JP2018041256A - Server device, drone, drone control system, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a server device capable preventing a drone in flight from clashing even if it does not frequently communicate with the drone.SOLUTION: A server device includes: a flight plan creation unit for making a flight plan according to a first restriction only allowing for flight to one direction predetermined correspondingly to a prescribed altitude range and a change of altitude on the basis of current place coordinates and destination coordinates if it receives a flight request including a drone ID, i.e. an identifier of a drone, the current place coordinates of the drone, and the destination coordinates of the drone; and a data transmission/reception unit for transmitting the flight plan to the drone corresponding to the drone ID.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a server device, a drone, a drone control system, and a program.

  Non-Patent Document 1 discloses the current state and future prospects of drones. The drone is expected to be applied in various fields such as inspection of various facilities, spraying of agricultural chemicals, transport of light objects, and weather observation.

  If drones are used frequently in the future, there is a possibility that accidents will occur where the drones collide. In order to avoid a collision accident, it is necessary for a drone in flight to always detect an obstacle with a sensor or the like, and when an obstacle is detected, it is necessary to immediately communicate with a server to execute a collision prevention control.

Kenzo Nonami, “Current Technology and Future Prospects of Drone”, [online], June 18, 2015, [August 18, 2016 search], Internet <URL: http: //www.cic-infonet. jp / section / activity / pdf / 150618_1.pdf>

  However, since the speed of the drone is high (several tens [km / h]) compared to the operating distance of a general sensor (several tens [m]), even if the omnidirectional scan interval of the sensor is shortened , Obstacle avoidance may be difficult. For example, it is assumed that the detection limit of the sensor is about 30 [m] and the drone speed is 30 [km / h] (≈8.3 [m / s]). In this case, even if it is assumed that the obstacle is stationary, there is only a time of about 3.6 seconds from the moment of detecting the obstacle 30 [m] away in the traveling direction to the collision.

  In order to execute collision prevention control and flight route change in a short time, it is indispensable to execute low-latency communication with the server. However, there is a possibility that the drone may fly in an area that is not covered by high-speed communication such as LTE. In such a case, it is assumed that the drone uses LPWA (Low Power, Wide Area), etc. Communication may be difficult.

  Therefore, an object of the present invention is to provide a server device that can prevent a drone collision without frequently communicating with a drone in flight.

  The server device of the present invention includes a flight plan creation unit and a data transmission / reception unit.

  When the flight plan creation unit receives a flight request including the drone ID, which is the drone identifier, the current location coordinates of the drone, and the destination coordinates of the drone, the flight plan creation unit has a predetermined altitude based on the current location coordinates and the destination coordinates. A flight plan is created in accordance with a first constraint that only flight in a predetermined direction and change in altitude are possible corresponding to the range. The data transmitting / receiving unit transmits the flight plan to the drone corresponding to the drone ID.

  According to the server device of the present invention, it is possible to prevent the collision of the drone without frequently communicating with the drone in flight.

The figure which shows the structure of the drone control system of Example 1. FIG. FIG. 2 is a block diagram illustrating a configuration of each device of the drone control system according to the first embodiment. FIG. 3 is a first sequence diagram illustrating operations of each device of the drone control system according to the first embodiment. FIG. 6 is a second sequence diagram illustrating the operation of each device of the drone control system according to the first embodiment. The figure which shows the example of the flight request table memorize | stored in a flight request information storage part. The figure which shows the example of the flight condition table memorize | stored in a flight condition information storage part. 5 is a flowchart illustrating the operation of a flight plan creation unit of the server device according to the first embodiment. The figure which shows the example of the area table memorize | stored in an area information storage part. The figure which shows the example of the flight prohibition zone table memorize | stored in a flight prohibition zone information storage part. The figure which shows the example of the layer table memorize | stored in a layer information storage part. The figure which shows the example of a setting of an area and a layer. The figure which shows the example of the flight plan table memorize | stored in a flight plan information storage part. The figure which shows the example of the flight route according to a flight plan. FIG. 3 is a block diagram illustrating a configuration of a server device according to a second embodiment. 9 is a flowchart showing an operation of a flight plan creation unit of the server device according to the second embodiment. The figure which shows the example of a setting of the virtual grid and virtual elevator in case a flight permission direction is a total of 4 directions. The figure which shows the example of a setting of a virtual grid and a virtual elevator in case a flight permission direction is a total of 8 directions. The block diagram which shows the structural example of the general purpose system or computer device which can be used in order to implement | achieve the terminal device, drone, base station, and server apparatus as described in an Example.

  Hereinafter, embodiments of the present invention will be described in detail. In addition, the same number is attached | subjected to the structure part which has the same function, and duplication description is abbreviate | omitted.

