresponding to the aircraft ID included in the flight log 330 received by the communication unit 41 and the inspection history of the aircraft 20 from the aircraft management DB 422 (step S204). Then, the control unit 43 writes and updates the flight date, flight location, flight location weather information, flight information, and the like included in the flight log 330 in the flight history of the small unmanned helicopter 2 (step S205). Further, the control unit 43 writes and updates the shape and the like of the aircraft 20 included in the flight log 330 in the inspection history of the aircraft 20 (step S206).

  The control unit 43 detects the inspection history of the control device 24 corresponding to the control device ID included in the flight log 330 received by the communication unit 41 from the control device management DB 423 (step S207). Then, the control unit 43 writes and updates the state of the control device 24 included in the flight log 330 in the inspection history of the control device 24 (step S208), and ends the safe operation management DB update process.

  As described above, in the small unmanned helicopter management system 1 according to the present embodiment, the safety operation management server 4 includes the skill certification completion person management DB 421, the body management DB 422, and the control device management DB 423.

  The skill certification completion person management DB 421 is a skill certification completion person ID capable of specifying a skill certification completion person and information on the skill certification completion person (in this embodiment, the name and company name of the person who has completed the skill certification, the small unmanned helicopter skill certification completion The expiration date of the certificate 6 and the presence / absence of non-life insurance are registered in association with each other. The aircraft management DB 422 includes an aircraft ID that can identify the aircraft 20 and management information of the aircraft 20 (in this embodiment, life cycle, manufacturer ID, seller name, flight history of the small unmanned helicopter 2, and inspection history). Etc.) in association with each other. Then, the control device management DB 423 associates and registers the control device ID that can identify the control device 24 and the management information of the control device 24 (in this embodiment, firmware revision, manufacturer ID, inspection history, and the like). To do.

  The base station PC3 transmits the skill unskilled person ID, the aircraft ID, the control device ID, the preset flight route, etc. to the safe operation management server 4 via the network 6, thereby allowing the small unmanned helicopter 2 to fly. Inquire about permission.

  In response to the inquiry about whether or not the small unmanned helicopter 2 is allowed to fly, the safety operation management server 4 corresponds the information related to the skill certification completion person ID corresponding to the skill certification completion person ID from the skill certification completion person management DB 421 to the aircraft ID. The management information of the machine 20 is detected from the machine management DB 422, and the management information of the control device 24 corresponding to the control device ID is detected from the control device management DB 423, respectively.

  Then, the safety operation management server 4 includes the detected management information of the small unmanned helicopter 2 (in this embodiment, management information of the aircraft 20 and the control device 24, etc.), information on the person who has completed the skill test, and the flight path. Based on this, it is determined whether or not the flight conditions allowed for the flight of the small unmanned helicopter 2 are satisfied.

  Specifically, the accident factor of the small unmanned helicopter 2 is specified from the detected management information of the small unmanned helicopter 2 and information on the person who has completed the skill test, and the flight path. Next, the control unit 43 refers to the risk evaluation table 424, and determines the risk level (risk level in the present embodiment) for causing the small unmanned helicopter 2 having the identified accident factor to fly. Evaluation is made according to the frequency at which the helicopter 2 causes an accident and the severity of damage in the event of the accident. The safety operation management server 4 determines whether or not the flight condition is satisfied by determining whether or not the evaluated risk level is within the range of “6” to “20”. And when it is discriminate | determined that the flight conditions are satisfy | filled, the safe operation management server 4 transmits the inquiry result which permits the flight of the small unmanned helicopter 2 to the base station PC3 via the network 5.

  The base station PC3 responds that it has received the inquiry result permitting the flight of the small unmanned helicopter 2 transmitted from the safety operation management server 4 via the network, and gives a lock release instruction to the control device for the small unmanned helicopter 2. By transmitting to 24, the rotor motor 22 is unlocked to allow the small unmanned helicopter 2 to fly.

  As described above, the small unmanned helicopter management system 1 cannot fly the small unmanned helicopter 2 unless it is determined that the flight conditions are satisfied based on the management information of the small unmanned helicopter 2. The helicopter 2 can be operated safely.

