JP2019039875A - Flying route setting device, flying route setting method and program - Google Patents

Abstract

To provide a flying route setting device, flying route setting method and program that enable efficient and highly-safe flying routes of unmanned aerial vehicles.SOLUTION: A flying route setting device 10 comprises: a point acquisition unit 11 that acquires departure points of unmanned aerial vehicles and arrival points thereof; a candidate setting unit 12 that collates the two points with section data in which a plurality of sections set by dividing an area on a map, and a score about each of the sections are registered, combines the sections existing until the section corresponding to the two points, and sets a plurality of flying route candidates; and a flying route setting unit 13 that calculates a total score for each flying route candidate, and sets the flying route on the basis of respective total scores from the flying route candidates.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a flight path setting device, a flight path setting method for setting a safe flight path of an unmanned aerial vehicle, and a program for realizing these.

  Conventionally, unmanned aerial vehicles called “drones” (hereinafter also referred to as “UAV (Unmanned Aerial Vehicle)”) have been used for various applications such as military applications and agricultural chemical spraying. In particular, in recent years, a small drone using an electric motor as a power source has been developed due to the downsizing and high output of a battery. Small drones are rapidly spreading because they are easy to operate, and are expected to be further used in fields such as agriculture, communication, and logistics (see Non-Patent Document 1).

  On the other hand, with the widespread use of small drones (hereinafter simply referred to as “drones”), many accidents have been reported such as drones that have become uncontrollable crashed and damaged things on the ground. (Refer nonpatent literature 2.). In this way, when a drone crashes, it can cause serious accidents such as damaging things on the ground or even hurting people on the ground. Therefore, when flying a drone, the drone manager needs to carefully set the flight path in consideration of the risk of a crash.

Ministry of Internal Affairs and Communications, “Current Status of Drones”, [online], [Search May 26, 2017], Internet <URL: http://www.soumu.go.jp/main_content/000401647.pdf> Ministry of Land, Infrastructure, Transport and Tourism, “List of accidents related to unmanned aircraft in FY2016”, [online], [Search May 26, 2017], Internet <URL: http://www.mlit.go.jp/common /001132992.pdf>

  However, currently, the setting of the flight path of the drone is entrusted to the administrator of the drone, and the flight path is set manually. For this reason, it takes a lot of time and labor to set an efficient and highly safe flight path in consideration of the risk of a crash while considering an area where flight is prohibited. Further, in setting the flight path, the determination that priority is given to efficiency or safety is different for each person who sets the flight path. For this reason, it is difficult for humans to examine a highly safe flight path in consideration of the risk of a crash based on an objective viewpoint.

  An example of an object of the present invention is to provide a flight path setting device, a flight path setting method, and a program that can set the flight path of an unmanned aircraft that solves the above-described problems and is efficient and highly safe. It is in.

In order to achieve the above object, a flight path setting device according to one aspect of the present invention includes:
A device for setting the flight path of an unmanned aerial vehicle,
A point acquisition unit for acquiring a scheduled departure point and arrival point of the unmanned aerial vehicle;
Partition data in which a plurality of sections set by dividing an area on a map and a score assigned to each of the plurality of sections according to the safety at the time of the unmanned aircraft crash in the section are registered. In addition, a candidate setting is performed in which a plurality of flight path candidates are set by collating the departure point and the arrival point, and combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. And
For each of the plurality of flight path candidates, the score given to each of the sections constituting the flight path candidate is added to calculate a total score, and each of the plurality of flight path candidates A flight path setting unit that selects the flight path candidate based on a total score, and sets the selected flight path candidate as a flight path of the unmanned aircraft;
It is characterized by having.

In order to achieve the above object, a flight path setting method according to one aspect of the present invention is a method for setting a flight path of an unmanned aerial vehicle,
(A) obtaining scheduled departure and arrival points of the unmanned aerial vehicle;
(B) A plurality of sections set by dividing an area on the map, and a score assigned according to the safety at the time of the unmanned aircraft crash in each section are registered for each of the plurality of sections. A plurality of flight path candidates are set by comparing the departure point and the arrival point in the division data and combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight path candidates, a total score is calculated by adding the scores given to each of the sections constituting the flight path candidate, and from among the plurality of flight path candidates, Selecting the flight path candidates based on each of the total scores, and setting the selected flight path candidates as flight paths of the unmanned aircraft;
It is characterized by having.

