JP2017214051A - Unmanned flight body, control method, and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned flight body capable of autonomously performing an appropriate retreat action in emergency.SOLUTION: An unmanned flight body 101 includes: a position information storage part 110 for storing at least two pieces of position information including flight body current position information indicating the current position of the unmanned flight body 101; an emergency alarm reception part 111 for acquiring emergency alarm information including target region information indicating a target region to be a target of an emergency alarm; a program selection part 108 for comparing the target region indicated by the target information included in the emergency alarm information with each position indicated by two or more pieces of position information stored in a position information storage part 110 when the emergency alarm reception part 111 acquires the emergency alarm information, and selecting one retreat action among a plurality of retreat actions due to autonomous flight of the unmanned flight body 101 on the basis of a determination result obtained by determining whether each position is included in the target region; and a program execution part 106 for controlling a flight state of the unmanned flight body 101 in accordance with the selected retreat action.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an unmanned air vehicle capable of autonomous flight, a control method and a control program for the unmanned air vehicle, and in particular, when an unmanned air vehicle autonomously receives appropriate emergency retreat behavior when receiving an emergency warning broadcast or the like. It is related with the technique which selects and performs.

  As a conventional technique for controlling a device in an emergency such as a disaster, a method using an emergency warning broadcast is disclosed (see Patent Document 1). The emergency control device in Patent Document 1 receives and analyzes an emergency warning broadcast transmitted from a broadcasting station, and controls home appliances via a home network based on the analysis result.

JP 2003-18673 A

  The above prior art assumes that home equipment to be controlled is fixedly installed in a house, and further improvements are required for unmanned air vehicles that move within a certain range. It was.

  The present disclosure solves the above-described conventional problems, and an object thereof is to provide an unmanned air vehicle, a control method, and a control program that can autonomously perform appropriate retreat behavior in an emergency.

  In order to solve the above-described conventional problems, an unmanned air vehicle according to an aspect of the present disclosure is an unmanned air vehicle capable of autonomous flight, and includes at least 2 air vehicle current position information indicating a current position of the unmanned air vehicle. A location information storage unit that stores two or more location information, an emergency alert information acquisition unit that acquires emergency alert information including target region information indicating a target region that is a target of an emergency alert, and the emergency alert information acquisition unit When the emergency alert information is acquired, the target area indicated by the target area information included in the emergency alert information, and each position indicated by the two or more position information stored in the position information storage unit, And selecting one evacuation action from a plurality of evacuation actions by autonomous flight of the unmanned air vehicle based on the determination result of determining whether or not each position is included in the target area Comprising a selecting section, and a flight control unit for controlling the flight conditions of the unmanned air vehicle in accordance with the selected evacuation action by the selection unit.

  According to the present disclosure, it is possible to realize an unmanned air vehicle that can autonomously perform an appropriate retreat action in an emergency.

It is a block diagram showing an example of composition of an unmanned aerial vehicle in Embodiment 1 of this indication. It is a figure which shows an example of the external appearance of the unmanned air vehicle shown in FIG. It is a flowchart which shows an example of the flight control program selection process of the unmanned air vehicle shown in FIG. It is a flowchart which shows an example of the flight control program process for the 1st evacuation action of the unmanned air vehicle shown in FIG. It is a conceptual diagram which shows the operation example of the unmanned air vehicle implement | achieved by the flight control program process for the 1st evacuation action shown in FIG. It is a flowchart which shows an example of the flight control program process for the 2nd evacuation action of the unmanned air vehicle shown in FIG. It is a flowchart which shows an example of the flight control program process for the 3rd evacuation action of the unmanned air vehicle shown in FIG. It is a block diagram which shows an example of a structure of the unmanned air vehicle in Embodiment 2 of this indication. It is a flowchart which shows an example of the flight control program process for the 4th evacuation action of the unmanned air vehicle shown in FIG. It is a conceptual diagram which shows the operation example of the unmanned air vehicle implement | achieved by the flight control program process for the 4th evacuation action shown in FIG. It is a flowchart which shows an example of the flight control program process for 5th evacuation action of the unmanned air vehicle shown in FIG. It is a flowchart which shows an example of the flight control program process for the 6th evacuation action of the unmanned air vehicle shown in FIG.

(Knowledge that became the basis of this disclosure)
In recent years, unmanned aerial vehicles have come to be used for various purposes such as aerial photography, surveys, and agricultural support, as the cost and functionality of unmanned air vehicles are reduced.

  However, utilization of unmanned aerial vehicles in emergencies such as disasters may lead to various unexpected situations. In particular, even if the unmanned aerial vehicle is not flying in the affected area in an emergency, the following unforeseen situation may be caused due to the feature that the unmanned air vehicle can move freely within a certain range.

  For example, when a disaster occurs, the pilot may be unable to control the unmanned aerial vehicle in the affected area, and the unmanned aerial vehicle may become uncontrollable and fall. As described above, when the pilot cannot control the unmanned air vehicle, it is necessary to take a retreat action such as safely landing the unmanned air vehicle.

  Even if the pilot and the unmanned air vehicle are outside the disaster area at the time of the disaster, if the pilot intends or does not intend to fly the unmanned air vehicle to the disaster area, Fire and disaster prevention helicopters) and rescue aircraft may be hindered, and fire helicopters and rescue aircraft may collide with unmanned air vehicles. In such a case, it is necessary to restrict the flight so that the unmanned air vehicle does not enter the affected area.

  Furthermore, if a disaster occurs when an unmanned air vehicle is automatically navigating according to a preset flight route, and the disaster area is included on the flight route, the unmanned air vehicle will consider the disaster situation in the disaster area. It is necessary to take evacuation action such as detouring the affected area and heading to the destination or giving up reaching the destination and returning to the departure place.

  In this way, in an emergency, an unmanned air vehicle is not only affected by the current position of the unmanned air vehicle itself, but also affected by multiple locations such as the current position of the pilot, the starting point, the waypoint, and the destination on the flight route. It is required to take appropriate evacuation action according to the situation.

  However, in the above-described conventional technology, it is assumed that the installation location of the controlled device to be controlled in an emergency is single and fixed, and the unmanned air vehicle evacuation behavior considering the disaster situation at multiple positions Not disclosed.

