JP2018143036A - Control device, flight control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately set a flight course of an unmanned flying body.SOLUTION: A control device comprises: an acquisition unit that acquires power facility connection configuration information indicating a connection configuration of a power facility and environmental situation information indicating an environmental situation in the vicinity of the power facility; a calculation unit which calculates candidates of a flight course of an unmanned flying body based on the power facility connection configuration information; and a setting unit which sets one flight course based on the environmental situation information from among the calculation results of the candidates of the flight course.SELECTED DRAWING: Figure 8

Description

  Embodiments described herein relate generally to a control device, a flight control method, and a program.

A technique is known in which an unmanned flying object such as a drone autonomously flies to the vicinity of a power facility such as a transmission line, and images an inspection point of the power facility. A person who checks the power equipment uses an image captured by the unmanned flying object for checking the power equipment.
The unmanned flying object is remotely operated by the pilot to avoid flying in the vicinity of the power equipment as necessary within the range of the visual field of the pilot.
Further, the unmanned flying object recognizes the power facility from the image captured by the mounted imaging device, and avoids flying in the vicinity of the recognized power facility as necessary.

Regarding flight control of unmanned vehicles, even when heavy cargo is mounted on a flying vehicle, the plane of rotation of two horizontal rotors can be easily tilted with a small moment of force, and heavy cargo is mounted. A technique for easily steering a flying object from front to back and from side to side is known (see, for example, Patent Document 1).
As a technique for avoiding flight, a technique for easily grasping a landowner of a land where a facility is installed is known (for example, see Patent Document 2).

Japanese Patent Laid-Open No. 2001-039397 JP 2011-164438 A

The separation distance between the unmanned flying vehicle and the power equipment needs to be set in consideration of the range covered by the electromagnetic field generated by the current passed through the power equipment. The range covered by the electromagnetic field may vary depending on the position and shape of the power equipment.
Furthermore, it is necessary to set the separation distance between the unmanned flying object and the power transmission line in consideration of the influence of the lateral vibration caused by the wind of the power transmission line.
Furthermore, when an unmanned flying vehicle flies over the transmission line, it is necessary to appropriately reflect the intention of the landowner of the land under the transmission line.
The present invention has been made in view of the above points, and an object of the present invention is to appropriately set the flight path of the unmanned flying object.

One aspect of the present invention is based on the power equipment connection configuration information indicating the power equipment connection configuration and the environment status information indicating the environmental status in the vicinity of the power equipment, and the power equipment connection configuration information. A control unit that calculates a flight path candidate of an unmanned flying vehicle, and a setting unit that sets one flight path based on the environmental status information based on the calculation result of the flight path candidate. Device.
In the control device according to one aspect of the present invention, the acquisition unit acquires energization status information indicating an energization status of a power transmission line, and the setting unit sets the one flight path based on the energization status information. To do.
In the control device according to one aspect of the present invention, the environmental status information includes any one of wind direction information, weather information, and visibility information, and the setting unit includes the wind direction information, the weather information, and The one flight path is set based on any one of the visibility information.
In the control device according to one aspect of the present invention, the acquisition unit acquires flight permission condition information indicating a condition in which flight is permitted, and the calculation unit further includes the unmanned flying object based on the flight permission condition information. Calculate the flight path.
In the control device according to one aspect of the present invention, the flight permission condition information includes at least one of position information, date information, and baggage information carried by the unmanned flying object.
The control device according to one aspect of the present invention includes a creation unit that creates flight control information for controlling the flight of the unmanned flying object based on the flight path candidates set by the setting unit.
In the control device according to an aspect of the present invention, the control device includes a presentation unit that presents a calculation result of the flight path calculated by the calculation unit, and the flight control unit includes the flight path candidates presented by the presentation unit, Based on the flight path candidate selected by the user of the unmanned flying vehicle, flight control of the unmanned flying vehicle is performed.
One aspect of the present invention is a flight control method executed by a control device that performs flight control of an unmanned vehicle, and is a flight control method that is executed by a control device that performs flight control of an unmanned vehicle, Obtaining power facility connection configuration information indicating a connection configuration and environmental status information indicating an environmental status in the vicinity of the power facility, and calculating a flight path candidate of an unmanned air vehicle based on the power facility connection configuration information And a step of setting one flight path based on the environmental status information from the result of the calculation of the flight path candidates.
According to one aspect of the present invention, in a computer included in a control device that performs flight control of an unmanned flying object, power facility connection configuration information indicating a connection configuration of a power facility and environment status information indicating an environmental status in the vicinity of the power facility are provided. Based on the environmental status information, the obtaining step, the step of calculating the flight path candidate of the unmanned air vehicle based on the power equipment connection configuration information, and the calculation result of the flight path candidate. The program for executing the step of setting the flight path.

  According to the embodiment of the present invention, the flight path of the unmanned flying object can be set appropriately.

It is a figure which shows an example of the flight control system of the unmanned flying object which concerns on embodiment. It is a functional block diagram which shows an example of the management server which concerns on embodiment. It is a figure which shows an example of electric power equipment connection structure information. It is a figure for demonstrating an example of flight permission condition information. It is a figure which shows an example of electric power equipment. It is a figure which shows an example of the external appearance schematic diagram of the unmanned flying object which concerns on embodiment. It is a functional block diagram which shows an example of the unmanned flying object which concerns on embodiment. It is a functional block diagram which shows an example of the control apparatus which concerns on embodiment. It is a figure which shows an example of a collision avoidance separation distance table. It is a figure which shows an example of a collision avoidance separation distance. It is a figure which shows an example of an electromagnetic field influence avoidance separation distance table. It is a figure which shows the example of a setting of the flight path | route in the control apparatus which concerns on embodiment. It is a sequence chart which shows an example of operation | movement of the flight control system of the unmanned flying object which concerns on embodiment. It is a functional block diagram which shows an example of the control apparatus which concerns on a modification. It is a figure which shows the example of presentation of the candidate of a flight path | route. It is a sequence chart which shows an example of operation | movement of the flight control system of the unmanned flying object which concerns on a modification.

Next, modes for carrying out the present invention will be described with reference to the drawings. Embodiment described below is only an example and embodiment to which this invention is applied is not restricted to the following embodiment.
Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiments, and the repetitive description will be omitted.