In order to achieve the above object, a program according to one aspect of the present invention is a program for setting a flight path of an unmanned aerial vehicle by a computer,
In the computer,
(A) obtaining scheduled departure and arrival points of the unmanned aerial vehicle;
(B) A plurality of sections set by dividing an area on the map, and a score assigned according to the safety at the time of the unmanned aircraft crash in each section are registered for each of the plurality of sections. A plurality of flight path candidates are set by comparing the departure point and the arrival point in the division data and combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight path candidates, a total score is calculated by adding the scores given to each of the sections constituting the flight path candidate, and from among the plurality of flight path candidates, Selecting the flight path candidates based on each of the total scores, and setting the selected flight path candidates as flight paths of the unmanned aircraft;
Is executed.

  As described above, according to the present invention, it is possible to set a flight path of an unmanned aircraft that is efficient and has high safety in consideration of a risk of crash.

FIG. 1 is a configuration diagram showing a schematic configuration of a flight path setting device according to an embodiment of the present invention. FIG. 2 is a block diagram specifically showing the configuration of the flight path setting device according to the embodiment of the present invention. FIG. 3 is a diagram showing an example of a departure point and an arrival point designated on the terminal device in the embodiment of the present invention. FIG. 4 is a diagram conceptually showing partition data in the embodiment of the present invention. FIG. 5 is a diagram showing a specific example of the partition data in the embodiment of the present invention. FIG. 6 is a diagram showing an example of flight path candidates and their total scores in the embodiment of the present invention. FIG. 7 is a diagram showing an example when the total score in the embodiment of the present invention is corrected based on the flight time. FIG. 8 is a flowchart showing the operation of the flight path setting apparatus in the embodiment of the present invention. FIG. 9 is a block diagram illustrating an example of a computer that implements the flight path setting device according to the embodiment of the present invention.

(Embodiment)
Hereinafter, a flight path setting device, a flight path setting method, and a program according to an embodiment of the present invention will be described with reference to FIGS.

[Device configuration]
First, the configuration of the flight path setting device according to the embodiment of the present invention will be described. FIG. 1 is a configuration diagram showing a schematic configuration of a flight path setting device according to an embodiment of the present invention.

  As shown in FIG. 1, the flight path setting device 10 in the present embodiment is a device for setting the flight path of an unmanned aircraft. The flight path setting device 10 includes a point acquisition unit 11, a candidate setting unit 12, and a flight path setting unit 13.

  The point acquisition unit 11 acquires a scheduled departure point and arrival point of the unmanned aircraft. In addition, the candidate setting unit 12 compares the departure point and the arrival point with the division data, and combines a plurality of flight path candidates by combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. Set. The section data is a plurality of sections set by dividing an area on the map, and a score assigned according to the safety at the time of the unmanned aircraft crash in each section is registered for each of the plurality of sections. Data.

  The flight path setting unit 13 calculates the total score by adding the scores given to the sections constituting the flight path candidates for each of the set flight path candidates. Then, the flight path setting unit 13 selects a flight path candidate from a plurality of flight path candidates based on the total score, and sets the selected flight path candidate as the flight path of the unmanned aircraft.

  As described above, in the present embodiment, the flight path setting device 10 sets the flight path from the calculated total score using the sections to which the score is assigned according to the safety at the time of the crash. That is, the flight path set in this way is obtained based on an objective viewpoint. For this reason, in this embodiment, it is possible to set a flight path that is efficient and takes into account the risk of a crash.

  Next, in addition to FIG. 1, the configuration of the flight path setting device 10 in the present embodiment will be described more specifically with reference to FIGS. 2 to 7. FIG. 2 is a block diagram specifically showing the configuration of the flight path setting device according to the embodiment of the present invention.

  As shown in FIG. 2, in the present embodiment, the flight path setting device 10 is connected to a terminal device 20 of a user 21 who operates an unmanned aerial vehicle via a network 30 such as the Internet. Specific examples of the terminal device 20 include a smartphone, a tablet terminal, and a general-purpose personal computer.