  In order to solve such a problem, an unmanned air vehicle according to an aspect of the present disclosure is an unmanned air vehicle capable of autonomous flight, and includes at least air vehicle current position information indicating a current position of the unmanned air vehicle. A location information storage unit that stores two or more location information, an emergency alert information acquisition unit that acquires emergency alert information including target region information indicating a target region that is a target of an emergency alert, and the emergency alert information acquisition unit When the emergency alert information is acquired, the target area indicated by the target area information included in the emergency alert information, and each position indicated by the two or more position information stored in the position information storage unit And selecting one evacuation action from a plurality of evacuation actions by autonomous flight of the unmanned air vehicle based on the determination result of determining whether or not each position is included in the target area Comprising a selecting section, and a flight control unit for controlling the flight conditions of the unmanned air vehicle in accordance with the selected evacuation action by the selection unit.

  With such a configuration, at least two or more pieces of position information including air vehicle current position information indicating the current position of the unmanned air vehicle are stored, and emergency alert information including target area information indicating a target area that is a target of an emergency alarm. If the target area indicated by the target area information included in the emergency alert information is compared with each position indicated by two or more stored location information, and each position is included in the target area Based on the determination result, whether or not one retreat action is selected from a plurality of retreat actions by autonomous flight of the unmanned air vehicle, and the flight state of the unmanned air vehicle is controlled according to the selected retreat action Therefore, it is possible to cause the unmanned air vehicle to perform a retreat action considering at least two pieces of position information including the current position information of the air vehicle indicating the current position of the unmanned air vehicle. It is possible to realize the unmanned air vehicle that can be carried out avoid action.

  The emergency alert information acquisition unit includes an emergency alert receiver that receives an emergency alert broadcast transmitted from a broadcasting station and detects a start signal of the emergency alert broadcast and a region code indicating a target area of the emergency alert broadcast. You may make it.

  With such a configuration, the emergency warning broadcast transmitted from the broadcasting station is received and the emergency warning broadcast start signal and the area code indicating the target area of the emergency warning broadcast are detected. It is possible to take an evacuation action autonomously using an alarm broadcast. At that time, the area code included in the emergency alert broadcast, that is, the target area of the emergency alert is compared with the position information of two or more locations that can affect the navigation of the unmanned air vehicle, and each position is included in the target area of the emergency alert. Whether or not, and an appropriate evacuation action is selected based on the determination result. Thereby, the unmanned aerial vehicle moving in a certain range can select a flexible action according to the emergency situation. In particular, even when the current position of the unmanned air vehicle is not included in the emergency alert target area, the unmanned air vehicle can be appropriately evacuated by executing the evacuation action.

  The unmanned aerial vehicle further includes a program storage unit that stores a plurality of flight control programs for executing a retreat action by autonomous flight of the unmanned aerial vehicle, and the selection unit includes the emergency alert information acquisition unit configured to perform the emergency warning When the warning information is acquired, the target area indicated by the target area information included in the emergency warning information, and each position indicated by the two or more position information stored in the position information storage unit Comparing and selecting one flight control program from the plurality of flight control programs stored in the program storage unit based on the determination result of determining whether or not each position is included in the target area The flight control unit causes the unmanned air vehicle to perform a retreat action by executing the one flight control program selected by the selection unit. It may be so.

  With such a configuration, when the emergency alert information is acquired, the target area indicated by the target area information included in the emergency alert information is compared with each position indicated by two or more stored location information, Based on the determination result of determining whether each position is included in the target area, one flight control program is selected from a plurality of flight control programs stored in the program storage unit, and the selected one By executing the flight control program, the unmanned aerial vehicle is caused to perform the evacuation action, so that the unmanned aerial vehicle performs an appropriate evacuation action autonomously in an emergency with a simple configuration of switching the flight control program. be able to.

  The position information storage unit may store the present vehicle current position information and current driver position information indicating a current position of a pilot for remotely maneuvering the unmanned air vehicle.

  With such a configuration, the current position of the unmanned air vehicle indicated by the current vehicle position information and the current position of the pilot indicated by the current position information of the pilot and the target area indicated by the target area information included in the emergency alert information. Based on the determination result of whether or not the current position of the unmanned air vehicle or the current position of the controller is included in the target area, one of a plurality of retreat behaviors by autonomous flight of the unmanned air vehicle is selected. Since the flight state of the unmanned aerial vehicle is controlled according to the selected evacuation behavior, it is appropriate to consider the current position of the unmanned air vehicle or the current position of the controller and the positional relationship with the target area. Evacuation behavior can be autonomously performed by an unmanned air vehicle.

  The selection unit includes the current position of the unmanned air vehicle indicated by the current vehicle position information and the current position of the pilot indicated by the current position information of the pilot in the target area indicated by the target area information. If not, a first instruction for restricting a maneuvering instruction from the pilot so that the unmanned air vehicle does not enter the target area from among the plurality of flight control programs stored in the program storage unit. One flight control program may be selected.

  With this configuration, when the current position of the unmanned air vehicle and the current position of the pilot are not included in the target area, the operation instruction from the pilot is limited so that the unmanned air vehicle does not enter the target area. Since the first flight control program has been selected, the unmanned air vehicle, and when the pilot, i.e., the pilot, is located outside the target area of the emergency warning, the pilot intends or does not intend to operate the pilot. It is possible to prevent the unmanned air vehicle from entering the area subject to the emergency warning.

  The selection unit includes the unmanned air vehicle in which the current position of the pilot indicated by the current position information of the pilot is included in the target area indicated by the target area information, and is indicated by the current position information of the flying object. Is not included in the target area indicated by the target area information, a steering instruction from the pilot is given for a predetermined period from the plurality of flight control programs stored in the program storage unit. If not, a second flight control program for landing the unmanned air vehicle at the current position may be selected.

  With such a configuration, when the current position of the pilot is included in the target area and the current position of the unmanned air vehicle is not included in the target area, the control instruction from the pilot is not given for a predetermined period. Since the second flight control program for landing the unmanned air vehicle at the current position is selected, unmanned flight from the pilot when an emergency warning is issued in the area including the position of the pilot, that is, the pilot. When the remote instruction to the body is not given for a certain period of time, it is determined that the unmanned air vehicle cannot be remotely controlled due to factors such as damage to the pilot, and the unmanned air vehicle is landed on the spot. Can be prevented from falling.

  When the current position of the unmanned air vehicle indicated by the current vehicle position information is included in the target area indicated by the target area information, the selection unit stores the plurality of flights stored in the program storage unit. The control instruction from the pilot is invalidated from the control program, and the current position of the unmanned air vehicle indicated by the current vehicle position information and the current position of the pilot indicated by the current controller position information For landing the unmanned air vehicle at the current position when the distance between the two is greater than or equal to a predetermined distance, and moving the unmanned air vehicle to the current position of the pilot and landing when the distance is not greater than the predetermined distance. A third flight control program may be selected.