  The configuration of the drone control system according to the first embodiment will be described below with reference to FIG. As shown in FIG. 1, the drone control system 1 of this embodiment includes one or more terminal devices 11, one or more drones 12, one or more base stations 13, and one or more server devices 14. It is the structure containing. However, in the following description, the terminal device 11, the drone 12, the base station 13, and the server device 14 are made to appear one by one for convenience. It is assumed that the terminal device 11 and the base station 13, the drone 12 and the base station 13, and the base station 13 and the server device 14 can transmit and receive data. For example, the terminal device 11 and the base station 13 may perform communication via a wireless line. Similarly, the drone 12 and the base station 13 may perform communication via a wireless line. The base station 13 and the server device 14 may perform communication via the Internet line. The terminal device 11 is a communication device that can be operated by a user, and is, for example, a smartphone, a tablet, or a feature phone. The drone 12 is also referred to as an unmanned aerial vehicle (Unmanned Aerial Vehicle, Uninhabited Aerial Vehicle, UAV), and is a general term for an aircraft that can fly unmanned by remote operation or automatic control. A drone (unmanned aerial vehicle) can be made to fly by remote control or autopilot among airplanes that can be used by air, rotary wing aircraft, gliders, airships, and other devices that cannot be ridden structurally It is a term that refers to all things. Drones include aircraft of various sizes and shapes. Military drones have many large aircraft, and commercial drones are small to medium sized, with many rotary wing aircraft (multicopters). Hereinafter, the configuration of each device of the drone control system 1 of the present embodiment will be described with reference to FIG. As illustrated in FIG. 2, the terminal device 11 includes a flight request generation unit 111, a flight request generation information storage unit 111a, a data transmission / reception unit 112, a flight situation information storage unit 112a, and a display unit 113. The drone 12 includes a data transmission / reception unit 121, a flight plan information storage unit 121a, a flight control unit 122, and a flight status generation unit 123. The server device 14 includes a data transmission / reception unit 141, a flight request information storage unit 141x, a flight status information storage unit 141y, and a flight plan creation unit 142. The flight plan creation unit 142 includes an area selection unit 1421, an area information storage unit 1421a, a flight prohibited zone designation unit 1422, a flight prohibited zone information storage unit 1422a, a layer determination unit 1423, and a layer information storage unit 1423a. The flight plan information storage unit 1423b is included.

  Note that the storage unit of each device can be omitted as appropriate, and depending on the case, the role of two storage units may be assigned to one storage area, or the role of one storage unit may be assigned to a plurality of storage areas. You may carry it. For reasons that will be described later, the area selection unit 1421, the area information storage unit 1421a, the flight prohibited zone designation unit 1422, and the flight prohibited zone information storage unit 1422a may be omitted.

  Next, the operation of each device of the drone control system 1 of the present embodiment will be described with reference to FIGS. In the following description, it is assumed that the user of the terminal device 11 plans to fly the drone 12 from the current location to the destination. First, the flight request generation unit 111 of the terminal device 11 generates a flight request including the drone ID that is the identifier of the drone 12, the current location coordinates of the drone 12, and the destination coordinates of the drone 12 (S111). The flight request generation unit 111 may add the desired drone speed to the flight request in addition to the above information. The desired drone speed is the flying speed of the drone desired by the user. However, it is assumed that the desired drone speed is a speed in consideration of the maximum (minimum) speed at which the drone 12 can fly due to its performance. In implementation, even if the user does not intend to specify the speed of the drone 12, the desired drone speed may be set due to the performance of the drone.

  The drone ID of the drone 12 may be acquired in advance by, for example, the flight request generation unit 111 performing near field communication with the drone 12. Note that the drone ID is not only an identifier for identifying the drone, but is preferably the address of the drone 12 or information associated with the address of the drone 12 in the server device 14.

  As for the current location coordinates of the drone 12, for example, the flight request generation unit 111 executes short-range wireless communication with the drone 12, and acquires the GPS coordinates of the own aircraft in a state where the short-range wireless communication with the drone 12 is established. The acquired GPS coordinates of the own device may be used as the current location coordinates of the drone 12.

  The destination coordinates of the drone 12 may be manually input by the user, for example. For example, a dedicated application is installed in the terminal device 11, and a destination coordinate is determined by a user performing a touch operation on a predetermined coordinate of a map displayed by the application. May be notified of the destination coordinates.

  The desired drone speed of the drone 12 may be acquired by manual input by the user, for example. Alternatively, specifications such as the minimum flight speed and the maximum flight speed may be acquired from the drone 12 by short-range wireless communication, and the flight request generation unit 111 may calculate based on the acquired specifications.

  For example, the flight request generation unit 111 acquires the drone ID, current location coordinates, destination coordinates, and desired drone speed of the drone 12 in advance by the above-described means, and stores them in the flight request generation information storage unit 111a. May be. The flight request may include a terminal ID that is an identifier of the terminal device 11.

  The data transmitter / receiver 112 of the terminal device 11 transmits the flight request generated in step S111 to the base station 13 by wireless communication, for example (S112A). The base station 13 receives the flight request (S13A), and transmits the received flight request to the server device 14 through, for example, the Internet line (S13B).