  Specifically, first, when the user 21 specifies a departure point and an arrival point on a map presented on the screen of the terminal device 20, the terminal device 20 specifies the coordinates of both points. Subsequently, the terminal device 20 transmits information specifying the coordinates of the departure point and the arrival point (hereinafter referred to as “point information”) to the flight path setting device 10. FIG. 3 is a diagram showing an example of a departure point and an arrival point designated on the terminal device in the embodiment of the present invention. In the example of FIG. 3, the departure point is indicated by 50 and the arrival point is indicated by 51.

  As shown in FIG. 2, in the present embodiment, the flight path setting device 10 includes a section data creation unit in addition to the point acquisition unit 11, the candidate setting unit 12, and the flight path setting unit 13 shown in FIG. 14 and a partition data storage unit 15.

  In the present embodiment, when the point information is transmitted from the terminal device 20, the point acquisition unit 11 receives the point information and acquires the departure point and the arrival point from the received point information. Specifically, the point acquisition unit 11 specifies the coordinates (latitude and longitude) of the departure point and the arrival point, and delivers the point information to the section data creation unit 14 and the candidate setting unit 12.

  In this embodiment, the section data creation unit 14 receives point information from the point acquisition unit 11 and sets a region on the map including the departure point and the arrival point as a target region. Subsequently, the section data creation unit 14 divides the target area and sets a plurality of sections. And the division data creation part 14 sets the score according to the safety | security at the time of a crash based on geographical information for every set some division. Thereby, the section data specifying the score for each section is created.

  Specifically, the section data creation unit 14 acquires map data corresponding to the set target area from the map database 40 via the network 30. Specific examples of the map database 40 include a database of a provider that provides a map information providing service, a database held by an administrator of the flight path setting device 10, and the like.

  Subsequently, the section data creation unit 14 divides the target region into a grid, sets a plurality of sections, and sets a score corresponding to the safety at the time of the crash for each section based on the geographical information. Specifically, the geographical information is information for specifying the position of a river, a road, a building or the like obtained from the acquired map data.

  Subsequently, the section data creation unit 14 specifies the position of each section using the coordinates (latitude and longitude) of the section extracted from the map data. The coordinates (latitude and longitude) for specifying the section may be coordinates (latitude and longitude) of one or more points in an arbitrary position (for example, the center) of the section. For example, the coordinates (latitude and longitude) of two points of the northwest corner and the southeast corner of each section can be given as an example.

  The partition data creation unit 14 can also assign a number to each partition in order to identify each partition. The section data creation unit 14 may hold the above-described section coordinates and section numbers as information for identifying the section (hereinafter, described as “section identification information”). Note that the section data may include section specifying information.

  Here, the section data will be described with reference to FIGS. 4 and 5. FIG. 4 is a diagram conceptually showing partition data in the embodiment of the present invention. In the example of FIG. 4, each section is classified into three types of rivers, roads, and buildings based on geographical information extracted from map data, and scores are set.

  In the example of FIG. 4, numbers 1 to 96 are assigned to the sections set in the target area, but some of the numbers are omitted in the figure. In addition, in the example of FIG. 4, the description is omitted, but the coordinates (latitude and longitude) are specified in addition to the assigned numbers for each section, and are stored as section data together with the set score. ing.

  And in the example of FIG. 4, the score of 30 points | pieces is set to the division where the river exists on an object area | region. In addition, a score of 5 points is set in a section where a road exists on the target area. A score of one point is set in the section where the building exists on the target area. In the example of FIG. 4, different patterns are used in different types of sections, and the sections are shown.

And in the example of FIG. 4, although the kind of each division is three types, a river, a road, and a building, it is not restricted above. For example, in addition to the above, a school, an airport, or the like may be added as the type of section. In addition to the geographical information, the score may be set using information such as population density (for example, population density per 1 m ² ) shown on the map.

  In the example of FIG. 4, the lower the risk when the unmanned aircraft crashes, the higher the score is set. However, the score is not limited to the above. For example, the lower the risk when the crash is, the lower the score is set. Also good.

