JP2018165931A - Control device for drone, control method for drone and control program for drone - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for drone, a control method for drone and a control program for drone capable of placing all drones in flight in safe and efficient operation by totally managing all the drones in flight even either in autonomous navigation or through remote steering.SOLUTION: In a control device for drone, a communication I/F 101 receives, from respective drones as unmanned aircrafts flying in an air area to be managed, state information including identification information on and current positions of the drones. A drone monitor part 112 monitors, based upon situation information, states of the respective drones and detects a drone to be controlled. A control indication generation part 114 generates a control indication for a drone detected as a drone whose state is to be changed by the drone monitor part 112, and transmits the control indication through the communication I/F 101.SELECTED DRAWING: Figure 33

Description

  The present invention relates to an apparatus, a method, and a program for enabling an unmanned aerial vehicle called a drone or UAV (Unmanned aerial vehicle) to fly more safely.

  Various unmanned aerial vehicles (hereinafter referred to as drones) have come to be used in various fields. Currently, there are many cases where an operator flies a drone within a range that can be visually observed using a remote control device. However, it is considered that there will be an increase in usage modes in which a drone is made to fly far enough to be invisible to the operator even by remote control, or a drone is made to fly far by autonomous navigation. The number of drones used is also expected to increase. For this reason, a technique for enabling many drones to fly more safely becomes important.

  Patent Document 1 described later discloses an invention in which a drone autonomously changes a flight plan based on its own sensor detection information. Further, in Patent Document 1, a drone can avoid dangerous situations such as obtaining various situation information from other drones, manned aircraft, and ground control stations, adjusting a flight plan by itself, and avoiding other aircraft. It is described to do so. As described above, various techniques for improving the safety of the drone itself are considered.

JP 2014-181034 A

  Like the invention disclosed in Patent Document 1 described above, a technique for avoiding danger caused by communication or sensors between drones is extremely important. However, it is considered that the functions provided by the drone itself may not be sufficient to avoid a dangerous situation of the drone or to operate the drone efficiently.

  For example, when a situation occurs in which a large number of drones fly close to each other, it may be dangerous if each drone takes an action to avoid danger. That is, when a situation occurs in which a large number of drones fly close to each other, it is necessary to be able to appropriately identify and control a drone that does not need to take an avoidance action and a drone that takes an avoidance action as a whole. Otherwise, useless avoidance action occurs, and the useless avoidance action may cause contact with other drones.

  Drones include multicopters, fixed wing aircraft, and small helicopters. Multicopters and small helicopters can hover and maintain vertical position while maintaining the same position in the air, but general fixed-wing aircraft can safely and stably move up and down in hovering and vertical directions. There is a feature that can not. For this reason, the avoidance action may vary depending on the type of drone that flies near the aircraft.

  In view of the above, an object of the present invention is to establish a mechanism for comprehensively managing all drones in flight and operating them safely and efficiently regardless of whether they are autonomous navigation or remote control.

In order to solve the above problems, the drone control device of the present invention is:
Receiving means for receiving the drone identification information and the status information including the current position from each of the drones that are unmanned aircraft flying in the airspace to be managed;
Monitoring means for monitoring each state of the drone based on the state information received through the receiving means, and detecting a drone to be controlled;
Forming means for forming a control instruction for the drone detected by the monitoring means;
Transmitting means for transmitting the control instruction formed by the forming means.

  According to the present invention, it is possible to appropriately control all the drones flying in the airspace to be managed. As a result, it is possible to establish a mechanism that enables safe and efficient operation of all drones flying in the airspace to be managed regardless of autonomous navigation or remote control.

It is a block diagram for demonstrating the structural example of the control system for drones of embodiment. It is a figure for demonstrating the instruction | indication method of the flight route by the flight instruction data which the control apparatus for drones forms. It is a figure for demonstrating the instruction | indication method of the flight route by the flight instruction data which the control apparatus for drones forms. It is a figure for demonstrating the outline | summary of the stored data of drone aerial map DB. It is a figure for demonstrating an example of fixed flight obstruction information. It is a figure for demonstrating an example of variable flight obstruction information. It is a figure for demonstrating an example of avoidance facility area information. It is a figure for demonstrating a drone port. It is a figure for demonstrating a drone charge spot. It is a figure which shows an example of the drone aerial map defined by the storage data of drone aerial map DB. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the structure concept of the aviation network data for drones. It is a figure for demonstrating the definition of the node of the air network data for drones. It is a figure for demonstrating the structural example of a node and a link. It is a figure for demonstrating the example of the node data and link data which are formed in the airline NWDB for drones. It is a figure which shows the example of the existing control information and service information with which utilization is assumed. It is a figure which shows the content of the existing air traffic control. It is a figure for demonstrating the example of the air network for drones formed centering on the lake water sky where a fixed link cost becomes low. It is a figure for demonstrating the example of the air network for drones formed centering around the river periphery where fixed link cost becomes low. It is a flowchart for demonstrating the process in the case of creating the drone aviation network data. It is a figure for demonstrating the example of the storage data of the flight route data file 140 classified by drone. It is a figure which shows the example of the traffic regulation with respect to a drone. It is a figure shown about the example of the traffic control sign with respect to a drone. It is a figure shown about the example of the traffic control sign with respect to a drone. It is a figure shown about the example of the traffic instruction | indication mark with respect to a drone. It is a figure shown about the example of the traffic warning sign with respect to a drone. It is a figure shown about the example of the traffic guidance sign with respect to a drone. It is a block diagram for demonstrating the structural example of the information processing part of the control apparatus for drones shown in FIG. It is a figure for demonstrating the structural example of the drone used with the control system for drones of embodiment. It is a block diagram which shows the structural example of the drive control apparatus part provided in the drive control unit of the drone of embodiment. It is a flowchart for demonstrating the update process of the variable link cost which the drone control apparatus performs. It is a flowchart for demonstrating the route search process which the control apparatus for drones performs. It is a flowchart for demonstrating the reroute process 1 which the drone control apparatus performs. It is a flowchart for demonstrating the reroute process 2 which the drone control apparatus performs. It is a flowchart for demonstrating an example of the control process which the control apparatus for drones performs. It is a flowchart following FIG. It is a figure for demonstrating the specific example of control of drone. It is a figure for demonstrating the specific example of control of drone.

  Hereinafter, embodiments of the apparatus, method, and program of the present invention will be described with reference to the drawings.

[Outline of the embodiment]
The apparatus, method, and program of the present invention described below are intended to realize drone air traffic control that provides air traffic instructions and information to the drone mainly from the ground for safe and smooth operation of the drone. .

  The drone air traffic control realized by the apparatus, method, and program of the present invention is not limited to controlling the drone alone, but is also linked to the air traffic control for existing manned aircraft (existing air traffic control). If the drone flight is likely to affect the manned aircraft, this is notified to the existing air traffic control system so that the manned aircraft can take an evasive action. Conversely, if the flight of a manned aircraft is likely to affect the drone, this will be notified from the existing air traffic control system so that the drone can take an evasive action.

  In addition, as drones become widely used, traffic regulations for drones will be improved. Therefore, the drone air traffic control realized by the apparatus, method, and program of the present invention can control the drone in consideration of traffic regulations applied to the drone. As described above, the drone air traffic control realized by the apparatus, method, and program of the present invention is a combination of existing air traffic control and traffic regulations that are considered to be applicable to drones.

  The drone air traffic control realized by the apparatus, method, and program of the present invention can be (1) controlled so as to avoid the danger of a drone that has a risk of collision or contact. Furthermore, (2) the drone that deviates from the flight route (plan) can be controlled to return to the flight route. Furthermore, (3) it is possible to control a drone that violates or is likely to violate aviation regulations. This will be specifically described below.

[Example configuration of drone control system]
FIG. 1 is a block diagram for explaining a configuration example of a drone control system according to this embodiment. The drone control system includes a drone control device 1, drones 2 (1), 2 (2), 2 (3),..., Information providing devices 4 a, 4 b, 4 c,. Are connected to an IoT (Internet of Things) platform 3.

  The drone control device 1 realizes a navigation function and a control function for the drone, and is configured as a cloud system. In recent years, a cloud computing system that provides a user with the right to use software and hardware as a service over a network has been widely used. In order to realize such a cloud computing system, various data centers and server device groups provided on the Internet are called a cloud. The cloud provides intended software and hardware to the user without making the user aware of a real server device.

  In the drone control device 1, the drone aerial map DB 120, the drone air NWDB 130, the drone-specific flight route data file 140, and the drone air restriction DB 150 are provided in a data center or a server device group on the cloud. Yes. Similarly, the information processing unit 100 of the drone control device 1 is also provided in the server device group on the cloud. In this manner, the drone control device 1 realizes its function by using a data center or server device group on the cloud. The character “DB” in the drone aerial map DB 120 or the like is an abbreviation for “Data Base”.

  Drones 2 (1), 2 (2), 2 (3),... Are unmanned aerial vehicles. There are various types of unmanned aerial vehicles such as multicopters, fixed wing aircraft, and small helicopters. The drones 2 (1), 2 (2), 2 (3),... In this embodiment will be described using a quadrotor type of multicopter as an example. The IoT platform 3 includes the Internet, a mobile phone network, a general public telephone network, a wireless local area network (LAN), and the like, and provides an environment in which devices connected thereto can communicate with each other.

  The IoT platform 3 is also connected to various information providing devices that provide various types of information, such as a weather information providing device 4a, a traffic information providing device 4b, and a congestion degree information providing device 4c. Accordingly, the drone control device 1 can be used upon receiving necessary information from the various information providing devices 4a, 4b, 4c,. The drone operation management device 5 is used by a drone operator and can provide necessary information related to the drone to the drone control device 1 or can be used by receiving information on the drone from the drone control device 1. And so on.

[Features of drone control device 1]
[Use of flight instruction data]
The drone control device 1 of the drone control system configured as shown in FIG. 1 is greatly different from the conventional one in the way of guiding the flight route to the drone. The drone control device 1 of this embodiment identifies the flight route of the drone based on the information provided from the drone operation management device 5, and forms flight instruction data that allows the flight route to fly, Provided for a drone or a device for remotely controlling a drone. The flight instruction data in this case is a coordinate point sequence including latitude, longitude, and height.

  2 and 3 are diagrams for explaining a flight route instruction method based on flight instruction data formed by the drone control apparatus 1. FIG. The drone control device 1 can provide a three-dimensional map. The drone operation management device 5 displays (maps) the three-dimensional map provided from the drone control device 1 on the touch panel, and receives an instruction input of the flight route through the touch panel. The user of the drone operation management apparatus 5 traces the 3D map displayed on the touch panel with a finger or an electronic pen, and designates the flight route by the trajectory (3D free curve). Information on the three-dimensional free curve is transmitted from the drone operation management device 5 to the drone control device 1.

  Here, although described as a simple touch panel, the drone operation management device 5 uses a 3D CAD (computer-aided design) system technology or a VR (virtual reality) space drawing technology, etc. A three-dimensional free curve can be drawn inside. In short, various techniques capable of drawing a three-dimensional free curve in a three-dimensional space can be used.

  Based on the information of the three-dimensional free curve from the drone operation management device 5, the drone control device 1, as shown in FIG. Flight instruction data consisting of a point sequence of a large number of coordinates RDn (n is an integer of 1 or more) corresponding to a free curve and including latitude, longitude, and height are formed. In this way, by configuring the flight instruction data by a point sequence of a large number of coordinates RDn (n is an integer of 1 or more) including latitude, longitude, and height, for example, a complicatedly meandering flight route is flew as it is. You can instruct (guide) as follows.

  That is, the flight route that becomes one polyline can be guided by the coordinate point sequence constituting the flight instruction data. In this case, the distance between each coordinate point can be set in units of several tens of centimeters to several meters, for example. Therefore, the actual flight route can be indicated in detail as it is rather than the line connecting the departure point, the relay point, and the destination.

  In this case, a flight route is configured by connecting the coordinates, but the polyline connecting the coordinates can be accurately defined without adding vector information (direction and distance). As shown in FIG. 2B, consider a case where a polyline connecting coordinates RDn and RDn + 1, which are part of a coordinate point sequence constituting flight instruction data, is defined. In this case, the position of the coordinate RDn is specified by the latitude, longitude, and height from the ground surface (water surface) as shown in (1) of FIG.

  In other words, the “height from the surface (water surface)” is the height from the ground when the drone flies over the ground, and when the drone flies over the river, lake, sea, etc. Height from the water surface. Therefore, in the following, “height from the ground surface” means “height from the ground surface or the water surface”.

  Then, the polyline connecting the coordinates RDn and the coordinates RDn + 1 has the next coordinate RDn + 1 as a time series as the end point as shown in (2) of FIG. As described above, the flight route can be appropriately designated by the coordinates constituting the coordinate point sequence and the polyline having the coordinates as the start point and the end point.

  Furthermore, by adding various attributes (properties) as various element information to the coordinate point sequence constituting the flight instruction data, the flight route can be guided as a three-dimensional area. As described with reference to FIG. 2B, the position of each coordinate constituting the coordinate point sequence is specified by latitude, longitude, and height from the ground surface. Therefore, as shown in (1) of FIG. 3, the position of the coordinates RDn constituting the coordinate point sequence can be specified by the latitude, longitude, and height from the ground surface. Then, a horizontal width and a vertical width are added as attribute information to each coordinate constituting the coordinate point sequence. That is, as shown in (2) of FIG. 3, a horizontal width and a vertical width are added as attributes to the coordinates RDn.

  Here, the horizontal width is the length of each of the right side and the left side in the horizontal direction with the coordinates as the center in FIG. In FIG. 3, the vertical width is the length of each of the upper side and the lower side in the vertical direction with the coordinates as the center. Specifically, let us consider a case where the horizontal width and the vertical width are each 1 m. In this case, as shown in FIG. 3, a tubular three-dimensional space in which an area having a horizontal width of 2 m and a vertical width of 2 m set based on the coordinates RDn continues to the next coordinates RDn + 1 can be indicated as a flight route. As described above, the flight route can be designated as a continuation of a range in which each point in the coordinate point sequence has an allowance.

  Although not shown in FIG. 3, if the horizontal width and the vertical width are specified for the coordinate RDn + 1 which is the next coordinate after the coordinate RDn, the flight route ahead of the coordinate RDn + 1 is also set as a three-dimensional region. I can tell you. As described above, by forming flight instruction data specifying the horizontal width and the vertical width as attributes for each coordinate constituting the coordinate point sequence, the flight route can be guided as a three-dimensional area, Can guide the drone to fly. For each coordinate, information such as the arrival time at the coordinate and the speed that must be maintained at the coordinate can be added to indicate the flight route.

