JP2018179631A - Information processor, method for controlling information processor, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism that allows reduction of the possibility that an unmanned aircraft vehicle flies outside the area where the unmanned aircraft vehicle is allowed to fly.SOLUTION: On the condition that a landing target object helping an unmanned aircraft vehicle land is outside the area that the unmanned aircraft vehicle is allowed to fly, notification is made to move the landing target object into the area.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an information processing apparatus, a control method for an information processing apparatus, and a program, and in particular, a mechanism capable of reducing the possibility that an unmanned aerial vehicle will fly outside the area where the unmanned aerial vehicle is permitted to fly. About.

  2. Description of the Related Art Conventionally, there are unmanned aerial vehicles, which are aircraft with no human beings. There are various unmanned aerial vehicles ranging from large ones to small ones, but in recent years small unmanned aerial vehicles (commonly called drone) that can be remotely controlled are attracting attention (hereinafter referred to as small unmanned aerial vehicles simply as unmanned aerial vehicles) Called).

  Unmanned aerial vehicles are also called quadcopters and multicopters, and are equipped with a plurality of rotors, and by increasing or decreasing the number of revolutions of the rotors, the unmanned aircraft is advanced, retracted, turned, hovered, etc.

  Such an unmanned aerial vehicle operates in response to an operation instruction from a remote control terminal called a propo, and can be controlled from a console integrated with a monitor and an input device.

  Patent Document 1 discloses an unmanned aerial vehicle that flies unmanned.

JP, 2006-82775, A

  By the way, since an unmanned aerial vehicle flies unmanned and there is a risk of crashing and harming the surroundings when, for example, an abnormal condition occurs in the unmanned aerial vehicle body and becomes uncontrollable, the flyable area Is restricted by law.

  Therefore, the operator of the unmanned aerial vehicle operates such that the unmanned aerial vehicle does not leave the flyable area while visually checking the map of the area where the unmanned aerial vehicle provided by each company can fly.

  However, since the operation is manual, there is a risk that the unmanned aerial vehicle may accidentally fly out of the flightable area.

  In particular, when the operator himself is out of the flightable area and the unmanned aircraft is called back to the operator, the above-described situation is likely to occur.

  Patent Document 1 only proposes a mechanism capable of generating in advance a warning that a defect that may affect stable flight of an unmanned aircraft is occurring, and that a warning can be issued. Even if the technique described in Document 1 is used, there is still the possibility that the above-mentioned occurs.

  An object of the present invention is to provide a mechanism capable of reducing the possibility of the unmanned aircraft flying outside the area where the unmanned aircraft is permitted to fly.

  The present invention is an information processing apparatus capable of communicating with an unmanned aerial vehicle, wherein a position of a landing target to which the unmanned aerial vehicle is to land is outside an area where the unmanned aerial vehicle is permitted to fly. And a notification means for notifying that the landing target should be moved into the area under the condition that it is determined to be out of the area by the determination means. It features.

  Further, the present invention is a control method of an information processing apparatus capable of communicating with an unmanned aerial vehicle, wherein the determination means of the unmanned aerial vehicle determines the position of the landing target to which the unmanned aerial vehicle lands. A determination step of determining whether or not the area is permitted to fly, and a condition that the notification means of the unmanned aircraft is determined to be out of the area in the determination step, within the area And a notification step for notifying the user to move the landing target.

  Further, the present invention is a program that can be read and executed by an information processing apparatus capable of communicating with an unmanned aerial vehicle, wherein the position of the landing target at which the unmanned aerial vehicle lands on the information processing apparatus is the unmanned aerial vehicle The landing target is moved into the area under the condition that it is determined that the area is out of the area by the determination means for determining whether or not the area is outside the area where the flight is permitted. It is characterized in that it functions as a notification means for notifying to prompt the user to make it happen.

  Further, the present invention is an information processing apparatus capable of communicating with an unmanned aerial vehicle, wherein control means for controlling takeoff or landing operation of the unmanned aerial vehicle and restricting takeoff or landing operation of the unmanned aerial vehicle by the control means. And determining means for determining whether or not to control the unmanned aerial vehicle according to whether the takeoff or landing position of the unmanned aerial vehicle is an area in which the unmanned aerial vehicle is restricted in flight.

  Further, the present invention is a control method of an information processing apparatus capable of communicating with an unmanned aerial vehicle, wherein the control unit of the information processing apparatus controls a takeoff or landing operation of the unmanned aerial vehicle, and the information processing Whether the determination means of the device controls to limit the takeoff or landing operation of the unmanned aircraft in the control step, the takeoff or landing position of the unmanned aircraft is an area where the flight of the unmanned aircraft is limited And a decision step of deciding depending on whether

  Further, the present invention is a program that can be read and executed by an information processing apparatus capable of communicating with an unmanned aerial vehicle, and the control unit controls the takeoff or landing operation of the unmanned aerial vehicle, and the control unit. As a determination means for determining whether to control takeoff or landing operation of the unmanned aerial vehicle according to whether the takeoff or landing position of the unmanned aerial vehicle is the area where the flight of the unmanned aerial vehicle is restricted It is characterized by making it function

According to the present invention, it is possible to reduce the possibility of the unmanned aerial vehicle flying outside the area where the unmanned aerial vehicle is permitted to fly.