The partition data created by the partition data creation unit 14 is stored in the partition data storage unit 15. FIG. 5 is a diagram showing a specific example of the partition data in the embodiment of the present invention. In the example of FIG. 5, the section data includes section specifying information and a score set for each section.
In the case of FIG. 5, the section specifying information is a number assigned to each section and coordinates (latitude and longitude) of two points of the northwest corner and the southeast corner of the section.

  In this embodiment, the candidate setting unit 12 compares the coordinates (latitude and longitude) of the departure point 50 and the arrival point 51 received from the point acquisition unit 11 with the division data created by the division data creation unit 14. The section corresponding to the point 50 and the arrival point 51 is specified. In the example of FIG. 4, a section corresponding to the departure point 50 is indicated by 60 and a section corresponding to the arrival point 51 is indicated by 61.

  Subsequently, the candidate setting unit 12 sets a plurality of flight path candidates by combining the sections existing from the section 60 corresponding to the departure point 50 to the section 61 corresponding to the arrival point 51 in the target area. Specifically, when setting a plurality of flight path candidates, the candidate setting unit 12 extracts all combinations of sections existing in the target region, and sets the extracted combinations as flight path candidates.

  However, as described above, when the candidate setting unit 12 extracts all combinations, the processing burden on the candidate setting unit 12 may become too large. For this reason, in this Embodiment, the candidate setting part 12 can restrict | limit the number of the flight route candidates to set.

  For example, the candidate setting unit 12 may set a plurality of flight path candidates using only the sections existing in the area including the section corresponding to the departure point and the section corresponding to the arrival point. Further, the candidate setting unit 12 extracts a combination of sections existing from the section 60 corresponding to the departure point 50 to the section 61 corresponding to the arrival point 51 so that the unmanned aircraft does not move away from the arrival point 51. May be.

  In the present embodiment, the flight path setting unit 13 adds the scores assigned to the sections constituting the flight path candidates for each flight path candidate using the section data, and calculates the total score. FIG. 6 is a diagram showing an example of flight path candidates and their total scores in the embodiment of the present invention.

  In the example of FIG. 6, the flight path candidate 1 and the flight path candidate 2 are shown among the plurality of flight path candidates set by the candidate setting unit 12. Further, in the example of FIG. 6, the total score of the sections constituting the flight path candidate is calculated based on the scores of the sections shown in FIG.

  The flight path candidate 1 causes the unmanned aircraft to fly over the section of the river on the target area for seven sections and to fly over the section of the road for one section. Further, the flight path candidate 1 causes the sky above the building section on the target area to fly for three sections including a section 60 corresponding to the departure point 50 and a section 61 corresponding to the arrival point 51. For this reason, the total score of the flight path candidate 1 is calculated as 218.

  Then, the flight path candidate 2 causes the unmanned aircraft to fly over the river section on the target area for two sections and to fly over the road section for four sections. Further, the flight path candidate 2 flies over the section of the building on the target area for five sections including the section 60 corresponding to the departure point 50 and the section 61 corresponding to the arrival point 51. For this reason, the total score of the flight path candidate 2 is calculated as 85. In the example of FIG. 6, only the flight path candidate 1 and the flight path candidate 2 are shown as flight path candidates. However, the flight path candidates are not limited to the above, and a plurality of flight path candidates are set.

  In the present embodiment, the score is set such that the higher the total score, the lower the risk when the unmanned aircraft crashes. For this reason, when the flight path candidate 1 and the flight path candidate 2 are compared, it can be seen that the flight path candidate 1 has a lower risk of a crash.

  Subsequently, the flight path setting unit 13 selects a flight path candidate from a plurality of flight path candidates based on the total score, and sets the selected flight path candidate as the flight path of the unmanned aircraft. Specifically, in the example of FIG. 6, the flight path candidate 1 having the highest total score is selected from the flight path candidates and set as the flight path.

  In the above example, the flight path setting unit 13 calculates the sum of scores set based only on geographical information according to the risk at the time of the crash as a total score. Therefore, the flight path set by the flight path setting unit 13 has a low risk at the time of a crash, but may have a long flight distance and a long flight time.