  Here, for example, by specifying a horizontal width and a vertical width as attribute information for each coordinate of the flight instruction data, which is a coordinate point sequence for instructing the flight route, the flight route is three-dimensionally specified. Guided as an area. However, it is not limited to this. By defining the latitude, longitude, and height that specify the position of each coordinate that constitutes the coordinate point sequence from 30 cm to 3 m or 30 m, the flight route is given an allowance and each coordinate is defined as a three-dimensional area. You can also

  That is, the latitude and longitude are expressed as, for example, “north latitude 35 degrees 37 minutes 19 seconds 27, east longitude 139 degrees 44 minutes 34 seconds 59”, and the like. In this case, 1 second of latitude and longitude is approximately 30 m, and the number of seconds or less is approximately 3 m in the first digit and 30 cm when used up to the second digit. Therefore, the latitude and longitude of the coordinate data constituting the flight instruction data are expressed using the first digit after the second, and the height from the ground surface is a unit of m (meters), for example, 60.2 m. Expressed using up to 1st place. Furthermore, the vertical width of the three-dimensional region to be formed is set to 3 m, for example.

  In this case, since the latitude and longitude are expressed using the first digit after the second, the horizontal width and the flightable range are both 3 m, and the vertical width is 3 m as described above. A circular region having a diameter of 3 m can be formed at a position in the sky and specified by latitude and longitude. In this way, a circular area based on each coordinate can be defined by specifying the vertical width of the area to be formed using latitude and longitude accuracy up to one digit below the second. A tubular route that sequentially connects regions defined corresponding to the coordinates can be designated as a flight route for the drone to fly.

  Here, a case has been described in which, for example, a circular area is formed on the basis of the coordinates of the coordinate point sequence serving as the flight instruction data, and the flight route can be instructed by a tubular three-dimensional area connecting these areas. It is not limited to. A square centering on each coordinate of the coordinate point sequence constituting the flight instruction data can be set as an area corresponding to each coordinate, and a tubular route connecting these can be designated as the flight route.

  In this way, in addition to the latitude, longitude, and height from the ground surface that specify each coordinate of the coordinate point sequence constituting the flight instruction data, it is necessary to specify the route that the drone should fly as a three-dimensional space. Various attribute information and the like can be assigned to each coordinate.

  Such element information can be input by the drone operator through the drone operation management device 5 and provided to the drone control device 1, for example. The drone control device 1 receives the provided element information through the communication I / F 101, and the control unit 102 records it in a predetermined storage area of the storage device 103, and can read and use it as necessary. Like that.

  Of course, as described above, it is possible to instruct a flight route as one line by a coordinate point sequence in the three-dimensional space specified by the latitude, longitude, and height constituting the flight instruction data. For this reason, the route that the drone should fly may be specified as a three-dimensional space by giving an allowable range in the vertical and horizontal directions with reference to the flight route specified by the coordinate point sequence. The information in this case can also be input by the drone operator through the drone operation management device 5 and provided to the drone control device 1.

  Here, the flight instruction data has been described as a coordinate point sequence including latitude, longitude, and height, but is not limited thereto. For example, the flight instruction data may be formed by a polyline. A polyline is an object composed of a combination of straight lines and arcs, and is composed of the coordinates of connection points and information specifying the straight lines and arcs connecting the connection points. Such a polyline can constitute flight instruction data.

  In other words, the coordinate point sequence is expressed by polylines intermittently, expressed by a straight line in a part that can fly linearly, and by a curve in a part that flies like a curve. The start point and end point are indicated by coordinate points. In other words, the flight route can be instructed by points and lines (straight lines, curves) to be set finely, unlike the instruction methods such as the departure point, the relay point, and the destination. Furthermore, even when the flight instruction data is formed by the polyline, by giving information indicating the allowable range in the vertical and horizontal directions, the route on which the drone should fly can be indicated as a three-dimensional space.

  Even if the flight instruction data is formed as a sequence of coordinate points including latitude, longitude, and height, or even if it is formed using a polyline, the flight speed of the drone whenever necessary May be included in the flight instruction data.

[Use of drone aerial map and drone air network]
By the way, as described above, it may be troublesome to indicate a flight route for each drone by drawing a three-dimensional free curve on a three-dimensional map displayed on the touch panel of the drone operation management device 5. When using multiple drones like a courier, you want to create a flight route with as little effort as possible. Therefore, the drone control device 1 according to this embodiment searches for a flight route, identifies the flight route, and forms flight instruction data for allowing flight to follow the flight route. I can do it. This flight instruction data is flight route guidance information for the drone.

  Therefore, the drone control device 1 of this embodiment includes a drone aerial map database 120, a drone air network database 130, and a drone-specific flight route data file 140, as shown in FIG. In the following, the drone aerial map database 120 is referred to as a drone aerial map DB 120, and the drone aerial network database 130 is referred to as a drone aerial NWDB 130.

[Configuration of drone aerial map DB 120]
First, the drone aerial map DB 120 will be described. The drone aerial map DB 120 includes three-dimensional drawing data (three-dimensional object data) consisting of texture images, polygon data, and the like for constructing a three-dimensional aerial (airspace) map for drone, vector data, raster data, symbols, Various map data such as character data is stored in association with latitude / longitude information. FIG. 4 is a diagram for explaining an outline of data stored in the drone aerial map DB 120.

  As shown in FIG. 4, the drone aerial map DB 120 stores other information such as fixed flight obstacle information, variable flight obstacle information, avoidance facility area information, and terrain information. FIG. 5 is a diagram for explaining an example of fixed flight obstacle information, FIG. 6 is an example of variable flight obstacle information, and FIG. 7 is an example of avoidance facility area information.

  Fixed flight obstacle information is information for indicating the features that are permanently obstructed when the drone flies and the places where the obstacles occur, and the locations where the obstructed features and obstacles occur For example, three-dimensional data for defining a space in a space is associated with latitude and longitude and height. Specifically, the fixed flight obstacle information is information for specifying the feature or place shown in FIG. For example, the fixed flight obstacle information of a feature such as “building, building” accurately indicates the location and three-dimensional shape of the building or building. In addition, the fixed flight obstacle information in the case of “electric wire” is to accurately indicate the location and height of the electric pole or telephone pole where the electric wire is hung and the height where the electric wire is hung. Become.

  In addition, for example, the fixed flight obstacle information of the “Glider Field” accurately indicates the location and area range of the glider field and the sky range where drone flight is restricted for safety such as takeoff and landing of the glider field. It is shown. Therefore, the fixed flight obstacle information of the “glider field” is a range specified based on the location of the glider field, and can accurately grasp the range in which the drone flight is restricted.

  Similarly, the fixed flight obstacle information of “golf course” accurately indicates the location and area range of the golf course and the sky range where the golf ball may fly from the golf course. Therefore, the fixed flight obstacle information of the “golf course” is a range that is specified based on the location of the golf course, and can accurately grasp the range that has a three-dimensional shape that restricts the flight of the drone. Note that the fixed flight obstacle information shown in FIG. 4 is an example, and includes information on various features and places that are a fixed obstacle to the flight of the drone.

  Fluctuation flight obstacle information is information to indicate the place where obstacles occur variably according to the season, time, time, etc. when the drone flies, and varies depending on the season, time, time, etc. 3D data for defining a place where a failure occurs in the space is composed of information linked to latitude and longitude and information indicating the season, time and time when the failure occurs. Specifically, the variable flight obstacle information includes information for drawing a place specified by the information shown in FIG. 6 and information indicating the season, time, and time when the obstacle occurs.

  For example, let us consider variable flight obstacle information according to “habitats and activity area information (reptiles) at the time of occurrence such as locusts, grasshoppers, butterflies, moths, larvae, and meichus”. The variable flight obstacle information in this case accurately indicates the habitat of the reptile, the location and area range of the active area, and the sky range where the reptile may fly from the habitat and active area. is there. Therefore, the variable flight obstacle information in this case is an accurate range that is specified based on the location of the worm's habitat and activity area, and that has a three-dimensional shape that restricts drone flight. It will be able to grasp. In addition, information indicating the activity time (period) of the reptile is added to the variable flight obstacle information so that the range of the flight obstacle can be grasped only during the period. Note that the variable flight obstacle information shown in FIG. 5 is an example, and includes information on various places that variably become obstacles to the flight of the drone.

  The avoidance facility area information is information for indicating a facility or a region that should avoid flying in the sky, and three-dimensional data for defining a facility or region that should avoid flying in the sky as latitude and longitude. It is tied to the height. Specifically, the avoidance facility area information is information for drawing the facility and area shown in FIG. For example, the avoidance facility area information of “volcano” can accurately grasp the location and area range of the volcano, and the area range can fly at any altitude by giving a flight avoidance flag, for example. It will be able to grasp what can not be done.

  In addition, in the case of the avoidance facility area information of “the school route of the school time zone”, the location and area range of the school road can be accurately grasped, and information indicating the time zone during which the flight over the school road is prohibited is also provided. It is added. The avoidance facility area information shown in FIG. 6 is an example, and includes information on various facilities and various areas that should avoid flying over the drone.

  4 includes, for example, information for defining various terrain such as roads, rivers, lakes, coasts, dunes, farmland, information for defining drone ports, drone charging, and the like. Information for defining a spot, which is associated with latitude and longitude. FIG. 8 is a diagram for explaining the drone port, and FIG. 9 is a diagram for explaining the drone charging spot.

  The drone port is a drone standby place (parking place), can be recharged (energy replenishment), can take off and land at least one aircraft, for example, a place that is not adjacent to a danger zone such as a chemical factory is selected . Specifically, as shown in FIG. 8, various locations such as delivery (distribution center), distribution warehouse, and post office are arranged as drone ports, which can be grasped from the map information of the drone aerial map DB 120.

  Unlike the drone port, the drone charging spot has a small role as a waiting place (parking place), and is a facility that is provided assuming that the drone only charges and takes off immediately after completion. In the case of a drone charging spot, naturally, charging (energy replenishment) is possible, at least one aircraft can be taken off and landing, and a location that is not adjacent to the danger zone is selected. Specifically, as shown in FIG. 9, various locations such as outdoor vending machines, outdoor signboards with electric lights, and the roof of a telephone BOX are arranged as drone charging spots, which are based on the map information in the drone aerial map DB 120. It becomes possible to grasp.

  The other information includes various graphics, symbols, character information, and the like. The stored data in the drone aerial map DB 120 can accurately correspond to the situation in the real world, and can also display fixed flight obstacle information, variable flight obstacle information, and avoidance facility area information. (3D map) can be formed.

  FIG. 10 is a diagram showing an example of a drone aerial map defined by data stored in the drone aerial map DB 120. As shown in FIG. 10, the drone aerial map can accurately indicate, for example, the position of a road, the position of a building such as a building, and its three-dimensional shape. In other words, the drone aerial map defined by the stored data in the drone aerial map DB 120 accurately identifies the features that obstruct the drone flight, the location and area that will be obstructed, and the facilities and areas that should be avoided. it can. Therefore, such a drone aerial map can appropriately grasp the airspace in which the drone can fly.

[Drone Flight Zone Definition]
Next, the definition of the drone flight zone will be described. If a drone user can freely use the drone without restriction, the safety of the aircraft on which the person is riding, the people on the ground, buildings, and vehicles may be harmed. For this reason, in order to use drones safely, the Aviation Law has been developed.

  Specifically, (A) Airspace above the surface or water level + 150m or higher, (B) Airspace around the airport, (C) Above the population concentration area, ensure safety, and if you do not get permission, the drone will fly I can't. Note that drones can fly in the airspace other than the above (A), (B), and (C) without obtaining permission. In addition, even if drone can fly due to permission or because it is an airspace other than the above (A), (B), (C), the drone is 30m from the roof or side of the building You must fly at intervals.

  For this reason, the drone must fly in an airspace that secures a distance of 30 m or more from the side of the high building next to it, even if it is sufficiently spaced from the building directly below it. Without a map, it is difficult to get the lower altitude. In addition, some of the objects that should be avoided by drones, such as small and mid-sized drones, must be secured at a distance of 300m. However, this is also difficult to grasp without a three-dimensional drone aerial map.

  As described above, the drone control device 1 of this embodiment includes the drone aerial map DB 120 that stores data forming a three-dimensional drone aerial map. Therefore, based on obstacle information such as fixed flight obstacle information, fluctuating flight obstacle information, and avoidance facility area information in the drone aerial map DB 120, terrain information, and the above-described flight regulation information, the airspace where the drone can fly Can be accurately identified.

  However, even if the airspace where the drone can fly can be specified in this way, the flight route of the drone cannot be obtained. This is because the airspace in which the drone specified at this stage can fly includes bumps on the top, bottom, left, and right, and becomes an irregular airspace. For this reason, it is necessary to define a drone flight zone that has a more straight-lined communication radio wave and a good-looking shape of the sensor in the airspace where the drone obtained from obstacle information, topographic information, and flight regulation information can fly. Arise. In other words, it is desirable to define a zone with a gentle shape that removes bumps from the base.

  FIGS. 11-15 is a figure for demonstrating the definition of a drone flight zone. As described above, the airspace above the altitude of the ground surface or the water surface +150 m or more needs permission to fly the drone no matter where the ground is. In consideration of safety, let us consider a case where a drone is made to fly in a space lower than the altitude of the ground surface or water surface +150 m. For example, a drone can fly even if it is above a population-intensive district with many buildings, etc. if it is secured and approved. In this case, it is possible to fly a drone as long as it is lower than the altitude of the ground surface or the water surface +150 m and is a portion excluding 30 m around a building such as a building.

  Therefore, as shown in FIG. 11, if it is below the dotted line indicating the position of 150 m from the ground surface and outside the dotted line indicating the range of 30 m around each building (outside in the direction away from each building), the drone Is possible. However, as shown in FIG. 11, the height of the building varies, and the drone's flightable airspace becomes a space with severe irregularities. Therefore, as indicated by hatching in FIG. 11, a drone flight zone that is a drone's flightable airspace and that has a high straight line and a good shape for communication radio waves and sensors is set. In the case of the example shown in FIG. 11, the altitude of the ground surface or water surface is lower than +150 m and the range above the highest building (90 m) +30 m, that is, the altitude of the ground surface or water surface is lower than +150 m, The airspace above the altitude + 120m is the drone flight zone.

  For example, various types of flight zones can be set in the drone flight zone. As shown in FIG. 12, the sky above 30 m or more from the outer upper edge of the tallest building in the high-rise building area and lower than the altitude of the ground surface or the water surface +150 m is the outlook of communication radio waves and sensors. Because it is extremely good, the drone can fly at high speed. For this reason, an airspace lower than the altitude of the ground surface or the water surface +150 m and an altitude of the ground surface or the water surface +120 m or more is defined as a high-speed flight zone.

  In areas other than high-rise buildings, for example, an airspace that is lower than the altitude of the ground surface or the water surface +120 m and is above the altitude of the ground surface or the water surface +60 m is set as the normal flight zone. And the airspace that is lower than the ground surface or water surface elevation + 60m and is 30m or more away from the outside upper end of ordinary houses, for example, the surface surface or water surface elevation + 40m or more, to temporary evacuation zone, departure place, relay point, destination, drone port, etc. Access zone, etc. In this way, based on the three-dimensional drone aerial map formed from the map information of the drone aerial map DB 120, the drone's flyable airspace (base) is identified, and the communication radio wave having high straightness within the base. And define a drone flight zone with a good view of the sensor.