(Embodiment)
FIG. 1 is a diagram illustrating an example of a flight control system for an unmanned flying object according to an embodiment. The flight control system includes an unmanned flying object 100, a control device 200, and a management server 300.
The control device 200 and the management server 300 communicate via a communication network 50 such as a wireless LAN or the Internet. The unmanned flying object 100 and the control device 200 communicate via a mobile phone communication network or the like.

The management server 300 stores the power equipment connection configuration information indicating the connection configuration of the power equipment and the flight permission condition information indicating the conditions under which the flight of the unmanned flying object is permitted. The management server 300 transmits flight information including the power equipment connection configuration information and the flight permission condition information to the control device 200 in response to a request from the control device 200.
Furthermore, in response to a request from the control device 200, the management server 300 places the unmanned flying object 100 controlled by the control device 200 between the starting point position where the flight starts and the target point position where the flight ends. The environmental status information indicating the environmental status of the existing power equipment is acquired, and the acquired environmental status information is transmitted to the control device 200.
Hereinafter, the position of the starting point at which the flight is started is referred to as “starting point position”, and the position of the destination point at which the flight is ended is referred to as “target point position”. Here, the position of the starting point and the position of the destination point are represented by longitude, latitude, and altitude.

The control device 200 performs flight control of the unmanned flying object 100.
The control device 200 requests flight information and environmental status information from the management server 300 when performing flight control of the unmanned flying object 100. The control device 200 acquires the flight information and the environmental status information transmitted by the management server 300, and based on the acquired flight information, the flight path that causes the unmanned flying object 100 to fly from the position of the starting point to the position of the target point The candidate is computed.
The control device 200 narrows down the flight path candidates obtained by the calculation based on the environmental status information.
Furthermore, the control apparatus 200 selects one flight path from the result of narrowing down flight path candidates based on a preset selection criterion, and sets the selected flight path.
The control device 200 creates flight control information that is a command for flying the unmanned flying object 100 along the set flight route, and transmits the created flight control information to the unmanned flying object 100.

(Management server)
FIG. 2 is a functional block diagram illustrating an example of a management server according to the embodiment.
The management server 300 includes a communication unit 302, a storage unit 304, and a control unit 306.
The communication unit 302 communicates with the control device 200 via the communication network 50. Specifically, the communication unit 302 receives the flight information request transmitted from the control device 200 and outputs the received flight information request to the control unit 306. Here, the flight information request is a signal for requesting the control device 200 to acquire the power equipment connection configuration information and the flight permission condition information of the flight path that the unmanned flying object 100 is supposed to fly. The flight information request includes identification information of the control device 200, starting point position information, and destination point position information.

In response to the flight information request, the communication unit 302 acquires the power equipment connection configuration information 3044 and the flight permission condition information 3046 output from the control unit 306, and uses the acquired power equipment connection configuration information 3044 and the flight permission condition information 3046. The flight information including is transmitted to the control device 200.
Details of the power equipment connection configuration information 3044 and the flight permission condition information 3046 will be described later.
Further, the communication unit 302 receives the environmental status information request transmitted from the control device 200 and outputs the received environmental status information request to the control unit 306. Here, the environmental status information request is a request for the control device 200 to acquire environmental status information in a predetermined area including the position of the starting point and the position of the target point. Details of the environmental status information will be described later.
The communication unit 302 acquires the environmental status information acquisition request output by the control unit 306, and transmits the acquired environmental status information acquisition request to the power equipment. Here, the environmental status information acquisition request is a request for the management server 300 to acquire environmental status information in the vicinity of the power equipment to an access point attached to the power equipment in the vicinity of the starting point position and the target point position. is there.
In response to the environmental status information acquisition request, the communication unit 302 acquires the power status information transmitted by the access point of the power facility, and outputs the acquired power status information to the control unit 306. In response to the environmental status information request, the communication unit 302 acquires the environmental status information output by the control unit 306, and transmits the acquired environmental status information to the control device 200.
The storage unit 304 stores a program 3042, power equipment connection configuration information 3044, and flight permission condition information 3046. The program 3042 causes the control unit 306 to function as the acquisition unit 308.

(Power equipment connection configuration information)
The power equipment connection configuration information 3044 represents the connection status of power equipment such as power transmission lines and substations on a map using nodes and branches. The connection state of the power equipment represented by a node and a branch on a map is also called a node branch diagram.
FIG. 3 is a diagram illustrating an example of power facility connection configuration information.
FIG. 3 shows power equipment connection configuration information of Saitama Prefecture as an example. An example of the power equipment connection configuration information is a power system diagram.
The power equipment connection configuration information 3044 in the storage unit 304 of the management server 300 stores the power equipment connection configuration information for each predetermined region such as a prefecture. In FIG. 3, “◯” is a substation (node), and “−” is a transmission line (branch).
In this example, a parking lot for parking the unmanned flying vehicle 100 is installed in the substation. In other words, the parking lots are located in Kitakumaya, Saitama, Ageo, Iwabuchi, Nishikoshigaya, Higashiyashio, Keihoku, Hatogaya, Sasame, Minamisayama, Shinsakado, Nakatokyo, and Okuchichibu. The unmanned flying object 100 flies near the power transmission line.

(Flight permit condition information)
The flight permission condition information 3046 is information indicating a condition in which the flight of the unmanned flying object 100 is permitted.
FIG. 4 is a diagram for explaining an example of the flight permission condition information. FIG. 4 shows two transmission line towers ST and a transmission line WR supported by the transmission line tower ST.
Further, FIG. 4 shows steel tower sites (2) and (4) where the power transmission line tower ST is laid, and ground sites (1), (3) and (5) of the power transmission line WR. For example, land purchase agreements have been concluded for tower land (2) and (4), and for land under line (1), (3) and (5), there is a contract for setting an easement or overhead line contract for use in the sky. It is concluded.
Furthermore, information such as position information, date / time information, and baggage information carried by the unmanned flying object 100 are set for the tower site and the line site. Here, the position information includes one or both of position information in the horizontal direction and position information in the vertical direction.