The data transmitter / receiver 141 of the server device 14 receives the flight request from the base station 13 (S141A). The data transmission / reception unit 141 stores the received flight request in the flight request information storage unit 141x. Here, an example of a flight request stored in the flight request information storage unit 141x will be described with reference to FIG. As shown in FIG. 5, the flight request may be stored as a table-type flight request table. In the example of the flight request table, for example, the terminal device 11 specified by the terminal ID: UE01 is set to the destination (x ₀₁ , y ₀₁ , z ₀₁ ) from the current location (x ₀₁ , y ₀₁ , z ₀₁ ) to the drone 12 specified by the drone ID: drone01. It is required to fly at a speed of 25 [km / h] up to x ₁₁ , y ₁₁ , z ₁₁ ). Similarly, for example, terminal ID: terminal device 11 identified by the UE02 is drawn ID: to drone 12 specified by Drone02, current position _{(x 02, y 02, z} 02) from the destination _{(x 12, y 12} , Z ₁₂ ), it is required to fly at a speed of 35 [km / h]. As described above, the desired drone speed may be determined depending on not only the user's desire but also the drone's specifications.

  Next, the flight plan creation unit 142 creates a flight plan based on the flight request received in step S141A (S142). Specifically, the flight plan creation unit 142 is capable of only flying in a predetermined direction corresponding to a predetermined altitude range and changing the altitude based on the current position coordinates and the destination coordinates. A flight plan according to the above is created (S142). Details of step S142 will be described later. For example, a total of four directions (typically, east, west, north, and south) can be permitted. In this case, a total of four altitude ranges (hereinafter also referred to as layers) are required for each direction.

  In addition to this, a total of eight directions (e.g., northeast direction, southeast direction, southwest direction, northwest direction in addition to east, west, south, and north) may be permitted. There are a total of three directions that allow flight (typically, three directions where adjacent directions form 120 °), or a total of six directions (typically, six directions where adjacent directions form 60 °). It is good.

  The data transmission / reception unit 141 of the server device 14 transmits the flight plan to the base station 13 with the drone 12 corresponding to the drone ID as the transmission destination (S141B). The base station 13 receives the flight plan (S13C) and transmits the received flight plan to the corresponding drone 12 (S13D). The data transmitter / receiver 121 of the drone 12 receives the flight plan from the base station 13 (S121A). The data transmission / reception unit 121 stores the received flight plan in the flight plan information storage unit 121a.

The flight control unit 122 of the drone 12 performs flight control of the aircraft according to the received flight plan (S122). The flight status generation unit 123 of the drone 12 periodically generates the drone ID and the current location coordinates as the flight status (S123). Step S123 may be executed, for example, at intervals of 3 minutes, or may be executed at intervals of 1 minute or 5 minutes. The data transmission / reception unit 121 of the drone 12 transmits the flight status generated in step S123 to the base station 13 (S121B). The base station 13 receives the flight status (S13E) and transmits the received flight status to the server device 14 (S13F). The data transmitter / receiver 141 of the server device 14 receives the flight status from the base station 13 (S141C). The data transmission / reception unit 141 stores the received flight situation in the flight situation information storage unit 141y. Here, an example of flight status information stored in the flight status information storage unit 141y will be described with reference to FIG. As shown in FIG. 6, the flight status information may be stored as a flight status table in a table format. In this example of the flight status table, for example, the drone 12 specified by the drone ID: drone01 is flying at the coordinates (x _d1 , y _d1 , z _d1 ) at the time 2016/08/17/09: 30. It can be seen that at 09:33:00 on the same day, the coordinates (x _d2 , y _d2 , z _d2 ) were flying. As in the example of this table, the flight status table may include information on the flight speed (actually measured value) of the drone 12.

  The data transmission / reception unit 141 of the server device 14 transmits the flight status to the base station 13 using the terminal device 12 corresponding to the drone ID included in the flight status received in step S141C as the transmission destination (S141D). The base station 13 receives the flight status (S13G) and transmits the received flight status to the corresponding terminal device 11 (S13H). The data transmitter / receiver 112 of the terminal device 11 receives the flight status from the base station 13 (S112B). The data transmission / reception unit 112 stores the received flight status in the flight status storage unit 112a.

  The display unit 113 of the terminal device 11 displays the flight status received in step S112B to the user (S113). Accordingly, the user can periodically know the current location of the drone 12 and can always check the current status of the drone 12.

  Next, the operation of the flight plan creation unit 142 of the server device 14 will be described with reference to FIG. As shown in FIG. 7, the area selection unit 1421 of the flight plan creation unit 142 refers to the flight request information storage unit 141x, and is preset for each speed based on the desired drone speed included in the flight request to be processed. One area is selected from the selected areas (S1421). When the area selection unit 1421 selects an area, the area selection unit 1421 refers to the area information stored in advance in the area information storage unit 1421a.