  11 and 12, the outline in the case of defining the drone flight zone has been described, but actually, the drone flight zone can be defined in more detail based on the three-dimensional drone aerial map. For example, as shown in FIG. 13, even in the area between buildings, a normal flight zone can be defined if there is a large gap and there is nothing to protect from the drone on the ground surface.

  As shown in FIG. 14, when a river and a riverbed exist between buildings, a safe flight zone can be defined over the river and the riverbed. This is because even if the drone falls, there is little influence. Further, as shown in FIG. 15, when there is a very narrow drone flyable airspace between buildings, the flyable airspace can also be a drone flight zone. However, since there is a difficulty in the view of the communication radio wave and the sensor, a restraint flight zone that does not allow the drone to fly unless there is a serious problem is defined.

  In addition to this, it is possible to define a drone flight zone with a limited use based on a three-dimensional drone aerial map. For example, as shown in FIG. 16, a lowway link, a general road link, a dedicated road link, a highway link, and a highway link are defined according to the altitude from the ground surface and the water surface, and each of these links is also switched. You can also define the link links that you can do.

[Drone Aviation NWDB 130 Configuration]
In this embodiment, as described above, a drone flight zone is defined based on the three-dimensional drone aerial map, and a drone flight route search network is configured in the defined drone flight zone. . Specifically, to ensure that multiple drones maintain their speed and can fly at sufficient intervals, the drone's communication link and sensor-like tube links that are easy to see and multiple drones are sure to intersect. An aerial network for drone route search is constructed with cube-shaped nodes that can be used in the future. The drone aviation NWDB 130 stores network data representing the aviation network constructed in this way.

  The flight route described with reference to FIG. 2 is set in the air network constructed as described above. The “tubular” of the “tube-shaped link” does not mean a simple cylinder, but a hollow tube with a variety of cross-sectional shapes when cut in a direction intersecting the longitudinal direction. means. Further, “cube-like” of “cube-like node” does not mean a simple cube but means various three-dimensional solids.

  FIG. 17 is a diagram for explaining the structural concept of drone air network data. In FIG. 17, a number of small black circles N1, N2, N3,... Indicate nodes, and lines L1, L2, L3,. As described above, a plurality of nodes N1, N2, N3,... Are provided above the ground surface or the water surface, and links L1, L2, L3,... A drone aviation network for searching for is formed. The data representing such a drone air network is drone air network data.

  FIG. 18 is a diagram for explaining the definition of the node Nn (n is an integer of 1 or more) of the drone air network data. As shown in FIG. 18A, the node Nn can basically specify its position in a three-dimensional space by three values of latitude, longitude, and height from the ground surface. However, as described above, the node Nn in the drone air network must have a certain amount of margin because the plurality of drones must cross each other with certainty.

  Therefore, as shown in FIG. 18B, in addition to the latitude, longitude, and height from the ground surface, the horizontal width, depth, and vertical width are provided as attributes of each node Nn. In FIG. 18B, the horizontal width is the length of each of the right side and the left side in the horizontal direction around the position of the node Nn whose position is specified by the latitude, longitude, and height from the ground surface. In FIG. 18B, the depth is the length of each of the front (the back side in the figure) and the back (the near side in the figure) centering on the position of the node Nn.

  In FIG. 18B, the vertical width is the length of each of the upper side and the lower side in the vertical direction centering on the position of the node Nn. Then, consider a case where each of the horizontal width, depth, and vertical width is 2 m. In this case, as shown in FIG. 18B, a cube having a side of 4 m with the node Nn as the center can be defined as indicated by a solid line around the node Nn. A cube having a side of 4 m defined around the node Nn can be defined as a node of the drone air network. In this example, the node Nn is exactly cube-shaped.

  FIG. 19 is a diagram for describing a configuration example of nodes and links. As described above, the drone air network data is composed of cube-shaped nodes and tube-shaped links. Here, in order to simplify the description, as shown in FIG. 18B, as a cube-shaped node having various three-dimensional solid shapes, a hexahedral shape (cube) having six quadrangular surfaces is used. A description will be given by taking the case of the In addition, the tube-like link having a hollow hollow shape in which the cross-sectional shape when cut in the direction crossing the longitudinal direction is a hollow hollow tube has a tubular shape corresponding to the shape of the node in this example. The case where it is a thing will be described as an example.

  FIG. 19A is a diagram in which the portion of the node N2 in FIG. 17 that explains the structural concept of the drone air network data is extracted and enlarged. As will be described with reference to FIG. 18B, the node N2 has, in addition to the latitude, longitude, and height from the ground surface, as attributes, the horizontal width, the depth, and the vertical width. As shown by a thick solid line, it can be defined as a three-dimensional region having a cube shape.

  The link in this example for connecting such cube-shaped nodes is tubular, and the positions of the links in the three-dimensional space are specified by the positions of the nodes at both ends. Accordingly, in the case of the example shown in FIG. 19A, with respect to the node N2, the link L1 connected to the node N1, the link L2 connected to the node N3, and the link L7 connected to the node N5. And a link L22 connected to the node N8. Further, although the node to be connected to the node N2 is not shown in FIG. 17, a link La extending to the front side of the figure and a link Lb extending to the lower side of the figure are connected.

  As described above, the drone air network is defined as a three-dimensional space network in which a drone can fly in a drone flight zone created in the flight space of the drone in the three-dimensional space.

  Here, a case has been described in which a node is defined as a hexahedral shape (cube shape) having six rectangular faces, but the present invention is not limited to this. For example, as shown in FIG. 19B, for each node, a radius is added as an attribute in addition to the latitude, longitude, and height from the ground surface that specify the position in the three-dimensional space. Thereby, in a three-dimensional space, a spherical node can be defined as a portion surrounded by a locus of points having the same distance from a certain point specified by latitude, longitude, and height from the ground surface. In addition to this, by adding various attributes in addition to latitude, longitude, and height from the ground surface, a node can be defined as a three-dimensional region having various shapes.

  FIG. 20 is a diagram for explaining an example of node data and link data formed in the drone aviation NWDB 130. That is, FIG. 20 shows an example of network data composed of node data and link data representing the drone air network described with reference to FIGS.

  As shown in FIG. 20A, the node data includes information of “node ID”, “latitude, longitude, height”, “horizontal width, depth, vertical width”, “node type”, and “others”. . “Node ID” is node identification information that can uniquely identify each node. As described above, “latitude, longitude, and height” are latitude, longitude, and height from the ground surface for specifying the position of the node in the three-dimensional space. As described above, “horizontal width, depth, vertical width” is information that specifies the shape and size of a node. The “node type” is information indicating what kind of node each node is, and specifically, information indicating different points such as a start point, an end point, and a branch point. In “Other”, necessary information is input as necessary.

  As shown in FIG. 20 (B), the link data includes information of “link ID”, “node”, “fixed link cost”, “variable link cost”, “link type”, and “others”. “Link ID” is link identification information that can uniquely identify each link. “Node” is information for specifying nodes at both ends of the link, and the position of the link can also be specified by this.

  The “fixed link cost” is determined in accordance with the link length and the safety level set for each building, facility, and region located below the link, and is set in advance for each link. . That is, the fixed link cost of a link set over a long distance above a place where the safety level must be kept high.

  For example, public facilities, important buildings such as historical buildings, facilities used by vulnerable people such as children, the elderly, and the sick, areas with high population density, etc. are places where safety must be kept high. is there. Conversely, rivers, riverbeds, lakes, the sea, farmland, pastures, etc. are places where the degree of safety may be low to some extent because there is little concentration of people.

  For this reason, the fixed link cost of the link set over the place where the safety level must be kept high is set high, but in this case, the link is set over the place where the safety level must be kept high. A fixed link is set in consideration of the link distance. On the contrary, the fixed link cost of the link set over the low safety place is set low, but the distance of the link set over the low safety place in that case is also considered, and the fixed link is Is set.

  In the case of a link set over both the sky above the place where the safety level must be kept high and the sky above the place where the safety level is low, both are considered and set. Also, not only is the location directly under the link set a place where the safety level is kept high or the safety level is low, but also an area with a certain width from the location directly under the link set to the left and right It is considered whether it is a place where the safety level is kept high or where the safety level is low.

  In other words, if a drone flying on the link falls for some reason, the affected area is the lower area to be considered for the link, and is this area an area that maintains a high degree of safety, The fixed link cost is set according to whether the area is low. The setting of the fixed link cost is performed by a configuration manager, that is, “person”, AI (artificial intelligence), or both. In this specification, AI (artificial intelligence) means a computer that artificially realizes human intelligence functions such as learning, inference, and judgment.

  “Variable link cost” is determined according to link length and fluctuation information such as statistical information, weather information, traffic jam information, congestion information, air traffic control information, transportation operation information, etc. It will change. For example, in a mobile phone company, depending on the reception status of radio waves from mobile phone terminals that are received at each base station, there are many (congested) mobile phone terminal users and not so many (congested). Not) can identify the region. Based on the congestion degree information that is such statistical information, the link cost over the congested area is increased, and the link cost over the uncongested area is decreased. To do. Also, based on the congestion level information, there are many people at the beach in summer, so the link cost above it is high, and there are few people at the beach in winter, so the link cost can be low. is there.

  Further, based on the weather information, for links over the raining area, the variable link cost is increased, and when the rain rises, the variable link cost of the area is decreased. Further, for links over the area where thunderclouds are approaching, the variable link cost is increased, and when thunderclouds pass, the link cost for links over the area is decreased. Similarly, based on traffic information, for links over an area where there is a road with traffic congestion, increase the variable link cost, and if the traffic congestion is resolved, the variable link cost of the link over the area Lower.

  In addition, if it is found based on existing air traffic control information that there is an airspace that may affect the operation of airplanes on which people are on board, changes in the links set in that airspace Increase link cost. In this case, based on the air traffic control information, if it is found that the airspace that may affect the operation of the aircraft on which the person is riding has been resolved, the link of the link set in that airspace Reduce costs. In addition, for example, based on passenger ship and cargo ship operation information, the link cost of the passenger ship, passenger ship in the time zone where the cargo ship is navigating, and the link over the sea area where the cargo ship is navigating is increased, For links over sea areas where passenger ships and cargo lines stop navigating, the variable link cost will be low.

  In addition, FIG. 21 is a figure which shows the example of the existing control information and operation information with which utilization is assumed. Moreover, FIG. 22 is a figure which shows the content of the existing air traffic control. In consideration of the information shown in FIG. 21 and the control content shown in FIG. 22, it is possible to specify a region where the variable link cost is to be changed, and to change the link cost of each link set above that region.

  The link type is information indicating the type of link. For example, links can be provided according to the application, such as for general use, for delivery, and for emergency transportation. When a link is provided according to the application, which link is used? Indicates the link type. As another example, a drone link corresponding to a private road, a city road, a prefectural road, a national road, a toll road, an expressway, etc. is provided, for example, in the same manner as a road network used for automobile navigation, and its type May be specified by the link type. In “Other”, necessary information is input as necessary.

  As other attributes of the link, for example, the number of lanes on the road, flight lanes corresponding to up and down lanes, overtaking lanes may be defined, high speed drone lanes, large drone restricted lanes, etc. You can also do it. Of course, an up flight lane, a down flight lane, an overtaking flight lane, a high speed drone dedicated lane, a large drone restricted lane, and the like can be defined as individual links.

  In addition, as described above, a drone flight zone is defined based on a three-dimensional drone aerial map, and a link or node is set in the drone flight zone, but a zone where only one drone can pass is defined. In such a case, the zone itself can be used as a one-way link, or a drone that can fly is restricted as a link corresponding to a narrow road in the road.

  That is, a drone flight zone may be defined on the basis of a three-dimensional drone aerial map, and a plurality of links and nodes may be included in the drone flight zone. In an area where it is possible to fly alone, the zone itself may be a single link. It is also possible to provide a dedicated link for emergency drones. Aircraft is common to all countries and has right-hand traffic, which is considered to be applicable when flying a drone. For this reason, each of the up traffic lane and the down traffic lane can be a link.

  As described with reference to FIGS. 8 and 9, the drone control device 1 of this embodiment manages the position and mode of the drone port and the drone charging spot in the drone aerial map DB 120. For this reason, for example, the access route from the fixed drone port may be a fixed link and a node. In other words, in the case of a drone port, the drone is guided to a take-off and landing area, and the access route from there to the nearest link can be defined as a fixed dedicated link.

  Next, a specific example of the drone air network formed by the drone air network data stored in the drone air NWDB 130 described with reference to FIG. 20 will be described. FIG. 23 is a diagram for explaining an example of the drone air network formed around the lake water where the fixed link cost is low. In FIG. 23, circles Na to Nk indicate nodes, and straight lines connecting the nodes indicate links. The bar (straight line) below the circle, which is a node, indicates the height from the ground surface or the water surface. Therefore, it can be seen that each of the nodes Na to Nk is provided above the ground surface or the water surface.

  Nodes Na, Nf, and Ni are nodes provided above the ground surface, and are inflow nodes of drones from other areas. Nodes Na, Nf, and Ni also serve as drone outflow nodes to other areas. Since these nodes Na, Nf, and Ni are located above the ground surface, they are provided 50 to 60 meters above the ground surface (ground) in consideration of the presence of people and buildings.

  In this example, each of the nodes Nb, Nc, Nd, Ne, Ng, Nh, Nj, and Nk is a node provided above the lake water (water surface) of Lake Yamanaka. These nodes are usually located in major areas (major points) suitable for properly linking the lake over the lake, where there are few or few people or buildings, which would reduce the fixed link cost if provided. ). In particular, in this example, the nodes Nj and Nf are provided for drawing the link into the sky over the lake water in view of the shape of Lake Yamanaka, and the area between the nodes Nj and Nf is a water surface drawing area. Each of the nodes Nb, Nc, Nd, Ne, Ng, Nh, Nj, and Nk is located above the lake water, and there are almost people and buildings, so it is 30m to 40m above the lake water (water surface). Is provided.

  As described above, by setting the nodes and links so as to effectively utilize the sky over the lake water where the fixed link cost is low, a drone air network suitable for searching for the flight route of the drone can be configured. Note that the drone air network in FIG. 23 is an example, and it is of course possible to provide a link for connecting the node Nb and the node Ng, or to provide a node in another place above the lake surface.

  FIG. 24 is a diagram for explaining an example of the drone air network formed around the river periphery where the fixed link cost is low. In the map shown in FIG. 24, a relatively wide river is located from the upper right side to the lower left side of the map, and an elevated railroad track from the upper left side of the map to the lower right side crosses this river. Is located. A group of apartments with a height of 50 to 100 m exists on the upper left side of the river, and a garbage disposal site and a low-rise residential area with a height of 10 m or less exist on the lower right side of the river. The area on the upper right side of the elevated track is also a low-rise residential area with a height of 10 m or less.

