JP2019163992A - Data processing device, data processing method and program - Google Patents

Abstract

To lessen a burden of an administrator of an unmanned aircraft in a determination work of a flight plan of the unmanned aircraft and occurrence of an abnormality situation.SOLUTION: A data processing device (1) has: an effective inter-waypoint route extraction unit (111) that extracts an effective inter-waypoint route (412) flyable by an unmanned aircraft of inter-waypoint routes connecting between waypoints on the basis of information (407, 408 and 409) about a state of a waypoint peripheral acquired by an information acquisition unit (15), information (402) about a craft body of an unmanned aircraft (2) of an administration object stored in a storage unit (14) and a waypoint (401) stored in the storage unit; and a flight plan calculation unit (112) that calculates a flight plan (413) indicative of a route from a flight start location to a flight end location on the basis of the extracted effective inter-waypoint route.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a data processing device, a data processing method, and a program, for example, a data processing device, a data processing method, and a program for determining a route of an unmanned aircraft.

  In recent years, the practical application to the industrial field of an aircraft (unmanned aerial vehicle) that is capable of remote control and autonomous flight and is not boarded by humans has been studied.

  UTM (Unmanned Traffic Management) is known as a support device for determining a route (flight plan) to fly from a flight start position to a flight end position of an unmanned aerial vehicle (so-called drone).

  UTM is a pre-flight management function for unmanned aerial vehicles, with functions for registering aircraft information, managers, and flight plans, pre-registered obstacles, flight information for manned aircraft, and regulatory information based on laws. There is a function for determining the validity of a flight plan by collation. The UTM has a function of displaying status information (latitude, longitude, and altitude) of the unmanned aircraft to be managed and status information such as a battery remaining amount together with map information as a management function during the flight of the unmanned aircraft. Furthermore, the UTM has a function of managing logs related to the flight of unmanned aircraft to be managed.

JP 2017-1117018 A

  In general, a flight plan of an unmanned aerial vehicle is managed by information obtained by combining a plurality of waypoints indicating positions serving as a reference for navigation of the unmanned aerial vehicle. Here, the waypoint includes position information of latitude, longitude, and altitude.

  In conventional UTM, waypoints are generally determined manually. For example, an administrator who operates an unmanned aerial vehicle manually sets waypoints by taking into account weather information on the Internet, aircraft unmanned aircraft aircraft specification information, unmanned aircraft battery remaining information, etc. Had decided. Therefore, the conventional UTM has a problem that it takes time to determine a flight plan.

  Also, after setting the flight plan determined as above to an unmanned aerial vehicle and starting autonomous flight, if an abnormal situation such as sudden weather deterioration or approaching an obstacle occurs, the unmanned aircraft will be landed urgently, etc. Is necessary. However, since the response to abnormal situations has not been automated in the past, an administrator can operate an unmanned aerial vehicle via a transmitter (propo) to stop autonomous flight and make an emergency landing at a safe location. It was necessary to take action, and the burden on the administrator was great. In particular, when a plurality of unmanned aircraft are controlled, a great amount of labor is required.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to reduce the burden on the unmanned aerial vehicle administrator when an unmanned aircraft flight plan is determined and an abnormal situation occurs.

  A data processing apparatus (1) according to a representative embodiment of the present invention includes a plurality of information (402) relating to a fuselage of an unmanned aerial vehicle (2) to be managed and a position serving as a reference for navigation of the unmanned aircraft A storage unit (14) for storing the waypoint (401), an information acquisition unit (15) for acquiring information (407, 408, 409) on the situation around the waypoint, and the information acquired by the information acquisition unit Based on the information about the situation around the waypoints, the information on the aircraft stored in the storage unit, and the waypoints stored in the storage unit, among the inter-waypoint paths connecting the waypoints An effective waypoint route extraction unit (111) that extracts an effective waypoint route (412) on which the unmanned aircraft can fly; A flight plan calculation unit (112) that calculates a flight plan (413) indicating a route to fly from a flight start position to a flight end position based on the route between effective waypoints extracted by the point-to-point route extraction unit; And a communication unit (12) for setting the flight plan calculated by the flight plan calculation unit to the unmanned aerial vehicle.