Here, an example of area information stored in the area information storage unit 1421a will be described with reference to FIG. As shown in FIG. 8, the area information may be stored as an area table in a table format. In this example of the area table, three types of areas are prepared: an unrestricted area, a low speed area, and a high speed area. For example, 0-10 [m] which is an altitude range close to the ground surface is set as the non-restricted area. Since the drone control with low delay is possible in the non-restricted area, the speed limit is released. Further, for example, the altitude range 10-30 [m] is set as the low speed area, and the speed limit (upper limit speed) in the low speed area is 30 [km / h]. Similarly, the altitude range 30-50 [m] is set as the high speed area, and the speed limit (upper limit speed) in the high speed area is 60 [km / h]. Not limited to the above example, four types of areas, that is, a non-restricted, low speed, medium speed, and high speed area may be set. Moreover, you may provide the area according to speed of five steps and ten steps. The area information is set for the purpose of making the speed of the drone flying in the area as uniform as possible in order to prevent collision between the drones. Therefore, in the above example, only the speed limit (upper limit speed) is set, but the speed limit may be finer. For example, the rule may have to fly within a range of 25-30 [km / h] in a low-speed area, and within a range of 55-60 [km / h] in a high-speed area. Then, it may be a rule that permits only flight at 30 [km / h] and only flight at 60 [km / h] in a high-speed area.
. In addition, the process which divides an area according to speed can be omitted suitably. When omitting the process, the area selection unit 1421 and the area information storage unit 1421a are omitted, and the desired drone speed is omitted from the flight request.

Next, the flight prohibited zone specifying unit 1422 of the flight plan creating unit 142 refers to the flight prohibited zone information storage unit 1422a and specifies the flight prohibited zone (S1422). Here, an example of the flight prohibited zone information stored in the flight prohibited zone information storage unit 1422a will be described with reference to FIG. As shown in FIG. 9, the flight prohibited zone information may be stored as a table of flight prohibited zones. In the example of the prohibited flight zone table, names such as BAN001, BAN002,... Are assigned as zone names, and an altitude range and a coordinate range are designated for each zone name. For example, an altitude range: unlimited is specified for the partition name BAN001, and coordinates x _BAN001S -x _BAN001E and y _BAN001S -y _BAN001E are specified. The altitude range may be finite (0-40 [m]) as set in the partition name BAN002. It should be noted that the flight prohibited zone can be omitted as appropriate when there is no specific flight prohibited zone. When omitting the process, the flight prohibited zone designation unit 1422 and the flight prohibited zone information storage unit 1422a are omitted. Examples of the flight prohibition zone include tall buildings, buildings, the Imperial Palace, airfields, and the sky above the SDF base.

  Next, the layer determination unit 1423 of the flight plan creation unit 142 determines the traveling direction of the drone 12 based on the current position coordinates and the destination coordinates, and determines a layer based on the determined traveling direction (S1423). When the layer determination unit 1423 determines a layer, the layer determination unit 1423 refers to layer information stored in advance in the layer information storage unit 1423a. Here, an example of the layer information stored in the layer information storage unit 1423a will be described with reference to FIG. As shown in FIG. 10, the layer information may be stored as a layer table in a table format. In the example of this layer table, one type of layer is set in advance for the non-restricted area, four types of layers are set for the low-speed area, and a high-speed area, for a total of nine types of layers. For example, an air space of 0-10 [m], which is an area outside the restriction, is an L0 layer. The airspace of 10-30 [m], which is a low speed area, has the L1 layer (10-15 [m]), L2 layer (15-20 [m]), L3 layer (20-25 [m]), L4 layer (25 -30 [m]). In the L1 layer, only north is designated as the flight permission direction. Similarly, south is designated for the L2 layer, west is designated for the L3 layer, and east is designated for the L4 layer. Similarly, the high-speed area is divided into H1-H4 layers, and one direction of east, west, north, and south is assigned to each layer (see also FIG. 11).

A flight plan is created by steps S1421, S1422, and S1423 described above. Specifically, the flight plan is created by the area selecting unit 1421 selecting an area, the flight prohibited zone specifying unit 1422 specifying the flight prohibited zone, and the layer determining unit 1423 determining the layer for each traveling direction. The The created flight plan is stored in the flight plan information storage unit 1423b. Hereinafter, an example of flight plan information stored in the flight plan information storage unit 1423b will be described with reference to FIG. As shown in FIG. 12, the flight plan information may be stored as a flight plan table in a table format. In the example of the flight plan table, flight plans divided for each direction are listed in time series in association with the drone ID of the drone 12 to be controlled. Specifically, the altitude change (z ₀₁ → z _a ) for first transition from the ground surface to another layer (L ₀₁ → z _a ) in association with the controlled drone ID: drone ₀₁ , the flight permission in the corresponding layer (L 1) Flight plan divided for each direction such as flight in the y-axis direction (y ₀₁ → y _b ), altitude change (z _a → z _b ) for transition to another layer (L 1 → L 2), etc. Are listed in chronological order.

  FIG. 13 shows an example of a flight route according to the flight plan. FIG. 13 shows an example of a flight route along a flight plan in the form of three-dimensional coordinates in which the north direction, the west direction, and the height direction are the positive directions of the axes. In the example of FIG. 13, the drone 12 that departs from the current location 91 first changes the altitude to reach a predetermined layer and reaches the coordinates 92. Next, the drone 12 flies in the north direction which is the flight permission direction in the layer, and reaches the coordinate 93. Next, the drone 12 changes the altitude to reach a predetermined layer and reaches the coordinates 94. Next, the drone 12 flies in the west direction, which is the flight permission direction in the layer, and reaches the coordinate 95. In this example, the coordinate 95 is assumed to be above the destination coordinate. Accordingly, the drone 12 descends from the coordinate 95 to the ground surface, reaches the destination 96, and ends the flight. Although omitted from FIG. 13, when the above-mentioned flight prohibited zone exists between the current position coordinates and the destination coordinates, naturally, a flight route that bypasses the flight prohibited zone is adopted.