  Also in FIG. 24, circles indicate nodes, and straight lines connecting the nodes indicate links. The bar (straight line) below the circle, which is a node, indicates the height from the ground surface or the water surface. And as shown in FIG. 24, each node is provided in the river or the riverbed. This is because rivers and riverbeds usually have few people and few buildings, so that links with low fixed link costs can be set.

  In the case of the example shown in FIG. 24, there is a relatively large bridge near the mouth of the river on the lower left side of the figure. For this reason, the three nodes provided in the vicinity of the bridge are provided 100 m above the ground surface or the water surface. The four nodes provided at the intersection of the river and the elevated track are provided 100 m above the ground surface or the water surface in order to secure a distance of 30 m or more from the elevated track.

  Other than this, a plurality of nodes provided in the low-rise residential area on the lower right side of the river in FIG. 24 and the low-rise residential area on the upper right side of the elevated track are provided 40 m above the ground or the water surface. . This is because in a low-rise residential area, there is only a building such as a house having a height of 10 m or less at the maximum, so it is only necessary to be 30 m or more away from such a building.

  On the other hand, the plurality of nodes provided on the apartment group on the upper left side of the river in FIG. 24 are provided 40 meters above the surface or water surface, 60 meters above the surface, and 140 meters above the surface. There is something that was done. The node provided 40m or 60m above the ground surface or the water surface is for connecting a link with the node provided in the low-rise residential area on the lower right side of the river in FIG.

  The node provided 140 m above the ground surface or the water surface is provided, for example, to extend a link to an apartment group side area. With a node provided 140 m above the surface of the earth or the water surface, it is possible to set a link that allows a drone to fly at an interval of 30 m or more for an apartment having a height of 100 m.

  In FIG. 24, a node provided 140 meters above the ground surface or water surface on the estuary side appears to be located immediately below, that is, a node provided 100 meters above the ground surface or water surface at the same latitude and longitude. It has become. Similarly, in FIG. 24, a node provided 140 m above the ground surface or water surface near the center of the river is directly below, that is, a node provided 40 m above the ground surface or water surface at the same latitude and longitude. It comes to exist.

  As described above, the nodes are provided with multiple structures on the top and bottom, so that a vertical link is formed, and the route of the drone in the vertical direction can be specified according to the drone air network. That is, it is possible to specify which node should move to a higher link or move to a lower link.

  The drone air network data stored in the drone air NWDB 130 sets nodes and links in the three-dimensional space according to the situation of features in the real world and the situation of topography. By using the drone air network data, an appropriate flight route of the drone can be easily searched.

[Drone air network data creation processing example]
Next, an example of processing when creating the above-described drone air network data will be described. FIG. 25 is a flowchart for explaining processing when creating drone air network data using an AI (artificial intelligence) function realized by the information processing unit 100 of the drone control device 1.

  The information processing unit 100 refers to the map information of the drone aerial map DB 120, and as described with reference to FIGS. A flight zone is defined in a three-dimensional space (step S1). Next, the information processing unit 100 sets information regarding the link to be defined (step S2). Here, the link information is the link standard, type, usage, etc. When creating drone aviation network data for each region, the setting of the region that defines the link and the coordinate position that is the starting point of the link Setting and the like are also performed in step S2.

  The link standard is, for example, the cross-sectional shape or size in the direction intersecting the vertical direction of the link, and the link type is, for example, a high-speed flight link, a normal flight link, a temporary retraction link, or the like. There are various uses for links such as emergency transportation, home delivery, and photography. Of these, necessary information is set. In addition, the information regarding the link to be set is input to the information processing unit by the user via a communication function, for example.

  Next, the information processing unit 100 selects a drone flight zone that defines a link from the drone flight zone defined in step S1 in accordance with the information related to the set link (step S3). For example, when a high-speed flight link is defined as the link type, the high-speed flight zone mainly described with reference to FIG. 12 is selected.

  Then, the information processing unit 100 defines links and nodes in the selected drone flight zone while referring to the fixed flight obstacle information, the variable flight obstacle information, the avoidance facility area information, and the like in the drone aerial map DB 120 (step S4). . A node is simply defined at a position that becomes a start point, an end point, or a branch point of a link.

  Then, the information processing unit 100 converts the drone air network composed of the links and nodes defined in step S4 into the drone air network data format described with reference to FIG. 20 (step S5). That is, in step S5, the information processing unit 100 converts the drone air network defined in step S4 into the format of node data and link data. The network data defined in this way is recorded in the drone aviation NWDB 130 and can be used to search for a flight route.

  Although the case where the drone air network data is created by AI (artificial intelligence) realized by the information processing unit 100 has been described here, the creator (operator) adjusts the created drone air network data. Of course you can do it. In addition, the creator (operator) defines a drone flight zone while referring to a three-dimensional drone aerial map, and enters the latitude, longitude, height, and various element information into the drone flight zone to set the node. Of course, it is also possible to form a drone air network and then form drone air network data.

[Example of data stored in flight route data file 140 for each drone]
The drone control device 1 according to this embodiment can receive a search request including a flight route search condition from the drone operation management device 5 and can search the drone flight route by referring to the drone air NWDB 130. The flight route search result is stored in the flight route data file 140 for each drone. Based on the flight route stored in the flight route data file 140 for each drone, the drone control device 1 forms the flight instruction data described with reference to FIG. 2 and provides this to the drone to guide the flight route. To do.

  FIG. 26 is a diagram for explaining an example of data stored in the flight route data file 140 for each drone. The flight route data file 140 for each drone manages “aircraft ID”, “IP address”, “airframe attribute”, “search condition”, “flight route (search result)”, and “flight state information” for each drone. “Aircraft ID” is identification information that can uniquely specify a drone, and is mainly used for identifying a drone on the operator side who operates the drone.

  The “IP address” is used when an individual drone is specified through the IoT platform 3 and communication is performed. The “aircraft attribute” includes various information indicating the attribute of the drone. The type is information indicating different types such as a multi-rotor, a fixed wing aircraft, and a small helicopter. In addition to the possible flight time, maximum speed, body weight, and the like shown in FIG. 26, it is possible to manage the presence / absence of each function such as an auto cruise function, automatic tracking, auto pilot, flight controller, and the like. Such “aircraft attributes” can be used as condition information when searching for an appropriate flight route according to the function of the drone, or as information considered when controlling the drone.

  The “search condition” is condition information for searching for a flight route for each drone provided from the drone operation management device 5, and includes a departure point, a destination, a flight purpose (urgent level), and the like. The purpose of flight consists of information on the purpose of flight such as emergency goods transportation, normal cargo transportation, photography, and pesticide application, and the degree of urgency. In addition to this, it is also possible to include information such as waypoints. “Flight route (search result)” is information indicating the flight route searched based on the search condition, and is composed of nodes and links, for example, as shown in FIG.

  “Flight status information” is information provided at predetermined timings from a drone for which a flight route is set, such as “current position”, “flight direction”, “flight speed”, “remaining flight distance”, etc. Consists of information. The “current position” includes not only the latitude (lat) and longitude (lon) but also the height from the ground surface and the water surface (At). As will be described later, these pieces of information can be detected through a GPS function and various sensors provided in the drone. In addition to this, it is also possible to include various information such as the remaining fuel amount (remaining battery amount) and the remaining flight time. There is also information that can be detected by calculation using the detection value of the sensor, such as calculating the remaining flight distance from the remaining battery capacity.

  If the “Flight Route” is set, “Flight Status Information”, “Current Position” is in the drone flight zone, and the height (altitude) from the ground is not 0 m, the drone is in flight It turns out that it is. Further, regarding a drone waiting for takeoff or landing, the state of the drone can be grasped by a notification from the drone.

  Among such flight routes data by drone, “aircraft ID”, “IP address”, and “aircraft attribute” are registered in advance through the drone operation management device 5. The “search condition” is input from the drone operation management device 5 when searching for a flight route. In “Flight route (search result)”, information (search result) obtained by executing the search of the flight route is input. As the “flight state information”, information transmitted from the drone is input at every predetermined timing. In addition to this, as shown in FIG. 26 by providing the “other” column, various information necessary for each drone can be added and managed.

  Based on the stored data of the flight route data file 140 for each drone, the flight route can be managed for each drone, flight instruction data can be formed for each drone, and the flight route can be guided for each drone. Further, the stored data of the flight route data file 140 for each drone can be used as information for managing the state of each drone and controlling the drone.

  The example of data stored in the flight route data file 140 for each drone shown in FIG. 26 is merely an example, and various other information can be managed. For example, it is also possible to manage various information such as information related to the drone operator, drone flight history, drone failure history, drone repair inspection history, and the like.

[Data stored in the Drone Aviation Regulation DB 150]
FIG. 27 is a diagram illustrating an example of traffic regulation for a drone, and FIGS. 28 to 32 are diagrams illustrating an example of a traffic sign for a drone. When many drones come to fly, it is thought that traffic regulations according to the Road Traffic Law will be applied to drones. This is because instrument flying aircraft cannot be stopped in the air, but general drones such as multicopters can be hovered (stopped in the air).

  For example, as shown in FIG. 27, it is considered that various traffic regulations such as speed regulation, virtual signal traffic signal compliance, slow speed, temporary stop, up / down / left / right confirmation are performed on the drone. Further, a drone traffic regulation sign as shown in FIGS. 28 and 29, a drone traffic instruction sign as shown in FIG. 30, a drone traffic warning sign as shown in FIG. 31, and a drone traffic guide sign as shown in FIG. 32 are provided. It is possible that

  Then, which traffic regulation is applied to which node or link and which traffic sign is applied to which node or link is managed in the drone air regulation DB 150 of the drone control device 1. . That is, the drone air regulation DB 150 manages the contents of the traffic regulations to be applied and the traffic signs to be applied in association with the nodes and links.

  Thereby, the drone control device 1 performs control control according to traffic regulations and traffic signs for the drone in flight based on the current position of the drone in flight and the stored information in the airline regulation DB 150 for drone. be able to. In this case, if the drone is remotely operated, the control details and traffic signs are displayed on the display screen of the remote operator's remote control device using AR (Augmented Reality) technology, or a telop is displayed. Or by outputting sound. In addition, a drone during autonomous navigation is notified by transmitting an instruction signal indicating how to fly in accordance with traffic regulations and traffic signs.

[Configuration Example of Information Processing Unit 100 of Drone Control Device 1]
FIG. 33 is a block diagram for explaining a configuration example of the information processing unit 100 of the drone control device 1 shown in FIG. As illustrated in FIG. 33, the information processing unit 100 includes a communication I / F 101, a control unit 102, a storage device 103, a fluctuation information acquisition unit 104, and a fluctuation link cost update unit 105. The information processing unit 100 includes a search condition setting unit 106, a route search unit 107, a flight instruction forming unit 108, a flight information acquisition unit 109, a reroute processing unit 110, and a route change instruction unit 111. Further, the information processing unit 100 includes a drone monitoring unit 112, an existing control cooperation unit 113, and a control instruction forming unit 114.

  The communication I / F 101 realizes a communication function. The control unit 102 is a computer device unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and controls each unit of the information processing unit 100. The storage device 103 includes a large-capacity recording medium such as a hard disk, and writes / reads / stores / deletes data to / from the recording medium. The fluctuation information acquisition unit 104 performs processing of acquiring various statistical information and fluctuation information disclosed on the Internet through the communication I / F 101 and recording them in the storage device 103.

  The variable link cost updating unit 105 performs processing for updating the variable link cost of the link data described with reference to FIG. 20 based on the statistical information and the fluctuation information acquired through the fluctuation information acquisition unit 104. The search condition setting unit 106 receives a search condition for each drone from the drone operation management apparatus 5 received through the communication I / F 101, and sets it in the route search unit 107.

  The route search unit 107 uses the Dijkstra method or the A * (A-star) algorithm, and refers to the drone air NWDB 130 through the communication I / F 101 based on the search conditions for each drone set by the search condition setting unit 106. And explore the flight route for each drone. In this case, the route search unit 107 refers to both the fixed link cost and the variable link cost of the network data, and performs route search so that the total value of both link costs becomes the smallest. Then, the route search unit 107 stores the search result for each drone with respect to the flight route data file 140 for each drone described with reference to FIG.

  The flight instruction formation unit 108 performs the flight of the coordinate point sequence including the latitude, longitude, and height described with reference to FIG. 2 based on the search result of the flight route for each drone stored in the flight route data file 140 for each drone. Form instruction data. The flight instruction data formed here is transmitted through the communication I / F 101. If the target drone is an autonomous navigation drone, the flight instruction data is transmitted to the drone. If the drone is remotely operated, It is sent to the device used by the remote operator.

  The flight information acquisition unit 109 receives and acquires, via the communication I / F 101, the current position and the status information of the drone body that are transmitted from the drone in flight at, for example, predetermined timings. When the current position transmitted from the drone is out of the searched flight route due to the influence of strong wind or the like, the reroute processing unit 110 displays the flight route from the current position to the destination for the drone. A re-search process is performed using the network of the aviation NWDB 130. And then. The reroute processing unit 110 stores the search result in the flight route data file 140 for each drone. That is, the flight route is rewritten.

  Based on the flight route of the flight route data file 140 for each drone rewritten by the reroute processing unit 110, the route change instruction unit 111 performs the flight instruction of the coordinate point sequence including the latitude, longitude, and height described with reference to FIG. Form data. The flight instruction data formed here is transmitted through the communication I / F 101. If the target drone is an autonomous navigation drone, the flight instruction data is transmitted to the drone. If the drone is remotely operated, It is sent to the device used by the remote operator.

  Here, in order to clarify the functions of the drone control device 1, the route search unit 107, the flight instruction formation unit 108, the reroute processing unit 110, and the route change instruction unit 111 are provided. The function may be realized by the route search unit 107, and the function of the route change instruction unit 111 may be realized by the flight instruction forming unit 108.

  As will be described later, each of the drones 2 (1), 2 (2), 2 (3),... For which the flight route has been searched and the flight instruction information has been provided is shown in FIG. The flight state information explained using the above is transmitted to the drone control device 1. The flight state information is received by the control unit 102 through the communication I / F 101 in the information processing unit 100 of the drone control device 1, and the control unit 102 updates the flight route data file 140 for each drone through the communication I / F 101.

  The drone monitoring unit 112 detects a drone waiting for take-off, a drone waiting for landing, a drone requiring danger avoidance, and a drone subject to traffic regulation as a drone subject to control. In addition, the drone monitoring unit 112 is required to return the state of each drone subject to traffic regulation, danger avoidance, and evacuation instruction in relation to a manned aircraft described later. Is detected as a drone to be controlled.

  Specifically, the drone monitoring unit 112 plots the current position of the flight state information of each drone in the flight route data file 140 for each drone on a three-dimensional airspace map formed on the storage medium of the storage device 103, and also displays the flight direction, Know flight speed, remaining flight distance, etc. The drone monitoring unit 112 then displays the situation around the current position of each drone, the situation of the flight if flying, and the departure point, destination, flight purpose, aircraft attributes, flight route, if necessary. The drone to be controlled is detected in consideration of the drone aerial map.