  Further, the safety operation management server 4 specifies the accident factor from the management information of the small unmanned helicopter 2 and the risk level for causing the small unmanned helicopter 2 having the specified accident factor to fly is set to the small unmanned helicopter 2 having the accident factor. Is evaluated according to the frequency of accidents and the severity of damage in the event of an accident. By determining whether or not the flight condition is satisfied based on the risk level evaluated in this way, the safety operation management server 4 can accurately determine whether or not the flight condition is satisfied. it can.

  Furthermore, the safety operation management server 4 determines whether or not the flight condition is satisfied based on the information related to the person who has completed the skill test in addition to the management information of the small unmanned helicopter 2. It is possible to determine whether or not the flight conditions are satisfied more accurately based not only on the state but also on the actual situation of the person who has completed the skill test.

  In addition, the safety operation management server 4 manages the state of the airframe 20 and the state of the control device 24 separately, so that even if either the airframe 20 or the control device 24 is exchanged, It is possible to accurately grasp the state and the state of the control device 24 and accurately determine whether or not the flight condition is satisfied.

  Furthermore, since the safety operation management server 4 does not permit the small unmanned helicopter 2 to fly if the set flight path deviates from a predetermined flight area and does not satisfy the flight condition, the small unmanned helicopter 2 Safer flight is possible.

  After the flight of the small unmanned helicopter 2 is finished, the base station PC3 uploads the flight log 330 of the small unmanned helicopter 2 to the safety operation management server 4 via the network 5, and the safety operation management server 4 The management information of the small unmanned helicopter 2 is updated based on the flight log 330 uploaded via the Internet.

  As described above, the management information of the small unmanned helicopter 2 is updated every time the flight is completed, so that it is possible to more accurately determine whether or not the flight condition based on the management information of the small unmanned helicopter 2 is satisfied. It can be.

  Furthermore, the skill certification completion person code 60, the machine code 200, and the control apparatus code 240 are respectively corrected by the information code Cd that expresses the skill certification completion person ID, the machine ID, and the control apparatus ID by the cell distribution pattern, and the error correction. RS code Ce that expresses correction information to be expressed by a cell distribution pattern, and part of RS code Ce includes bit string c obtained by encrypting bit string m generated from part of RS code Ce, and RS code Ce The self-authentication type two-dimensional code is replaced with an exclusive OR ci (underbar) with a bit string l generated from a part different from the part.

  Then, the base station PC3 reads the skill certification completion person code 60, the machine body code 200, and the control device code 240 to acquire the RS bit string, and uses the acquired RS bit string to exclusively set the bit string c and the bit string l. The logical sum c ′ is detected as an error. The base station PC3 calculates the exclusive OR of the bit string l included in the RS bit string and the detected error c ', acquires the bit string c' embedded as authentication information, and encrypts the bit string c ' The bit string md is obtained by decoding with a corresponding method. Then, the base station PC3 authenticates the machine code 200 and the like by determining whether or not it matches the bit string m included in the RS bit string. As a result, when the skill certification completion person code 60, the machine code 200, and the control device code 240 are falsified, the base station PC3 cannot detect the exclusive OR of the bit string c and the bit string l as an error. Forgery of the certification completion person code 60, the machine body code 200, and the control device code 240 can be detected.

  Then, the base station PC3 inquires whether or not the small unmanned helicopter 2 is permitted to fly on the condition that the skill certification completion person code 60, the body code 200, and the control device code 240 are authenticated. As a result, the person 20 who is not a person who has completed the skill certification completion person code 60, the body code 200, and the control apparatus code 240 and who has not completed the skill examination handles the small unmanned helicopter 2 or is not managed by the safety operation management server 4. And / or the flight of the small unmanned helicopter 2 provided with the control device 24 can be prevented in advance.

  In addition, this invention is not limited to said embodiment, A various deformation | transformation and application are possible. Hereinafter, modifications of the above-described embodiment applicable to the present invention will be described.

  In the above-described embodiment, the small unmanned helicopter 2 has been described as an example of the autonomous moving body. However, the present invention is not limited to this, and any machine that can operate autonomously according to a preset operation mode. For example, a robot, an automobile that can travel autonomously, and a ship and an aircraft that can autonomously navigate may be used.