  According to the drone control system 1, the terminal device 11, the drone 12, the base station 13, and the server device 14 according to the present embodiment, it is possible only to fly in one direction corresponding to a predetermined altitude range and change the altitude. Since the drone flight control is executed based on the flight plan that complies with the first constraint, it is possible to prevent a collision between the drones. Moreover, since the area where the drone can fly is selected according to the speed, it is possible to avoid a situation in which the speeds of the drones flying in the same area are greatly different, and it is possible to prevent the drones from colliding with each other.

  Hereinafter, the drone control system according to the second embodiment will be described. In this embodiment, the flight plan is created not only according to the first constraint described in the first embodiment but also according to the second constraint and the third constraint.

  Specifically, the sky is divided by a virtual grid which is a predetermined virtual rectangular parallelepiped, and the drone is a predetermined area including the center of the virtual grid and passes through a virtual path which is a predetermined area for each virtual grid. The constraint that must be done is referred to as a second constraint. In addition, when the drone changes the altitude, the restriction that the drone is a predetermined area other than the virtual path and must pass through a virtual elevator that is a predetermined area for each virtual grid is a third restriction. And

  In this embodiment, a new configuration requirement is added to the server device (referred to as server device 24) in order to create a flight plan with the second and third constraints. However, the terminal device, the drone, and the base station may have the same functions as those in the first embodiment. Therefore, the drone control system of the present embodiment is configured to include one or more terminal devices 11, one or more drones 12, one or more base stations 13, and one or more server devices 24.

  The configuration of the server device 24 of this embodiment will be described with reference to FIG. In addition to the configuration included in the flight plan creation unit 142 of the first embodiment, the flight plan creation unit 242 of the server device 24 of the present embodiment newly includes a virtual grid / elevator selection unit 2424 and a virtual grid / elevator storage unit 2424a. Including. The virtual grid / elevator storage unit 2424a stores the virtual grid coordinate information and the virtual elevator coordinate information described above in advance.

  With reference to FIG. 15, operation | movement of the flight plan preparation part 242 of the server apparatus 24 of a present Example is demonstrated. First, as in the first embodiment, area selection, flight prohibited section designation, and layer determination are executed (S1421, S1422, S1423). Next, the virtual grid / elevator selection unit 2424 refers to the virtual grid / elevator storage unit 2424a, selects a virtual grid based on the current location coordinates and the destination coordinates, and selects a virtual elevator when the altitude is changed (S2424). .

  The processing performed in step S2424 will be supplemented with reference to the examples in FIGS. FIG. 16 is a diagram (plan view) showing a setting example of the virtual grid and the virtual elevator when the flight permission directions are a total of four directions. As shown in FIG. 16, it is assumed that rectangular parallelepiped virtual grids 51a, 51b, 51c, 51d,. At this time, it is assumed that a predetermined region including the center of the virtual grid 51a is given in advance as the virtual path 61a, and the same virtual path is given in advance for the other virtual grids. As described above, the drone 12 must pass through this virtual path, which is called a second constraint.

  In the virtual grid 51a, four predetermined areas other than the virtual path 61a are given in advance as virtual elevators 71a, 71b, 71c, 71d, and the same applies to the other virtual grids. The virtual elevators 71a, 71b, 71c, 71d are areas provided so as not to conflict with the drone 12 passing through the virtual path 61a. As described above, when the drone 12 changes the altitude, the drone 12 must pass through the virtual elevator, which is called a third constraint. For example, when the drone 12 flying in the virtual grid 51a needs to change the altitude in the virtual grid, the drone 12 flies from the virtual path 61a, for example, in the direction of the dashed arrow, and moves in the virtual elevator 71a. Enter and change altitude at this position. The movement from the virtual path to the virtual elevator (for example, movement indicated by a broken line arrow in FIG. 16) may be handled as an exception process for the first constraint. The movement may not be treated as an exception process for the first constraint as an operation included in a series of operations accompanying the change in altitude.

  FIG. 17 is a similar example when the flight permission directions are a total of eight directions. The virtual path 61a can be set similarly to the case of FIG. However, since the virtual elevator needs to be set so as not to conflict with all the drones 12 coming from any one of the eight directions and passing through the virtual path, the virtual elevator is divided more finely than the example shown in FIG. (See 72a,..., 72h in FIG. 17).

  According to the drone control system and the server device 24 of the present embodiment, in addition to the effects of the first embodiment, a virtual grid, a virtual path, and a virtual elevator are set in advance, and a flight plan according to the second constraint and the third constraint described above. Therefore, drones can be prevented from crossing and colliding when changing altitude.