The figure which shows the system configuration of an unmanned aerial vehicle navigation system. The figure which shows the hardware constitutions of the unmanned aerial vehicle 101. FIG. FIG. 2 shows a hardware configuration of an information processing apparatus applicable to the control computer 103. FIG. 6 is a view showing an example of a map screen displayed on a CRT 310 of the control computer 103. FIG. 6 is a view showing an example of a map screen displayed on a CRT 310 of the control computer 103. FIG. 6 is a view showing an example of a map screen displayed on a CRT 310 of the control computer 103. FIG. 6 is a view showing an example of a map screen displayed on a CRT 310 of the control computer 103. FIG. 6 is a view showing an example of a map screen displayed on a CRT 310 of the control computer 103. The flowchart which shows an example of a navigation system control process. The flowchart which shows an example of area monitoring processing. Unmanned aircraft management database, and vehicle management database. FIG. 8 is a view showing an example of a map screen displayed on a CRT 310 of a control computer 103 in the second embodiment. The flowchart which shows an example of the navigation system control process in 2nd Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The embodiment described below shows an example when the present invention is specifically implemented, and is one of the specific embodiments of the configuration described in the claims.

  FIG. 1 is a diagram showing a system configuration of a navigation system in the present embodiment.

  In the navigation system of the present embodiment, an unmanned aerial vehicle 101 and a control computer 103 (an information processing apparatus according to the present invention) are communicably connected via a network 102. The network 102 is assumed to be a wireless network in the present embodiment.

  The system configuration of FIG. 1 is an example, and there are various configuration examples according to the application and purpose.

  A drone, an unmanned aerial vehicle, or an unmanned aerial vehicle 101, also called a UAV, is an unmanned aircraft that flies automatically in accordance with instructions from the control computer 103. A plurality of rotors are operated to fly according to an instruction from a control computer.

  By increasing or decreasing the rotational speed of the rotors, forward, reverse, turn, hover, etc. of the unmanned aircraft are performed. In addition, although the rotor blade of the unmanned aerial vehicle 101 shown in FIG. 1 is four pieces, it does not restrict to this. It may be three, six, or eight.

  Further, the unmanned aerial vehicle 101 may be one flying wirelessly or one flying wired, but in the present invention, it is assumed to fly wirelessly.

  The unmanned aerial vehicle 101 has a camera, and in order to change its shooting direction, the camera pans to move the direction of the lens of the camera left and right, tilt to move up and down, and zoom functions to make telephoto and wide angle. It can be operated from remote locations (PTZ control).

  It should be noted that the unmanned aerial vehicle 101 is stored in a movable vehicle 104 such as a relay vehicle when not flying (at the time of standby), and when shooting a subject, the flight starts from the vehicle 104, and when shooting ends. It is assumed that the vehicle 104 is returned to again.

  In the present embodiment, it is assumed that the vehicle 104 is a relay vehicle and uses the unmanned aerial vehicle 101 to capture an object, but the present invention is not limited thereto. The transport vehicle may be configured to send packages from the transport vehicle to the delivery destination using the unmanned aerial vehicle 101.

  In the present embodiment, the navigation system includes the vehicle 104. However, the vehicle 104 is not essential, and the user carries the control computer 103 and the unmanned aerial vehicle 101, which will be described later. It may start flying from the side and land near the user.

  The control computer 103 is a device for controlling the unmanned aerial vehicle 101.

  Also, the control computer 103 is provided with a console. The console includes an operation unit for operating the unmanned aerial vehicle 101 and a camera mounted on the unmanned aerial vehicle 101.

  Further, the control computer 103 is provided with a GPS receiver, and the GPS receiver can specify the current position of the control computer 103 by receiving a signal from a GPS satellite.

  The user operates the operation unit to control the flight direction to the unmanned aerial vehicle 101 and the flight speed. When the control computer 103 receives the operation of the operation unit, the control computer 103 transmits an instruction to fly to the unmanned aerial vehicle 101 according to the received operation content, and when the unmanned aircraft 101 receives the instruction, The propeller 213 is controlled to fly as instructed. As described above, the control computer 103 transmits the operation instruction content operated by the operation unit to the unmanned aerial vehicle 101, and operates the flight of the unmanned aerial vehicle 101.

  In addition, the user operates the operation unit to perform the zoom-in operation, the zoom-out operation, and the pan operation of the camera mounted on the unmanned aerial vehicle 101. When the control computer 103 receives an operation from the operation unit, the control computer 103 transmits an instruction to the camera to operate according to the received operation content, and when the camera receives the instruction, the control receives the instruction according to the instruction. It operates a unit that operates each member such as a lens in the camera to operate. As described above, the control computer 103 transmits the content of the operation instruction operated by the operation unit to the camera, and operates the zoom operation of the lens of the camera and the pan operation in the photographing direction.

  In the present embodiment, it is assumed that shooting with the camera mounted on the unmanned aerial vehicle 101 is always performed while the unmanned aerial vehicle 101 is in flight.

  In the present embodiment, the control computer 103 is installed in the vehicle 104. However, as another embodiment, the vehicle 104 is provided with a GPS receiver, and the GPS receiver is used to generate GPS satellites. The apparatus can specify the current position of the vehicle 104 by transmitting the signal of (1), and can transmit information of the specified current position to the control computer 103, and the apparatus and the control computer 103 communicate with each other. As long as the control computer 103 can obtain the position information of the vehicle 104, the control computer 103 may be installed at a remote place physically distant from the vehicle 104.

  Further, the control computer 103 may be a tablet terminal or may be an apparatus such as a navigation system provided in the vehicle 104. Alternatively, it may be a propo provided with a display.

