JP2017117017A - Method for registering/setting no-fly zone for small unmanned aircraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for registering/setting a no-fly zone for a small unmanned aircraft using map information, so as to prevent the unmanned aircraft from trespassing the no-fly zone.SOLUTION: A method includes the steps of: receiving a registration request for registering a no-fly zone for a small unmanned aircraft from a registrant terminal by an administrative server; transmitting map information to the registrant terminal in response to receiving a registration request; and receiving and registering no-fly zone information on the no-fly zone designated according to the map information from the registrant terminal. The no-fly zone information includes positional information on the no-fly zone.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a method for registering and setting a flight prohibited area of an unmanned small aircraft.

  In recent years, a flight of an unmanned small aircraft (a so-called drone etc., hereinafter referred to as an unmanned aircraft) equipped with a function of automatically flying to a target location using a position information system such as GPS, and aerial photography using the Services such as delivery are being actively conducted and are being considered. The drone has a basic autonomous aviation function, but the drone has a wireless communication function in order to indicate a shooting point. Thereby, when performing such a flight and business of an unmanned aerial vehicle, the operator can operate the unmanned aerial vehicle and fly the unmanned aerial vehicle to a destination for aerial photography.

  Conventionally, when operating an unmanned aerial vehicle, for example, a map of an area where the unmanned aircraft is to fly and the current position of the unmanned aircraft are displayed on the screen of the user terminal, the destination is designated, and the unmanned aircraft flight schedule The unmanned aircraft was automatically controlled by setting (see Non-Patent Document 1, for example).

parrot, [online], searched on November 11, 2015, Internet <URL: http://www.parrot.com/jp/products/bebop-drone/>

  However, regarding the flight of unmanned aerial vehicles and operations using unmanned aerial vehicles, the invasion of unmanned aerial vehicles into prohibited areas is a social problem. Although there are restrictions on the unmanned aircraft no-fly zone at present, there has been no way to allow the operator to recognize the un-flying zone of the drone while operating the drone. Therefore, it is possible for the operator to operate the drone without recognizing the flight prohibition area of the drone, or even if it recognizes it, it can eventually enter the flight prohibition area depending on the morals and recognition of the operator For this reason, there was a possibility that the regulation was not effective enough.

  In addition, the drone may inadvertently enter the prohibited flight area due to external factors such as wind, and there is no technique for moving the drone out of the prohibited flight area. For this reason, even if the flight prohibited area is restricted, there is a risk that the drone will fly in the flight prohibited area or that the drone will take a photo / video.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide map information provided on a map site as visible information that can be easily recognized by the operator so that the operator can easily recognize the flight prohibited area. It is intended to realize a method of registering and setting a flight prohibition area using, and preventing an unmanned aircraft from entering the flight prohibition area.

  In the method according to an embodiment of the present invention, a management server receives a registration request for registering a flight prohibited area of an unmanned small aircraft from a registrant terminal, and the management server receives the registration request. In response, the step of transmitting map information to the registrant terminal, and the management server receives from the registrant terminal flight prohibition area information related to the flight prohibition area designated based on the map information. A step of registering, wherein the flight prohibited area information includes position information of the flight prohibited area.

  The method according to another embodiment of the present invention is a method in which the management server receives an acquisition request for a prohibited flight region in an area where the unmanned small aircraft is to fly from an operator terminal that operates the unmanned small aircraft. The acquisition request includes a flight schedule area designation information for designating an area in which the unmanned small aircraft is to fly, and a flight schedule designated by the management server in the flight schedule area designation information In the step of transmitting map information and prohibited flight area information in a region to the operator terminal, the operator terminal that has received the map information and the prohibited flight area information has map information superimposed with the prohibited flight area. And displaying the step.