  With such a configuration, when the current position of the unmanned air vehicle is included in the target area, the operation instruction from the pilot is invalidated, and the distance between the current position of the unmanned air vehicle and the current position of the pilot is a predetermined distance. Since the third flight control program for landing the unmanned air vehicle at the current position when it is above and moving the unmanned air vehicle to the current position of the pilot when it is not longer than the predetermined distance is selected. If the unmanned air vehicle is located in the target area of the emergency warning, the remote control by the pilot will be disabled and the unmanned air vehicle will be landed on the spot or returned to the position of the pilot in the target area. The flight of the unmanned air vehicle can be stopped immediately.

  The unmanned air vehicle autonomously flies on a preset flight route, and the position information storage unit includes the current vehicle position information, departure point information indicating a departure point on the flight route, and a route You may make it memorize | store destination information and the destination information which shows a destination.

  With such a configuration, the current position of the unmanned air vehicle indicated by the vehicle current position information, the starting point indicated by the starting point information, the waypoint indicated by the waypoint information, or the destination indicated by the destination information, Compared with the target area indicated by the target area information included in the emergency alert information, it is determined whether or not the current position, starting point, waypoint, or destination of the unmanned air vehicle is included in the target area. Based on this, it is possible to select one evacuation action from a plurality of evacuation actions by autonomous flight of the unmanned air vehicle and control the flight state of the unmanned air vehicle according to the selected evacuation action. It is possible to cause the unmanned air vehicle to autonomously perform an appropriate retreat action in consideration of the positional relationship between the current position, departure point, waypoint, or destination and the target area.

  The selection unit includes the route point indicated by the route point information included in the target region indicated by the target region information, the unmanned air vehicle has not passed through the route point, and the flight. The current position of the unmanned air vehicle indicated by body current position information is not included in the target area indicated by the target area information, and the destination indicated by the destination information is indicated by the target area information. When not included in the target area, a new flight route that reaches the destination is newly selected from the plurality of flight control programs stored in the program storage unit so that the unmanned air vehicle does not pass through the target area. And a fourth flight control program for causing the unmanned air vehicle to reach the destination may be selected.

  With such a configuration, when the route where the unmanned air vehicle has not passed is included in the target area, the current position of the unmanned air vehicle is not included in the target area, and the destination is not included in the target area, Since a new flight route that reaches the destination is created so that the unmanned air vehicle does not pass through the target area, and the fourth flight control program for causing the unmanned air vehicle to reach the destination is selected, unmanned flight If only the transit points where the body has not passed are included in the area subject to the emergency alert, review the flight route so that the unmanned air vehicle does not pass the area subject to the emergency alert, and appropriately evacuate the unmanned air vehicle, An unmanned air vehicle can reach the destination.

  The selecting unit includes the destination indicated by the destination information included in the target area indicated by the target area information, and the starting point indicated by the departure point information is indicated by the target area information. When not included in the target area, a fifth flight control program for returning the unmanned air vehicle to the departure place is selected from the plurality of flight control programs stored in the program storage unit. You may do it.

  With such a configuration, when the destination is included in the target area and the departure place is not included in the target area, the fifth flight control program for returning the unmanned air vehicle to the departure place is selected. Therefore, if only the destination is included in the area subject to the emergency alert, create a new flight route that will give up to the destination and return to the departure place, and evacuate the unmanned air vehicle appropriately Can do.

  The selection unit is stored in the program storage unit when the destination indicated by the destination information and the departure point indicated by the departure point information are included in the target area indicated by the target region information. A sixth flight control program for landing the unmanned air vehicle at the current position may be selected from the plurality of flight control programs.

  With such a configuration, when the destination and the departure place are included in the target area, the sixth flight control program for landing the unmanned air vehicle at the current position is selected. You can give up on the ground and land on the spot to stop the unmanned air vehicle appropriately.

  In addition, the present disclosure can be realized not only as an unmanned air vehicle having the above-described characteristic configuration but also an unmanned air vehicle that executes characteristic processing corresponding to the characteristic configuration included in the unmanned air vehicle. It can also be realized as a control method. Further, the characteristic processing included in such an unmanned air vehicle control method can also be realized as a computer program that causes a computer including a processor and a memory to be executed. Therefore, also in the following other modes, the same effect as the above unmanned air vehicle can be obtained.

  A control method according to another aspect of the present disclosure is a method for controlling an unmanned air vehicle capable of autonomous flight, and acquires emergency alert information including target area information indicating a target area that is a target of an emergency alert, and the emergency When the warning information is acquired, the target area indicated by the target area information included in the emergency warning information and the current position information indicating the current position of the unmanned air vehicle stored in the position information storage unit are included. A plurality of retreats by autonomous flight of the unmanned air vehicle based on a determination result obtained by comparing each position indicated by at least two position information and determining whether each position is included in the target area One retreat action is selected from the actions, and the flight state of the unmanned air vehicle is controlled according to the selected retreat action.

  A control program according to another aspect of the present disclosure is a control program for causing a computer to function as a control device for an unmanned air vehicle capable of autonomous flight, and indicates to the computer a target area to be subjected to an emergency alert When emergency alert information including target area information is acquired and the emergency alert information is acquired, the target area indicated by the target area information included in the emergency alert information is stored in the location information storage unit, and the unmanned A determination result obtained by comparing each position indicated by at least two or more pieces of position information including the current position information of the flying object indicating the current position of the flying object and determining whether or not each position is included in the target area. On the basis of a plurality of retreat behaviors by autonomous flight of the unmanned air vehicle, and selects one retreat behavior, and the flight of the unmanned air vehicle according to the selected retreat behavior. To control the state, executing a process.

  Needless to say, the above-described computer program can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM or a communication network such as the Internet.

  Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Each of the embodiments described below shows a specific example of the present disclosure. The shapes, components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements. In all the embodiments, the contents can be combined. Furthermore, the present disclosure also includes various modifications in which the embodiments of the present disclosure are modified within the scope conceived by those skilled in the art without departing from the gist of the present disclosure.

(Embodiment 1)
FIG. 1 is a block diagram illustrating an example of a configuration of an unmanned air vehicle according to the first embodiment of the present disclosure. In FIG. 1, an unmanned air vehicle 101 is remotely piloted using a pilot 102. The pilot 102 has a function of acquiring the current position of the pilot 102 by GPS (Global Positioning System). The maneuver 102 transmits a maneuvering instruction for the unmanned air vehicle 101 and maneuver current position information indicating the current position of the maneuver 102 to the unmanned air vehicle 101. The unmanned air vehicle 101 is an unmanned air vehicle capable of autonomous flight, and can perform autonomous flight without receiving a remote instruction from the controller 102.