The control unit 306 is realized by an arithmetic device such as a CPU (Central Processing Unit). The control unit 306 functions as the acquisition unit 308 by executing the program 3042 stored in the storage unit 304.
The acquisition unit 308 acquires the flight information request output from the communication unit 302. The acquisition unit 308 includes, from the storage unit 304, the power facility connection configuration including the starting point position information and the destination point position information based on the starting point position information and the destination point position information included in the flight information request. Information 3044 and flight permission condition information 3046 are acquired, and the acquired power equipment connection configuration information 3044 and flight permission condition information 3046 are output to communication unit 302.
Furthermore, the acquisition unit 308 acquires the environmental status information request output from the communication unit 302. Based on the starting point position information and the destination point position information included in the environmental status information request, the acquisition unit 308 is an access point attached to the power equipment included in the predetermined range including the starting point and the destination point. The environmental status information acquisition request for requesting acquisition of environmental status information is created, and the created environmental status information acquisition request is output to the communication unit 302. In response to the environmental status information acquisition request, the acquisition unit 308 acquires the environmental status information output by the communication unit 302 and outputs the acquired environmental status information to the communication unit 302. The environmental status information includes wind direction, wind speed, weather, temperature, visibility, power supply information, and the like. The power supply information includes information indicating the energization current.

(Electric power equipment)
FIG. 5 is a diagram illustrating an example of power equipment.
The unmanned flying object 100 according to the embodiment flies in the vicinity of the power equipment such as the sky of the power equipment. An example of the power equipment is power transmission equipment.
As described above, the power transmission facility includes the power transmission line tower ST and the power transmission line WR supported by the power transmission line tower ST. In the example shown in FIG. 5, two transmission line towers ST and a transmission line WR supported by the transmission line tower ST are shown.
In addition, an imaging device 10 such as a camera, a wind direction / wind speed sensor 20, a rain gauge 30, and an access point 40 are attached to the power transmission facility.
The imaging device 10 images a nearby landscape, and transmits image information obtained by imaging to the management server 300 via the access point 40.
The wind direction / wind speed sensor 20 measures the wind direction and the wind speed in the vicinity of the distribution pole utility pole UP, and obtains the information indicating the wind direction and the information indicating the wind speed obtained by the measurement via the access point 40. It transmits to the management server 300.
The rain gauge 30 measures the rainfall near the distribution line utility pole UP, and transmits information indicating the rainfall obtained by the measurement to the management server 300 via the access point 40.
The access point 40 includes image information transmitted by the imaging device 10, information indicating the wind direction and the wind direction transmitted by the wind direction / speed sensor 20, information indicating the wind speed, information indicating the rainfall transmitted by the rain gauge 30, power supply information of the power equipment, and the like. To the management server 300.

(Unmanned flying object)
FIG. 6 is a diagram illustrating an example of a schematic external view of the unmanned flying object according to the embodiment. The unmanned flying object 100 flies above the overhead ground wire OGW and near the distribution line WR.
The unmanned flying object 100 includes a motor 102a, a motor 102b, a motor 102c, a motor 102d, a rotor 104a, a rotor 104b, a rotor 104c, and a rotor 104d.
The motor 102a, the motor 102b, the motor 102c, and the motor 102d rotate the corresponding rotor 104a, the rotor 104b, the rotor 104c, and the rotor 104d, respectively, to give lift and propulsion to the unmanned flying object 100.
Further, by controlling the drive current supplied to each of the motor 102a, the motor 102b, the motor 102c, and the motor 102d, the flight altitude, direction, and traveling direction of the unmanned flying object 100 can be controlled.

The unmanned flying object 100 includes an imaging unit 108 such as a camera. The imaging unit 108 images a landscape around the unmanned flying object 100. In the unmanned flying object 100 according to the embodiment, the imaging direction of the imaging unit 108 and the nose direction HDG of the unmanned flying object 100 are the same. In this case, the imaging unit 108 images a landscape in front of the unmanned flying object 100.
The unmanned flying object 100 is attached with a fixing tool for fixing the load. When transporting a load to the unmanned flying object 100, the load is fixed to a fixture, and flight control information is transmitted from the control device 200 to the unmanned flying object 100.
Hereinafter, an arbitrary motor among the motors 102a, 102b, 102c, and 102d is referred to as a motor 102.
An arbitrary rotor among the rotor 104a, the rotor 104b, the rotor 104c, and the rotor 104d is referred to as the rotor 104.

(Unmanned flying object)
FIG. 7 is a functional block diagram illustrating an example of the unmanned flying object according to the embodiment.
The unmanned flying object 100 according to the embodiment includes a motor 102, a communication unit 103, a rotor 104, a positioning unit 105, an imaging unit 108, a power supply unit 112, and a control unit 114.
In this example, the motor 102, the communication unit 103, the rotor 104, the positioning unit 105, the imaging unit 108, and the power supply unit 112 are realized by dedicated hardware.
The control unit 114 functions as the flight control unit 116. The control unit 114 is configured by a CPU (Central Processing Unit) and a memory, and the CPU executes a program for realizing the functions of the flight control unit 116 and the like, thereby realizing the functions.

The communication unit 103 communicates with the control device 200 that controls the unmanned flying object 100. For example, the communication unit 103 communicates with a base station of a mobile phone network of a communication method such as LTE (Long Term Evolution), and communicates with the control device 200 via a backbone network line of the mobile phone network. The communication unit 103 receives the flight control information transmitted from the control device 200 and outputs the received flight control information to the control unit 114.
The positioning unit 105 includes a global navigation satellite system (Global Navigation System (s): GNSS) such as a GPS (Global Positioning System) and a quasi-zenith satellite (QZS). To do.
The positioning unit 105 includes an altimeter, and measures the position in the vertical direction using the altimeter.
The positioning unit 105 performs positioning of the unmanned flying object 100 according to the positioning command, and outputs the positioning result to the control unit 114. The positioning result includes a horizontal position (latitude and longitude) and a vertical position (altitude).
The power supply unit 112 includes a battery that is a power supply for the unmanned flying object 100 and a power supply monitoring unit that monitors the remaining charge of the battery. The power supply unit 112 outputs information indicating the remaining battery charge to the control unit 114.
The flight control unit 116 controls the flight of the unmanned flying object 100 by controlling the drive current supplied to the motor 102. When the flight control unit 116 acquires the flight control information transmitted from the control device 200 from the communication unit 103, the flight control unit 116 controls the flight of the unmanned flying object 100 based on the acquired flight control information.