  For this reason, the flight path setting unit 13 may correct the total score to be calculated by estimating the flight time when the unmanned aircraft flies along the flight path for each of a plurality of flight path candidates. Specifically, the flight path setting unit 13 acquires the flight speed of the unmanned aircraft. Subsequently, the flight path setting unit 13 calculates the time required to fly a path 52 (hereinafter referred to as “shortest path”) connecting the departure point 50 and the arrival point 51, and uses this as a reference flight. Time (hereinafter referred to as “reference time”).

  Subsequently, the flight path setting unit 13 calculates a time required for flight of the flight path candidate (hereinafter referred to as “flight time”) for each of the plurality of flight path candidates, and obtains a difference from the reference time. The flight path setting unit 13 calculates a difference score from the difference between the flight time and the reference time, and corrects the total score using the calculated difference score. The calculation of the difference score can be performed based on a predetermined rule. FIG. 7 is a diagram showing an example when the total score in the embodiment of the present invention is corrected based on the flight time.

  In the example of FIG. 7, the flight path candidate 1 has a difference between the flight time and the reference time of +5 minutes. For this reason, the flight path setting unit 13 compares the difference value +5 minutes with a predetermined rule, and calculates, for example, a difference score of −10 points. As a result, the total score of flight path candidate 1 is corrected, and the total score is 208. Then, the flight path setting unit 13 similarly corrects the total score for other flight path candidates, and sets the flight path based on the corrected total score, as in the example of FIG.

[Device operation]
Next, the operation of the flight path setting device 10 according to the embodiment of the present invention will be described with reference to FIG. FIG. 8 is a flowchart showing the operation of the flight path setting apparatus in the embodiment of the present invention. In the following description, FIGS.

  In the present embodiment, the flight path setting method is implemented by operating the flight path setting device 10. Therefore, the description of the flight path setting method in the present embodiment is replaced with the following description of the operation of the flight path setting device 10.

  First, as shown in FIG. 8, in the flight path setting device 10, the point acquisition unit 11 acquires a departure point and an arrival point scheduled for the unmanned aircraft (step A1). Specifically, in step A1, in the flight path setting device 10, the point acquisition unit 11 specifies the departure point and the arrival point from the point information transmitted by the terminal device 20.

  Next, the section data creation unit 14 receives the spot information acquired in step A1, and sets a region on the map including the departure point and the arrival point as a target region. Then, the section data creation unit 14 divides the target area and sets a plurality of sections (step A2). Specifically, in step A <b> 2, map data corresponding to the target area is acquired from the map database 40 via the network 30. Subsequently, the section data creation unit 14 divides the target area and sets a plurality of sections.

  Next, the section data creation unit 14 sets a score corresponding to the safety at the time of the crash based on the geographical information for each section (step A3). Thereby, the section data specifying the score for each section is created. In step A3, the section data creation unit 14 can also include section specifying information in the section data.

  Next, the candidate setting unit 12 compares the created block data with the coordinates of the departure point 50 and the arrival point 51 acquired in step A1, and identifies the divisions corresponding to the departure point 50 and the arrival point 51. To do. Subsequently, the candidate setting unit 12 sets a plurality of flight path candidates by combining the sections existing from the section 60 corresponding to the departure point 50 to the section 61 corresponding to the arrival point 51 (step A4). In step A4, the candidate setting unit 12 can also limit the number of flight path candidates to be set.

  Next, for each flight path candidate, the flight path setting unit 13 adds up the scores assigned to the sections constituting the flight path candidate to calculate a total score (step A5). Specifically, the flight path setting unit 13 adds up the scores included in the segment data created in step A3, and calculates a total score for each flight path candidate.

  Next, the flight path setting unit 13 estimates the time for flying the flight path candidates and corrects the calculated total score (step A6).

  Specifically, in step A6, the flight path setting unit 13 acquires the flight speed of the unmanned aircraft and calculates the flight time that is the time required for flight of the flight path candidate. Subsequently, the flight path setting unit 13 calculates a reference time required when flying on the shortest path 52, and obtains a difference between the flight time and the reference time. In step A6, the flight path setting unit 13 calculates a difference score from the above-described difference. The difference score is calculated based on a predetermined rule. Further, the flight path setting unit 13 corrects the total score using the calculated difference score.