  The unmanned air vehicle 101 includes a controller communication unit 103, a propeller control unit 104, a propeller 105, a program execution unit 106, a program storage unit 107, a program selection unit 108, a current position acquisition unit 109, a position information storage unit 110, and an emergency alarm. A receiving unit 111 is provided.

  The pilot communication unit 103 is wirelessly connected to the pilot 102 and receives the steering instruction and the pilot current position information from the pilot 102. The pilot communication unit 103 inputs a steering instruction from the pilot 102 to the propeller control unit 104.

  The propeller control unit 104 changes the number of revolutions of the propeller 105 in accordance with the input steering instruction, and realizes flight according to the steering instruction such as ascending, descending, and moving.

  The program storage unit 107 includes a memory and the like, and stores a plurality of flight control programs (for example, a plurality of flight control programs for evacuation actions) for controlling the navigation of the unmanned air vehicle 101. The program selection unit 108 includes a processor and the like, selects which program to execute from a plurality of flight control programs stored in the program storage unit 107, and sends the selected flight control program to the program execution unit 106. Output.

  The program execution unit 106 includes a processor and the like, and executes the flight control program selected by the program selection unit 108. The program execution unit 106 is connected to the propeller control unit 104 and inputs a steering instruction according to the execution result of the flight control program to the propeller control unit 104 to perform autonomous flight control of the unmanned air vehicle 101.

  The program execution unit 106 is connected to the controller communication unit 103 and can monitor a steering instruction from the propeller control unit 104. The program execution unit 106 limits the function of the propeller control unit 104 by monitoring the operation instruction from the propeller control unit 104 and not accepting a specific operation instruction input from the controller communication unit 103. To do.

  The current position acquisition unit 109 acquires the current position of the unmanned air vehicle 101 by GPS and outputs the current vehicle position information indicating the current position of the unmanned air vehicle 101 to the position information storage unit 110.

  The position information storage unit 110 includes a memory or the like, and stores the flying object current position information indicating the current position of the unmanned flying object 101 input from the current position acquisition unit 109. In addition, the position information storage unit 110 is also connected to the controller communication unit 103, and stores the controller current position information indicating the current position of the controller 102 input from the controller 102. The stored position information of the unmanned air vehicle 101 and the controller 102 is appropriately updated.

  The emergency alert receiver 111 receives and analyzes the broadcast wave transmitted from the broadcast station, and detects the start signal of the emergency alert broadcast and the area code indicating the target area of the emergency alert broadcast. Here, Emergency Warning Broadcasting is a television and radio receiver that is on standby using an emergency warning signal specified in Article 2, Paragraph 1, Item 84-2 of the Ordinance for Enforcement of the Radio Law of the Ministry of Internal Affairs and Communications. This is a broadcast that is performed by automatically turning on the switch. It is performed when a large-scale disaster such as an earthquake occurs, or when a tsunami warning is announced, and is intended to help prevent or reduce damage caused by the disaster.

  The emergency alert receiving unit 111 outputs an emergency alert broadcast start signal and an area code to the program selection unit 108 and the program execution unit 106 as emergency alert information including target area information indicating a target area that is a target of an emergency alert. The means for acquiring the emergency warning broadcast start signal and the area code from the broadcast wave may be a well-known technique and will not be described.

  The broadcast wave to be used may be analog broadcast or digital broadcast. Further, when the broadcast wave to be used is an analog broadcast, either a television broadcast or a radio broadcast may be received.

  Further, since the frequency of the broadcast wave varies from region to region, it is necessary to change the reception frequency corresponding to the current position of the unmanned air vehicle 101. For changing the reception frequency, the reception frequency may be determined by a broadcast station scan used in the television receiver. Alternatively, the position information storage unit 110 and the emergency alert receiving unit 111 may be connected to determine the reception frequency using the current position of the unmanned air vehicle 101.

  The emergency alert information including the target area information indicating the target area that is the target of the emergency alert is not particularly limited to the above example, and other emergency alert information may be used. For example, you may use the earthquake early warning which is disaster prevention information which a meteorological agency announces using television broadcasting, radio broadcasting, CATV, a mobile telephone network, etc. In addition to Japan, emergency alert information used in that country may be used, for example, an emergency alert system (EAS) for mobile phones operated in the United States may be used. .

  The program selection unit 108 is connected to the position information storage unit 110 and the emergency alert reception unit 111. When the emergency alert broadcast start signal and the area code are input from the emergency alert receiver 111, the program selector 108 selects a flight control program for evacuation action from the program storage unit 107.

  Specifically, when selecting a flight control program for evacuation action, the program selection unit 108 includes each location information stored in the location information storage unit 110 and an area code input from the emergency alert reception unit 111. To determine whether each position information is included in the emergency alert target area indicated by the area code. The program selection unit 108 selects a flight control program for evacuation action based on the determination result, and outputs the selected flight control program for evacuation action to the program execution unit 106.

  The program execution unit 106 is connected to the position information storage unit 110 and the emergency alert reception unit 111, and the position information stored in the position information storage unit 110 and the emergency information are stored when the flight control program for retreat action is executed. The area code detected by the alarm receiver 111 can be referred to and used.

  In the present embodiment, the program selection unit 108 is based on the location information of the location information storage unit 110 and the area code of the emergency alert reception unit 111 among the plurality of flight control programs stored in the program storage unit 107. The flight control program for evacuation action is selected and the selected flight control program for evacuation action is executed by the program execution unit 106. However, the present invention is not particularly limited to this example, and various modifications are possible.

  For example, provided with a plurality of flight control circuits for evacuation action, based on the position information and region code, etc., select one flight control circuit for evacuation action, perform the evacuation action by the selected flight control circuit, Or, without storing the flight control program for the evacuation action in advance, the flight control program for the evacuation action selected based on the position information and the area code is transmitted to the unmanned air vehicle 101, and the transmitted evacuation action is transmitted. A flight control program may be executed by the program execution unit 106.

  FIG. 2 is a diagram showing an example of the appearance of the unmanned air vehicle 101 shown in FIG. As shown in FIG. 2, the unmanned aerial vehicle 101 includes a main body A <b> 1, four support portions A <b> 2, and four propellers 105 that generate the propulsive force of the unmanned aerial vehicle 101. The propeller 105 is attached to the tip of a support portion A2 that extends in four directions from the main body A1. The main body A1 includes a controller communication unit 103, a propeller control unit 104, a program execution unit 106, a program storage unit 107, a program selection unit 108, a current position acquisition unit 109, a position information storage unit 110, and The emergency alert receiver 111 is accommodated.