  In the method according to yet another embodiment of the present invention, the management server stores a user identifier corresponding to each operator terminal, and the flight prohibited area information is associated with each user identifier, The step of receiving the acquisition request further includes a step of receiving a user identifier from the operator terminal, and the step of transmitting is when the received user identifier matches a user identifier stored in the management server. The step of transmitting, to the operator terminal, the prohibited flight area information associated with the matched user identifier.

  In the method according to yet another embodiment of the present invention, the step of receiving the registration request is issued when the management server obtains permission for the registrant terminal to register a flight prohibited area with a public institution. Received permission information from the public organization and stored as registrant information, the management server receiving permission information from the registrant terminal, and the management server Determining the consistency between the registrant information and the permission information received from the registrant terminal, and enabling the registration of the flight prohibited area when it is determined that the registrant information is consistent. Features.

  In the method according to yet another embodiment of the present invention, the registration request includes information specifying an area where the flight prohibited area is to be registered, and the map information is a map of the area specified in the registration request. It is characterized by being information.

  In the method according to still another embodiment of the present invention, in the step of transmitting, when a flight prohibited area is already registered, the step of further transmitting flight prohibited area information related to the already registered flight prohibited area is transmitted. And the said registrant terminal includes the step by which the flight prohibition area | region based on the said flight prohibition area information is superimposed and displayed on the said map information, It is characterized by the above-mentioned.

  A method according to still another embodiment of the present invention is a method for avoiding the unmanned small aircraft from entering the flight prohibited area using the flight prohibited area information of the unmanned small aircraft registered in the management server, The flight prohibited area information includes position information of the flight prohibited area, the unmanned small aircraft can detect a current position of the unmanned small aircraft, and the method includes the unmanned small aircraft, the unmanned small aircraft Receiving, from the management server, the prohibited flight area information in the area where the operator terminal is scheduled to fly the unmanned small aircraft from the management server, and the unmanned small aircraft is the operator Receiving the flight schedule information including the flight schedule route set by the terminal from the operator terminal and storing it, wherein the flight schedule information is Including the position information on the set scheduled flight route, and autonomously based on the received scheduled flight route information in response to the unmanned small aircraft receiving a flight start signal from the operator terminal. Performing the flight; determining whether the unmanned small aircraft matches the planned flight route and the current position of the unmanned small aircraft; and the planned flight route and the current position match. The unmanned small aircraft determines whether the current position of the unmanned small aircraft is within the prohibited flight region based on the prohibited flight region information; If it is determined that the position is within the no-fly region, the unmanned small aircraft leaves the no-fly region; and And wherein the Mukoto.

  The method according to still another embodiment of the present invention is characterized in that the scheduled flight route is set such that position information regarding the scheduled flight route does not match position information regarding the flight prohibited area.

  In a method according to yet another embodiment of the present invention, when it is determined that the current position of the unmanned small aircraft is not within the prohibited flight region, the unmanned small aircraft The method further includes a step of notifying the operator terminal of a determination result indicating that the two do not match.

  According to the present invention, it is possible for the operator to easily recognize the flight prohibited area by registering and setting the flight prohibited area using the map information provided on the map site as visible information easy for the operator to recognize. It becomes.

  In addition, according to the present invention, since entry into the flight prohibited area can be automatically prevented by setting the flight prohibited area information in the unmanned aircraft itself as a numerical value, safety can be achieved without depending on the operator's morals and awareness. Can be achieved, and intrusion can be avoided even if it is about to enter the flight prohibited area by mistake.

  Furthermore, according to the present invention, even when a drone accidentally enters the flight prohibition area, it is possible to automatically exit the flight prohibition area.

It is a figure which illustrates the system configuration concerning the present invention. It is a figure which illustrates the structure of the management server which concerns on this invention. It is a figure which illustrates the structure of the operator terminal and drone which concern on this invention. It is a flowchart of the method of registering the flight prohibition area | region which concerns on Example 1 of this invention. It is a figure which shows the processing flow at the time of the operator terminal which acquires flight prohibition area | region information based on Example 1 of this invention, and sets a flight prohibition area | region to a drone. It is a figure which shows the processing flow in the unmanned aircraft at the time of flight based on Example 1 of this invention.