(Control device)
FIG. 8 is a functional block diagram illustrating an example of a control device according to the embodiment.
An example of the control device 200 is a terminal device, which includes a communication unit 202, a communication unit 203, a storage unit 204, and a control unit 206.
The communication unit 202 communicates with the management server 300 via the communication network 50. Specifically, the communication unit 202 transmits a flight information request to the management server 300 and receives the flight information transmitted by the management server 300 in response to the transmitted flight information request. The communication unit 202 outputs the received flight information to the control unit 206.
Furthermore, the communication unit 202 transmits an environmental status information request to the management server 300, and receives the environmental status information transmitted by the management server 300 in response to the transmitted environmental status information request. The communication unit 202 outputs the received environmental status information to the control unit 206.
The communication unit 203 communicates with the unmanned flying object 100. For example, the communication unit 203 communicates with a base station of a mobile phone network of a communication method such as LTE, and communicates with the unmanned flying object 100 via a backbone network line of the mobile phone network. The communication unit 203 transmits flight control information to the unmanned flying object 100.
The storage unit 204 stores a program 2042, a collision avoidance separation distance table 2044, and an electromagnetic field influence avoidance separation distance table 2046.

(Collision avoidance separation table)
The collision avoidance separation table 2044 is a table that is referred to when obtaining a separation distance (collision avoidance separation distance) from the power transmission line in order to avoid the unmanned flying object 100 from colliding with the power transmission line.
FIG. 9 is a diagram illustrating an example of the collision avoidance separation distance table 2044.
The collision avoidance separation distance table 2044 stores wind speed information, air temperature information, side swing angle information, and collision avoidance separation distance information in association with each other.
Here, the lateral deflection angle information is information indicating the central angle of an arc drawn by the trajectory of the electric wire with the length between the electric wire support point and the electric wire as a radius. The lateral deflection angle information is obtained by setting the lowest point of the curve formed by the wire support point and the wire as 0 degrees.
The collision avoidance separation distance refers to a distance that the unmanned flying object 100 is separated to avoid colliding with the power transmission line.
In the example shown in FIG. 9, the wind speed information “aa” [m / s], the temperature information “xy” [° C.], the side swing angle information “αβ” [°], and the collision avoidance separation distance information “kl” [m]. And are associated.
FIG. 10 shows an example of the collision avoidance separation distance.
FIG. 10 shows the locus of the transmission line and the collision avoidance separation distance when the wind speed is “0 m / s”, “10 m / s”, “20 m / s”, “30 m / s”, and “40 m / s”. Is shown.
The collision avoidance separation distance is calculated based on temperature, wind speed, and the like. The sag of the transmission line is estimated based on the temperature, and the lateral deflection angle of the transmission line is estimated based on the estimation result of the sag of the transmission line and the wind speed. The separation distance is estimated based on the estimation result of the lateral deflection angle of the transmission line.

(Electromagnetic field effect avoidance separation table)
The electromagnetic field effect avoidance separation distance table 2046 is used to prevent the unmanned flying object 100 from being separated from the power transmission line (electromagnetic field effect avoidance) in order to avoid the influence due to the electrostatic induction effect caused by energization of the power transmission line. It is a table to be referred to when obtaining a (separation distance).
FIG. 11 is a diagram illustrating an example of the electromagnetic field effect avoidance separation distance table 2046.
The electromagnetic field effect avoidance separation distance table 2046 stores energization current information and electromagnetic field effect avoidance separation distance information in association with each other. Here, the energization current information is information indicating the current flowing through the transmission line. The electromagnetic field effect avoidance separation distance refers to a distance away in order to reduce the influence of the electrostatic induction effect caused by energization of the transmission line to a predetermined value or less.
In the example shown in FIG. 11, the energization current information “ca” [A] and the electromagnetic field effect avoidance separation distance “lk” [m] are associated with each other.

  The strength of a magnetic field generated from a power facility such as a transmission line can be obtained by Bio Savart's law expressed by Equation (1).

  H = (I / 2π) (1 / r) (1)

  In Formula (1), H is the magnetic field strength [A / m], I is the current [A], and r is the distance [m]. According to Equation (1), the generated magnetic field becomes stronger as the current increases and the distance decreases, but it is understood that the voltage is not related.

The control unit 206 is realized by an arithmetic device such as a CPU. The control unit 206 functions as an acquisition unit 208, a calculation unit 210, a setting unit 212, and a creation unit 214 by executing the program 2042 stored in the storage unit 204.
The acquisition unit 208 creates a flight information request and outputs the created flight information request to the communication unit 202. As described above, the flight information request includes the identification information of the control device 200, the position information of the starting point, and the position information of the target point.
The acquisition unit 208 acquires the flight information transmitted by the management server 300 from the communication unit 202 in response to the flight information request. The acquisition unit 208 outputs the acquired flight information to the calculation unit 210.
Further, the acquisition unit 208 creates an environmental status information request, and outputs the created environmental status information request to the communication unit 202. As described above, the environmental status information request includes the identification information of the control device 200, the position information of the starting point, and the position information of the target point.
The acquisition unit 208 acquires the environmental status information transmitted from the management server 300 from the communication unit 202 in response to the environmental status information request. The acquisition unit 208 outputs the acquired environmental status information to the setting unit 212.

The calculation unit 210 calculates a flight path based on the flight information output from the acquisition unit 208. The calculation unit 210 sets the position of the starting point and the position of the target point in the power equipment connection configuration information, and sets one or a plurality of flight path candidates from the set position of the starting point to the position of the target point.
Each flight path candidate includes latitude information, longitude information, and altitude information of a predetermined point included in the flight path. Each flight route candidate is represented in a route map (route map). Further, each flight path candidate includes date and time information on which the unmanned flying object 100 flies.
Based on the flight permission condition information, the calculation unit 210 excludes routes that cannot fly from the flight route candidates. Specifically, when the flight path candidate includes position information other than the position information included in the flight permission condition information, the calculation unit 210 excludes the flight path candidate.
In addition, when the flight path candidate includes date / time information other than the date / time information included in the flight permission condition information, the calculation unit 210 excludes the flight path candidate.
In addition, when the baggage represented by the baggage information other than the baggage information included in the flight permission condition information is to be transported as a flight route candidate, the calculation unit 210 excludes the flight route candidate.
The calculation unit 210 outputs information indicating the remaining flight route candidates excluding routes that cannot fly to the setting unit 212. Here, the calculation unit 210 may execute a predetermined error process when there is no remaining flight path candidate excluding a path that cannot fly.