  According to the data processing device of the present invention, it is possible to reduce the burden on the unmanned aerial vehicle administrator when an unmanned aircraft flight plan is determined and an abnormal situation occurs.

It is a figure which shows the structure of the route determination assistance system provided with the data processor which concerns on one embodiment of this invention. It is a figure which shows the functional block structure of a data processor. It is a figure which shows the hardware constitutions of a data processor. It is a figure for demonstrating the extraction method of the path | route between effective waypoints. It is a flowchart which shows the flow of the flight plan creation process by a data processor. It is a flowchart which shows the flow of the flight plan update process by a data processor.

1. First, an outline of a typical embodiment of the invention disclosed in the present application will be described. In the following description, as an example, reference numerals on the drawings corresponding to constituent elements of the invention are shown in parentheses.

  [1] A data processing device (1) according to a representative embodiment of the present invention includes information (402) on the airframe of an unmanned aerial vehicle (2) to be managed and a position serving as a reference for navigation of the unmanned aircraft. A storage unit (14) for storing a plurality of waypoints (401) shown, an information acquisition unit (15) for acquiring information (407, 408, 409) relating to the situation around the waypoint, and the information acquisition unit An inter-waypoint route connecting the waypoints based on the acquired information about the situation around the waypoint, the information about the aircraft stored in the storage unit, and the waypoint stored in the storage unit Among the effective waypoints route extraction unit (111) for extracting the route (412) between the effective waypoints in which the unmanned aircraft can fly, A flight plan calculation unit (112) that calculates a flight plan (413) indicating a route to fly from a flight start position to a flight end position based on the effective waypoint path extracted by the inter-waypoint path extraction unit. And a communication unit (12) for setting the flight plan calculated by the flight plan calculation unit to the unmanned aircraft.

  [2] In the data processing apparatus, the information related to the situation around the waypoint may include information (407) related to weather around the waypoint.

  [3] In the data processing device, the information related to the situation around the waypoint may include route blocking information (408) indicating an area where the flight of the unmanned aircraft is restricted.

  [4] In the data processing device, the information about the situation around the waypoint includes information indicating whether the unmanned aircraft can be parked at the waypoint, and whether the unmanned aircraft can be charged. May also include parking space information (409) indicating the above.

  [5] In the data processing device, the communication unit further acquires information on a battery remaining amount (406) of the unmanned aircraft and a position (405) of the unmanned aircraft from the unmanned aircraft, and the flight plan calculation unit Calculates the remaining flight distance until the unmanned aircraft reaches the flight end position based on the position of the unmanned aircraft and the flight end position in the flight plan, and the calculated remaining flight distance The flight plan including the rechargeable waypoint may be calculated based on the remaining battery level and the parking lot information.

  [6] In the data processing device, the effective waypoint route extraction unit extracts the effective waypoint route in response to the update of the information acquired by the information acquisition unit, and the flight plan calculation unit includes: The flight plan may be updated when the route between waypoints included in the flight plan is no longer the route between valid waypoints.

  [7] In the data processing device, the waypoint may include a position in an area where a steel tower is installed.

  [8] A data processing method according to a representative embodiment of the present invention includes a plurality of waypoints indicating information related to the airframe of an unmanned aerial vehicle (2) to be managed and a reference position for navigation of the unmanned aerial vehicle ( 401), and a data processing method using a data processing device (1) capable of communicating with the unmanned aerial vehicle, wherein the data processing device relates to a situation around the waypoint Information acquisition step (S4, S11) for acquiring information (407, 408, 409), information on the situation around the waypoint acquired by the data processing device by the information acquisition step, and the storage unit Waypoints connecting the waypoints based on the information on the aircraft and the waypoints stored in the storage unit The effective waypoint route extraction step (S5, S12) for extracting the route (412) between the effective waypoints in which the unmanned aircraft can fly among the routes, and the data processing device by the route extraction step between the effective waypoints Flight plan calculation steps (S6, S17) for calculating a flight plan (413) indicating a route to fly from the flight start position (403) to the flight end position (404) based on the extracted effective waypoint path. And a flight plan setting step (S7, S18) in which the data processing device sets the flight plan calculated in the flight plan calculation step to the unmanned aircraft via the communication network. And