  Next, the flight path setting unit 13 selects a flight path candidate from a plurality of flight path candidates based on the total score corrected in step A6, and sets the selected flight path candidate as a flight path ( Step A7).

[Effects of the embodiment]
As described above, in the present embodiment, a plurality of flight path candidates are set by combining the sections using the sections provided with scores according to the safety at the time of the crash. Then, the flight path is set based on the total score calculated by summing the scores of the sections constituting the flight path candidate. For this reason, in this embodiment, it is possible to set a flight path that is efficient and takes into account the risk of a crash.

  Moreover, in this Embodiment, the total score calculated for every flight path candidate can be correct | amended based on the flight time at the time of flying the said flight path. For this reason, according to the present embodiment, it is possible to set a more efficient and highly safe flight path in consideration of the risk of a crash.

[program]
The program in the present embodiment may be a program that causes a computer to execute steps A1 to A7 shown in FIG. By installing and executing this program on a computer, the flight path setting device 10 and the flight path setting method in the present embodiment can be realized. In this case, the CPU (Central Processing Unit) of the computer functions as the point acquisition unit 11, the candidate setting unit 12, the flight route setting unit 13, and the segment data creation unit 14, and performs processing.

  In the present embodiment, the partition data storage unit 15 can be realized by storing a data file constituting the partition data in a storage device such as a hard disk provided in the computer.

  The program in the present embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as any of the point acquisition unit 11, the candidate setting unit 12, the flight route setting unit 13, and the segment data creation unit 14, respectively. Further, the partition data storage unit 15 may be realized by a storage device of any computer.

(Physical configuration)
Here, a computer that realizes the flight path setting device by executing the program in the embodiment will be described with reference to FIG. FIG. 9 is a block diagram illustrating an example of a computer that implements the flight path setting device according to the embodiment of the present invention.

  As shown in FIG. 9, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These units are connected to each other via a bus 121 so that data communication is possible.

  The CPU 111 performs various calculations by developing the program (code) in the present embodiment stored in the storage device 113 in the main memory 112 and executing them in a predetermined order. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory). Further, the program in the present embodiment is provided in a state of being stored in a computer-readable recording medium 120. Note that the program in the present embodiment may be distributed on the Internet connected via the communication interface 117.

  Specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and a mouse. The display controller 115 is connected to the display device 119 and controls display on the display device 119.

  The data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, and reads a program from the recording medium 120 and writes a processing result in the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and another computer.

  Specific examples of the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as a flexible disk, or CD- An optical recording medium such as ROM (Compact Disk Read Only Memory) can be used.

  Note that the flight path setting device 10 in the present embodiment can be realized not by using a computer in which a program is installed but also by using hardware corresponding to each unit. Furthermore, part of the flight path setting device 10 may be realized by a program, and the remaining part may be realized by hardware.

  As described above, according to the present invention, it is possible to set a flight path of an unmanned aircraft that is efficient and has high safety in consideration of a risk of crash. The present invention is useful in a field that requires management of unmanned aerial vehicles.

DESCRIPTION OF SYMBOLS 10 Flight route setting apparatus 11 Point acquisition part 12 Candidate setting part 13 Flight route setting part 14 Division data creation part 15 Division data storage part 20 Terminal device 21 User 30 Network 40 Map database 110 Computer 111 CPU
112 Main Memory 113 Storage Device 114 Input Interface 115 Display Controller 116 Data Reader / Writer 117 Communication Interface 118 Input Device 119 Display Device 120 Recording Medium 121 Bus

Claims (15)