  Also, each process shown in the flowcharts of FIGS. 9 and 10 described later is executed by the control computer 103, and the screens of FIGS. 4 to 8 showing the execution results are tablet terminals of devices separate from the control computer 103 or It may be displayed on a prop that includes a display (not shown), or may be displayed on a navigation system provided in the vehicle 104.

  The control computer 103, the vehicle 104, and the display provided with the display are examples of the landing target, the takeoff position, and the landing position in the present invention.

  Next, the hardware configuration of the unmanned aerial vehicle 101 shown in FIG. 1 will be described using FIG.

  FIG. 2 is a diagram showing a hardware configuration of the unmanned aerial vehicle 101. As shown in FIG. The hardware configuration of the unmanned aerial vehicle 101 shown in FIG. 2 is an example, and there are various configuration examples depending on the application and purpose.

  The flight controller 200 is a microcontroller for flight control of the unmanned aerial vehicle 101, and includes a CPU 201, a ROM 202, a RAM 203, and a peripheral bus interface 204 (hereinafter referred to as a peripheral bus I / F 204).

  The CPU 201 centrally controls each device connected to the system bus. The external memory 280 connected to the ROM 202 or the peripheral bus I / F 304 stores a BIOS (Basic Input / Output System) as a control program of the CPU 201 and an operating system program.

  The external memory 280 (storage means) stores various programs and the like necessary for realizing the functions executed by the unmanned aerial vehicle 101. The RAM 203 (storage unit) functions as a main memory, a work area, and the like of the CPU 201.

  The CPU 201 loads various programs and the like necessary for execution of processing into the RAM 203 and executes various programs to realize various operations.

  The peripheral bus I / F 204 is an interface for connecting to various peripheral devices. The PMU 210, the SIM adapter 220, the wireless LAN BB unit 230, the mobile communication BB unit 240, the GPS unit 250, the sensor 260, the GCU 270, and the external memory 280 are connected to the peripheral bus I / F 204.

  The PMU 210 is a power management unit, and can control power supply from a battery included in the unmanned aerial vehicle 101 to the ESC 211. The ESC 211 is an electronic speed controller, and can control the number of rotations of the motor 212 connected to the ESC 211. By rotating the motor 212 by the ESC 211, the propeller 213 (rotating blade) connected to the motor 212 is rotated. A plurality of sets of the ESC 211, the motor 212, and the propellers 213 are provided in accordance with the number of the propellers 213. For example, in the case of a quadcopter, since the number of propellers 213 is four, four sets are required.

  The wireless LAN BB unit 230 is a baseband unit for performing communication via a wireless LAN. The wireless LAN BB unit 230 can generate a baseband signal from data or a signal desired to be transmitted and send it to the modulation / demodulation circuit. Furthermore, original data and signals can be obtained from the received baseband signal.

  The wireless LAN RF unit 231 is an RF (Radio Frequency) unit for performing communication via the wireless LAN. The RF unit for wireless LAN 231 can modulate the baseband signal sent from the BB unit for wireless LAN 230 to the frequency band of the wireless LAN and transmit it from the antenna. Furthermore, when a signal in a wireless LAN frequency band is received, it can be demodulated to a baseband signal.

  The mobile communication BB unit 240 is a baseband unit for performing communication via a mobile communication network. The mobile communication BB unit 240 can generate a baseband signal from data or a signal desired to be transmitted and send it to the modulation / demodulation circuit. Furthermore, original data and signals can be obtained from the received baseband signal.

  The mobile communication RF unit 241 is a radio frequency (RF) unit for performing communication via a mobile communication network. The mobile communication RF unit 241 can modulate the baseband signal sent from the mobile communication BB unit 240 to the frequency band of the mobile communication network and transmit it from the antenna. Furthermore, when a signal in the frequency band of the mobile communication network is received, it can be demodulated to a baseband signal.

  The GPS unit 250 is a receiver capable of acquiring the current position of the unmanned aerial vehicle 101 by the global positioning system. The GPS unit 250 can receive signals from GPS satellites and estimate the current position.

  The sensor 260 is a sensor for measuring the tilt, the direction, the speed, and the surrounding environment of the unmanned aerial vehicle 101. The unmanned aerial vehicle 101 includes, as the sensor 260, a gyro sensor, an acceleration sensor, an air pressure sensor, a magnetic sensor, an ultrasonic sensor, and the like. The CPU 201 controls the attitude and movement of the unmanned aerial vehicle 101 based on the data acquired from these sensors.

  The GCU 270 is a gimbal control unit, which is a unit for controlling the movement of the camera 271 and the gimbal 272. Vibration of the unmanned aerial vehicle 101 is absorbed by the gimbal 272 so that no shake occurs when shooting with the camera 271 because vibration of the airframe occurs due to the unmanned aerial vehicle 101 flying and the airframe becomes unstable. Maintain level. It is also possible to remotely control the camera 271 by the gimbal 272.

  Various programs and the like used to execute various processes described later by the unmanned aerial vehicle 101 of the present invention are stored in the external memory 280, and are executed by the CPU 201 by being loaded into the RAM 203 as necessary. . Furthermore, definition files and various information tables used by the program according to the present invention are stored in the external memory 280.

  Next, the hardware configuration of the information processing apparatus applicable to the control computer 103 shown in FIG. 1 will be described using FIG.