<Example 1>
FIG. 1 illustrates a configuration of a system for registering and setting a flight prohibition area of an unmanned aircraft according to the present invention and preventing the drone from entering the flight prohibition area. As shown in FIG. 1, the system according to the present invention includes a management server 100 that manages map information, a registrant terminal 210, an operator terminal 220, and a drone 300. The management server 100 is configured to be able to communicate with the registrant terminal 210, the operator terminal 220, and the unmanned aerial vehicle 300 (at least the unmanned aerial vehicle that is not in flight) via the network 10. Of course, even if the drone 300 is in a flight state, it can communicate with the network 10 by the wireless communication function. The network 10 can use, for example, a LAN (Local Area Network), a WAN (Wide Area Network), the Internet, and the like. The operator terminal 220 is configured to be capable of remotely operating the drone 300 separately from the network 10 via wireless communication such as Wi-Fi. In FIG. 1, the registrant terminal 210 and the operator terminal 220 are illustrated as personal computers (PCs). However, the registrant terminal 210 and the operator terminal 220 may be a portable terminal such as a multi-function mobile phone. An enhanced dedicated terminal may be used.

  FIG. 2 illustrates the configuration of the management server 100 according to the present invention. As shown in FIG. 2, the management server 100 includes a control unit 110, a storage unit 120, and a communication unit 130. The management server 100 can be a server used to operate a map site.

  The control unit 110 executes execution of various software programs, arithmetic processing, and the like for realizing the operation of the entire management server 100 using a CPU or the like.

  The storage unit 120 includes a map information storage unit 121, a prohibited area information storage unit 122, a user information storage unit 123, and an application database 124. The map information storage unit 121 stores map information for each region. The map information can be map information provided on a map site, and can include information on obstacles such as buildings. For example, the map information can express a map of each region using latitude and longitude, and may be expressed three-dimensionally using altitude.

  The prohibited area information storage unit 122 stores flight prohibited area information in each area. As will be described later, the prohibited area information storage unit 122 can store the corresponding flight prohibited area information in association with each user identifier.

  The user information storage unit 123 is information for identifying other users such as a manufacturing lot number of an unmanned machine, a type number of the unmanned machine, a type number of an operator terminal 220 that operates the unmanned machine, a user account (site) ID, and the like. (User identifier) is stored.

  The application database 124 stores function information of an application program that can be executed on the registrant terminal 210 or the operator terminal 220 and information related to the storage location of the application program. The application database 124 includes, for example, an application program for the registrant terminal 210 to register a flight prohibited area (hereinafter referred to as a registration application), and an application program for the operator terminal 220 to acquire the flight prohibited area information according to the present invention. (Hereinafter referred to as “acquired application”).

  The registrant terminal 210 is a terminal used by a registrant who registers a flight prohibited area. The registrant terminal 210 can access the management server 100 to download and install a registered application from the application database 124 of the storage unit 120. Registrant terminal 210 may be configured such that a registration application is installed in advance. By executing the registration application, the registrant terminal 210 can transmit a flight prohibition area registration request to the management server 100 and register the flight prohibition area information in that area.

  FIG. 3 illustrates the configuration of the operator terminal 220 and the drone 300 according to the present invention. The operator terminal 220 is a terminal used by an operator who operates the drone 300. As illustrated in FIG. 3, the operator terminal 220 includes a control unit 221, a communication unit 222, a storage unit 223, a display unit 224, and an input unit 225.

  The operator terminal 220 can access the management server 100 to download and install the acquired application from the application database 124 of the storage unit 120. The operator terminal 220 may have a configuration in which an acquisition application is installed in advance. By executing the acquisition application, the operator terminal 220 can transmit a flight prohibition area information acquisition request to the management server 100 and acquire the flight prohibition area information in that area.