The setting unit 212 excludes the flight path from the information indicating the flight path candidates output by the calculation unit 210 based on the environmental status information. Specifically, the setting unit 212 acquires the wind speed information and the temperature information included in the environmental status information, and from the collision avoidance separation distance table 2044 stored in the storage unit 204, the acquired wind speed information and the temperature information. The collision avoidance separation distance information associated with the combination is acquired.
Further, the setting unit 212 acquires energization current information included in the environmental status information, and avoids the electromagnetic field effect avoidance associated with the acquired energization current information from the electromagnetic field effect avoidance separation distance table 2046 stored in the storage unit 204. Get the separation distance information.
The setting unit 212 sets the flight path so as to satisfy both the collision avoidance separation distance and the electromagnetic field effect avoidance separation distance based on the acquired collision avoidance separation distance and the electromagnetic field effect avoidance separation distance. Specifically, the setting unit 212 sets the flight path so as to be separated from the power transmission line by a greater distance between the collision avoidance separation distance and the electromagnetic field effect avoidance separation distance.

Furthermore, the setting unit 212 excludes the flight path based on the wind direction information and the wind speed information included in the environmental status information. Specifically, the setting unit 212 excludes the flight path that becomes the headwind when the flight path candidate includes a path that becomes the headwind and a path that becomes the tailwind.
The setting unit 212 excludes a flight path with a high wind speed when the flight path candidate has only a path that is a headwind.
In addition, the setting unit 212 excludes a flight path with a low wind speed when the flight path candidates include only a path that becomes a tailwind.
When there are a plurality of remaining flight paths excluding the flight path, the setting unit 212 estimates the power consumption and the time required for flying each flight path. Then, the setting unit 212 selects one flight path from a plurality of flight paths based on a preset flight path selection criterion, and sets information indicating the selected flight path. An example of a flight path selection criterion is a flight path that requires the shortest time or a flight path that minimizes power consumption.
The setting unit 212 outputs information indicating the set flight route to the creation unit 214.

FIG. 12 is a diagram illustrating a setting example of a flight path in the control device according to the embodiment.
In the example illustrated in FIG. 12, an example in which information (flight path A, flight path B, flight path C, flight path D) indicating four flight paths is output from the calculation unit 210 to the setting unit 212. Show.
In FIG. 12, Kitagumaya is the position of the starting point, Hatogaya is the position of the destination point, and (a), (b), (c), (d), (e), (f) are the starting points. A predetermined point between the position of and the position of the target point is shown.
The four flight paths are shown below.
Flight path A: Kitakumaya (departure point) → Saitama → Ageo → Hatogaya (target point)
Flight path B: Kitakumaya (departure point) → Shin-Sakado → Hatogaya (target point)
Flight path C: Kitakumaya (departure point) → Shin-Sakado → Sasame → Hatogaya (target point)
Flight path D: Kitakumaya (departure point) → Saitama → Shin-Sakado → Hatogaya (target point)
The setting unit 212 excludes the flight path based on the environmental status information. Specifically, the setting unit 212 acquires wind speed information and weather information included in the environmental status information.
Based on the obtained wind speed information and weather information, the setting unit 212 uses the flight path A because the strong wind and lightning strike are observed between the point (a) and the point (f). exclude.

In addition, the setting unit 212 acquires wind direction information and wind speed information included in the environmental status information. Based on the acquired wind direction information and wind speed information, the setting unit 212 excludes the flight path B because the flight path B becomes a heading wind between the departure point and the point (b).
Also, wind direction information and wind speed information included in the environmental status information are acquired. Based on the obtained wind direction information and wind speed information, the setting unit 212 has a flight path C between the departure point and the point (b), and the flight distance increases because the flight distance passes through the grid. Route C is excluded.
In addition, the setting unit 212 acquires wind direction information and wind speed information included in the environmental status information. Based on the acquired wind direction information and wind speed information, the setting unit 212 sets the flight path D because the flight path D becomes a head wind between the point (a) and the point (c) but is weak.

The creation unit 214 acquires information indicating the flight path output from the setting unit 212, and generates flight control information including information indicating the acquired flight path. The creation unit 214 outputs the created flight control information to the communication unit 203.
The communication unit 203 transmits the flight control information output from the creation unit 214 to the unmanned flying object 100.

(Operation of flight control system)
FIG. 13: is a sequence chart which shows an example of operation | movement of the flight control system of the unmanned flying object which concerns on embodiment.
(Step S <b> 102) The acquisition unit 208 of the control device 200 creates a flight information request and outputs the created flight information request to the communication unit 202.
(Step S <b> 104) The communication unit 202 of the control device 200 transmits the flight information request output from the acquisition unit 208 to the management server 300.
(Step S <b> 106) The communication unit 302 of the management server 300 receives the flight information request transmitted from the control device 200 and outputs the received flight information request to the control unit 306.
The acquisition unit 308 of the control unit 306 acquires the information request output from the communication unit 302, and based on the acquired information request, the power equipment connection configuration information 3044 and the flight permission condition information 3046 stored in the storage unit 304. To get.
Acquisition unit 308 outputs flight information including acquired power equipment connection configuration information 3044 and flight permission condition information 3046 to communication unit 302.
The communication unit 302 transmits the flight information output from the acquisition unit 308 to the control device 200.
(Step S108) The communication unit 202 of the control device 200 receives the flight information transmitted by the management server 300, and outputs the received flight information to the control unit 206.
The acquisition unit 208 of the control unit 206 acquires the flight information output from the communication unit 202 and outputs the acquired flight information to the calculation unit 210.
(Step S <b> 110) The acquisition unit 208 of the control device 200 creates an environmental status information request and outputs the created environmental status information request to the communication unit 202.