  FIG. 3 is a flowchart showing an example of a flight control program selection process of the unmanned air vehicle 101 shown in FIG. This process is started immediately after the unmanned air vehicle 101 is turned on.

  First, the program selection unit 108 selects a flight control program to be executed at normal time from the program storage unit 107 (step S201).

  Next, the program execution unit 106 executes the selected flight control program (step S202).

  Note that if there is no flight control program that is normally executed, the processes in steps S201 and S202 may be skipped.

  Next, the emergency alert receiver 111 receives and analyzes the broadcast wave transmitted from the broadcasting station, and detects the emergency alert broadcast start signal and the area code (step S203). Next, the emergency alert receiver 111 determines whether or not an emergency alert broadcast has been received (step S204). If the emergency alert broadcast has not been received (NO in step S204), the process returns to step S203 for processing. continue. That is, the processes in steps S203 and S204 are repeatedly executed until an emergency warning broadcast start signal is detected.

  On the other hand, when the emergency warning broadcast is received (YES in step S204), that is, when the emergency warning broadcast start signal is detected, the program selection unit 108 receives the area code and the position information storage unit 110 from the emergency warning reception unit 111. The current position information of the unmanned aerial vehicle 101 and the pilot 102 is acquired from the vehicle, and the obtained area code is compared with each position information, so that each position information is set to the target area of the emergency alert indicated by the area code. It is determined whether it is included (step S205).

  Thereafter, as will be described later, the program selection unit 108 selects a flight control program for evacuation action from the program storage unit 107 based on the determination result (step S206).

  Then, the program execution unit 106 executes the selected flight control program for evacuation action (step S207), and then returns to step S203 to repeat the subsequent processing in order to prepare for the next emergency alert broadcast.

  Next, a specific example of the flight control program for retreat action selected and executed in the above steps S206 and S207 will be described in detail below.

(Example 1 of flight control program for evacuation action)
FIG. 4 is a flowchart showing an example of a flight control program process for the first retreat action of the unmanned air vehicle shown in FIG. This process is a process by the flight control program for the evacuation action selected by the program selection unit 108 when the current positions of both the unmanned air vehicle 101 and the controller 102 are not included in the target area of the emergency warning. The following processing is executed by the execution unit 106.

  First, in the flight control program for the first evacuation action, the program execution unit 106 acquires the position information and the region code from the position information storage unit 110 and the emergency warning reception unit 111, and the position information and the region of the unmanned air vehicle 101 are obtained. From the code, the distance between the current position of the unmanned air vehicle 101 and the boundary of the target area for the emergency alert is calculated (step S301).

  Next, the program execution unit 106 determines whether or not the distance between the current position of the unmanned air vehicle 101 and the boundary of the target area of the emergency alert is within a specified value (step S302), and the distance is not within the specified value. If so (NO in step S302), the process returns to step S301 to continue the process. On the other hand, when the distance is within the specified value (YES in step S302), the program execution unit 106 monitors a steering instruction from the controller 102 (step S303).

  Next, the program execution unit 106 determines whether or not there is a steering instruction from the pilot 102 (step S304). If there is no steering instruction from the pilot 102 (NO in step S304), the program execution unit 106 returns to step S301. To continue processing. On the other hand, when a steering instruction is input from the controller 102 (YES in step S304), the program execution unit 106 displays the direction in which the unmanned air vehicle 101 moves according to the steering instruction, the current position of the unmanned air vehicle 101, and an emergency warning. A movement vector indicating the distance from the boundary of the target area is calculated (step S305).

  Next, the program execution unit 106 determines whether or not the movement vector indicates a direction toward the emergency alert target area (step S306), and the movement vector does not indicate the direction toward the emergency alert target area. (NO in step S306), the process returns to step S301 and continues. On the other hand, when the movement vector indicates a direction toward the emergency warning target area (YES in step S306), the program execution unit 106 invalidates the operation instruction from the controller 102 (step S307), and then returns to step S301. Repeat the subsequent steps.

  FIG. 5 is a conceptual diagram showing an operation example of the unmanned air vehicle 101 realized by the flight control program process for the first retreat action shown in FIG. The circular hatched area shown in FIG. 5 represents the emergency alert target area 401, and the outer circular hatched area represents the monitoring area 402 at a predetermined distance (specified value) from the emergency alert target area 401. ing.

  In FIG. 5, the unmanned air vehicle 101 is located above the monitoring area 402, and movement vectors 403 and 404 are shown as examples of the movement vector of the unmanned air vehicle 101. Since the movement vector 403 is a direction in which the unmanned air vehicle 101 moves away from the emergency warning target area 401, the movement vector 403 corresponds to a case where the movement vector 403 does not indicate a direction toward the emergency warning target area 401. The operation instruction from the controller 102 toward the movement vector 403 of the unmanned air vehicle 101 is maintained by the flight control program for the first retreat action.

  On the other hand, the movement vector 404 corresponds to the case where the unmanned air vehicle 101 is in a direction approaching the emergency alert target area 401, and therefore the movement vector 404 indicates a direction toward the emergency alert target area 401. 106 invalidates the steering instruction from the pilot 102 toward the movement vector 404 of the unmanned air vehicle 101 by the flight control program for the first evacuation action, and prevents entry into the emergency alert target area 401.

  As described above, when the unmanned aerial vehicle 101 and the pilot 102 are located outside the emergency warning target area by the first flight control program for evacuation action, the pilot 102 is not intended or intended by the pilot. It is possible to prevent the unmanned air vehicle 101 from entering the target area of the emergency warning by the operation of. Accordingly, it is possible to prevent the activities of the fire helicopter and the rescue aircraft due to the navigation of the unmanned air vehicle 101 and the collision between the unmanned air vehicle 101 and the fire helicopter or the rescue aircraft.

  Note that the method for restricting the unmanned air vehicle 101 from entering the emergency alert target area is not limited to the process shown in FIG. 4. For example, the unmanned air vehicle 101 is mounted on an unmanned air vehicle currently on the market. The same method for limiting entry into the no-fly zone may be used.

  Further, in this example, a movement vector indicating a direction in which the unmanned air vehicle 101 moves according to a maneuvering instruction from the controller 102 and a distance between the current position of the unmanned air vehicle 101 and the boundary of the target area of the emergency alert is two-dimensional. Although the calculation is performed in a plane, the present invention is not particularly limited to this example, and the calculation may be performed in a three-dimensional space in consideration of the altitude of the unmanned air vehicle 101.