<Hardware configuration>
In addition, the block diagram used for description of the said embodiment (Example) has shown the block of the functional unit. These functional blocks (components) are realized by any combination of hardware and / or software. Further, the means for realizing each functional block is not particularly limited. That is, each functional block may be realized by one device physically and / or logically coupled, and two or more devices physically and / or logically separated may be directly and / or indirectly. (For example, wired and / or wireless) and may be realized by these plural devices.

  For example, a terminal device, a drone control system, a base station, a server device, and the like according to an embodiment of the present invention may function as a computer that performs the drone control method of the present invention. FIG. 18 is a diagram illustrating an example of a hardware configuration of a terminal device, a drone control system, a base station, and a server device according to an embodiment of the present invention. The terminal device 11, the control system of the drone 12, the base station 13, the server device 14, and the server device 24 are physically the processor 11000, the memory 12000, the storage 13000, the communication device 14000, the input device 15000, and the output device 16000. Or a computer device including a bus 17000 or the like.

  In the following description, the term “apparatus” can be read as a circuit, a device, a unit, or the like. The hardware configuration of the terminal device 11, the drone 12, the base station 13, the server device 14, and the server device 24 may be configured to include one or a plurality of the devices illustrated in the figure, or some devices may be included. You may comprise without including.

  Each function in the terminal device 11, the drone 12, the base station 13, the server device 14, and the server device 24 is performed by the processor 11000 by reading predetermined software (program) on hardware such as the processor 11000 and the memory 12000. This is realized by controlling communication by the communication device 14000 and reading and / or writing of data in the memory 12000 and the storage 13000.

  For example, the processor 11000 controls the entire computer by operating an operating system. The processor 11000 may be configured by a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic device, a register, and the like. For example, the flight request generation unit 111, the data transmission / reception unit 112, the display unit 113, the data transmission / reception unit 121, the flight control unit 122, the flight status generation unit 123, the data transmission / reception unit 141, the flight plan creation unit 142, and the flight plan creation unit described above. 242 and the like may be realized by the processor 11000.

  Further, the processor 11000 reads programs (program codes), software modules, and data from the storage 13000 and / or the communication device 14000 to the memory 12000, and executes various processes according to these. As the program, a program that causes a computer to execute at least a part of the operations described in the above embodiments is used. For example, the flight plan creation unit 142 of the server device 14 and the flight plan creation unit 242 of the server device 24 may be realized by a control program stored in the memory 12000 and operated by the processor 11000, and the same applies to other functional blocks. May be realized. Although the above-described various processes have been described as being executed by one processor 11000, they may be executed simultaneously or sequentially by two or more processors 11000. The processor 11000 may be implemented with one or more chips. Note that the program may be transmitted from a network via a telecommunication line.

  The memory 12000 is a computer-readable recording medium and includes, for example, at least one of ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), RAM (Random Access Memory), and the like. May be. The memory 12000 may be called a register, a cache, a main memory (main storage device), or the like. The memory 12000 can store programs (program codes), software modules, and the like that can be executed to implement the drone control method according to the embodiment of the present invention.

  The storage 13000 is a computer-readable recording medium such as an optical disk such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, a magneto-optical disk (for example, a compact disk, a digital versatile disk, a Blu-ray). (Registered trademark) disk, smart card, flash memory (for example, card, stick, key drive), floppy (registered trademark) disk, magnetic strip, and the like. The storage 13000 may be referred to as an auxiliary storage device. The storage medium described above may be, for example, a database including a memory 12000 and / or storage 13000, a server, or other suitable medium.

  The communication device 14000 is hardware (transmission / reception device) for performing communication between computers via a wired and / or wireless network, and is also referred to as a network device, a network controller, a network card, a communication module, or the like. For example, the transmission / reception antenna, the amplifier unit, the transmission / reception unit, the transmission path interface, and the like included in the terminal device 11, the drone 12, the base station 13, the server device 14, and the server device 24 described above may be realized by the communication device 14000. .

  The input device 15000 is an input device (for example, a keyboard, a mouse, a microphone, a switch, a button, a sensor, or the like) that receives input from the outside. The output device 16000 is an output device (for example, a display, a speaker, an LED lamp, etc.) that performs output to the outside. Note that the input device 15000 and the output device 16000 may have an integrated configuration (for example, a touch panel).

  Each device such as the processor 11000 and the memory 12000 is connected by a bus 17000 for communicating information. The bus 17000 may be composed of a single bus or may be composed of different buses between devices.

  The terminal device 11, the drone 12, the base station 13, the server device 14, and the server device 24 are a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), and a programmable logic device (PLD). In addition, hardware such as an FPGA (Field Programmable Gate Array) may be included, and a part or all of each functional block may be realized by the hardware. For example, the processor 11000 may be implemented with at least one of these hardware.