(Step S <b> 112) The communication unit 202 of the control device 200 transmits the environmental status information request output from the acquisition unit 208 to the management server 300.
(Step S <b> 114) The communication unit 302 of the management server 300 receives the environmental status information request transmitted from the control device 200, and outputs the received environmental status information request to the control unit 306.
The acquisition unit 308 of the control unit 306 acquires the environmental status information request output from the communication unit 302, and acquires environmental status information from the power facility based on the acquired environmental status information request.
Specifically, the acquisition unit 308 creates an environmental status information acquisition request that is destined for the access point 40 in the vicinity of the position of the starting point and the position of the target point included in the environmental status information request, and outputs the environmental status information acquisition request to the communication unit 302 To do. The communication unit 302 acquires the environmental status information acquisition request output by the acquisition unit 308 and transmits the acquired environmental status information acquisition request to the access point 40.
The access point 40 that has received the environmental status acquisition request transmitted by the management server 300 transmits the image information transmitted by the imaging device 10, the information indicating the wind direction and the wind direction transmitted by the wind direction / wind speed sensor 20, and the rain gauge 30. Information indicating the amount of rain, power supply information of the power equipment, etc., and creating environmental status information including the acquired image information, information indicating the wind direction and information indicating the wind speed, information indicating the rainfall, power supply information of the power equipment, etc. .
The access point 40 transmits the created environmental status information to the management server 300.
The communication unit 302 of the management server 300 receives the environmental status information transmitted by the access point 40 and outputs the received environmental status information to the control unit 306.
The acquisition unit 308 of the control unit 306 acquires the environmental status information output by the communication unit 302, and outputs the acquired environmental status information to the communication unit 302 as a response to the environmental status information request.
The communication unit 302 outputs the environmental status information request output from the acquisition unit 308 to the control device 200.

(Step S <b> 116) The communication unit 202 of the control device 200 receives the environmental status information transmitted from the management server 300, and outputs the received environmental status information to the control unit 206.
The acquisition unit 208 of the control unit 206 acquires the environmental status information output by the communication unit 202 and outputs the acquired environmental status information to the calculation unit 210.
(Step S118) Based on the power equipment connection configuration information and the flight permission condition information included in the flight information output from the acquisition unit 208, the calculation unit 210 of the control device 200 moves from the position of the departure point to the position of the destination point. Calculate flight path candidates. The calculation unit 210 outputs the calculation result of the flight path candidate to the setting unit 212.
(Step S120) The setting unit 212 of the control device 200 selects one flight path from the flight path candidates obtained by the calculation by the calculation unit 210 based on the environmental status information, and selects the selected flight path. Set. The setting unit 212 outputs information indicating the set flight route to the creation unit 214.

(Step S122) The creation unit 214 of the control device 200 creates flight control information that is control information for causing the unmanned flying object 100 to fly along the flight path set by the setting unit 212. The creation unit 214 outputs the created flight control information to the communication unit 203.
(Step S <b> 124) The communication unit 203 of the control device acquires the flight control information output from the creation unit 214, and transmits the acquired flight control information to the unmanned flying object 100.
(Step S <b> 126) The communication unit 103 of the unmanned flying object 100 receives the flight control information transmitted from the control device 200, and outputs the received flight control information to the control unit 114.
The flight control unit 116 of the control unit 114 acquires the flight control information output from the communication unit 103 and performs flight control of the unmanned flying object 100 based on the acquired flight control information.

In the above-described embodiment, a case has been described in which the control device 200 separately requests flight information and environmental status information from the management server 300, but the present invention is not limited to this example. For example, you may request | require flight information and environmental condition information at once.
In the above-described embodiment, the case where the position of the starting point and the position of the target point are expressed by longitude, latitude, and altitude has been described, but the present invention is not limited to this example. For example, the starting point and the destination point may be represented by the name of a parking lot where the unmanned flying object 100 parks.
In the above-described embodiment, the power transmission facility has been described as an example of the power facility, but is not limited to this example. For example, the power equipment includes a power plant, a substation, and the like.
In the above-described embodiment, the case where communication is performed between the unmanned flying object 100 and the control device via the mobile phone network is described, but the present invention is not limited to this example. For example, communication may be performed between the unmanned flying object 100 and the control device via a wireless LAN, the Internet, or the like.

In the above-described embodiment, a case has been described in which flight path candidates are calculated based on flight information, and one flight path is selected based on environmental status information from the calculation results of flight path candidates. In other words, in the above-described embodiment, the process of calculating the flight path candidate and the process of selecting one flight path from the flight path candidates are performed twice based on the flight information. For example, one flight route may be calculated at a time based on flight information and environmental status information.
Although embodiment mentioned above demonstrated the case where the control apparatus 200 sets the flight path | route of the unmanned flying object 100 based on the present environmental condition information, it is not restricted to this example. For example, the control device 200 may predict a future environmental situation based on the current environmental situation information. Then, the control device 200 may set the flight path based on the prediction result of the future environmental situation.
In the above-described embodiment, the control device 200 transmits image information transmitted by the imaging device 10, information indicating the wind direction and the wind direction transmitted by the wind direction / wind speed sensor 20, information indicating the rainfall transmitted by the rain gauge 30, and power. Although the case where the power supply information of the facility is acquired has been described, the present invention is not limited to this example. For example, the control device 200 may acquire information indicating whether or not a lightning has occurred.

According to the flight control system of the unmanned flying vehicle according to the embodiment, the power equipment connection configuration information indicating the connection configuration of the power equipment and the environmental status information indicating the environmental situation in the vicinity of the power equipment are acquired, and the acquired power equipment connection Based on the configuration information and the environmental status information, the flight path of the unmanned flying object is set.
By configuring in this way, it is possible to calculate the flight path in the vicinity of the power equipment based on the power equipment connection configuration information, and further select one flight path based on the environmental status information from the calculation result of the flight path The selected flight path can be set.
According to the flight control system of the unmanned flying object according to the embodiment, the current-carrying state information indicating the current-carrying state of the power transmission line is acquired, and the flight path of the unmanned flying object is set based on the acquired current-carrying state information. By comprising in this way, the separation distance between an unmanned air vehicle and a power transmission line can be minimized.
According to the unmanned flying object flight control system according to the embodiment, the flight path of the unmanned flying object is set based on any one of the wind direction information, the weather information, the temperature information, and the visibility information. With this configuration, it is possible to set a flight path that is less affected by wind, weather, temperature, and visibility.
According to the flight control system for an unmanned air vehicle according to the embodiment, the flight permission condition information indicating the conditions under which the flight is permitted is acquired, and the flight path of the unmanned flight object is further calculated based on the acquired flight permission condition information. To do. With this configuration, it is possible to exclude flight paths that are not permitted to fly.