  In the above embodiment, the control device 24 of the small unmanned helicopter 2 and the base station PC3 have been described as performing wireless communication. However, the present invention is not limited to this, and the control device of the small unmanned helicopter 2 is used. 24 and the base station PC3 may perform wired communication via a USB (Universal Serial Bus) cable or the like, for example.

  In the above embodiment, among the management information of the small unmanned helicopter 2, the management information of the aircraft 20 is managed separately by the aircraft management DB 422, and the management information of the control device 24 is managed separately by the control device management DB 423. This invention is not limited to this, The management information of the small unmanned helicopter 2 may be managed by one management DB.

  In the above embodiment, the skill test completion person code 60, the machine code 200, and the control device code 240 have been described as being realized by a self-authentication type two-dimensional code in which authentication information is embedded in the correction area. However, the present invention is not limited to this, and all or a part of the skill certification completion person code 60, the body code 200, and the control device code 240 may be two-dimensional codes in which the authentication information is not embedded. For example, only one of the body code 200 and the control device code 240 may be a self-authentication two-dimensional code, and the other may be a two-dimensional code in which no authentication information is embedded.

  In the above embodiment, the skill certification completion person code 60, the machine code 200, and the control device code 240 generate the bit string c by encrypting the bit string m, and calculate the exclusive OR of the bit string c and the bit string l. It was described as being generated. However, the present invention is not limited to this, and the exclusive OR of the bit string m and the bit string l may be calculated without encrypting the bit string m. In this case, the exclusive OR of the bit string mi obtained by dividing the bit string m into four and the bit string li is calculated to generate the bit string mi (underbar). Then, by replacing the bit string li with the bit string mi (underbar), the bit string m may be embedded in the RS code Ce as authentication information.

  The control unit 35 detects the bit string m ′ (underbar) as an error using the RS bit string. Next, the control unit 35 calculates the exclusive OR of the bit string l included in the RS bit string and the bit string m ′ (underbar) detected as an error to acquire the bit string m ′, and the acquired bit string m ′ By determining whether or not it matches the bit string m included in the RS bit string, the skill test completion person code 60, the machine code 200, and the control device code 240 may be authenticated.

  In the above-described embodiment, by reading two-dimensional codes such as the skill certification completion person code 60, the body code 200, and the control device code 240, the base station PC3 has the skill certification completion person ID, the body ID, and the control device ID. Described as input. However, the present invention is not limited to this, and the method for inputting the skill test completion ID, the machine ID, and the control device ID to the base station PC3 is arbitrary. For example, the ID of the person who has completed the skill test, the machine ID, and the control device ID are a one-dimensional code such as a bar code indicating these, a contact IC (Integrated Circuit) card, or an RFID (IC tag and non-contact IC card) It may be inputted to the base station PC3 by reading Radio Frequency Identifier) or the like. In addition, the skill test completion person ID, the machine body ID, and the control device ID may be input by the operator through the input unit 30.

  In the above embodiment, the QR code (registered trademark) is exemplified as the two-dimensional code. However, the present invention is not limited to this, and the two-dimensional code includes a data matrix, an aztec code, a code one, Other matrix type two-dimensional codes such as an array tag, a box graphic code, a maxi code, a pericode, a soft strip, a CP code, a Carla code, and an ultra code may be used. Alternatively, a stack type two-dimensional code in which one-dimensional barcodes such as PDF417, code 49, code 16k, and coder block are vertically stacked may be used.

  In the above embodiment, the programs executed by the CPUs of the control device 24, the control unit 35, and the control unit 43 have been described as being stored in advance in a ROM or the like, but the present invention is not limited to this. Instead, a program for executing the above-described processing may be applied to an existing general-purpose computer so as to function as the control device 24, the control unit 35, and the control unit 43 according to the above-described embodiment.

   The method of providing such a program is arbitrary, for example, stored in a computer-readable recording medium (flexible disk, CD (Compact Disc) -ROM, DVD (Digital Versatile Disc) -ROM, flash memory, etc.). The program may be distributed, or may be provided by storing the program in a storage on a network such as the Internet and downloading it.