  In addition, the drone monitoring unit 112 refers to the drone air regulation DB 150 through the communication I / F unit 101 based on the current position and flight direction of each drone grasped as described above, and controls traffic regulation (for drone use). Identify drones subject to aviation regulations. In this case, the drone monitoring unit 112 also identifies a drone that violates the aviation regulations, such as a drone whose flight speed exceeds the flight monopoly specified by the aviation regulations, based on the flight speed of each drone. To do.

  The existing control cooperation unit 113 refers to the control information related to the existing manned aircraft through the communication I / F 101 and monitors whether an event affecting the airspace where the manned aircraft flies has occurred. When an event occurs that affects the airspace in which the manned aircraft flies, the existing control cooperation unit 113 identifies the airspace in which the drone flies and the airspace affected (the affected airspace). A drone flying in the affected airspace or a drone entering the affected airspace is detected as a drone for which an evacuation instruction should be issued.

  Further, the drone monitoring unit 112 detects that the drone detected as the drone to be controlled exists in an airspace that affects the flight of the manned aircraft or that the drone monitoring unit 112 is likely to enter the airspace. Suppose. In this case, the existing control cooperation unit 113 has a function of forming caution information and reporting this to the control system of the manned aircraft.

  The control instruction forming unit 114 basically controls the drone in accordance with the control performed on the manned aircraft shown in FIG. However, the height (altitude) and flight speed of the drone will depend on the drone, and the controlled airspace will also depend on the drone. In the following, the function of the control instruction forming unit 114 will be described focusing on drone control.

  The control instruction forming unit 114 has a function of forming a control instruction for a drone detected as a drone to be controlled by the drone monitoring unit 112 and transmitting the control instruction via the communication I / F 101. The control instructions for the existing manned aircraft include three of speed, angle, and altitude, but the control instructions for the drone can indicate the flight route by a coordinate point sequence or a polyline. The control instructions include current position, flight speed, remaining flight distance, situation around the current position of each drone, flight status if flying, if necessary, departure place, destination, flight It is formed in consideration of the purpose, aircraft attributes, flight route, drone aerial map, etc.

  In addition, the control instruction forming unit 114 has a function of forming a retraction instruction for a drone detected as a drone to which a retirement instruction should be issued in the existing control cooperation unit 113, and sending this through the communication I / F 101. A drone detected as a drone for which an evacuation instruction should be issued in the existing control cooperation unit 113 is a drone existing in an affected airspace affected by a manned aircraft or a drone trying to enter the affected airspace. It is something that needs to be avoided. Here, the retreat instruction includes various things such as “decrease flight altitude”, “depart (exit) from the affected airspace”, and “land at a predetermined retreat area”.

  In addition, the control instruction forming unit 114 controls the drone monitoring unit 112 for the drone specified as the target of drone air regulation, according to the applicable air regulation, regulation information, guidance information, warning information, It has a function of forming instruction information and sending it through the communication I / F 101. As a result, the drone can activate the objective sensor and around view monitor to fly more carefully according to the surrounding conditions, for example, to adjust the flight speed to match the regulated speed, etc. Transition to the flight state based on the received information.

  In the case of manned aircraft, there are those called radio signs, and in the case of ships, there are those called radio signs, and there are also what are called light wave signs, sonic signs, and the like. These functions equivalent to those of the drone are realized by cooperating with the control instruction forming unit 114 and the drone monitoring unit 112.

  Further, the control instruction forming unit 114 forms control history information including the drone IP address, the control instruction, and the date and time information at which the control instruction is transmitted, and stores the control history information in a predetermined storage area of the storage device 103. Also do. The control history information is referred to by the drone monitoring unit 112 and is referred to in order to confirm whether or not the drone that has issued the control instruction becomes a drone to be controlled thereafter. In other words, a drone whose state has been changed by a control instruction will be subject to returning to an appropriate state after the traffic restriction is canceled, the dangerous state is avoided, and the affected airspace is resolved. Control history information is referenced to identify the drone.

  In this way, the drone control function of the drone control device 1 is realized by the cooperation of the drone monitoring unit 112, the existing control cooperation unit 113, and the control instruction forming unit 114. In other words, the information processing unit 100 appropriately controls the drone, such as giving a take-off permission to the drone, giving a landing permission, and giving various instructions for flying safely during the flight. Is something that can be done. Moreover, the existing air traffic control system and the air traffic regulations applied to the drone are merged so that the air traffic control for the drone can be performed appropriately.

  The information processing unit 100 also has a function of updating the variable link cost of the link data of the drone aviation NWDB 130. Further, the information processing unit 100 has a navigation function for performing route search based on a flight route search request from the drone operation management device 5 to form flight instruction data and guiding the flight route. The information processing unit 100 also has a flight route reroute function for a flight route guidance target drone.

  Note that the drone control device 1 can directly transmit and receive information to and from the autonomous navigation drone through the IoT platform 3. In addition, information can be transmitted / received to / from a remote operation compatible drone via a remote operation device of the drone. Of course, even for a drone compatible with remote control, the flight status information and the like can be directly provided by the drone control device 1 from the drone.

[Configuration example of drone 2]
Next, a configuration example of the drones 2 (1), 2 (2), 2 (3),... Used in the navigation system of this embodiment will be described. As described above, there are various types of drones such as a multicopter, a fixed wing aircraft, and a small helicopter. The drone of this embodiment is described as a quadrotor type (quad copter) among multicopters. In the following, drones 2 (1), 2 (2), 2 (3),... Are collectively referred to as drone 2.

  FIG. 34 is a view for explaining a configuration example of the drone 2 used in the navigation system of this embodiment, and FIG. 34 (A) is a view of the drone 2 as viewed from above. 34 (B) is a view of the drone 2 as viewed from the side. The drone 2 includes a flight mechanism unit 21 configured as a quadcopter and a drive control unit 22. The flight mechanism unit 21 is drive-controlled by the drive control unit 22. As shown in FIG. 34, the flight mechanism unit 21 is configured by attaching propeller mechanisms 24A, 24B, 24C, 24D to the tips of four arms 23A, 23B, 23C, 23D extending from the drive control unit 22. Yes.

  The propeller mechanisms 24A, 24B, 24C, 24D rotate the propeller shafts (not shown) by the engine parts (drive parts) 41A, 41B, 41C, 41D, thereby rotating the propellers 42A, 42B, 42C, 42D. It is configured to rotate. The rotational speed and direction of the engine units 41A, 41B, 41C, and 41D are controlled by a drive control signal from the drive control unit 22.

  In this example, each of the engine parts 41A, 41B, 41C, and 41D is independently controlled by a drive control signal from the drive control unit 22. Thereby, the drone 2 can perform various movement operations such as takeoff, landing, ascent, descent, right turn, left turn, forward, reverse, right shift, left shift, and posture such as an inclination angle with respect to the vertical direction. The position of the control and hovering position can be controlled.

  Two legs 25A and 25B are further attached to the housing of the drive control unit 22 so as to face each other. In this example, the leg portions 25A and 25B are made of pipe members formed in a trapezoidal shape, and are formed so as to stably hold the drone 2 on the landing plane as shown in FIG. 34 (B). .

  Further, in this embodiment, the housing of the drive control unit 22 of the drone 2 has a substantially cubic shape (hexahedral shape), and the front, rear, left side, right side, and top surface, for example, has a camera C1, C2, C3, C4 and C5 are provided. Note that a camera is not installed on the lower surface side because, for example, a luggage storage portion may be mounted. However, the four cameras C1, C2, C3, and C4 provided on the four side surfaces of the front surface, the rear surface, the left surface, and the right surface can also capture images of the lower side (including directly below) of the drone. As a result, images in the six directions of front and rear, left and right, and top and bottom of the housing of the drive control unit 22 can be taken simultaneously.

  A drive control device unit is provided in the drive control unit 22. FIG. 35 is a block diagram showing a configuration example of a drive control unit provided in the drive control unit 22 of the drone 2 of this embodiment.

  In FIG. 35, the transmission / reception antenna 201A and the wireless communication unit 201 are for remote communication with the drone control device 1 when the drone 2 is autonomously traveling. In some cases, communication is performed with a remote control device. Here, in order to simplify the description, the drone 2 will be described as one that autonomously navigates.

  The control unit 202 realizes a function of controlling each unit of the drone 2, and the storage device 203 realizes an information storage holding function. The storage device 203 stores various programs and various data necessary for processing, and is also used as a work area for temporarily storing intermediate results of various processing. The storage device 203 also stores flight instruction data provided from the drone control device 1.

  The power supply unit 204 includes a battery and supplies necessary power to each unit of the drone 2. The sensor unit 205 includes a gyro sensor, an atmospheric pressure sensor, an acceleration sensor, an ultrasonic sensor, a geomagnetic sensor, and the like. The gyro sensor is used for attitude control, and the atmospheric pressure sensor is used for altitude detection. The acceleration sensor is used for speed detection, and the ultrasonic sensor is used for distance detection with an objective. The geomagnetic sensor is used for detecting the direction.

  The autonomous posture control unit 206 uses the detection output from various sensors mounted on the sensor unit 205 and the captured video from the camera unit 209 so that the drone 2 flies stably in an appropriate posture. The flight drive unit 208 is controlled. Since the ultrasonic sensor is used, it is not always necessary to use the image information from the camera unit 209, but the image information from the camera unit 209 can also be used for confirmation of an obstacle. This is particularly important during take-off and landing.

  The GPS unit 207 and the GPS antenna 207A are parts that realize a function of accurately detecting (positioning) the current position of the own device by receiving and analyzing transmission signals (positioning information) from a plurality of artificial satellites. . The GPS unit 207 can detect latitude, longitude, and altitude. The flight drive unit 208 supplies a drive control signal to each of the engine units 41A, 41B, 41C, and 41D of the propeller mechanisms 24A, 24B, 24C, and 24D of the flight mechanism unit 21 according to the control of the autonomous attitude control unit 206. Thereby, about the drone 2, various moving operation | movement, attitude | position control, and hovering position control can be performed.

  As described above, the camera unit 209 includes five cameras C1, C2, C3, C4, and C5 provided at the center of the five front, rear, left, and right surfaces of the drive control unit 22 of the drone 2. It operates according to the control of the control unit 202. Further, since the camera unit 209 includes five cameras C1, C2, C3, C4, C5, and C6, it is possible to control which camera is used for shooting, and four cameras (front, rear, left, and right). By compositing the images shot with C1, C2, C3, and C4 facing downward, the lower image of the drone 2 can also be appropriately shot.

  The flight control unit 211 cooperates with the autonomous attitude control unit 206 to receive a supply from the drone control device 1 and fly the flight route according to the flight instruction data stored and held in the storage device 203. The flight drive unit 208 is controlled. While the autonomous attitude control unit 206 mainly performs attitude control of the drone, the flight control unit 211 performs a flight so as to follow a coordinate point sequence including the latitude, longitude, and altitude indicated by the flight instruction data. The drive unit 208 is controlled.

  In this embodiment, the position notification unit 212 wirelessly transmits the current position (latitude, longitude, height (altitude)), flight direction, flight speed, remaining flight distance, and the like when flight instruction data is provided. The drone control device 1 is notified through the communication unit 201 and the transmission / reception antenna 201A. Notification of the current position and the like is performed at a predetermined timing (for example, every few minutes). For example, when a notification request for the current position or the like is received from the drone control device 1, for example, Notification processing can also be performed.

  The current position (latitude, longitude, height (altitude)) is information acquired through the GPS unit 207, and the flight direction is information acquired through the geomagnetic sensor of the sensor unit 205. The flight speed is information acquired through the acceleration sensor of the sensor unit 205, and the remaining flight distance is information calculated based on the remaining battery capacity of the power supply unit 204.

  The drone 2 having such a configuration flies so as to follow the flight route searched for in the drone control device 1 in accordance with the flight instruction data from the drone control device 1. Further, it is possible to take off, land, change the flight state, and take evacuation action according to take-off permission, landing permission, control instruction, and evacuation instruction from the drone control device 1. It has become.

[Various treatments of drone control device 1]
Next, variable link cost update processing, route search processing, reroute processing, and drone control processing, which are main processing performed in the drone control device 1 of this embodiment, will be described with reference to flowcharts. .

[Update processing of variable link cost]
FIG. 36 is a flowchart for explaining the update process of the variable link cost performed by the drone control device 1. As described above, the fixed link cost of the link data of the drone aviation NWDB 130 is fixedly determined based on the link length and the safety level of the location below the link. However, the variable link cost varies depending on the statistical information and the variation information. For this reason, the control unit 102 of the drone control device 1 is connected to the change information acquisition unit 104 at the change of the time span indicated by the statistical information, that is, the timing when the season, the day of the week, and the time zone change or the change information is updated. The variable link cost update unit 105 is controlled to perform update processing of the variable link cost.

  First, the control unit 102 accesses the drone air NWDB 130 via the communication I / F 101 and clears (initializes) the variable link cost of the link data (step S101). Next, the control unit 102 controls the fluctuation information acquisition unit 104 to acquire congestion degree information that is statistical information that is required to be disclosed on the Internet through the communication I / F 101. This statistical information indicates the degree of congestion of people and cars according to the season, day of the week, and time zone. Specifically, beaches and swimming pools and their surroundings are congested in summer, tourist spots and large-scale commercial facilities and their surroundings are congested on weekends, and stations and their surroundings, main roads, It is possible to specify a crowded place according to the season, day of the week, and time zone, such as the surrounding area being crowded.

  Then, the variable link cost update unit 105 identifies an affected area based on the statistical information acquired by the variable information acquisition unit 104 under the control of the control unit 102 (step S103). That is, a place or an area where people or cars are considered to be congested during a predetermined time from the present time is specified. Then, the variable link cost update unit 105 specifies the link over the specified location or area, obtains the variable link cost of the specified link according to the degree of congestion of the statistical information, and determines the variable link cost as the drone airline. The variable link cost column of the link data in the NWDB 130 is updated (step S104).

  Next, the control unit 102 controls the fluctuation information acquisition unit 104, and acquires fluctuation information such as weather information and traffic information published on the Internet through the communication I / F 101 (step S105). The weather information mainly indicates the occurrence of weather conditions that affect the flight of drones such as wind and rain, snow, thunder, leopard, sleet, tornado, yellow sand, volcanic ash, and clear air turbulence (air pocket). In addition, the traffic information is not the degree of congestion according to the day of the week or the time of day, but the location where the current traffic congestion has occurred due to various effects such as traffic accidents, the presence of broken cars, road construction, etc. It is information to show.

  Then, under the control of the control unit 102, the variable link cost update unit 105 identifies the affected area based on the fluctuation information such as weather information and traffic jam information acquired by the fluctuation information acquisition unit 104 (step S106). That is, a place or area that is in a weather state that affects the flight of the drone and a place or area in which a traffic jam occurs during a predetermined time from the present time is specified. Then, the variable link cost update unit 105 specifies a link over the specified place or area, obtains the variable link cost of the specified link in accordance with the weather condition or the traffic jam condition, and obtains this variable link cost NWDB 130 for drone. The link data is updated to the variable link cost column (step S107). Then, the process shown in FIG. 36 ends.