(Example 2 of flight control program for evacuation action)
FIG. 6 is a flowchart showing an example of a flight control program process for the second retreat action of the unmanned air vehicle shown in FIG. This process is performed by the program selection unit 108 when the current position of the unmanned air vehicle 101 is not included in the emergency alert target area and the current position of the pilot 102 is included in the emergency alert target area. The program execution unit 106 executes the following process.

  First, in the flight control program for the second evacuation action, the program execution unit 106 initializes a time variable for storing time to the current time (step S501).

  Next, the program execution unit 106 monitors an operation instruction from the controller 102 (step S502).

  Next, the program execution unit 106 determines whether or not there is a steering instruction from the pilot 102 (step S503). If the steering instruction is input from the pilot 102 (YES in step S503), the program execution unit 106 sets the time variable. Update with the current time (step S504), and then return to step S502 to continue the process.

  On the other hand, when no steering instruction is given from the controller 102 (NO in step S503), the program execution unit 106 calculates the difference between the current time and the value of the time variable (step S505).

  Next, the program execution unit 106 determines whether or not the time difference is equal to or greater than the specified value (step S506). If the time difference is not equal to or greater than the specified value (NO in step S506), the program execution unit 106 returns to step S502. Continue processing. On the other hand, if the time difference is equal to or greater than the specified value (YES in step S506), program execution unit 106 inputs an instruction to propeller control unit 104 to land unmanned air vehicle 101 at the current position (step). S507).

  As described above, an emergency warning is issued in the area including the position of the pilot 102, that is, the pilot by the flight control program for the second evacuation action, and a remote instruction from the pilot 102 to the unmanned air vehicle 101 is given for a certain period of time. If not, it is determined that remote control of the unmanned aerial vehicle 101 is impossible due to factors such as damage to the pilot, and the unmanned air vehicle 101 is landed on the spot. Thereby, it is possible to avoid the unmanned air vehicle 101 from falling.

(Example 3 of flight control program for evacuation action)
FIG. 7 is a flowchart showing an example of a flight control program process for the third retreat action of the unmanned air vehicle shown in FIG. This process is a process by the flight control program for the evacuation action selected by the program selection unit 108 when the current position of the unmanned air vehicle 101 is included in the target area of the emergency alert. Is executed.

  First, in the flight control program for the third evacuation action, the program execution unit 106 performs an operation restriction on the propeller control unit 104 so as not to accept any operation instruction from the controller communication unit 103 (step S601). ).

  Next, the program execution unit 106 refers to the position information storage unit 110, obtains the current position information of the unmanned air vehicle 101 and the current position information of the controller 102, and calculates the distance between the two positions (step). S602).

  Next, the program execution unit 106 determines whether or not the distance is greater than or equal to a specified value (step S603). If the distance is greater than or equal to the specified value (YES in step S603), the program execution unit 106 moves the unmanned air vehicle 101 at the current position. An instruction is input to the propeller control unit 104 so as to land (step S604).

  On the other hand, when the distance is less than the specified value (NO in step S603), the program execution unit 106 moves the unmanned air vehicle 101 to the current position of the pilot 102 and then makes the unmanned air vehicle 101 land. Then, an instruction is input to the propeller control unit 104 (step S605).

  As described above, when the unmanned aerial vehicle 101 is located in the emergency warning target area by the third flight control program for evacuation action, the remote control by the controller 102 is invalidated, and the unmanned aerial vehicle 101 is It is possible to quickly stop the flight in the target area of the emergency warning by controlling the vehicle to land on the vehicle or to return to the position of the controller 102.

(effect)
Through the above processing, the unmanned air vehicle 101 can autonomously take a retreat action using the emergency warning broadcast. At that time, the area code included in the emergency warning broadcast, that is, the target area of the emergency warning is compared with the current position of the unmanned air vehicle 101 and the controller 102 to determine whether each position is included in the target area, Based on the determination result, an appropriate flight control program for evacuation action can be selected. Accordingly, the unmanned air vehicle 101 can take an appropriate action according to the emergency situation. In particular, even when the current position of the unmanned air vehicle 101 is not included in the emergency alert target area, the unmanned air vehicle 101 can be appropriately evacuated by executing the retreat action.

  Note that the above-described three flight control programs for evacuation action are examples, and the flight control program for evacuation action of the present embodiment is not limited to these. For example, the process of FIGS. 4 and 6 is combined to restrict the unmanned air vehicle 101 from entering the target area of the emergency warning, and to evacuate the unmanned air vehicle 101 when it is not operated for a certain period of time. An action flight control program may be used.

(Embodiment 2)
FIG. 8 is a block diagram illustrating an example of the configuration of the unmanned air vehicle according to the second embodiment of the present disclosure. In FIG. 8, the same reference numerals are used for the same components as in FIG. In the present embodiment, the unmanned air vehicle 201 automatically navigates according to a preset flight route. The unmanned air vehicle 201 includes a flight route storage unit 202, a propeller control unit 104, a propeller 105, a program execution unit 106, a program storage unit 107, a program selection unit 108, a current position acquisition unit 109, a position information storage unit 110, and an emergency alarm. A receiving unit 111 is provided.

  The flight route storage unit 202 stores a preset flight route, and stores in advance departure point information indicating a departure point in the flight route, route point information indicating a route point, and destination information indicating a destination point. Yes.

  The program execution unit 106 instructs the propeller control unit 104 to automatically navigate the unmanned air vehicle 201 while referring to the flight route stored in the flight route storage unit 202.

  Further, the program execution unit 106 can create a new flight route and update the information stored in the flight route storage unit 202.

  The position information storage unit 110 includes, in addition to the vehicle current position information indicating the current position of the unmanned air vehicle 201, departure point information indicating the departure point in the flight route, waypoint information indicating the waypoint, and destination indicating the destination Information is read from the flight route storage unit 202 and stored. The program execution unit 106 acquires the information of the departure point, the waypoint, and the destination by referring to the flight route storage unit 202.

  The flow of the flight control program selection process in the second embodiment is the same as that shown in FIG. However, the flight control program selected and executed in steps S201 and S202 is an autonomous navigation program that navigates the unmanned air vehicle 201 in accordance with the flight route stored in the flight route storage unit 202.

  In step S205, the program selection unit 108 indicates the area code from the emergency alert receiving unit 111, the vehicle current position information indicating the current position of the unmanned air vehicle 201 from the position information storage unit 110, and the departure place on the flight route. By acquiring the departure point information, the route point information indicating the route point, and the destination information indicating the destination point, and comparing the acquired region code with the respective position information, each position information is indicated by the region code. It is determined whether it is included in the target area of the emergency alert.