  Furthermore, when the above processing is executed by sharing an OS (Operating System) and an application program, or by cooperation between the OS and the application program, only the application program may be stored in a recording medium or storage. It is also possible to superimpose a program on a carrier wave and distribute it via a network. For example, the program may be posted on a bulletin board (BBS: Bulletin Board System) on the network, and the program may be distributed via the network. Then, this program may be activated and executed in the same manner as other application programs under the control of the OS, so that the above processing can be executed.

1 Small unmanned helicopter management system 2 Small unmanned helicopter 3 Base station PC
DESCRIPTION OF SYMBOLS 4 Safety operation management server 5 Network 20 Airframe 21 Rotor 22 Motor for rotor 23 Frame body 24 Control apparatus 30 Input part 31 Reading part 32 Communication part 33 Storage part 34 Display part 35 Control part 41 Communication part 42 Storage part 43 Control part 60 Skill Certification completion code 200 Airframe code 240 Controller code

Claims (11)

An autonomous moving body management apparatus including an autonomous moving body management database that registers and registers an autonomous moving body identifier that can identify an autonomous moving body and management information of the autonomous moving body,
In response to an inquiry about whether or not the operation of the autonomous moving object is performed by a terminal transmitting the autonomous moving object identifier to the autonomous moving object management device via a network, the management information of the autonomous moving object corresponding to the autonomous moving object identifier is obtained. Management information detecting means for detecting from the autonomous moving body management database;
Based on the management information of the autonomous moving object detected by the management information detecting means, an operation condition determining means for determining whether or not an operating condition for allowing the operation of the autonomous moving object is satisfied;
When it is determined that the operation condition is satisfied by the operation condition determination unit, an operation permission inquiry result transmission unit that transmits an inquiry result that permits the operation of the autonomous moving body to the terminal via the network;
An autonomous moving body management device comprising: The operating condition determining means includes
From the management information of the autonomous moving object detected by the management information detecting means, accident factor specifying means for specifying the accident factor of the autonomous moving object,
A risk evaluation means for evaluating the risk of operating the autonomous moving body having the accident factor identified by the accident factor identification means;
A risk level determination means for determining whether or not the operating condition is satisfied by determining whether or not the risk level evaluated by the risk level evaluation means is within a predetermined range;
Including
The operation permission inquiry result transmission means, when the risk determination means determines that the risk is within the predetermined numerical range, the inquiry result that permits the operation of the autonomous moving body as satisfying the operation condition To the terminal via the network,
The autonomous moving body management apparatus according to claim 1. The risk evaluation means determines the risk of operating the autonomous moving body having the accident factor specified by the accident factor specifying means, the frequency with which the autonomous moving body generates an accident, and the weight of damage when the accident occurs. Evaluate according to severity,
The autonomous moving body management apparatus according to claim 2. The autonomous moving body can operate autonomously according to a preset operation mode,
The operating condition determining means determines whether or not the operating condition is satisfied based on the operating mode transmitted from the terminal via the network.
The autonomous moving body management apparatus according to claim 1, 2, or 3. Further comprising a skill certification completion person management database for registering a skill certification completion identifier capable of identifying a person who has completed the skill certification concerning handling of the autonomous moving object and information on the skill certification completion person in association with each other. ,
The management information detection means responds to an inquiry about whether the operation of the autonomous moving body is permitted or not when the terminal transmits the autonomous moving body identifier and the skill test completion person identifier to the autonomous moving body management device via the network. Then, the management information of the autonomous moving body corresponding to the autonomous moving body identifier is detected from the autonomous moving body management database, and the information regarding the person who has completed the skill certification corresponding to the skill certification completing person identifier is managed by the skill certification completing person management From the database,
The operating condition determining means determines whether or not the operating condition is satisfied based on management information of the autonomous moving body detected by the management information detecting means and information on the person who has completed the skill test,
The autonomous operation management device according to any one of claims 1 to 4, wherein the autonomous operation management device is provided. The autonomous moving body includes a body and a control device that controls the body,
The autonomous moving body management database is a body management database that registers and registers a body identifier that can identify the body and management information of the body.
A control device management database that registers a control device identifier that can identify the control device and management information of the control device in association with each other, and