  The control unit 221 can transmit a flight start signal for starting autonomous flight to the drone 300. In addition, the control unit 221 automatically generates an unmanned machine operation signal for manually operating the unmanned machine based on a user command input via the input unit 225 and transmits the unmanned machine operation signal to the unmanned machine 300 through the communication unit 222. can do. Furthermore, the control unit 221 can execute each process related to the acquisition application and transmit an acquisition request to be described later to the management server 100 via the communication unit 222.

  The storage unit 223 stores an acquisition application, application data used when the acquisition application is executed, image data transmitted from the drone 300, and the like.

  The display unit 224 can display image information, map information, and the like received from the drone 300 by user selection. The input unit 225 may include input means specialized for the operation / steering function of the drone 300. For example, the display unit 224 and the input unit 225 may be integrated to form a touch screen.

  As shown in FIG. 3, the drone 300 generates buoyancy and driving force by rotating a control unit 301, a communication unit 302, a storage unit 303, a position detection unit 304, and a propeller, for example. A drive unit 305 configured with a rotary blade or the like, a camera 306 for capturing a still image and / or a moving image, and an energy supply unit 307 that supplies power to the drone 300 are included. Unmanned aerial vehicle 300 can be, for example, a commercially available unmanned small aircraft.

  The control unit 301 controls driving of the driving unit 305 in order to perform attitude control and air movement of the drone 300 based on the drone operation signal received from the operator terminal 220 via the communication unit 302. In addition, the control unit 301 transmits various information such as current position information generated by the position detection unit 304 and image information captured by the camera 306 to the operator terminal 230 via the communication unit 302.

  The storage unit 303 stores flight prohibited area information, a planned flight route of the drone 300, a flight log, and the like.

  The position detection unit 304 includes, for example, a GPS reception unit that receives a GPS signal from a satellite and an altitude sensor that measures the altitude of the unmanned aircraft 300 and generates an altitude signal. The drone is based on the GPS signal and the altitude signal. Current position information indicating the current position of 300 is generated. The current position information includes, for example, the current latitude and longitude of the drone 300, and data obtained by digitizing these can be used. The current position information can further include the altitude of the drone 300. The current position information generated by the position detection unit 304 is transmitted to the operator terminal 220 in real time or periodically.

  FIG. 4 is a flowchart of a method for registering a flight prohibited area in the management server according to the first embodiment of the present invention. When the registrant logs in to the map site of the management server 100 at the registrant terminal 210, the management server 100 registers from the registrant terminal 210 for registering the flight prohibition area in step 401 as shown in FIG. Receive a request. The registration request can include information specifying an area where the flight prohibited area is to be registered.

  In step 402, in response to receiving the registration request from the registrant terminal 210, the management server 100 transmits map information of the area where the flight prohibited area is to be registered to the registrant terminal 210. The user of the registrant terminal 210 can specify the flight prohibited area while confirming the received map information. The designated flight prohibited area is transmitted from the registrant terminal 210 to the management server 100 as flight prohibited area information. The flight prohibition area information can include position information of the designated flight prohibition area. Examples of the position information include latitude and longitude, and data obtained by digitizing these can be used. The position information can further include an altitude. If a prohibited flight area has already been registered in the planned registration area, it is also possible to transmit the prohibited flight area information in that area, and the registrant terminal 210 displays the prohibited flight area superimposed on the map information. Can be made. In addition to the latitude and longitude, the position information can be used as a flightable area and / or a flight-prohibited area, whether it is within a specific base station / transmitter range in a mobile communication network or a non-contact communication network, Whether it is within the range of the base station / transmitter can be used as the map information. In this case, using the map information in which the base station or transmitter area is shown in advance, register which transmitter area or out of range is capable of flying or forbidden flight, and at the time of flight, the range of the transmitter by regular communication By checking the outside, it is possible to determine whether the flight is possible or not.