A device for setting the flight path of an unmanned aerial vehicle,
A point acquisition unit for acquiring a scheduled departure point and arrival point of the unmanned aerial vehicle;
Partition data in which a plurality of sections set by dividing an area on a map and a score assigned to each of the plurality of sections according to the safety at the time of the unmanned aircraft crash in the section are registered. In addition, a candidate setting is performed in which a plurality of flight path candidates are set by collating the departure point and the arrival point, and combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. And
For each of the plurality of flight path candidates, the score given to each of the sections constituting the flight path candidate is added to calculate a total score, and each of the plurality of flight path candidates A flight path setting unit that selects the flight path candidate based on a total score, and sets the selected flight path candidate as a flight path of the unmanned aircraft;
A flight path setting device comprising: The area on the map is divided to set the plurality of sections, and for each of the set sections, the score is set based on the geographical information in the area, and the section data is created , Further comprising a section data creation unit,
The flight path setting device according to claim 1. The candidate setting unit sets the plurality of flight path candidates using only a section existing in a region including a section corresponding to the departure point and a section corresponding to the arrival point.
The flight path setting device according to claim 1 or 2. The candidate setting unit combines a plurality of sections existing from a section corresponding to the departure point to a section corresponding to the arrival point so as not to move away from the arrival point during the flight from the unmanned aircraft. Set flight path candidates,
The flight path setting device according to claim 1 or 2. The flight path setting unit estimates a flight time when the unmanned aircraft flies the flight path candidate for each of the plurality of flight path candidates, and further obtains a difference between the estimated flight time and a reference value. The total score in the flight path candidate is corrected based on the obtained difference.
The flight path setting device according to any one of claims 1 to 4. A method for setting a flight path of an unmanned aerial vehicle,
(A) obtaining scheduled departure and arrival points of the unmanned aerial vehicle;
(B) A plurality of sections set by dividing an area on the map, and a score assigned according to the safety at the time of the unmanned aircraft crash in each section are registered for each of the plurality of sections. A plurality of flight path candidates are set by comparing the departure point and the arrival point in the division data and combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight path candidates, a total score is calculated by adding the scores given to each of the sections constituting the flight path candidate, and from among the plurality of flight path candidates, Selecting the flight path candidates based on each of the total scores, and setting the selected flight path candidates as flight paths of the unmanned aircraft;
A flight path setting method characterized by comprising: (D) dividing the area on the map to set the plurality of sections, and for each of the plurality of sections set, the score is set based on geographical information in the area, and the section data Create a step,
The flight path setting method according to claim 6, further comprising: In the step (b), the plurality of flight path candidates are set using only a section existing in an area including a section corresponding to the departure point and a section corresponding to the arrival point.
The flight path setting method according to claim 6 or 7. In the step (b), combining the sections existing from the section corresponding to the departure point to the section corresponding to the arrival point so as not to move away from the arrival point during the flight from the unmanned aircraft, Set multiple flight path candidates,
The flight path setting method according to claim 6 or 7. In the step (c), for each of the plurality of flight path candidates, a flight time when the unmanned aircraft flies the flight path candidate is estimated, and a difference between the estimated flight time and a reference value is further calculated. Determining the total score in the flight path candidate according to the obtained difference.
The flight path setting method according to any one of claims 6 to 9. A program for setting the flight path of an unmanned aerial vehicle using a computer,
In the computer,
(A) obtaining scheduled departure and arrival points of the unmanned aerial vehicle;
(B) A plurality of sections set by dividing an area on the map, and a score assigned according to the safety at the time of the unmanned aircraft crash in each section are registered for each of the plurality of sections. A plurality of flight path candidates are set by comparing the departure point and the arrival point in the division data and combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight path candidates, a total score is calculated by adding the scores given to each of the sections constituting the flight path candidate, and from among the plurality of flight path candidates, Selecting the flight path candidates based on each of the total scores, and setting the selected flight path candidates as flight paths of the unmanned aircraft;
A program that executes In the computer,
(D) dividing the area on the map to set the plurality of sections, and for each of the plurality of sections set, the score is set based on geographical information in the area, and the section data Create a step,
The program according to claim 11, further executed. In the step (b), the plurality of flight path candidates are set using only a section existing in an area including a section corresponding to the departure point and a section corresponding to the arrival point.
The program according to claim 11 or 12. In the step (b), combining the sections existing from the section corresponding to the departure point to the section corresponding to the arrival point so as not to move away from the arrival point during the flight from the unmanned aircraft, Set multiple flight path candidates,
The program according to claim 11 or 12. In the step (c), for each of the plurality of flight path candidates, a flight time when the unmanned aircraft flies the flight path candidate is estimated, and a difference between the estimated flight time and a reference value is further calculated. Determining the total score in the flight path candidate according to the obtained difference.
The program according to any one of claims 11 to 14.

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