  In FIG. 3, reference numeral 301 denotes a CPU, which centrally controls devices and controllers connected to the system bus 304. The ROM 302 or the external memory 311 may also include a BIOS (Basic Input / Output System) that is a control program of the CPU 301, an operating system program (hereinafter referred to as an OS), and various types of information necessary for realizing the functions executed by the PC. Programs and the like are stored.

  A RAM 303 functions as a main memory, a work area, and the like of the CPU 301. The CPU 301 loads programs necessary for execution of processing from the ROM 302 or the external memory 311 to the RAM 303 and executes the loaded programs to realize various operations.

  An input controller 305 controls input from a pointing device such as a keyboard (KB) 309 or the like. A video controller 306 controls display on a display such as a CRT display (CRT) 310 or the like. Although FIG. 2 describes the CRT 310, the display may be not only a CRT but also another display such as a liquid crystal display.

  Reference numeral 307 denotes a memory controller, which is an external storage device (hard disk (HD)) for storing a boot program, various applications, font data, user files, editing files, various data, etc., a flexible disk (FD), or a PCMCIA card slot. An access to an external memory 311 such as a Compact Flash (registered trademark) memory connected via an adapter is controlled.

  A communication I / F controller 308 connects and communicates with an external device via a network, and executes communication control processing in the network. For example, communication using TCP / IP is possible.

  The CPU 301 enables display on the CRT 310 by executing, for example, outline font rasterization processing on a display information area in the RAM 303. Further, the CPU 301 enables user's instruction with a mouse cursor (not shown) on the CRT 310 or the like.

  Various programs to be described later for realizing the present invention are stored in the external memory 311, and are executed by the CPU 301 by being loaded into the RAM 303 as necessary. Furthermore, setting files and the like used at the time of execution of the program are also stored in the external memory 311, and a detailed description of these will be described later.

  Next, the screen of the map displayed on the CRT 310 of the control computer 103 in the navigation system in the present embodiment will be described using FIGS. 4 to 8.

  First, FIG. 4 will be described. FIG. 4 is a view showing an example of a map screen displayed on the CRT 310 of the control computer 103. As shown in FIG.

  The map 400 displays a map around the vehicle 104 on which the control computer 103 is installed.

  The unmanned aircraft icon 401, which is an icon corresponding to the unmanned aerial vehicle 101, is displayed at a position on the map 400 corresponding to the current position of the unmanned aerial vehicle 101 identified by the signal received by the GPS unit 250 included in the unmanned aerial vehicle 101. Ru.

  In addition, a vehicle icon 402 corresponding to the vehicle 104 corresponds to the current position of the vehicle 104 (more precisely, the control computer 103) specified by a signal received by the GPS receiver included in the control computer 103. It is displayed at a position on the map 400. The GPS receiver may be included in the vehicle 104.

  403 indicates the flightable area of the unmanned aerial vehicle 101, and the flightable area is a network that can be used by companies that have been allowed to fly since the enforcement of the Air Revision Act of December 10, 2015. Set via acquisition.

  The user can confirm the unmanned aerial vehicle 101, the current position of the vehicle 104, and the flyable area of the unmanned aerial vehicle 101 by confirming the map 400.

  By the way, even if the flightable area is displayed as shown in FIG. 4, there is a case where the vehicle 104 is out of the flightable area without being aware of concentration on driving of the vehicle 104 or the like.

  Then, for example, when landing the unmanned aerial vehicle 101 on the vehicle 104, the unmanned aerial vehicle 101 will fly in the no-fly area, which is not very preferable.

  Therefore, according to the present invention, first, as shown in FIG. 5, when trying to fly the unmanned aerial vehicle 101 from the no-fly area from the beginning, the warning and the unmanned aerial vehicle 101 are prevented from taking off (for example 501 in FIG. 5) Even if the aircraft 101 flies in the flightable area 403, it warns when the vehicle 104 is about to leave the flightable area 403 (for example, 601 in FIG. 6) and leaves the flightable area 403 The warning (eg, 701 in FIG. 7) and the inability to land the unmanned aerial vehicle 101 prevent the unmanned aerial vehicle 101 from taking off and landing in the no-fly area.

  FIG. 5 is a view showing an example of the screen of the map displayed on the CRT 310 of the control computer 103, and a flight instruction of the unmanned aerial vehicle 101 with the vehicle 104 being outside the flightable area 403 (ie, the flight prohibited area). 5 is a warning shown at 501 in FIG. 5, and a diagram limiting takeoff of the unmanned aerial vehicle 101. Also, as shown at 502 in FIG. 5, the remaining available flight time of the unmanned aerial vehicle 101 is displayed. The remaining flight available time 502 can be determined by using the information of the data table of FIG. 11 described later.

  FIG. 6 is a view showing an example of the screen of the map displayed on the CRT 310 of the control computer 103, when the unmanned aerial vehicle 101 is about to leave the flyable area 403 after takeoff. FIG. 6 is a diagram giving a warning shown in 601.

  FIG. 7 is a view showing an example of a screen of a map displayed on the CRT 310 of the control computer 103, and is shown in 701 of FIG. 7 when the vehicle 104 leaves the flyable area 403 after the unmanned aerial vehicle 101 takes off. FIG. 6 is a diagram for warning and for limiting the landing of the UAV 101.