(Modification)
FIG. 1 can be applied to an example of a flight control system for an unmanned flying vehicle according to a modification. However, a control device 400 is provided instead of the control device 200.

(Control device)
FIG. 14 is a functional block diagram illustrating an example of a control device according to a modification.
The control device 400 includes a communication unit 402, a communication unit 403, a storage unit 404, and a control unit 406.
As the communication unit 402, the communication unit 403, and the storage unit 404, the communication unit 202, the communication unit 203, and the storage unit 204 of the control device 200 according to the embodiment can be applied.
The control unit 406 is realized by a calculation device such as a CPU, and functions as an acquisition unit 408, a calculation unit 410, a presentation unit 411, a setting unit 412, and a creation unit 414 by executing a program 4042 stored in the storage unit 404. To do.
The acquisition unit 408, the calculation unit 410, the setting unit 412, and the creation unit 414 can apply the acquisition unit 208, the calculation unit 210, the setting unit 212, and the creation unit 214 of the control device 200 according to the embodiment, respectively.
However, the setting unit 412 sets the flight path so as to satisfy both the collision avoidance separation distance and the electromagnetic field influence avoidance separation distance based on the collision avoidance separation distance and the electromagnetic field effect avoidance separation distance.
Further, the setting unit 412 excludes the flight path based on the wind direction information and the wind speed information included in the environmental status information. When there are a plurality of remaining flight paths excluding the flight path, the setting unit 412 outputs information indicating the plurality of flight paths to the presentation unit 411.

When the presentation unit 411 acquires information indicating the flight path candidate output by the setting unit 412, the presentation unit 411 presents the acquired flight path candidate to the user of the unmanned flying object 100. Specifically, the presentation unit 411 displays flight path candidates on a display unit (not shown) included in the control device 400.
FIG. 15 is a diagram illustrating an example of presenting flight path candidates. The flight path name and the flight path are displayed in association with each other on the flight path presentation screen shown in FIG.
Flight path 1 is a path from the position of the departure point to the position of the destination point via A and B.
The flight path 2 is a path from the position of the departure point to the position of the destination point via B and C.
The flight path 3 is a path from the position of the departure point to the position of the destination point via A and C.
Further, check boxes 502, 504, and 506 are displayed corresponding to each of the flight path 1, the flight path 2, and the flight path 3.
The user of the unmanned flying object 100 refers to the flight path presentation screen, selects a flight path on which the unmanned flying object 100 flies, and clicks on a check box corresponding to the selected flight path to display a check mark. . When the selection of the flight path for flying the unmanned flying object is completed, the operator operates the OK button 508. Thus, information indicating the flight route selected by the operator is output from the presentation unit 411 to the setting unit 412.
The setting unit 412 acquires information indicating the flight path output from the presentation unit 411 and sets information indicating the acquired flight path. The setting unit 412 outputs information indicating the set flight route to the creation unit 414.

(Operation of flight control system)
FIG. 16 is a sequence chart showing an example of the operation of the flight control system of the unmanned flying object according to the modification.
Steps S202 to S218 can be applied to steps S102 to S118 of the operation of the flight control system according to the above-described embodiment.
(Step S220) The setting unit 412 of the control device 400, based on the collision avoidance separation distance and the electromagnetic field influence avoidance separation distance, satisfies both the collision avoidance separation distance and the electromagnetic field effect avoidance separation distance. Set candidates for.
Furthermore, the setting unit 412 excludes flight path candidates based on the wind direction information and the wind speed information included in the environmental status information. The setting unit 412 determines whether there are a plurality of remaining flight path candidates excluding the flight path candidates. Here, the description is continued for a case where there are a plurality of remaining flight path candidates. If there is one remaining flight path candidate, that one flight path candidate is set.
When there are a plurality of remaining flight path candidates, information indicating the plurality of flight path candidates is output to the presentation unit 411. The presentation unit 411 displays a flight path candidate presentation screen indicating a plurality of flight path candidates output by the setting unit 412. Thereby, the candidate of the flight path is presented to the person who operates the unmanned flying object 100.
The user of the unmanned flying vehicle 100 refers to the presented flight path candidates, selects a flight path for flying the unmanned flying object 100, displays a check mark in a check box associated with the selected flight path, and then clicks OK. I press the button. As a result, information indicating the flight path selected by the person operating the unmanned flying object 100 is output to the setting unit 412.

(Step S222) The setting unit 412 of the control device 400 sets information indicating the flight route output by the presentation unit 411. The setting unit 412 outputs information indicating the set flight route to the creation unit 414.
(Step S224) The creation unit 414 of the control device 400 acquires information indicating the flight path set by the setting unit 412, and flight control that is control information that causes the unmanned flying object 100 to fly with the acquired information indicating the flight path. Create information. The creation unit 414 outputs the created flight path information to the communication unit 403.
(Step S226) The communication unit 403 of the control device acquires the flight control information output by the creation unit 414, and transmits the acquired flight control information to the unmanned flying object 100.
(Step S228) The communication unit 103 of the unmanned flying object 100 receives the flight control information transmitted by the control device 400, and outputs the received flight control information to the control unit 114. The flight control unit 116 of the control unit 114 performs flight control of the unmanned flying object 100 based on the flight control information output from the communication unit 103.

According to the flight control system of the unmanned flying vehicle according to the modification, the power equipment connection configuration information indicating the connection configuration of the power equipment and the environmental status information indicating the environmental situation in the vicinity of the power equipment are acquired, and the acquired power equipment connection Based on the configuration information and the environmental status information, the flight path of the unmanned flying object is set.
By configuring in this way, it is possible to calculate the flight path in the vicinity of the power equipment based on the power equipment connection configuration information, and further select one flight path based on the environmental status information from the calculation result of the flight path The selected flight path can be set.
According to the flight control system of the unmanned flying object according to the modified example, the current-carrying state information indicating the current-carrying state of the power transmission line is acquired, and the flight path of the unmanned flying object is set based on the acquired current-carrying state information. By comprising in this way, the separation distance between an unmanned air vehicle and a power transmission line can be minimized.
According to the flight control system of the unmanned flying object according to the modified example, the flight path of the unmanned flying object is set based on any one of the wind direction information, the weather information, and the visibility information. By configuring in this way, it is possible to set a flight path that is less affected by wind, weather, and visibility.