  In step 403, the management server 100 receives the flight prohibited area information from the registrant terminal 210 and stores it in the prohibited area information storage unit 122 of the storage unit 120.

  FIG. 5 shows a processing flow when the operator terminal 220 acquires the flight prohibited area information and sets the flight prohibited area in the drone 300. As shown in FIG. 5, in step 501, the operator terminal 220 transmits an acquisition request for a flight prohibited area to the management server 100. The acquisition request can include information (planned flight region designation information) for designating a region where the drone 300 is scheduled to fly.

  In step 502, when the management server 100 receives the flight prohibition area acquisition request from the operator terminal 220, the management server 100 displays the map information and the flight prohibition area information in the planned flight area specified by the flight schedule area specification information of the acquisition request. Transmit to terminal 220. The operator terminal 220 that has received the map information and the flight prohibited area information can display, for example, three-dimensional map information on which the flight prohibited area is superimposed.

  In step 503, the operator terminal 220 transmits the flight prohibited area information to the drone 300. In step 505, the drone 300 sets the flight prohibited area by storing the received flight prohibited area information in the storage unit 303.

  FIG. 6 shows a processing flow in the drone 300 when flying. As described above, the drone transmits the current position information generated by the position detection unit 304 to the operator terminal 220 in real time or periodically.

  The operator terminal 220 designates the destination of the drone 300 through the input unit 225 by user input, and the operator terminal 220 automatically sets the planned flight route between the current location of the drone 300 and the destination. When the planned flight route information including the position information related to the set planned flight route is transmitted to the drone 300, the drone 300 receives, sets and stores the planned flight route information in step 601. When setting the scheduled flight route of the drone 300, the operator terminal 220 cannot set the flight prohibited area as a destination, or the flight scheduled route does not pass the flight prohibited area. Can be set. Specifically, the position information related to the scheduled flight route included in the planned flight route information is not matched with the position information related to the prohibited flight region included in the flight prohibited area information. The operator terminal 220 can set a scheduled flight route.

  In step 602, the drone 300 performs autonomous flight based on the set scheduled flight route in response to receiving the flight start signal from the operator terminal 220.

  In step 603, the drone 300 compares the current position information with the set scheduled flight route information, and determines whether the scheduled flight route matches the current position. If it is determined that the scheduled flight route matches the current position, in step 604, the drone 300 continues to fly.

  If it is determined that the scheduled flight route and the current position do not match, in step 605, the drone 300 compares the current position information of the drone 300 and the flight prohibited area information to determine the current position of the drone 300. Determine if the position is within the no-fly zone.

  If it is determined that the current position of the drone 300 is not within the flight prohibited area, in step 606, the operator terminal 210 is notified of a determination result that the planned flight route and the current position do not match. Even if the scheduled flight route and the current position do not match, it can be determined by the user whether or not to correct the flight to match the planned flight route, and the drone 300 automatically corrects it. May be.

  If it is determined that the current position of the drone 300 is within the flight prohibition area, the control unit 301 of the drone 300 receives the drone operation signal from the operator terminal 220 in step 607 and the drone 300 Even in the case of manual operation, the driving of the driving unit 305 is controlled so that the drone 300 is forcibly separated from the flight prohibited area immediately. For example, by automatically flying to the nearest possible flight area based on the current position information, or by returning to the position where the GPS signal was most recently received in the possible flight area based on the log of the planned flight route, The drone 300 can be removed from the prohibited flight area. As a result, even when the drone 300 accidentally enters the flight prohibited area, it is possible to automatically exit the flight prohibited area. Further, the drone 300 may display a warning screen on the operator terminal 220, for example, or turn off the camera or the like so that it can be operated other than flight.

  Thereafter, the process returns to step 603 and the above-described operation is repeated until the destination is reached.

  Here, although the example in which the drone 300 determines whether or not the current position of the drone 300 is within the flight prohibited area has been described above, the management server 100 and / or the operator terminal 220 may It is determined whether or not the current position is within the flight prohibition area, and when it is determined that the current position of the drone 300 is within the flight prohibition area, the drone 300 is forced to leave the flight prohibition area immediately. You may operate.