  Here, the update of the variable link cost based on the congestion degree information that is statistical information and the update of the variable link cost based on the weather information and traffic jam information that are the fluctuation information are performed simultaneously. For this reason, there is a place that is affected by both congestion degree information that is statistical information and weather information and traffic jam information that are fluctuation information. In this case, the variable link cost is determined in consideration of both variable link costs.

  In simple terms, the variable link cost is obtained by adding both the update of the variable link cost based on the congestion degree information that is statistical information and the variable link cost that is based on weather information and traffic jam information that are the variable information. Of course, it is possible to add a weight to each of the update of the variable link cost based on the congestion information that is statistical information and the variable link cost that is based on the weather information or traffic jam information that is the variable information, and determine the link cost accordingly. Good.

  The update of the variable link cost based on the congestion degree information that is statistical information and the update of the variable link cost that is based on weather information and traffic jam information that are the variable information may be performed separately. In this case, a variable link cost update column based on congestion information that is statistical information and a variable link cost update column based on meteorological information and traffic jam information that are variable information are provided separately, and each update process is performed. It should be done separately.

  In this case, the variable link cost update column based on the congestion degree information that is statistical information is cleared, and the processing from step S102 to step S104 in FIG. 36 is performed, thereby changing the link based on the congestion degree information that is statistical information. Cost can be updated. Further, by clearing the update column of the variable link cost based on the weather information and traffic jam information that is the fluctuation information, and performing the processing from step S105 to step S107 in FIG. 36, the fluctuation based on the weather information and the traffic jam information that is the fluctuation information The link cost can be updated.

[Route search processing]
FIG. 37 is a flowchart for explaining route search processing performed by the drone control device 1. The drone control device 1 of this embodiment performs a search process for the flight route of the drone based on the network data of the drone aviation NWDB 130.

  The control unit 102 of the drone control device 1 receives a flight route search request including a flight route search condition for the drone from the drone operation management device 5 through the communication I / F 101 (step S201). The received route search request includes a drone identification ID, an IP address, a departure place, a destination, and, if necessary, a transit point. Then, under the control of the control unit 102, the search condition setting unit 106 sets the flight route search condition included in the accepted flight route search request in the route search unit 107 (step S202).

  The route search unit 107 refers to the network data of the drone aviation NWDB 130 and searches for a flight route that is a flight route from the departure point to the destination and that has a minimum link cost including a fixed link cost and a variable link cost. (Step S203). In this case, it is possible to search for a flight route by selecting a link so that the link cost of the fixed link cost and the variable link cost is minimized, and for each of the fixed flight route and the variable flight route. A weight may be set and a link cost considering the weight may be used.

  As a result, for example, a link having a low fixed link cost such as a river, a riverbed, the sea or the coast is preferentially used, and an optimum flight route can be searched in consideration of a variable link cost. In addition, for example, when there are few fluctuation factors about the link cost, it is also possible to search for a flight route by considering only the fixed link cost and not considering the variable link cost.

  Then, the route search unit 107 records the search result as route data for each drone in the flight route data file for each drone 140 (step S204). Thereafter, under the control of the control unit 102, the flight instruction forming unit 108, based on the flight data (searched flight route) of the flight route data file 140 for each drone, a coordinate point sequence including latitude, longitude, and height, The flight instruction data is formed (step S205). This flight instruction data may indicate a flight route by a polyline constituted by a sequence of coordinate points, or indicate a flight route as a three-dimensional space as described with reference to FIG. May be.

  Then, the flight instruction forming unit 108 provides the formed flight instruction data by transmitting it through the communication I / F 101 to a drone for autonomous navigation or a remotely operated drone remotely operated device (step S206). As described above, the drone control device 1 searches the flight route according to the flight route search condition included in the flight route search request from the drone operation management device 5, and navigates the drone so as to follow the searched flight route. (Guidance). The drone control device 1 can include the flight speed at the time of flight in the flight instruction data, and can instruct not only the flight route but also the flight speed.

[Reroute processing 1]
FIG. 38 is a flowchart for explaining the reroute processing 1 performed by the drone control device 1. The drone control device 1 of this embodiment performs a reroute process (reroute process 1) of the drone flight route based on the network data of the drone aviation NWDB 130 when the flight route departs from the searched flight route. be able to.

  The control unit 102 of the drone control device 1 acquires the current position transmitted at every predetermined timing from the drone that has provided the route instruction data through the communication I / F 101 (step S301). Then, the control unit 102 refers to the flight route of the drone in the flight route data file 140 for each drone through the communication I / F 101, and determines whether or not the flight route is out of the searched flight route (step S302). If it is determined in step S302 that the searched flight route is not deviated, the current flight route is maintained (step S303). That is, there is no instruction for changing the flight route.

  Assume that it is determined in the determination process of step S302 that the current position of the drone is out of the searched flight route. In this case, the control unit 102 determines whether or not the drone can continue to fly to the destination (step S304). That is, in step S301, various information indicating not only the current position from the drone but also the state of the drone, for example, various information such as the state of malfunction of the part that affects the flight, the remaining power consumption, the remaining flight distance, etc. Make sure to receive it. In step S304, the control unit 102 determines whether or not the drone can continue to fly to the destination based on various information indicating the drone state from the received drone.

  When it is determined in the determination process of step S304 that the drone is in a state where continuous flight to the destination is not possible, an emergency control circuit search process is performed (step S305). In step S305, a location where the drone can be safely exited from the current location of the drone is specified with reference to the drone aerial map DB 120, and an instruction is issued to the drone so that the location can be safely exited. . Places where drones can safely exit means places where the drone can exit without causing any obstacles to people or features, specifically rivers, lakes, vacant lots, fields, etc. Is a place. Or it is a large place where a drone can take off and land, such as a drone port.

  If there is no place where drones can safely get off, identify a place that will not affect people and features on the ground as much as possible, such as the roof of a building or the roof of a large building, and get off to that place. Give instructions to do so. In addition, a response such as contacting a predetermined contact may be performed in step S305 so as to collect the drone that has landed (landed or landed).

  Assume that it is determined in the determination process in step S304 that the drone is in a state where continuous flight to the destination is possible. In this case, the control unit 102 controls the reroute processing unit 110 to search again for the flight route from the current position to the destination (step S306). Similar to the route search unit 107, the reroute processing unit 110 refers to the network data of the drone aviation NWDB 130, and is a flight route from the current position to the destination, and has a link cost consisting of a fixed link cost and a variable link cost. Re-search for the minimum flight route.

  Then, the reroute processing unit 110 updates the re-search result in the flight route data file 140 for each drone as route data for each drone (step S307). Thereafter, under the control of the control unit 102, the route change instruction unit 111, based on the flight data (searched flight route) of the flight route data file 140 for each drone, a coordinate point sequence including latitude, longitude, and height, The flight instruction data is formed (step S308). The processing in step S308 is similar to the processing performed in the flight instruction forming unit 108.

  Then, the route change instruction unit 111 provides the formed flight instruction data by transmitting it to the drone for autonomous navigation or the remotely operated drone remotely operated device via the communication I / F 101 (step S309).

  Then, after each process of step S303, step S305, and step S309, the process shown in FIG. 38 is terminated and the process waits for the next current position to be transmitted from the drone. As described above, when the drone that provided the flight instruction data deviates from the searched flight route, the drone control device 1 performs the reroute process so that the re-searched flight route is traced to the destination. The drone can be navigated (guided). Also in this case, the drone control device 1 can include the flight speed at the time of flight in the flight instruction data, and can instruct not only the flight route but also the flight speed.

[Reroute processing 2]
FIG. 39 is a flowchart for explaining the reroute processing 2 performed by the drone control device 1. The drone control device 1 of this embodiment can perform the reroute process (reroute process 2) of the drone flight route when the variable link cost of the link data of the drone air NWDB 130 is updated.

  The process of FIG. 39 is executed when the variable link cost update process described with reference to FIG. 36 is performed. First, the control unit 102 identifies a link in which the variable link cost of the link data of the drone aviation NWDB 130 is updated to new data (step S401). And the control part 102 extracts the flight route containing the link specified by step S401 from the flight route data file 140 classified by drone (step S402).

  Then, the drone that uses the flight route extracted in step S402 is requested to notify the current position, and the current position of the drone is acquired (step S403). Thereafter, the control unit 102 controls the reroute processing unit 110 to re-search for a flight route from the current position to the destination (step S404). Similar to the route search unit 107, the reroute processing unit 110 refers to the network data of the drone aviation NWDB 130, and is a flight route from the current position to the destination, and has a link cost consisting of a fixed link cost and a variable link cost. Re-search for the minimum flight route.

  Then, the reroute processing unit 110 determines whether or not the flight route obtained by re-searching is different from the current flight route (original flight route) and the route needs to be changed (step S405). If it is determined in the determination process in step S405 that a route change is necessary, the reroute processing unit 110 updates the re-search result in the flight route data file 140 for each drone as route data for each drone (step S406). Thereafter, under the control of the control unit 102, the route change instruction unit 111, based on the flight data (searched flight route) of the flight route data file 140 for each drone, a coordinate point sequence including latitude, longitude, and height, The flight instruction data is formed (step S407). The process in step S407 is the same as the process performed by the flight instruction forming unit 108.

  Then, the route change instruction unit 111 provides the formed flight instruction data by transmitting it to the drone for autonomous navigation or the remotely operated drone remotely operated device via the communication I / F 101 (step S408). In the determination process in step S405, when it is determined that the flight route obtained by re-searching is the same as the current flight route (original flight route) and the route change is unnecessary, the current flight route is determined. This is maintained (step S409). That is, the flight route change instruction is not performed.

  Then, after the process of step S408 or after the process of step S409, the process shown in FIG. 39 is terminated and the next timing for updating the variable link cost is awaited.

  As described above, when the variable link cost is updated, the drone control apparatus 1 can reroute the flight route using the updated latest variable link cost. Thereby, the drone can be navigated (guided) so as to follow an appropriate flight route in consideration of the latest variable link cost and to go to the destination. A variable factor can change a flight route that uses a link that is no longer suitable for flight to an appropriate flight route. Also in this case, the drone control device 1 can include the flight speed at the time of flight in the flight instruction data, and can instruct not only the flight route but also the flight speed.

[Drone control processing]
40 and 41 are flowcharts for explaining the drone control processing performed by the drone control device 1. FIG. The processes shown in FIGS. 40 and 41 are executed mainly by the communication I / F 101, the drone monitoring unit 112, the existing control cooperation unit 113, and the control instruction forming unit 114 under the control of the control unit 102.

  First, the control unit 102 receives flight state information including a current position, a flight direction, a flight speed, a remaining flight distance, and the like from the drone 2 through the communication I / F 101, and transmits the flight state information according to the drone through the communication I / F 101. Processing for updating the data file 140 is started (step S501). Thereby, for example, flight state information transmitted from each drone 2 every few minutes is received, and this is updated to the flight route data file 140 for each drone, and the latest state of each drone is grasped. Note that various adjustments can be made to the transmission timing of the flight state information from each drone. Further, each drone may transmit the flight state information in response to a transmission request from the drone control device 1.

  Then, the drone monitoring unit 112 refers to the flight route data file 140 for each drone under the control of the control unit 102, and forms the current position of the flight state information of each drone on the storage medium of the storage device 103. Plot on the map (step S502). Thereby, it is possible to accurately grasp the positional relationship between each drone and other drones. That is, it is possible to realize a function equivalent to a radar in an existing manned aircraft control system. Further, the drone monitoring unit 112 grasps the flight direction, flight speed, remaining flight distance, and the like of each drone, and detects the drone to be controlled in consideration of these (step S503). The details of the process for detecting the drone to be controlled performed in step S503 will be described later.

  Then, the drone monitoring unit 112 notifies the control instruction forming unit 114 of information regarding each drone detected as a drone to be controlled. Here, the information regarding the drone is notified of an IP address which is the identification information of the drone and information indicating why the drone is a drone to be controlled. The information indicating why the drone is subject to control indicates whether it is waiting for takeoff, landing, traffic regulation, danger avoidance, traffic regulation release, status change after danger avoidance, or evacuation release. is there. In addition, the traffic regulation subject and the traffic regulation release drone are also notified of the traffic regulation subject.

  Based on the information from the drone monitoring unit 112, the control instruction forming unit 114 starts a control process for the drone to be controlled (step S504). The control instruction forming unit 114 forms a control instruction for a drone that needs to be controlled according to the status of the drone that is a control target, and transmits the control instruction formed for the drone. Thus, the drone that has received the control instruction performs an operation according to the control instruction. Details of the control process performed in step S504 will be described later.

  Thereafter, under the control of the control unit 102, the existing control cooperation unit 113 has a drone that affects the flight of an aircraft other than a drone, specifically, a manned aircraft, based on information from the drone monitoring unit 112. It is determined whether or not to perform (step S505). For example, if there is a drone flying near the airport, or if there is a drone flying over 150m above the surface or water surface where manned aircraft may fly, the drone affecting manned aircraft It is determined that it exists.

  If it is determined in step S505 that there is a drone that affects the flight of the manned aircraft, the existing control linkage unit 113 forms caution information and transmits it to the control system of the aircraft other than the drone (step S505). S506). The caution information can easily affect the flight of a manned aircraft if the drone exists at a location specified by (latitude, longitude, height) in the airspace where the manned aircraft flies. And information for notifying that there is sex.

  By the processing of step S505 and step S506, the safety of the manned airplane can be ensured when the drone may affect manned airplanes other than the drone. In addition, the drone is controlled so as to exit from the airspace that affects the manned aircraft by the processing of step S503 and step S504.

  Next, the existing control cooperation unit 113 functions under the control of the control unit 102, and acquires control information related to an aircraft (manned aircraft) other than the drone through the communication I / F 101 (step S507). The control information relating to the manned aircraft is information indicating a case where the manned aircraft enters the drone's flying airspace. Then, proceeding to the processing of FIG. 41, the existing control cooperation unit 113 determines whether there is an airspace in which the flying drone is affected by the manned aircraft based on the control information of the manned aircraft acquired in step S507 ( Step S508).

  Assume that it is determined in the determination process in step S508 that there is an airspace in which a flying drone is affected by a manned aircraft. In this case, the existing control cooperation unit 113 identifies the airspace (influenced airspace) where the flying drone is affected by the manned aircraft, and evacuates the drone that is flying in the affected airspace and the drone that is about to enter the affected airspace It is detected (identified) as a drone to be instructed, and this is notified to the control instruction forming unit 114 (step S509).

  The control instruction forming unit 114 forms a retreat instruction for the drone detected as the drone to which the retreat instruction from the existing control cooperation unit 113 is to be issued, and transmits this to the drone to which the retreat instruction is to be issued (step S510). Thereby, it is possible to prevent the drone and the manned aircraft in flight from being affected by each other.