According to the flight control system of the unmanned flying vehicle according to the modification, the flight permission condition information indicating the conditions under which the flight is permitted is acquired, and the flight path of the unmanned flying object is calculated based on the acquired flight permission condition information. To do. With this configuration, it is possible to exclude flight paths that are not permitted to fly.
According to the flight control system of the unmanned air vehicle according to the modification, the flight route candidates of the unmanned air vehicle 100 are presented, and the flight route selected by the user of the unmanned air vehicle 100 among the presented flight route candidates. Based on the candidate, the flight of the unmanned flying object is controlled.
By configuring in this way, the user of the unmanned flying vehicle 100 can select a desired flight path from flight path candidates. And the control apparatus 400 can transmit the flight control information for flying the unmanned flying object 100 to the unmanned flying object 100 by the flight path | route which the user selected.

  While the embodiments and the modifications thereof have been described above, these embodiments and the modifications thereof are presented as examples, and are not intended to limit the scope of the invention. These embodiments and modifications thereof can be implemented in various other forms, and various omissions, replacements, changes, and combinations can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

The management server, the control device, and the unmanned flying object described above may be realized by a computer. In that case, a program for realizing the function of each functional block is recorded on a computer-readable recording medium. The program recorded on the recording medium may be read by a computer system and executed by the CPU. The “computer system” here includes hardware such as an OS (Operating System) and peripheral devices.
The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM. The “computer-readable recording medium” includes a storage device such as a hard disk built in the computer system.

Furthermore, the “computer-readable recording medium” may include a medium that dynamically holds a program for a short time. What holds the program dynamically for a short time is, for example, a communication line when the program is transmitted via a network such as the Internet or a communication line such as a telephone line.
In addition, the “computer-readable recording medium” may include a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or a client.
The program may be for realizing a part of the functions described above. Further, the program may be a program that can realize the above-described functions in combination with a program already recorded in the computer system.
The program may be realized using a programmable logic device. The programmable logic device is, for example, an FPGA (Field Programmable Gate Array).

Note that the above-described management server, control device, and unmanned flying vehicle have a computer inside. Each process of the management server, the control device, and the unmanned flying vehicle described above is stored in a computer-readable recording medium in the form of a program, and when the computer reads and executes the program, Processing is performed.
Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
The program may be for realizing a part of the functions described above.
Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.
In the embodiment and the modification described above, the acquisition unit 208 and the acquisition unit 408 are examples of the acquisition unit, the calculation unit 210 and the calculation unit 410 are examples of the calculation unit, and the setting unit 212 and the setting unit 412 are the setting unit. For example, the creation unit 214 and the creation unit 414 are examples of a creation unit, and the presentation unit 411 is an example of a presentation unit.
The operation of the control device is an example of a flight control method.

DESCRIPTION OF SYMBOLS 10 ... Imaging device, 20 ... Wind direction / wind speed sensor, 30 ... Rain gauge, 40 ... Access point, communication network 50 ... Communication network, 100 ... Unmanned flying object, 102, 102a, 102b, 102c, 102d ... Motor, 104, 104a , 104b, 104c, 104d ... rotor, 103 ... communication unit, 105 ... positioning unit, 108 ... imaging unit, 112 ... power supply unit, 114 ... control unit, 116 ... flight control unit, 200, 400 ... control device, 202, 203 , 402, 403 ... communication unit, 204, 404 ... storage unit, 206, 406 ... control unit, 208, 408 ... acquisition unit, 210, 410 ... calculation unit, 411 ... presentation unit, 212, 412 ... setting unit, 214, 414: creation unit, 300 ... management server, 302 ... communication unit, 304 ... storage unit, 306 ... control unit, 308 ... acquisition unit, 2042, 3042, 40 2 ... program, 2044,4044 ... collision avoidance distance table, 2046,4046 ... electromagnetic field influence avoidance distance table, 3044 ... power equipment connection configuration information, 3046 ... flight permission condition information

Claims (9)

An acquisition unit for acquiring power equipment connection configuration information indicating a connection configuration of power equipment and environmental status information indicating an environmental status in the vicinity of the power equipment;
Based on the power equipment connection configuration information, a calculation unit that calculates a flight path candidate of an unmanned vehicle,
A control device comprising: a setting unit that sets one flight path based on the environmental status information based on a result of the calculation of the flight path candidates. The acquisition unit acquires energization status information indicating an energization status of the transmission line,
The control device according to claim 1, wherein the setting unit sets the one flight path based on the energization state information. The environmental status information includes any one of wind direction information, weather information, temperature information, and visibility information,
The control according to claim 1, wherein the setting unit sets the one flight path based on any one of the wind direction information, the weather information, the temperature information, and the visibility information. apparatus. The acquisition unit acquires flight permission condition information indicating conditions under which flight is permitted,
The control device according to any one of claims 1 to 3, wherein the calculation unit calculates a flight path candidate of the unmanned flying vehicle based further on the flight permission condition information.   5. The control device according to claim 4, wherein the flight permission condition information includes at least one of position information, date / time information, and baggage information carried by the unmanned flying object. 6. The production unit according to claim 1, further comprising: a creation unit configured to create flight control information for controlling a flight of the unmanned flying object based on the one flight path set by the setting unit. Control device. A presentation unit for presenting calculation results of the flight path candidates calculated by the calculation unit;
The creation unit includes flight control information for controlling the flight of the unmanned vehicle based on a flight route candidate selected by a user of the unmanned vehicle from among the flight route candidates presented by the presentation unit. The control device according to claim 6 to be created. A flight control method executed by a control device that performs flight control of an unmanned flying object,
Obtaining power equipment connection configuration information indicating a power equipment connection configuration and environmental status information indicating an environmental status in the vicinity of the power equipment;
Based on the power equipment connection configuration information, calculating a flight path candidate of an unmanned vehicle,
A flight control method comprising: setting one flight path based on the environmental status information from the result of the calculation of the flight path candidates. In the computer equipped with the control device that performs flight control of unmanned flying objects,
Obtaining power equipment connection configuration information indicating a power equipment connection configuration and environmental status information indicating an environmental status in the vicinity of the power equipment;
Based on the power equipment connection configuration information, calculating a flight path candidate of an unmanned vehicle,
A step of setting one flight path based on the environmental status information from the result of the calculation of the flight path candidates.

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