  As described above, according to the present invention, it is possible to superimpose and display the flight prohibition area on the map information provided on the map site as visible information that is easy for the operator to recognize. It becomes possible to recognize the area.

  In addition, numerically setting the prohibited flight area information in the drone itself can automatically prevent entry into the prohibited flight area, enabling safe flight without depending on the operator's morals and awareness. At the same time, even if it is about to enter the flight prohibited area, it is possible to avoid the intrusion, and if it accidentally enters the flight prohibited area, it can be forcibly removed from the flight prohibited area immediately.

<Example 2>
Hereinafter, a method for registering the flight prohibited area according to the second embodiment of the present invention will be described. In the second embodiment, the flight prohibition area can be registered for each unmanned aircraft by the storage unit of the management server 100 storing the flight prohibition area in association with the user identifier.

  In the present embodiment, a user identifier corresponding to each operator terminal 220 is stored in the user information storage unit 123 of the management server 100. The prohibited area information storage unit 122 of the management server 100 stores the corresponding prohibited flight area information for each user identifier. The prohibited area information storage unit 122 can store, for example, a data table in which a flight prohibited area is associated with each user identifier. As the user identifier, for example, the manufacturing lot number of the drone, the type number of the drone, the type number of the controller, the user account (site) ID, the public personal number, and other owners of the drone can be identified. be able to.

  When the operator terminal 220 transmits an acquisition request for a flight prohibited area in step 501 described above, the operator terminal 220 also transmits a user identifier corresponding to the operator terminal 220. When the management server 100 receives the acquisition request and the user identifier, the management server 100 determines whether the received user identifier matches the user identifier stored in the user information storage unit 123. If they match, the management server 100 associates with the user identifier. The prohibited flight area information can be extracted.

  According to the second embodiment, for example, the vicinity of the home is set as a flight prohibition area so that the drone cannot fly, and the drone associated with the specific user identifier (for example, the drone for the home delivery service) It is possible to set to fly around the home that can not fly with the drone.

<Example 3>
Hereinafter, a method for registering the flight prohibited area according to the third embodiment of the present invention will be described. In the third embodiment, when a flight prohibited area is registered, the flight prohibited area cannot be registered unless there is a change authority.

  The registrant terminal 210 transmits a registration permission application for the flight prohibited area to the public in advance before transmitting a registration request to the management server 100 in step 401 described above. When the public institution permits registration of the prohibited flight area, the public institution issues permission information to the management server 100 and the registrant terminal 210. As permission information, ID / signature / session key is mentioned, for example. The management server 100 stores permission information issued from a public institution as registrant information in the storage unit 120.

  Thereafter, the registrant terminal 210 transmits a registration request to the management server 100 in step 401 described above, and additionally transmits permission information issued by a public organization. The management server 100 receives permission information from the registrant terminal 210 in addition to receiving a registration request from the registrant terminal 210. The management server 100 determines the consistency between the registrant information stored in the storage unit 120 and the permission information received from the registrant terminal 210, and when it is determined that they are consistent, the above-described steps 402 and 403 are performed. It is possible to register a prohibited flight area by performing an operation.

  Application for registration permission is, for example, district name, latitude / longitude / height range, applicant name, age, address, gender, license number, personal information, drone information (manufacturer, ID number, registration number) ) And the like.

  According to the third embodiment, only a person who obtains permission from a public institution can register the flight prohibited area.