  Further, in step S206, the program selection unit 108 selects a flight control program for evacuation action from the program storage unit 107 based on a determination result described later. In step S207, the program execution unit 106 selects the selected evacuation program. Run a flight control program for action.

  Next, a specific example of the flight control program for retreat action selected and executed in the above steps S206 and S207 will be described in detail below.

(Example 4 of flight control program for evacuation action)
FIG. 9 is a flowchart showing an example of the flight control program process for the fourth retreat action of the unmanned air vehicle 201 shown in FIG. In this process, the current position of the unmanned air vehicle 201 is not included in the emergency alert target area, and a transit point that has not passed through the flight route is included in the emergency alert target area. Is a process by the flight control program for the evacuation action selected by the program selection unit 108 when the emergency warning target area is not included, and the program execution unit 106 executes the following process.

  First, in the flight control program for the fourth evacuation action, the program execution unit 106 acquires the position information and the area code from the position information storage unit 110 and the emergency warning reception unit 111, and performs an emergency from the current position of the unmanned air vehicle 201. A new flight route that can reach the destination of the flight route is created so as not to pass through the target area of the alarm (step S701).

  Next, the program execution unit 106 stores a new flight route in the flight route storage unit 202 and updates the flight route (step S702).

  Thereafter, the program execution unit 106 inputs an instruction to the propeller control unit 104 so that the unmanned air vehicle 201 navigates according to the updated flight route (step S703).

  FIG. 10 is a conceptual diagram showing an operation example of the unmanned air vehicle 201 realized by the flight control program process for the fourth retreat action shown in FIG. The circular hatched area shown in FIG. 10 represents the emergency alert target area 401, and the flight route before the update of the unmanned air vehicle 201 is a route from the departure point 901 to the destination 903, This is a flight route connecting the route 904, the route 905, and the route 906.

  According to the flight route before the update, when the unmanned air vehicle 201 has already navigated the route 904 and reached the point 908 in the flight route, the route point 902 that has not passed is included in the target area 401 of the emergency warning, so the unmanned flight The body 201 abandons the flight of the flight route before the update, creates a new route 907, and updates the flight route. This route 907 is a flight route newly created by the processing of step S701 so as not to pass through the emergency alert target area 401 from the routes 905 and 906.

  In the above example, the case where there is one unpassed waypoint has been described, but if there are multiple unpassed waypoints, is it included in the emergency alert target area for each unpassed waypoint? A new route is created and the flight route is updated so that not all the transit points are not included in the target area of the emergency alert.

  As described above, when only the waypoint is included in the emergency warning target area by the fourth flight control program for evacuation action, the flight route of the flight route is set so that the unmanned air vehicle 201 does not pass through the emergency warning target area. Review. Thereby, the unmanned air vehicle 201 can reach the destination while the unmanned air vehicle 201 is appropriately evacuated.

(Example 5 of flight control program for evacuation action)
FIG. 11 is a flowchart showing an example of the flight control program process for the fifth retreat action of the unmanned air vehicle 201 shown in FIG. In this process, the current position of the unmanned air vehicle 201 is not included in the emergency alert target area, the destination is included in the emergency alert target area, and the departure place is not included in the emergency alert target area. In this case, the program selection unit 108 selects the evacuation action flight control program, and the program execution unit 106 executes the following processing.

  First, in the flight control program for the fifth evacuation action, the program execution unit 106 acquires the position information and the area code from the position information storage unit 110 and the emergency warning reception unit 111, and starts from the current position of the unmanned air vehicle 201. A flight route returning to the ground is newly created (step S801).

  Next, the program execution unit 106 stores a new flight route in the flight route storage unit 202 and updates the flight route (step S802).

  Thereafter, the program execution unit 106 inputs an instruction to the propeller control unit 104 so that the unmanned air vehicle 201 navigates according to the updated flight route (step S803).

  As described above, when only the destination is included in the emergency warning target area by the fifth flight control program for evacuation action, the unmanned air vehicle 201 gives up reaching the destination and returns to the departure place. Create a new flight route. Thereby, the unmanned air vehicle 201 can be evacuated appropriately.

(Example 6 of flight control program for evacuation action)
FIG. 12 is a flowchart showing an example of a flight control program process for the sixth retreat action of the unmanned air vehicle 201 shown in FIG. This process is performed by the program selection unit 108 when the current location of the unmanned air vehicle 201 is included in the emergency alert target area, regardless of whether the departure location and the destination are included in the emergency alert target area. The program execution unit 106 executes the following process.

  First, in the flight control program for the sixth evacuation action, the program execution unit 106 inputs an instruction to the propeller control unit 104 to stop the automatic navigation according to the flight route stored in the flight route storage unit 202. (Step S901).

  Next, the program execution unit 106 inputs an instruction to the propeller control unit 104 so as to land the unmanned air vehicle 201 at the current position (step S902).

  As described above, when the departure point and the destination are included in the target area of the emergency warning according to the sixth flight control program for evacuation action, the unmanned air vehicle 201 returns to the departure place and reaches the destination. And abandon the unmanned air vehicle 201 on the spot. Thereby, it is possible to avoid the unmanned air vehicle 201 from falling.

(effect)
Through the above processing, the unmanned air vehicle 201 can autonomously take a retreat action using the emergency warning broadcast. At that time, it is determined whether the area code included in the emergency alert broadcast, that is, the target area of the emergency alert, and the location of the departure point, waypoint, and destination included in the flight route are included in the target area of the emergency alert. Then, based on the determination result, an appropriate flight control program for evacuation action can be selected. Accordingly, the unmanned air vehicle 201 can take an appropriate action according to the emergency situation. In particular, even when the current position of the unmanned air vehicle 201 is not included in the emergency alert target area, the unmanned air vehicle 201 can be appropriately evacuated by executing the retreat action.

  Note that the above-described three flight control programs for evacuation action are examples, and the flight control program for evacuation action of the present embodiment is not limited to these. For example, when the newly created flight route exceeds the current cruising distance of the unmanned air vehicle 201, a retreat action such as landing on the spot may be taken. In addition, when the current position of the unmanned air vehicle 201 is included in the emergency alert target area, a flight control program for evacuation action that causes the unmanned air vehicle 201 to land immediately may be used.

  The unmanned aerial vehicle according to the present disclosure has a function of autonomously retracting in an emergency, and is an unmanned aerial vehicle that is remotely controlled from a pilot or an unmanned aerial vehicle that autonomously flies based on preprogrammed content. Useful.