The management information detecting means is responsive to an inquiry about whether or not the operation of the autonomous moving body is performed by the terminal transmitting the machine identifier and the control device identifier to the autonomous moving body management device via the network, Detecting management information of the aircraft corresponding to the aircraft identifier from the aircraft management database, and detecting management information of the control device corresponding to the control device identifier from the control device management database;
The operating condition determining unit determines whether or not the operating condition is satisfied based on the expected management information detected by the management information detecting unit and the management information of the control device.
The autonomous operation management device according to any one of claims 1 to 5, wherein The autonomous moving body management apparatus according to any one of claims 1 to 6,
An operation permission / inquiry inquiry means for inquiring permission / inhibition of the operation of the autonomous moving object by transmitting the autonomous moving object identifier to the autonomous moving object management device via the network, and transmitted by the operation permission inquiry result transmitting means via the network. In response to receiving an inquiry result permitting the operation of the autonomous moving object, operable terminal that enables the operation of the autonomous moving object, and the terminal comprising:
An autonomous moving body management system comprising: The terminal further includes operation history uploading means for uploading the operation history of the autonomous moving object to the autonomous moving object management device via the network after the operation of the autonomous moving object is completed.
The autonomous moving body management device updates the management information of the autonomous moving body based on the operation history uploaded via the network by the operation history upload means.
The autonomous moving body management system according to claim 7. The autonomous moving body two-dimensional code includes: an information area that expresses the autonomous moving body identifier by a cell distribution pattern; and a correction area that expresses correction information for correcting an error by a cell distribution pattern. Is replaced with an exclusive OR of a first correction bit string generated from the part and a second correction bit string generated from a part of the correction area different from the part,
The terminal reads the autonomous moving body two-dimensional code, and obtains the correction information, a two-dimensional code reading means,
Using the correction information acquired by the two-dimensional code reading means, an error detection means for detecting an exclusive OR of the first correction bit string and the second correction bit string as an error;
By determining whether or not an exclusive OR of the first correction bit string included in the correction information and the error detected by the error detection unit matches the second correction bit string included in the correction information, Two-dimensional code authentication means for authenticating the autonomous moving body two-dimensional code,
The operation permission / inquiry inquiry means inquires whether the operation of the autonomous moving object is permitted or not on the condition that the two-dimensional code authentication means has authenticated the autonomous moving object two-dimensional code.
The autonomous moving body management system according to claim 7 or 8, wherein An autonomous moving body management method by an autonomous moving body management apparatus comprising an autonomous moving body management database that associates and registers an autonomous moving body identifier that can identify an autonomous moving body and management information of the autonomous moving body,
In response to an inquiry about whether or not the operation of the autonomous moving object is performed by a terminal transmitting the autonomous moving object identifier to the autonomous moving object management device via a network, the management information of the autonomous moving object corresponding to the autonomous moving object identifier is obtained. Management information detection step for detecting from the autonomous moving body management database,
Based on the management information of the autonomous moving object detected by the management information detecting step, an operation condition determining step of determining whether or not an operation condition allowing the operation of the autonomous moving object is satisfied;
When it is determined that the operation condition is satisfied by the operation condition determination step, an operation permission inquiry result transmission step of transmitting an inquiry result permitting the operation of the autonomous moving body to the terminal via the network;
An autonomous moving body management method comprising: In the computer of the autonomous moving body management apparatus provided with the autonomous moving body management database that associates and registers the autonomous moving body identifier that can identify the autonomous moving body and the management information of the autonomous moving body,
In response to an inquiry about whether or not the operation of the autonomous moving object is performed by a terminal transmitting the autonomous moving object identifier to the autonomous moving object management device via a network, the management information of the autonomous moving object corresponding to the autonomous moving object identifier is obtained. Management information detection procedure to detect from the autonomous moving body management database,
Based on the management information of the autonomous moving object detected by the management information detection procedure, an operation condition determining procedure for determining whether or not the operating condition for allowing the operation of the autonomous moving object is satisfied;
When it is determined that the operation condition is satisfied by the operation condition determination procedure, an operation permission inquiry result transmission procedure for transmitting an inquiry result that permits the operation of the autonomous moving body to the terminal via the network;
A program for running