  FIG. 8 is a view showing an example of a screen of a map displayed on the CRT 310 of the control computer 103. The vehicle 104 has come out of the flyable area 403 after the unmanned aerial vehicle 101 takes off. The unmanned aerial vehicle 101 is placed in a safe place such as a parking lot when it is judged from the position, the remaining flight available time 502 (the remaining flight available time 1108) and the current position of the vehicle 104 (the position of the vehicle icon 402) that recovery is not in time. Is an emergency landing, and a notification to that effect is given on the map (801). In addition, 802 of FIG. 8 shows the state which has identified and displayed the parking lot which makes the unmanned aircraft 101 emergency landing.

  Next, with reference to FIG. 9, a flowchart showing an example of control processing of the navigation system in the present invention will be described.

  Each process shown in FIG. 9 and FIGS. 10 and 13 described later is a process executed by the CPU 301 of the control computer 103.

  In step S901, the control computer 103 activates the navigation system according to an instruction from the user.

  In step S902, the control computer 103 acquires position information of the vehicle 104 in which the unmanned aerial vehicle 101 is stored.

  In step S903, the control computer 103 displays on the CRT 310 a map around the current position of the vehicle 104 identified by the position information acquired in step S902. The map displayed on the CRT 310 in step S903 is, for example, the map shown in FIG. It is assumed that the control computer 103 acquires in advance the flyable (prohibited) area map (including the coordinates of the flyable (prohibited) area) etc. via the network before executing the processing of step S903. .

  The map data and the flyable (prohibited) area map (including the coordinates of the flyable (prohibited) area) may be stored in advance in the external memory 311 of the control computer 103.

  In step S904, the control computer 103 acquires information of the unmanned aerial vehicle 101 from the unmanned aircraft management database of FIG. 11A stored in advance in the external memory 311 of the control computer 103.

  Here, the unmanned aircraft management database shown in FIG. 11 (a) and the vehicle management database shown in FIG. 11 (b) will be described. The unmanned aircraft management database shown in FIG. 11 (a) and the vehicle management database shown in FIG. 11 (b) are stored in the external memory 311 of the control computer 103.

  An ID for uniquely identifying the unmanned aircraft 101 is stored in the unmanned aircraft ID 1101 of the unmanned aircraft management database of FIG. 11A. The current position 1102 stores the current position of the unmanned aerial vehicle 101 identified by the signal received by the GPS unit 250 of the unmanned aerial vehicle 101.

  The flight speed 1103 stores the flight speed of the unmanned aerial vehicle 101. The fully chargeable flight time 1104 stores the time that the unmanned aircraft 101 can fly when it is fully charged.

  The fully charged battery voltage 1105 stores the voltage (battery capacity) of the unmanned aerial vehicle 101 when the unmanned aerial vehicle 101 is fully charged. The voltage 1106 of the battery which becomes non-flyable is a voltage (capacity of the battery) at which the unmanned aerial vehicle 101 can not fly.

  The current battery voltage 1107 stores the current battery voltage (battery capacity) of the unmanned aerial vehicle 101, and the current battery voltage 1107 is appropriately received from the unmanned aerial vehicle 101 and updated.

  The remaining flight available time 1108 is determined and stored by sequentially performing the following formulas (1) to (3).

<Calculation formula>
(1) (voltage of the battery at full charge 1105-voltage of the battery that can not be fly 1106) / voltage at which the full chargeable time at full charge 1104 = 1 minute drops (battery capacity)

(2) Current battery voltage 1107-battery voltage which becomes non-flyable 1106 = remaining battery capacity (voltage) which can be fly

(3) Remainable flightable battery capacity (voltage) / voltage which drops per minute = remaining flight time 1108

  The corresponding vehicle ID 1109 stores the vehicle ID (vehicle ID 1110) of the vehicle 104 in which the unmanned aerial vehicle 101 is stored.

  An ID for uniquely identifying the vehicle 104 is stored in the vehicle ID 1110 of the vehicle management database of FIG. 11B.

  The current position 1111 stores the current position of the vehicle 104 identified by the signal received by the GPS receiver included in the control computer 103. The vehicle ID 1110 is appropriately received from the vehicle 104 and updated.

  In the corresponding unmanned aircraft ID 1112, an unmanned aircraft ID (unmanned aircraft ID 1101) of the unmanned aircraft 101 stored by the vehicle 104 is stored.

  In addition, unmanned aircraft ID 1101, flight speed 1103, fully chargeable flight time 1104, fully charged battery voltage 1105, unflyable battery voltage 1106, corresponding vehicle ID 1109, vehicle ID 1110, corresponding unmanned aircraft The ID 1112 is registered by the user in advance.

  This is the end of the description of FIG. 11 and returns to the description of FIG.

  In step S 905, the control computer 103 determines whether the user has received a flight start instruction of the unmanned aerial vehicle 101 by operating the console of the control computer 103. When the control computer 103 receives the instruction to start the flight of the unmanned aerial vehicle 101, the control computer 103 shifts the processing to step S906, and otherwise waits.

  In step S906, the control computer 103 determines in advance the position of the flyable (prohibited) area acquired in advance whether the current position of the vehicle 104 is within the flyable area of the unmanned aerial vehicle 101 (for example, 403 in FIG. 4). It is determined whether (coordinates) and the position (coordinates) of the vehicle 104 acquired in step S902 overlap.

  If the current position of the vehicle 104 is within the flyable area of the unmanned aerial vehicle 101, the control computer 103 shifts the processing to step S909, otherwise shifts the processing to step S907.