DESCRIPTION OF SYMBOLS 101,201 Unmanned air vehicle 102 Controller 103 Controller communication part 104 Propeller control part 105 Propeller 106 Program execution part
107 program storage unit 108 program selection unit 109 current position acquisition unit 110 position information storage unit 111 emergency alert reception unit 202 flight route storage unit

Claims (13)

An unmanned aerial vehicle capable of autonomous flight,
A position information storage unit that stores at least two or more pieces of position information including air vehicle current position information indicating a current position of the unmanned air vehicle;
An emergency alert information acquisition unit that acquires emergency alert information including target area information indicating a target area that is a target of the emergency alert;
When the emergency alert information acquisition unit acquires the emergency alert information, the target region indicated by the target region information included in the emergency alert information, and the two or more stored in the location information storage unit Based on the determination result of comparing each position indicated by the position information and determining whether each position is included in the target area, one of a plurality of retreat behaviors by autonomous flight of the unmanned air vehicle is selected. A selection unit for selecting the evacuation behavior of
A flight control unit that controls a flight state of the unmanned air vehicle according to the retreat behavior selected by the selection unit;
Unmanned air vehicle. The emergency alert information acquisition unit includes an emergency alert receiver that receives an emergency alert broadcast transmitted from a broadcasting station and detects a start signal of the emergency alert broadcast and a region code indicating a target area of the emergency alert broadcast. ,
The unmanned aerial vehicle according to claim 1. A program storage unit for storing a plurality of flight control programs for executing retreat behavior by autonomous flight of the unmanned air vehicle;
When the emergency alert information acquisition unit acquires the emergency alert information, the selection unit is stored in the target region indicated by the target region information included in the emergency alert information and the position information storage unit. The plurality of information stored in the program storage unit based on a determination result obtained by comparing each position indicated by the two or more position information and determining whether each position is included in the target area. Select one flight control program from
The flight control unit causes the unmanned air vehicle to perform a retreat action by executing the one flight control program selected by the selection unit.
The unmanned aerial vehicle according to claim 1 or 2. The position information storage unit stores the current position information of the flying object, and current position information of a pilot indicating a current position of a pilot for remotely maneuvering the unmanned flying object;
The unmanned aerial vehicle according to any one of claims 1 to 3. The selection unit includes the current position of the unmanned air vehicle indicated by the current vehicle position information and the current position of the pilot indicated by the current position information of the pilot in the target area indicated by the target area information. If not, a first instruction for restricting a maneuvering instruction from the pilot so that the unmanned air vehicle does not enter the target area from among the plurality of flight control programs stored in the program storage unit. Select one flight control program,
The unmanned aerial vehicle according to claim 4. The selection unit includes the unmanned air vehicle in which the current position of the pilot indicated by the current position information of the pilot is included in the target area indicated by the target area information, and is indicated by the current position information of the flying object. Is not included in the target area indicated by the target area information, a steering instruction from the pilot is given for a predetermined period from the plurality of flight control programs stored in the program storage unit. If not, selecting a second flight control program for landing the unmanned air vehicle at its current position;
The unmanned aerial vehicle according to claim 4 or 5. When the current position of the unmanned air vehicle indicated by the current vehicle position information is included in the target area indicated by the target area information, the selection unit stores the plurality of flights stored in the program storage unit. The control instruction from the pilot is invalidated from the control program, and the current position of the unmanned air vehicle indicated by the current vehicle position information and the current position of the pilot indicated by the current controller position information For landing the unmanned air vehicle at the current position when the distance between the two is greater than or equal to a predetermined distance, and moving the unmanned air vehicle to the current position of the pilot and landing when the distance is not greater than the predetermined distance. Select a third flight control program;
The unmanned aerial vehicle according to any one of claims 4 to 6. The unmanned air vehicle flies autonomously on a preset flight route,
The position information storage unit stores the current vehicle position information, departure point information indicating a departure point on the flight route, route point information indicating a stop point, and destination information indicating a destination point.
The unmanned aerial vehicle according to any one of claims 1 to 3. The selection unit includes the route point indicated by the route point information included in the target region indicated by the target region information, the unmanned air vehicle has not passed through the route point, and the flight. The current position of the unmanned air vehicle indicated by body current position information is not included in the target area indicated by the target area information, and the destination indicated by the destination information is indicated by the target area information. When not included in the target area, a new flight route that reaches the destination is newly selected from the plurality of flight control programs stored in the program storage unit so that the unmanned air vehicle does not pass through the target area. And selecting a fourth flight control program for causing the unmanned air vehicle to reach the destination.
The unmanned air vehicle according to claim 8. The selecting unit includes the destination indicated by the destination information included in the target area indicated by the target area information, and the starting point indicated by the departure point information is indicated by the target area information. When not included in the target area, a fifth flight control program for returning the unmanned air vehicle to the departure place is selected from the plurality of flight control programs stored in the program storage unit. ,
The unmanned air vehicle according to claim 8 or 9. The selection unit is stored in the program storage unit when the destination indicated by the destination information and the departure point indicated by the departure point information are included in the target area indicated by the target region information. Selecting a sixth flight control program for landing the unmanned air vehicle at the current position from the plurality of flight control programs.
The unmanned air vehicle according to any one of claims 8 to 10. A method for controlling an unmanned air vehicle capable of autonomous flight,
Get emergency alert information including target area information indicating the target area for emergency alerts,
When the emergency alert information is acquired, the target region indicated by the target region information included in the emergency alert information and the vehicle current position information stored in the position information storage unit and indicating the current position of the unmanned air vehicle A plurality of autonomous flight of the unmanned air vehicle based on the determination result of comparing each position indicated by at least two position information including the position information and determining whether each position is included in the target area Select one evacuation action from among the evacuation actions,
Controlling the flight state of the unmanned air vehicle according to the selected evacuation behavior,
Control method. A control program for causing a computer to function as a control device for an unmanned aerial vehicle capable of autonomous flight,
In the computer,
Get emergency alert information including target area information indicating the target area for emergency alerts,
When the emergency alert information is acquired, the target region indicated by the target region information included in the emergency alert information and the vehicle current position information stored in the position information storage unit and indicating the current position of the unmanned air vehicle A plurality of autonomous flight of the unmanned air vehicle based on the determination result of comparing each position indicated by at least two position information including the position information and determining whether each position is included in the target area Select one evacuation action from among the evacuation actions,
Controlling the flight state of the unmanned air vehicle according to the selected evacuation behavior,
A control program that executes processing.

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