  After the process of step S510 and in the determination process of step S508, if it is determined that there is no airspace in which the flying drone is affected by the manned aircraft, the processes after step S511 are performed. That is, the drone monitoring unit 112 and the control instruction forming unit 114 cooperate to execute a take-off control process (step S511). In step S511, first, the drone monitoring unit 112 identifies a drone waiting for takeoff, and sets a takeoff order when there are a plurality of drones waiting for takeoff. The drone monitoring unit 112 notifies the control instruction forming unit 114 of the IP address of the identified drone and the takeoff order if any.

  Based on the information plotted in step S502, the control instruction forming unit 114 confirms the situation of the drone existing around the takeoff location, and if it can be confirmed that the situation can be taken off, In response, a take-off instruction is formed and transmitted. When there are a plurality of drones waiting for take-off, this take-off instruction is issued to the drones waiting for take-off according to the order of take-off determined for each drone. If there are a plurality of drone ports in the area to be controlled, the process of step S511 is performed for each drone port.

  Thereafter, the drone monitoring unit 112 and the control instruction forming unit 114 cooperate to execute a landing control process (step S512). In step S512, first, the drone monitoring unit 112 identifies a drone that is waiting for landing, and sets a landing order when there are a plurality of drones that are waiting for landing. The drone monitoring unit 112 notifies the control instruction forming unit 114 of the identified drone IP address and the landing order, if any.

  Based on the information plotted in step S502, the control instruction forming unit 114 confirms the situation of the drone that exists in the vicinity of the landing place, and if it can be confirmed that the landing is possible, the specified drone is assigned. A landing instruction is formed and transmitted. When there are a plurality of drones waiting for landing, this landing instruction is issued in order to the drones waiting for landing according to the landing order determined for each drone. Since the destinations of the drone are various, the process of step S512 is performed for each destination of the drone.

  Thereafter, the processing from step S502 of FIG. 40 is repeated, and the air traffic control for the drone is continuously performed. 40 and 41, the drone control device 1 manages all of the drones flying in the controlled area, grasps the situation of each drone, and is appropriate for each drone. A control instruction can be issued. As a result, all drones flying in the controlled area can safely fly, and the drone can be operated efficiently without taking unnecessary avoidance actions.

[Specific example of detection process for controlled drone]
Details of the process for detecting a drone to be controlled, that is, a drone to be provided with a control instruction, performed by the drone monitoring unit 112 in step S503 of the drone control process illustrated in FIGS. 40 and 41 will be described. The drone monitoring unit 112 displays the situation around the current position of each drone, the situation of the flight when flying, and the origin, destination, flight purpose, aircraft attributes, flight route, drone as necessary. The drone to be controlled is detected in consideration of the aerial map. The drone monitoring unit 112 detects a drone waiting for take-off, a drone waiting for landing, a drone subject to traffic regulation, and a drone requiring danger avoidance as a drone subject to control.

  Specifically, a drone waiting for takeoff or a drone waiting for landing can be detected as a drone waiting for takeoff or a drone waiting for landing based on notifications from these drones.

  In addition, the drone monitoring unit 112 stores the drone air regulation DB 150 based on the flight route of the drone-specific flight route data file 140 of each drone and the traffic regulation applied to the nodes and links constituting the flight route of each drone. Identify by reference. Then, the drone monitoring unit 112 refers to the drone air NWDB 130 based on the current position of each drone, and specifies the link connecting the nodes where the current position is located as the link in flight. The drone monitoring unit 112 has traffic restrictions applied to the identified link or to a node or link connected to the identified link based on the previous identification result, and the flight of the drone When it is necessary to control the drone, it is detected that it is a drone subject to traffic regulation.

  Here, a drone subject to traffic regulation is detected using the searched flight route, but the present invention is not limited to this. For example, the drone monitoring unit 112 refers to the drone air NWDB 130 based on the current position of each drone, and identifies the link connecting the nodes where the current position is located as the link in flight. The drone monitoring unit 112 refers to the drone air regulation DB 150 to determine whether or not there is a traffic regulation that is applied to the specified link or to a node or link connected to the specified link. To grasp. And when the traffic regulation applied exists and it is necessary to control the flight of the drone, the drone may be detected as a drone subject to traffic regulation.

  Also, the drone monitoring unit 112 can detect whether or not the drone needs to avoid danger according to the drone situation. 42 and 43 are diagrams for explaining an example of a situation where a drone needs to avoid danger. FIG. 42A shows a case where the flight routes match and the flight speed of the subsequent drone 2 (2) is faster than the flight speed of the preceding drone 2 (1). That is, if drone 2 (1) and drone 2 (2) are flying on the same latitude with slightly different longitudes, and the flight altitude and flight direction are the same, the following drone 2 (2) If the flight speed is faster than the flight speed of the preceding drone 2 (1), there is a possibility of a rear-end collision. In such a case, the drone monitoring unit 112 detects the drones 2 (1) and 2 (2) as drones to be controlled.

  FIG. 42B shows a case where the drone 2 (1) and the drone 2 (2) are flying in a state where the latitude and longitude are the same or close to each other and the altitudes are close to each other. In this case, if the altitudes of the drones 2 (1) and 2 (2) are shifted, there is a possibility of a collision. In such a case, the drone monitoring unit 112 detects the drones 2 (1) and 2 (2) as drones to be controlled.

  FIG. 43A shows a case where the altitudes are the same or close to each other and the flight routes (flight directions) intersect, and there is a possibility of collision in consideration of the flight speed. In such a case, the drone monitoring unit 112 detects the drones 2 (1) and 2 (2) as drones to be controlled. FIG. 43B shows a case where the flight routes intersect vertically. That is, when the drone 2 (1) is flying on the flight route descending toward the node Nx and the drone 2 (2) is flying on the flight route rising toward the node Nx, the flight speed is considered. Then, there is a possibility that both may collide. In this case, the drone monitoring unit 112 detects the drones 2 (1) and 2 (2) as drones to be controlled.

  Here, although four examples which detect with the drone used as a control object were explained using Drawing 42 and Drawing 43, it is not restricted to this. Various patterns indicating the state (situation) of the drone to be controlled are stored and held in the storage device 103, and the drone monitoring unit 112 matches the state of each drone with one of the patterns. The drone can be detected as a drone to be controlled.

  The drone monitoring unit 112 is also a control target for a drone whose state needs to be returned for each drone that has been subject to a evacuation instruction in relation to traffic regulation targets, danger avoidance targets, manned aircraft, and the like. Detect as drone. That is, the drone monitoring unit 112 refers to the control history information recorded in the storage device by the control instruction forming unit 114 and identifies the drone that has issued the control instruction.

  For this specified drone, refer to the current 3D airspace map, flight status information for each drone, and information on the drone air regulation DB 150, and then the drone that needs to be returned to the drone as a controlled drone To detect. That is, even if the drone subject to the traffic regulation is in a state where the traffic regulation is released, it is detected that the drone is released from the traffic regulation. Specifically, it can be detected that the drone has been released from traffic restrictions when, for example, it passes through a link that is subject to traffic regulation or is temporarily stopped by hovering to ensure safety.

  Even if a drone is subject to danger avoidance, the danger has been avoided when the danger has been avoided from the surrounding situation at the present time, so the situation has become more suitable for the situation before the avoidance. It can be detected that the drone changes. Even if a drone is subject to a evacuation instruction in relation to a manned aircraft, etc., if the affected airspace affected by the manned aircraft is resolved, the drone will be changed to a more suitable state according to the situation before evacuation. It can be detected as a drone. In this way, the drone monitoring unit 112 can appropriately detect a drone whose status is to be changed.

[Details of Control Instruction Formation and Transmission Processing in Control Instruction Forming Unit 114]
Details of the control instruction formation and transmission process performed by the control instruction forming unit 114 in step S504 of the drone control process shown in FIGS. 40 and 41 will be described. As described above, the control instruction forming unit 114 forms a control instruction for the drone according to the drone status detected as the drone to be controlled by the drone monitoring unit 112, and this is used as the drone. Send.

  Specifically, the control instruction forming unit 114 considers the drone waiting for takeoff in consideration of the flight route of the drone and the situation around the takeoff area. Occasionally, a take-off permission (take-off instruction) is formed and transmitted. Specifically, the control instruction forming unit 114 also confirms whether there are many drones around the flight route of the drone waiting for takeoff, or whether the flight route flies over the affected airspace of the manned aircraft. Then, when there is no drone that hinders takeoff in the sky above the takeoff place, a flight permission (flight instruction) is formed and transmitted to the drone.

  In this way, the control instruction forming unit 114 also realizes a function of approving a flight route (flight plan) by considering the flight route of the drone that is waiting for takeoff. In addition, when the take-off area is a relatively large drone port, it is possible to control the movement route in the drone port. Further, when issuing a take-off instruction, it is possible to take into account the weather condition of the take-off area.

  Also, for drones that are waiting for landing, a landing permission (landing instruction) is formed and transmitted when it is possible to land safely in consideration of the remaining flight distance and the situation around the takeoff area. . Specifically, the control instruction forming unit 114 confirms whether the remaining flight distance is sufficient and whether there is a drone or the like that hinders landing. Then, when there is no drone that hinders landing around the landing area, a landing permission (landing instruction) is formed and transmitted.

  In addition, when the landing site is a relatively large drone port, it is possible to control the movement route in the drone port. In addition, when issuing a landing instruction, the weather condition of the landing place can be taken into consideration. In addition, when there is a drone that impedes landing, or when the weather conditions are bad, an instruction to change the landing location can be issued. In this case, in consideration of the remaining possible flight distance, a nearby landable place is specified with reference to the drone aerial map DB 120. Then, the route to the specified location may be searched with reference to the drone air NWDB 130, and the flight route to the landing location may be guided to the drone according to the search result. The landing change function can be realized by cooperation of the reroute processing unit 110, the route change instructing unit 111, and the control instruction forming unit 114.

  In addition, the control instruction forming unit 114 forms a control instruction for complying with the applicable traffic regulations for the traffic regulation target drone, and transmits this to the drone. For example, control instructions are given to comply with various traffic regulations that are provided for the links to fly, such as instructing to fly at a predetermined speed or less, or instructing to pause by hovering. Is called.

  For drones subject to traffic restrictions, the aircraft attributes are also considered. For example, there is no instruction to the fixed wing aircraft for a temporary stop by hovering. However, considering the aircraft attributes, the flight route is searched, so that the fixed-wing aircraft uses a link with a pause or a link that must fly faster than its own maximum speed. It is made not to do.

  Further, the control instruction forming unit 114 first comprehensively grasps the state of the drone, the surrounding state of the drone, the aircraft attribute, and the like for the drone targeted for danger avoidance. The state of the drone is the current position, flight direction, flight speed, remaining flight distance, etc. of the drone, and the flight state of the data for the drone in the flight route data file 140 for each drone used in step S502 of FIG. It can be grasped by information.

  In addition, the drone's surroundings include the current location, flight direction, flight speed, remaining flight distance, aircraft attributes, etc. of other drones flying around the drone, as well as nearby buildings and mountains. Such as geographical status. Other drone states can be grasped based on the corresponding drone data in the three-dimensional airspace map plotted in step S502 of FIG. 40 or the flight route data file 140 for each drone. The geographical state can be grasped by referring to the drone aerial map DB 120.

  And the control instruction | indication formation part 114 specifies the drone which can change a state among the drones of danger avoidance object, forms the control instruction with respect to the specified drone, and transmits. For example, when a fixed wing aircraft and a quadcopter are flying close to each other in the horizontal direction, it is not possible to instruct the fixed wing aircraft to pause by hovering. For this reason, for example, a quadcopter is instructed to pause by hovering to avoid a dangerous state.

  Further, it is assumed that the quadcopters are flying close to each other in the vertical direction (height direction), and an obstacle such as a high-rise building exists on the lower side. In this case, the high-rise building becomes an obstacle, and the lower quadcopter cannot be instructed to descend. Therefore, the upper quadcopter is instructed to ascend to avoid a dangerous situation. . Of course, when a plurality of drones are in a dangerous state, a control instruction may be issued to each of the plurality of drones to avoid the danger.

  In addition, as described above, the control instruction forming unit 114 forms a control instruction for canceling the traffic restriction previously issued and transmits it to the drone for which the traffic restriction is to be canceled. In addition, the control instruction forming unit 114 forms a control instruction on how to fly a drone that has been subjected to danger avoidance and whose state is to be changed, and transmits this. Therefore, for example, for a drone whose flight altitude has been changed to avoid danger, a control instruction for returning the flight altitude is formed and transmitted.

  In this way, the control instruction forming unit 114 appropriately identifies the control content for each drone by comprehensively taking into account the surrounding situation of the drone at that point in time for the drone detected as the drone to be controlled. Can be controlled appropriately.

[Effect of the embodiment]
Existing air traffic control is centrally managed for take-off permission, landing permission, flight permission, etc., and a mechanism is in place to prevent accidents. On the other hand, intensive control is not considered for drones. A mechanism for drone air traffic control has not yet been considered. Although communication between drones and collision avoidance by sensors are important, by providing the drone control device 1 of the above-described embodiment, control control for operating the drone safely and efficiently can be performed.

  Further, according to the drone control device 1 of the above-described embodiment, the control is performed according to the drone type, position, flight direction, speed, remaining flight distance, departure place, destination, flight purpose (urgent level), and the like. Control is possible.

  Further, according to the drone control device 1 of the above-described embodiment, when performing integrated management with the existing air traffic control, the existing air traffic control is classified by area, but for the drone control, for example, the IoT platform is used. Therefore, air traffic control can be performed over a wide range while roaming. That is, by using the IoT platform 3, all drones that can communicate with the drone control device 1 can be controlled.

  Further, according to the drone control device 1 of the above-described embodiment, it is possible to cooperate with an existing air traffic control system, that is, a manned aircraft control system. As a result, when an existing aircraft (manned aircraft) leaves the flight airspace due to an accident or an incident, a drone in the affected area can be avoided. The reverse is also possible.

  Further, according to the drone control device 1 of the above-described embodiment, comprehensive management (information exchange and integration) with the existing control can be realized. In addition, it will be possible to respond to drone traffic regulations that will be applied in the future, and to control drones to comply with drone traffic regulations.

[Modifications, etc.]
In the above-described embodiment, the drone control device 1 controls the take-off and landing of the drone. However, the present invention is not limited to this. When a drone leaves and arrives at a drone port (airfield), a dedicated drone control device that performs port control may be provided. Port control may be performed by a person or AI (artificial intelligence).

  In the embodiment described above, the drone control device 1 detects the drone 2 waiting for takeoff or the drone 2 waiting for landing, and performs the takeoff control or the landing control. However, the present invention is not limited to this. . For example, the drone 2 ready for take-off may send a take-off request to the drone control device 1, and the drone control device 1 may start take-off control in response thereto. Alternatively, the drone 2 that has reached the vicinity of the destination and is ready for landing may send a landing request to the drone control device 1, and the drone control device 1 may start landing control accordingly. .