<Information notification, signaling>
The notification of information is not limited to the aspect / embodiment described in the present specification, and may be performed by other methods. For example, information notification includes physical layer signaling (for example, DCI (Downlink Control Information), UCI (Uplink Control Information)), upper layer signaling (for example, RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling), It may be implemented by broadcast information (MIB (Master Information Block), SIB (System Information Block))), other signals, or a combination thereof. Further, the RRC signaling may be called an RRC message, and may be, for example, an RRC connection setup message, an RRC connection reconfiguration message, or the like.

<Applicable system>
Each aspect / embodiment described herein includes LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G, 5G, FRA (Future Radio Access), and W-CDMA. (Registered trademark), GSM (registered trademark), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, UWB (Ultra-WideBand), Bluetooth (registered trademark), The present invention may be applied to a system using another appropriate system and / or a next-generation system extended based on the system.

<Processing procedure>
As long as there is no contradiction, the order of the processing procedures, sequences, flowcharts, and the like of each aspect / embodiment described in this specification may be changed. For example, the methods described herein present the elements of the various steps in an exemplary order and are not limited to the specific order presented.

<Operation of base station>
The specific operation assumed to be performed by the base station in this specification may be performed by its upper node in some cases. In a network composed of one or more network nodes having a base station, various operations performed for communication with a terminal may be performed by the base station and / or other network nodes other than the base station (e.g., Obviously, this can be done by MME or S-GW, but not limited to these. Although the case where there is one network node other than the base station in the above is illustrated, a combination of a plurality of other network nodes (for example, MME and S-GW) may be used.

<Input / output direction>
Information or the like (* see “Information, Signal” item) can be output from the upper layer (or lower layer) to the lower layer (or upper layer). Input / output may be performed via a plurality of network nodes.

<Handling of input / output information, etc.>
Input / output information and the like may be stored in a specific location (for example, a memory) or may be managed by a management table. Input / output information and the like can be overwritten, updated, or additionally written. The output information or the like may be deleted. The input information or the like may be transmitted to another device.

<Judgment method>
The determination may be performed by a value represented by 1 bit (0 or 1), may be performed by a true / false value (Boolean: true or false), or may be performed by comparing numerical values (for example, a predetermined value) Comparison with the value).

<Aspect variations>
Each aspect / embodiment described in this specification may be used independently, may be used in combination, or may be switched according to execution. Further, notification of predetermined information (for example, notification of “being X”) is not limited to explicitly performed, but is performed implicitly (for example, without notification of the predetermined information). Also good.

  Although the present invention has been described in detail above, it will be apparent to those skilled in the art that the present invention is not limited to the embodiments described herein. The present invention can be implemented as modified and changed modes without departing from the spirit and scope of the present invention defined by the description of the scope of claims. Therefore, the description of the present specification is for illustrative purposes and does not have any limiting meaning to the present invention.

<Meaning and interpretation of terms>
1) Software Software, whether it is called software, firmware, middleware, microcode, hardware description language, or another name, is an instruction, instruction set, code, code segment, program code, program, subprogram Software modules, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc. should be interpreted broadly.

  Also, software, instructions, etc. may be transmitted / received via a transmission medium. For example, software may use websites, servers, or other devices using wired technology such as coaxial cable, fiber optic cable, twisted pair and digital subscriber line (DSL) and / or wireless technology such as infrared, wireless and microwave. When transmitted from a remote source, these wired and / or wireless technologies are included within the definition of transmission media.

2) Information, signals The information, signals, etc. described herein may be represented using any of a variety of different technologies. For example, data, commands, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description are voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any of these May be represented by a combination of

  Note that the terms described in this specification and / or terms necessary for understanding this specification may be replaced with terms having the same or similar meaning. For example, the channel and / or symbol may be a signal. The signal may be a message. In addition, the component carrier (CC) may be called a carrier frequency, a cell, or the like.

3) “System”, “Network”
As used herein, the terms “system” and “network” are used interchangeably.

4) Names of parameters and channels The information and parameters described in this specification may be expressed as absolute values, relative values from predetermined values, or other corresponding values. It may be represented by information. For example, the radio resource may be indicated by an index.

  The names used for the parameters described above are not limiting in any way. Further, mathematical formulas and the like that use these parameters may differ from those explicitly disclosed herein. Since various channels (eg, PUCCH, PDCCH, etc.) and information elements (eg, TPC, etc.) can be identified by any suitable name, the various names assigned to these various channels and information elements are However, it is not limited.

5) Base station A base station may accommodate one or multiple (eg, three) cells (also referred to as sectors). When a base station accommodates multiple cells, the entire coverage area of the base station can be divided into multiple smaller areas, each smaller area being divided into a base station subsystem (eg, an indoor small base station RRH: Remote Radio Head) can also provide communication services. The term “cell” or “sector” refers to part or all of the coverage area of a base station and / or base station subsystem that provides communication services in this coverage. Further, the terms “base station”, “eNB”, “cell”, and “sector” may be used interchangeably herein. A base station may also be referred to in terms such as a fixed station, NodeB, eNodeB (eNB), access point, femtocell, small cell and the like.

6) Mobile station A mobile station is defined by those skilled in the art as a subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, It may also be called mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, or some other appropriate terminology.