  In step S 907, the control computer 103 performs a first alert on the screen of the map displayed on the CRT 310 of the control computer 103. The first alert is, for example, an alert indicated by 501 in FIG. At this time, the control computer 103 limits takeoff of the unmanned aerial vehicle 101.

  In step S 907 and step S 1005 described later, whether the control means controls the takeoff or landing operation of the unmanned aircraft to be limited by the control means, the takeoff or landing position of the unmanned aircraft is the unmanned aircraft Is an example of a determination unit that determines whether the flight is an area that is restricted.

  By performing the process of step S 907, takeoff of the unmanned aircraft 101 in the no-fly area can be prevented.

  In step S 908, the control computer 103 acquires the position information of the vehicle 104 again, and confirms at any time whether the vehicle 104 has been moved into the flyable area.

  In step S909, the control computer 103 instructs the unmanned aerial vehicle 101 to start flight including the coordinates of the destination. Then, the unmanned aerial vehicle 101 flies toward the coordinates of the destination.

  Step S909 and step S1014 described later are an example of control means for controlling the takeoff or landing operation of the unmanned aerial vehicle according to the present invention.

  In step S910, the control computer 103 executes area monitoring processing. Details of the process of step S 910 will be described with reference to FIG. This is the end of the description of FIG.

  Next, details of the area monitoring process in step S 910 of FIG. 9 will be described using FIG. 10.

  FIG. 10 is a flowchart showing an example of the area monitoring process.

  The process shown in FIG. 10 is appropriately performed at a predetermined timing from the start of the flight of the unmanned aerial vehicle 101 to the end of the flight.

  In step S1001, the control computer 103 acquires current position information of the unmanned aerial vehicle 101. The acquired position information is stored in the current position 1102 of the unmanned aircraft 101 in the unmanned aircraft management database of FIG. 11 (a).

  In step S1002, the control computer 103 acquires current position information of the vehicle 104. The acquired position information is stored in the current position 1111 of the vehicle 104 in the vehicle management database of FIG.

  In step S1003, the control computer 103 sets the unmanned aerial vehicle 101 and the vehicle 104 at positions on the map corresponding to the current positions of the unmanned aerial vehicle 101 and the vehicle 104 specified by the position information acquired in step S1001 and step S1002. Icons (e.g., the unmanned aircraft icon 401 in FIG. 4 and the vehicle icon 402).

  In step S1004, the control computer 103 determines in advance the position (coordinates) of the flyable (prohibited) area obtained in advance whether the current position of the vehicle 104 (landing object) is within the flyable area of the unmanned aerial vehicle 101. And the position (coordinates) of the vehicle 104 acquired in step S1002 are determined based on whether they overlap.

  The control computer 103 shifts the process to step S1006 if the current position of the vehicle 104 is within the flyable area of the unmanned aerial vehicle 101, and shifts the process to step S1005 otherwise.

  Step S1004 is an example of a determination unit that determines whether the position of the landing target to which the unmanned aircraft lands according to the present invention is outside the area where the unmanned aircraft is permitted to fly. .

  In step S1005, the control computer 103 performs the second alert and the landing restriction of the unmanned aerial vehicle 101 on the screen of the map displayed on the CRT 310 of the control computer 103. The second alert is, for example, an alert shown at 701 in FIG.

  Step S1005 is an example of notification means for notifying to urge to move the landing target into the area under the condition that the determination means determines that the object is outside the area in the present invention. .

  By executing the process of step S1005, landing of the unmanned aerial vehicle 101 in the no-fly area can be prevented.

  In step S1006, the control computer 103 has acquired in advance whether the current position of the vehicle 104 is about to exit the flightable area of the unmanned aerial vehicle 101 (whether the landing target is near the outside of the area). The determination is made using the position (coordinates) of the end of the flyable (prohibited) area and the position (coordinates) of the vehicle 104 acquired in step S1002.

  The control computer 103 shifts the process to step S1007 if the current position of the vehicle 104 is about to leave the flyable area of the unmanned aerial vehicle 101, and shifts the process to step S1008 otherwise.

  In step S1007, the control computer 103 performs a third alert on the screen of the map displayed on the CRT 310 of the control computer 103. The third alert is, for example, an alert indicated by 601 in FIG.

  By executing the process of step S1007, the landing of the unmanned aircraft 101 in the no-fly area can be reduced.

  In step S1008, the control computer 103 determines whether the landing instruction of the unmanned aerial vehicle 101 has been received by the user operating the console of the control computer 103. If the control computer 103 receives the landing instruction of the unmanned aerial vehicle 101, the process proceeds to step S1009. If not, the process returns to step S1001.

  In step S1009, the control computer 103 determines in advance the position (coordinates) of the flyable (prohibited) area obtained in advance, as to whether the current position of the vehicle 104 is within the flyable area of the unmanned aerial vehicle 101; Alternatively, it is determined based on whether the position (coordinates) of the vehicle 104 acquired in step S1011 described later overlaps.

  The control computer 103 shifts the process to step S1014 if the current position of the vehicle 104 is within the flyable area of the unmanned aerial vehicle 101, and shifts the process to step S1010 otherwise.

  In step S1010, using the current position of the unmanned aerial vehicle 101, the remaining flight time 1108, and the current position of the vehicle 104, the control computer 103 determines whether the recovery of the unmanned aerial vehicle 101 by the vehicle 104 is in time.