  In the embodiment described above, in order to simplify the explanation, a take-off instruction is issued for a drone waiting for take-off, and a landing instruction is issued for a drone waiting for take-off. Explained that it will land. However, of course, more detailed control can be performed.

  For example, you may instruct | indicate in detail the order of a departure / arrival, a regular route, a system, an up / down. The order may be ordered by a unique ID assigned to each drone, that is, an aircraft ID or an IP address.

  Also, if the drone port where the drone takes off and landing is a large one, the route from the parking space to the take-off space and the route from the landing space to the parking space, that is, the route in the port, the latitude and longitude for each hour It may be indicated by a coordinate point sequence or polyline including

  Moreover, what is necessary is just to instruct | indicate with the coordinate containing the latitude longitude of a departure / arrival point, a direction, and a speed | rate (output) as a departure / arrival system.

  Also, in the above-described embodiment, the drone takes off from the port and takes off from the port until it reaches the airway, and the landing induction control until the drone enters the port from the airway and landes. This is performed by the traffic control device 1. However, it is not limited to this. A drone control device for take-off guidance control or a drone control device for landing guide control may be provided, or if a drone control device for port control is provided, this may be a take-off guide control or landing guide. You may make it control.

  These guidance controls may be performed by humans, or may be performed by AI (artificial intelligence), and may not be controlled in a quiet airspace. The guidance may be performed at a coordinate point sequence including a latitude / longitude and a height, a polyline, or a speed at each time.

  In addition, drone control is not necessary in quiet airspace. However, even in a quiet airspace, the drone control device 1 issues the minimum necessary instructions such as takeoff permission (takeoff instruction), landing permission (landing instruction), etc. May be performed.

  In addition, the sky above the area where there are few people who use the drone is a quiet airspace, and the sky above the area where there are many people who use the drone is a congested airspace. For this reason, it is possible to set an area in which drone air traffic control is performed and an area in which drone air traffic control is not performed, and perform drone air traffic control only in an area in which drone air traffic control is performed.

  In this case, the drone air traffic control apparatus 1 receives identification information such as the IP address of the drone transmitted from the drone and information including the current position. When the received current position is outside the control area managed by the drone, the drone air traffic control device 1 ends the control for the drone specified by the IP address. Conversely, the drone air traffic control device 1 is determined that the current position received from the drone is in the control area managed by the drone, and the drone is not yet controlled from the IP address of the drone. . In this case, the drone air traffic control device 1 starts control of the drone specified by the IP address.

  In this way, the drone control device 1 detects a drone that has moved out of its own control airspace from within its own control airspace when the corresponding control airspace is set. Can be removed from the scope of control. Conversely, it is possible to detect a drone that enters the controlled airspace from outside the controlled airspace, and make the drone subject to control.

  In addition, when a drone flies over an air route, air route control is used. In the above-described embodiment, the air route control is performed by the drone control device 1. However, a drone control device dedicated to the air route control may be provided. This air route control may be performed by a person, or may be performed by AI (artificial intelligence). In addition, air route control may be performed at a coordinate point sequence including latitude and longitude and height, a polyline, and a speed at each time.

  In addition, when AI (artificial intelligence) of the drone control device 1 performs various controls related to the drone, the functions of the drone monitoring unit 112, the existing control cooperation unit 113, and the control instruction forming unit 114 are performed by AI (artificial intelligence). Realized.

  In this way, the drone control device can be configured such that one controls the entire drone, or a plurality of drone control devices are provided according to the application, or a plurality of drone control devices are divided by airspace. Can be provided. In addition, when a plurality of drone control devices are provided, AI (artificial intelligence) realized by, for example, the control unit 102 of each drone control device is a drone that enters the airspace managed by the own aircraft, and a drone that exits Manage properly. For this reason, the flight route data file 140 for each drone of the aspect shown in FIG. 26 may be provided for each airspace managed by each drone control device, and the drone status may be managed for each airspace.

  When control is performed with human intervention, the status of each drone ascertained by the drone monitoring unit 112 is displayed on the screen and provided to the person performing the control, and the person specifies the drone to be controlled. . Then, a person inputs a control instruction through the control instruction forming unit 114 as an input means, and transmits this to the drone to be controlled.

  Regarding cooperation with an existing control system, when a person is involved in control, the person recognizes and identifies an affected airspace by displaying information from the existing control system on a display screen. Then, a person inputs an evacuation instruction through the control instruction forming unit 114 as an input means, and transmits this to a drone that is controlled and a drone that is flying in the affected airspace or a drone that enters the affected airspace Will do.

  Also, when providing caution information to an existing control system, if it is performed with human intervention, control is performed by displaying the status of each drone ascertained by the drone monitoring unit 112 on the screen. Offer to people. Then, a person identifies a controlled airspace where a drone affects an existing aircraft, inputs caution information through the existing control cooperation unit 113 as an input means, and notifies this to the existing control system become.

  In the above-described embodiment, the case where the drone mainly performs autonomous navigation has been described, but the drone may of course be remotely operated. In this case, the flight instruction data, the control instruction, the evacuation instruction, and the like are transmitted from the drone control apparatus 1 to, for example, a remote control device and used. Even if the drone is remotely operated, the control instruction and the evacuation instruction may be transmitted directly from the drone control device 1 to the drone so that the drone itself can function and take an appropriate action.

  In the case of a remotely operated drone, the control instruction and the evacuation instruction are provided to the remote operation device held by the remote operator, and the camera image from the drone is displayed on the display screen of the remote operation device and the camera image is also displayed. The flight route included in the control instruction or the evacuation instruction can be displayed by using AR (Augmented Reality) technology and shown to the remote operator.

  Further, the format of the flight instruction data to be generated can be changed according to the altimeter provided in the drone. In other words, there are altimeters that perform altitude measurement using the principle of atmospheric pressure and those that perform altitude measurement using the principle of reflected waves, and the numerical value indicating the height may be different on the same path. is there. Therefore, the type of altimeter can be managed as the drone attribute information, and flight instruction data corresponding to the altimeter included in the drone that provides the flight instruction data can be formed.

  As described above, the drone 2 is equipped with a camera. This camera can realize still image and video shooting, live video transmission, shake control by gimbal (rotating body that adjusts the camera position), image recognition, and vision positioning. Therefore, the drone vision positioning function can be used to match the ground image taken by the drone with the information on the drone aerial map, and the drone control device 1 can grasp the exact position of the drone.

  In the embodiment described above, flight instruction data, control instructions, and evacuation instructions are provided from the drone control device 1 to each of the drones 2 (1), 2 (2), 2 (3),. However, it is not limited to this. The flight instruction data, the control instruction, and the evacuation instruction can be provided to the drone operation management apparatus 5 and provided from the drone operation management apparatus 5 to the subordinate drone.

  In this specification, a drone to be controlled means a drone to be provided with a control instruction among drones to be controlled. Specifically, there are drones that need to change their status, such as drones waiting to take off, drones that are waiting to land, drones that need to avoid danger, and drones that are subject to traffic regulations. A drone to be controlled.

[Others]
The function of the receiving means of the drone control device in the claims is mainly the communication I / F 101 of the information processing unit (hereinafter simply referred to as the information processing unit) 100 of the drone control device 1 of the embodiment. Realized. Further, the function of the drone control device monitoring means of the claims is realized by the drone monitoring unit 112 of the information processing unit 100, and the function of the drone control device forming means of the claims is the control instruction of the information processing unit 100 The forming unit 114 is realized. The function of the transmission means of the drone control device is realized mainly by the communication I / F 101 of the information processing unit 100. The function of the acquisition unit of the drone control device in the claims is realized by the drone monitoring unit 112 of the information processing unit 100.

  Further, the functions of the other control information acquisition unit and the identification unit of the drone control device of the claim are realized by the existing control cooperation unit 113 of the information processing unit 100, and the function of the save instruction forming unit of the drone control device of the claim The control instruction forming unit 114 is realized. Further, the function of the evacuation instruction sending means of the drone control device in the claims is realized mainly by the communication I / F 101 of the information processing unit 100. Further, the existing control cooperation unit 113 of the information processing unit 100 realizes the function of the determination unit of the drone control device and the attention information forming unit in the claims. The function of the caution information sending means of the drone control device according to the claims is realized mainly by the communication I / F 101 of the information processing unit 100.

  Further, the function of the receiving means of the drone control device according to the claims is realized by the communication I / F 101 of the information processing unit 100, and the function of the storage means of the drone control device is the function of the drone control device 1 of the embodiment. The drone aviation NWDB 130 is realized. Further, the function of the search means of the drone control device according to the claims is realized by the route search unit 107 of the information processing unit 100, and the function of the flight route sending means of the claim control device of the claims is the function of the information processing unit 100 Communication I / F 101 is realized. Further, the function of the map storage means of the drone control device 1 of the claims is realized by the drone aerial map DB 120 of the drone control device 1 of the embodiment.

  In addition, the process described with reference to the flowcharts of FIGS. 40 and 41 is an application of the embodiment of the drone control method of the present invention. A program for executing the processing described with reference to the flowcharts of FIGS. 40 and 41 is obtained by applying an embodiment of the drone control program of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Drone control apparatus, 100 ... Information processing part, 101 ... Communication I / F, 102 ... Control part, 103 ... Memory | storage device, 104 ... Fluctuation information acquisition part, 105 ... Fluctuation link cost update part, 106 ... Search condition setting 107: Route search unit, 108 ... Flight instruction formation unit, 109 ... Flight information acquisition unit, 110 ... Reroute processing unit, 111 ... Route change instruction unit, 112 ... Drone monitoring unit, 113 ... Existing control cooperation unit, 114 ... Control instruction forming unit, 120 ... drone aerial map DB, 130 ... drone air NWDB, 140 ... flight route data file by drone, 150 ... drone air regulation DB, 2 ... drone, 3 ... IoT platform, 4a ... weather information Providing device, 4b ... Traffic information providing device, 4c ... Congestion degree information providing device, 5 ... Drone operation management device

Claims (12)

Receiving means for receiving the drone identification information and the status information including the current position from each of the drones that are unmanned aircraft flying in the airspace to be managed;
Monitoring means for monitoring each state of the drone based on the state information received through the receiving means, and detecting a drone to be controlled;
Forming means for forming a control instruction for the drone detected by the monitoring means;
A drone control device comprising: a transmission unit configured to transmit the control instruction formed by the forming unit. The drone control device according to claim 1,
The monitoring means detects a drone that can be taken off as a drone to be controlled when there is no take-off obstacle for the drone from the monitoring result.
The forming unit forms a take-off permission as the control instruction for the drone that is ready to take off. The drone control device according to claim 1 or 2,
The monitoring means detects a drone that can be landed as a drone to be controlled when there is no obstacle to landing for the drone from the monitoring result,
The drone control device, wherein the forming means forms a landing permission as the control instruction for the drone that is ready for landing. The drone control device according to any one of claims 1, 2 and 3,
The state information from the drone includes a flight direction and a flight speed of the drone,
Based on the identification information included in the state information of the drone, comprising an acquisition means for acquiring one or more of the attribute information of the drone, a flight purpose, and a flight route;
The monitoring device detects a drone to be controlled based on information included in state information from the drone and information acquired through the acquisition device. A drone control device according to any one of claims 1, 2, 3, or 4,
Other control information acquisition means for acquiring control information of aircraft other than drones,
Based on the information acquired through the other control information acquisition means, an identification area for identifying an affected airspace that is an airspace where the drone flies,
Retreat instruction forming means for forming a retreat instruction for a drone in flight in the affected airspace identified by the identifying means;
A drone control device comprising: a retreat instruction sending means for sending the retreat instruction formed by the retreat instruction forming means. A drone control device according to any one of claims 1, 2, 3, 4, or 5,
In the monitoring means, a determination means for determining whether or not the drone detected as the drone to be controlled affects the flight of an aircraft other than the drone,
In the determination unit, when it is determined that the drone detected as the drone to be controlled affects the flight of an aircraft other than the drone, attention information forming unit that forms attention information;
A drone control apparatus comprising: a caution information sending unit that sends the caution information formed by the caution information forming unit to a control system of an aircraft other than the drone. A drone control device according to any one of claims 1, 2, 3, 4, 5, or 6,
The monitoring means refers to the information in the traffic regulation information storage means in which information relating to traffic regulation applied to the drone is stored, and detects the drone to which traffic regulation is applied as the drone to be controlled. Drone control device characterized by. A drone control device according to any one of claims 1, 2, 3, 4, 5, 6, or 7,
Accepting means for accepting at least the drone identification information and the instruction input of the departure and destination points;
Data for searching for a flight route of the drone, the data including information on each of a plurality of nodes provided in a three-dimensional space and information on each link of the links connecting the nodes is stored. Storage means;
Based on the departure place and the destination received through the receiving means, the flight route search data in the storage means is referred to, and the drone specified by the identification information is transferred from the departure place to the destination. Search means to search for the flight route to reach,
A flight route sending means for sending the flight route searched by the search means so that the drone specified by the identification information can fly in accordance with the flight route; Control equipment. The drone control device according to claim 8,
About the flight of the drone, fixed flight obstacle information including at least the place where the obstacle is fixed and the height occupied by the place, the place where the flight obstacle occurs variably according to the season, time, and time 3D drone aerial map information including at least one of the following information: variable obstacle information including occupied height, avoidance facility area information including location where flight should be avoided and height occupied by the location Map storage means to
The drone control device characterized in that the node and the link are set in a drone flight zone suitable for flying a drone, which is determined based on drone aerial map information in the map storage means. . The drone control device according to claim 8 or 9, wherein
Obtaining means for obtaining a current position of the drone after the drone starts flying according to the flight route provided through the sending means;
When the current position acquired through the acquisition unit is out of the flight route, a route from the current position to the destination is searched with reference to the flight route search data in the storage unit. Search means;
Change instruction forming means for forming flight instruction data expressed as a coordinate point sequence including latitude, longitude, and height, so that the flight route searched by the re-search means can be traced;
A drone control device comprising: change instruction sending means for sending the flight instruction data formed by the change instruction forming means. A drone control method performed by a drone control device,
A receiving step of receiving, from each of the drones that are unmanned aerial vehicles flying in the airspace to be managed, the status information including the drone identification information and the current position;
Based on the state information received in the reception step, monitoring each state of the drone, and monitoring step for detecting a drone to be controlled,
A forming step for forming a control instruction for the drone detected in the monitoring step;
A drone control method, wherein the drone control device performs a transmitting step of transmitting the control instruction formed in the forming step. A program to be executed by a computer,
A receiving step of receiving, from each of the drones that are unmanned aerial vehicles flying in the airspace to be managed, status information including the drone identification information and the current position;
Based on the state information received in the receiving step, monitoring each state of the drone, and monitoring a drone to be controlled,
Forming a control instruction for the drone detected in the monitoring step;
A drone control program that causes the computer to execute a transmission step of transmitting the control instruction formed in the forming step.

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