Network 10
Management server 100
Control unit 110, 221 and 301
Storage unit 120, 223, 303
Map information storage unit 121
Prohibited area information storage unit 122
User information storage unit 123
Application database 124
Communication unit 130, 222, 302
Registrant terminal 210
Operator terminal 220
Display unit 224
Input unit 225
Drone 300
Position detection unit 304
Drive unit 305
Camera 306
Energy supply unit 307

Claims (9)

A management server receiving a registration request for registering a flight prohibition area of an unmanned small aircraft from a registrant terminal;
In response to receiving the registration request, the management server transmits map information to the registrant terminal;
The management server is a step of receiving and registering, from the registrant terminal, the prohibited flight area information related to the prohibited flight area designated based on the map information, wherein the prohibited flight area information includes information on the prohibited flight area. A step including location information;
A method comprising the steps of: The management server is a step of receiving, from an operator terminal that operates the unmanned small aircraft, an acquisition request for a flight prohibition area in an area where the unmanned small aircraft is to fly, wherein the acquisition request is the unmanned small aircraft. Including scheduled flight region designation information for designating a region to which the aircraft is to fly; and
The management server is a step of transmitting the map information and the flight prohibited area information in the planned flight area designated by the scheduled flight area designation information to the operator terminal, and receives the map information and the prohibited flight area information. In the operator terminal, the map information on which the flight prohibited area is superimposed is displayed, and
The method of claim 1 further comprising: The management server stores a user identifier corresponding to each operator terminal,
The flight prohibited area information is associated with each user identifier,
Receiving the acquisition request further includes receiving a user identifier from the operator terminal;
The transmitting step includes
When the received user identifier matches a user identifier stored in the management server, it is a step of transmitting, to the operator terminal, prohibited flight area information associated with the matched user identifier. The method of claim 2. Receiving the registration request comprises:
The management server receives permission information issued from the public organization and stored as registrant information, which is issued when the registrant terminal obtains permission to register a flight prohibition area with the public organization; ,
The management server receiving permission information from the registrant terminal;
The management server determines consistency between the stored registrant information and the permission information received from the registrant terminal, and allows registration of the flight prohibited area when it is determined that they match. Step to
The method according to claim 1, comprising: The registration request includes information specifying an area where the flight prohibited area is to be registered,
The method according to claim 1, wherein the map information is map information of a region designated by the registration request.   The transmitting step is a step of further transmitting flight prohibited area information relating to the already registered flight prohibited area when the flight prohibited area is already registered. 6. The method according to claim 1, further comprising a step of displaying a prohibited flight area based on the prohibited flight area information superimposed on information. A method for avoiding the unmanned small aircraft from entering the flight prohibited area using the flight prohibited area information of the unmanned small aircraft registered in the management server, wherein the flight prohibited area information is a position of the flight prohibited area. Including information, wherein the unmanned small aircraft is capable of detecting a current position of the unmanned small aircraft;
The unmanned small aircraft receives, from the management server, via the operator terminal that operates the unmanned small aircraft, flight prohibited area information in an area where the operator terminal is scheduled to fly the unmanned small aircraft; and ,
The unmanned small aircraft receives the flight schedule route information including the flight schedule route set by the operator terminal from the operator terminal and stores the flight schedule route information, the flight schedule route information being the set A step containing location information about the planned flight route;
In response to receiving the flight start signal from the operator terminal, the unmanned small aircraft performs autonomous flight based on the received scheduled flight route information;
Determining whether the unmanned small aircraft has the scheduled flight route and a current position of the unmanned small aircraft; and
If it is determined that the scheduled flight route and the current position do not match, whether the unmanned small aircraft is in the flight prohibited area based on the flight prohibited area information. Determining whether or not
If it is determined that the current position of the unmanned small aircraft is within the non-flying region, the unmanned small aircraft departs from the non-flighting region;
A method comprising the steps of:   The method according to claim 7, wherein the scheduled flight route is set such that position information regarding the scheduled flight route does not match position information regarding the flight prohibited area.   When it is determined that the current position of the unmanned small aircraft is not within the flight prohibited area, the unmanned small aircraft indicates a determination result that the planned flight route and the current position do not match the operator. The method according to claim 7 or 8, further comprising notifying the terminal.

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