  The control computer 103 shifts the processing to step S1011 if the recovery of the unmanned aerial vehicle 101 by the vehicle 104 is in time, and shifts the processing to step S1012 if the recovery of the unmanned aerial vehicle 101 by the vehicle 104 is not in time.

  In step S1011, the control computer 103 acquires the current position information of the vehicle 104.

  In step S1012, the control computer 103 specifies a landable area (for example, a parking lot, a park, etc.) from map information, and in step S1013, on the screen of the map displayed on the CRT 310 of the control computer 103. Make a fourth alert to The fourth alert is, for example, an alert indicated by 801 in FIG.

  By executing the process of step S1013, it is possible to reduce the falling of the unmanned aerial vehicle 101 to a more likely place of people gathering due to the fact that the recovery of the unmanned aerial vehicle 101 by the vehicle 104 is not in time.

  In step S1014, the control computer 103 instructs the unmanned aerial vehicle 101 to land. The landing instruction in step S1014 indicates an instruction to return to the position of the vehicle 104 if the vehicle 104 can be recovered within the flyable area of the unmanned aerial vehicle 101, and the vehicle 104 can not recover the unmanned aerial vehicle 101. For example, it indicates that the unmanned aircraft 101 is to be landed in the landable area identified in step S1012.

  This is the end of the description of FIG.

  Next, a second embodiment of the present invention will be described using FIGS. 12 and 13.

  By law, even in the flightable area, it is prohibited to fly the unmanned aerial vehicle 101 outside the daytime (from Hinode to sunset) or to fly over an event where a large number of people gather such as festivals and festivals In the present embodiment, the flightable area is presented in consideration of them. Furthermore, in the present embodiment, an area which is temporarily allowed to fly by application and approval of the regional aviation director is considered.

  FIG. 12 is a view showing an example of a map screen displayed on the CRT 310 of the control computer 103 in the second embodiment of the present invention.

  1201 indicates a temporary permission area temporarily allowed to fly by receiving approval from the regional aviation director, and setting of the temporary permission area 1201 is performed by the user specifying the coordinates of the temporary permission area on the control computer 103. Or the temporary permission area on the map 400 can be specified by enclosing the temporary permission area by the user's mouse operation or the like.

  By setting the temporary permission area 1201, it is possible to reduce the possibility that the first to fourth alerts are erroneously issued when the vehicle 104 or the unmanned aerial vehicle 101 is in the temporarily permitted area.

  1202 indicates a no-fly area where the flight of the unmanned aircraft 101 is temporarily prohibited for special events, and the no-fly area 1202 allows the control computer 103 to obtain information on events provided by the public office through the network. Designation can be made by enclosing the no-flying area on the map 400 by mouse operation or the like by the user.

  Setting the no-fly area 1202 reduces the possibility of taking off and landing the UAV 101 in the no-fly area 1202 when the normally-flyable area is temporarily no-fly. can do.

  An alert 1203 indicates the number of minutes after which the sunset will occur, and the alert 1203 is obtained by the control computer 103 via the network from the Japan Meteorological Agency via the network or via the control computer 103. The user can specify this by inputting the time in advance.

  By performing the alert 1203 when the sunset approaches, it is possible to reduce the possibility of accidentally flying the unmanned aerial vehicle 101 after the sunset in which the flight is not possible even in the flightable area.

  This is the end of the description of FIG.

  Next, a flowchart showing an example of navigation system control processing in the second embodiment of the present invention will be described using FIG.

  In addition, since each process shown to FIG.13 S1301-step S1310 is the same process as each process shown to FIG.9 S901-step S910, it abbreviate | omits description.

  In step S1311, the control computer 103 determines whether there is an exception area. The exception areas here are, for example, the temporary permission area 1201 and the flight prohibited area 1202 in FIG.

  If there is an exceptional area, the control computer 103 shifts the process to step S1312, and if there is no exceptional area, it shifts the process to step S1303.

  In step S1312, the control computer 103 sets the exceptional area on the screen of the map displayed on the CRT 310 of the control computer 103.

  This is the end of the description of FIG.

  As described above, according to the present invention, it is possible to reduce the possibility of the unmanned aerial vehicle flying outside the area where the unmanned aerial vehicle is permitted to fly.

  The present invention is also applicable to, for example, an embodiment as a system, an apparatus, a method, a program, a storage medium, etc. Specifically, the present invention may be applied to a system composed of a plurality of devices. The present invention may be applied to an apparatus consisting of two devices.

  Note that the present invention includes one that directly or remotely supplies a program of software that implements the functions of the above-described embodiments to a system or an apparatus. The present invention is also included in the present invention if the computer of the system or apparatus reads out and executes the supplied program code.

  Therefore, the program code itself installed in the computer to realize the functional processing of the present invention by the computer also implements the present invention. That is, the present invention also includes a computer program itself for realizing the functional processing of the present invention.

  In that case, as long as it has the function of a program, it may be in the form of an object code, a program executed by an interpreter, script data supplied to an OS, or the like.

  Examples of recording media for supplying the program include a flexible disk, a hard disk, an optical disk, a magneto-optical disk, an MO, a CD-ROM, a CD-R, and a CD-RW. There are also magnetic tapes, non-volatile memory cards, ROMs, DVDs (DVD-ROMs, DVD-Rs) and the like.

  In addition, as a program supply method, a browser on a client computer is used to connect to an Internet home page. Then, the program can be supplied by downloading the computer program of the present invention itself or a compressed file including an automatic installation function from the home page to a recording medium such as a hard disk.