7) Other terms "Decision"
As used herein, the term “determining” may encompass a wide variety of actions. “Determining” can be, for example, judgment, calculating, computing, processing, deriving, investigating, looking up (eg, table, database or another Search of the data structure), ascertaining what has been confirmed, and so on. Also, “determining” includes receiving (eg, receiving information), transmitting (eg, transmitting information), input (input), output (output), access (accessing) ( For example, it may include “determining” that the data in the memory has been accessed. Also, “determining” may include resolving, selecting, selecting, establishing, comparing, and the like as “determined”. In other words, “determining” can include considering some action as “determining”.

2. "Connected", "coupled"
The terms “connected”, “coupled”, or any variation thereof, means any direct or indirect connection or coupling between two or more elements and It can include the presence of one or more intermediate elements between two “connected” or “coupled” elements. The coupling or connection between the elements may be physical, logical, or a combination thereof. As used herein, the two elements are radio frequency by using one or more wires, cables and / or printed electrical connections, and as some non-limiting and non-inclusive examples By using electromagnetic energy, such as electromagnetic energy having a wavelength in the region, microwave region, and light (both visible and invisible) region, it can be considered to be “connected” or “coupled” to each other.

3. "On the basis of the"
As used herein, the phrase “based on” does not mean “based only on,” unless expressly specified otherwise. In other words, the phrase “based on” means both “based only on” and “based at least on.”

4). "First", "Second", ...
Any reference to elements using designations such as “first”, “second”,... As used herein does not generally limit the amount or order of those elements. These designations can be used herein as a convenient way to distinguish between two or more elements. Thus, a reference to the first and second elements does not mean that only two elements can be employed there, or that in some way the first element must precede the second element.

5. "Including", "or"
As long as “including” and variations thereof are used herein or in the claims, these terms are intended to be inclusive, as well as the term “comprising”. Furthermore, the term “or” as used herein or in the claims is not intended to be an exclusive OR.

6). Articles Throughout this disclosure, if articles are added by translation, for example, a, an, and the, in English, these articles must be clearly indicated not in context. , Including multiple items.

Claims (8)

When a flight request including a drone ID, which is a drone identifier, the current location coordinates of the drone, and the destination coordinates of the drone, is received, a range of a predetermined altitude is determined based on the current location coordinates and the destination coordinates. Correspondingly, a flight plan creation unit that creates a flight plan that complies with a first constraint that only flight in a predetermined direction and change in altitude are possible,
A data transmission / reception unit for transmitting the flight plan to a drone corresponding to the drone ID;
Server device including The server device according to claim 1,
The sky is divided by a virtual grid which is a predetermined virtual rectangular parallelepiped, and the drone is a predetermined area including the center of the virtual grid and must pass through a virtual path which is a predetermined area for each virtual grid. The constraint that must be called the second constraint,
When the drone changes altitude, the drone is a predetermined area other than the virtual path, and must pass a virtual elevator that is a predetermined area for each virtual grid. And
The flight plan creation unit
A server device that creates a flight plan according to the second constraint and the third constraint in addition to the first constraint. When a flight plan created in accordance with the first restriction that can only fly in one direction and change the altitude corresponding to a predetermined altitude range is received, flight control of the aircraft is performed according to the flight plan. A drone that includes a flight controller to perform. A drone according to claim 3,
The sky is divided by a virtual grid which is a predetermined virtual rectangular parallelepiped, and the drone is a predetermined area including the center of the virtual grid and must pass through a virtual path which is a predetermined area for each virtual grid. The constraint that must be called the second constraint,
When the drone changes altitude, the drone is a predetermined area other than the virtual path, and must pass a virtual elevator that is a predetermined area for each virtual grid. And
The flight plan is a drone that is a flight plan created according to the second constraint and the third constraint in addition to the first constraint. A drone control system including a terminal device, a server device, and a drone,
The terminal device
A data transmission / reception unit that transmits a flight request including a drone ID that is an identifier of the drone, a current location coordinate of the drone, and a destination coordinate of the drone;
The server device
When the flight request is received, based on the current location coordinates and the destination coordinates, the first constraint is that only flight in a predetermined direction corresponding to a predetermined altitude range and altitude change are possible. A flight plan creation unit that creates a flight plan according to
A data transmission / reception unit for transmitting the flight plan to a drone corresponding to the drone ID;
The drone
A drone control system including a flight control unit that performs flight control of the aircraft according to the flight plan when the flight plan is received. The drone control system according to claim 5,
The sky is divided by a virtual grid which is a predetermined virtual rectangular parallelepiped, and the drone is a predetermined area including the center of the virtual grid and must pass through a virtual path which is a predetermined area for each virtual grid. The constraint that must be called the second constraint,
When the drone changes altitude, the drone is a predetermined area other than the virtual path, and must pass a virtual elevator that is a predetermined area for each virtual grid. And
The flight plan creation unit
A drone control system that creates a flight plan according to the second constraint and the third constraint in addition to the first constraint.   The program which makes a computer function as a server apparatus of Claim 1 or 2.   The program which makes a computer function as a flight control part of the drone of Claim 3 or 4.

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