  The present invention can also be realized by dividing the program code constituting the program of the present invention into a plurality of files and downloading each file from different home pages. That is, the present invention also includes a WWW server which allows a plurality of users to download program files for realizing the functional processing of the present invention by a computer.

  In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, and distributed to users, and the user who has cleared predetermined conditions downloads key information that decrypts encryption from the homepage via the Internet. Let Then, it is possible to execute the program encrypted by using the downloaded key information and install it on a computer.

  Also, the functions of the above-described embodiments are realized by the computer executing the read program. In addition, based on the instructions of the program, an OS or the like running on the computer performs part or all of the actual processing, and the functions of the above-described embodiment can be realized by the processing.

  Furthermore, the program read from the recording medium is written to a memory provided in a function expansion board inserted in the computer or a function expansion unit connected to the computer. Thereafter, based on the instruction of the program, a CPU or the like provided in the function expansion board or the function expansion unit performs part or all of the actual processing, and the function of the above-described embodiment is also realized by the processing.

  The embodiments described above merely show examples of implementation in practicing the present invention, and the technical scope of the present invention should not be interpreted in a limited manner by these. That is, the present invention can be implemented in various forms without departing from the technical concept or the main features thereof.

101 Unmanned Aerial Vehicle 103 Control Computer 104 Vehicle

Claims (13)

An information processing apparatus capable of communicating with an unmanned aerial vehicle,
A determination means for determining whether the position of the landing target on which the unmanned aircraft lands is outside the area where the unmanned aircraft is permitted to fly;
An information processing apparatus comprising: notification means for prompting to move the landing target within the area under the condition that the determination means determines that the object is outside the area.   The control device according to claim 1, further comprising: control means for controlling the landing of the unmanned aircraft to the landing target on the condition that the determination means determines that the unmanned aircraft is out of the area. Information processing equipment. A proximity determination unit that determines whether the landing target is near the outside of the area, on the condition that the determination unit determines that the landing target is not outside the area;
The notification means may notify in order to recognize that it is approaching the outside of the area when the proximity determination means determines that the landing target is near the outside of the area. Or the information processing apparatus as described in 2. It is determined whether the unmanned aerial vehicle can fly to the landing target when the landing target is moved into the area, on condition that it is determined by the determination means that the landing target is out of the area. Flight possibility determination means;
Specifying means for specifying an emergency landing point of the unmanned aircraft, provided that the unmanned aircraft is determined not to be flyable to the landing target by the flight possibility determining means;
4. The information processing method according to claim 1, further comprising: flight control means for controlling the unmanned aircraft to fly to the emergency landing point specified by the specifying means. apparatus.   The information processing apparatus according to any one of claims 1 to 4, wherein the area where the unmanned aircraft is permitted to fly includes an area where the flight is prohibited for a special event.   The information processing apparatus according to any one of claims 1 to 5, wherein the area to which the unmanned aircraft is permitted to fly includes an area to which the application is permitted to fly.   The information processing apparatus according to any one of claims 1 to 6, wherein the landing target is a vehicle.   The present invention is characterized in that, when the time for flying the unmanned aerial vehicle is before sunrise or after the sunset, all areas are included outside the area where the unmanned aerial vehicle is allowed to fly. The information processing apparatus according to any one of 7. An information processing apparatus capable of communicating with an unmanned aerial vehicle,
Control means for controlling the takeoff or landing operation of the unmanned aerial vehicle;
It is determined whether the takeoff or landing position of the unmanned aerial vehicle is an area where the flight of the unmanned aerial vehicle is limited, whether the control means is controlled to limit takeoff or landing operation of the unmanned aerial vehicle An information processing apparatus comprising: determining means; A control method of an information processing apparatus capable of communicating with an unmanned aerial vehicle,
Determining whether the unmanned aerial vehicle is outside the area where the unmanned aerial vehicle is permitted to fly, and the determination means of the unmanned aerial vehicle determines whether the position of the landing target on which the unmanned aerial vehicle is to be landed is
Providing a notification step of notifying the unmanned aerial vehicle to urge to move the landing target into the area under the condition that the notification means of the unmanned aircraft is determined to be out of the area in the determination step. The control method of the information processing apparatus characterized by the above. A program readable and executable by an information processing apparatus capable of communicating with an unmanned aerial vehicle,
The information processing apparatus
A determination means for determining whether the position of the landing target on which the unmanned aircraft lands is outside the area where the unmanned aircraft is permitted to fly;
A program characterized in that the program functions as a notification means for notifying to move the landing target into the area under the condition that the determination means determines that the object is out of the area. A control method of an information processing apparatus capable of communicating with an unmanned aerial vehicle,
A control step of controlling the takeoff or landing operation of the unmanned aerial vehicle by the control means of the information processing device;
The take-off or landing position of the unmanned aircraft is restricted in the flight of the unmanned aircraft, whether the determination means of the information processing device controls to limit the takeoff or landing operation of the unmanned aircraft in the control step. And a determining step of determining whether the area is an area. A program readable and executable by an information processing apparatus capable of communicating with an unmanned aerial vehicle,
The information processing apparatus
Control means for controlling the takeoff or landing operation of the unmanned aerial vehicle;
It is determined whether the takeoff or landing position of the unmanned aerial vehicle is an area where the flight of the unmanned aerial vehicle is limited, whether the control means is controlled to limit takeoff or landing operation of the unmanned aerial vehicle A program characterized by functioning as determination means.

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