  [9] In the data processing method, the information about the situation around the waypoint may include information (407) about the weather around the waypoint.

  [10] In the above data processing method, the information related to the situation around the waypoint may include route blocking information (408) indicating a route between the waypoints where flight of the unmanned aircraft is restricted.

  [11] In the data processing method, the information on the situation around the waypoint includes information indicating whether the unmanned aircraft can be parked at the waypoint stored in the storage unit, and the unmanned aircraft May include parking area information (409) indicating whether or not can be charged.

  [12] In the data processing method, the data processing device obtains information on the battery level (406) of the unmanned aircraft and the position (405) of the unmanned aircraft from the unmanned aircraft (S11), A step (S13) in which the data processing device calculates a remaining flight distance until the unmanned aircraft reaches the flight end position based on the position of the unmanned aircraft and the flight end position in the flight plan; The data processing device calculates the flight plan including the rechargeable waypoint based on the calculated remaining flight distance, the remaining battery level, and the parking lot information (S14, S17). ).

  [13] In the data processing method, the effective waypoint route extraction step (S12) is executed in response to the update (S11) of the information acquired by the information acquisition step, and the flight plan calculation step (S17) This may be executed when the inter-waypoint route included in the flight plan is no longer the valid inter-waypoint route (S15).

  [14] In the above data processing method, the waypoint may include a position in an area where a steel tower is installed.

  [15] A program according to a typical embodiment of the present invention is a program for causing a computer to execute each step in the data processing method.

2. Specific Examples of Embodiments Hereinafter, specific examples of embodiments of the present invention will be described with reference to the drawings. In the following description, the same reference numerals are given to components common to the respective embodiments, and repeated description is omitted.

<Configuration of route decision support system>
FIG. 1 is a diagram showing a configuration of a route determination support system including a data processing device according to an embodiment of the present invention.
The route determination support system 100 shown in the figure is a system that supports the determination of the route (flight plan) of the unmanned aircraft 2. The route determination support system 100 includes a data processing device 1, an unmanned aircraft 2, communication networks 3 and 4, a weather prediction device 5, a route blocking information generation device 6, and a parking lot management device 7.

  The unmanned aerial vehicle 2 is an aircraft that is capable of remote control and autonomous flight and is not boarded by a person. For example, the unmanned aircraft 2 is a rotary wing aircraft (so-called drone) equipped with three or more rotors. The unmanned aerial vehicle 2 can communicate with the data processing device 1 via the communication network 3. Examples of the communication network 3 include various wireless communication networks using a wireless LAN, a mobile communication network of a mobile phone, and the like.

  The data processing device 1 is a device that executes various data processing for supporting the determination of the flight plan of the unmanned aircraft 2. The data processing apparatus 1 can communicate with the unmanned aircraft 2 via the communication network 3 as described above. The data processing device 1 can communicate with the weather prediction device 5, the route blocking information generation device 6, and the parking lot management device 7 via the communication network 4.

  The communication network 4 includes various types of wired communication such as optical communication using optical fibers and power line communication (PLC) in addition to various wireless communication networks using a wireless LAN or a mobile communication network of a mobile phone. A network can be exemplified.

  The communication network 4 may be a common network with the communication network 3. For example, the data processing device 1, the unmanned aircraft 2, the weather prediction device 5, the route blocking information generation device 6, and the parking lot management device 7 may be connected via the communication network 3.

  The data processing device 1 is based on various information acquired from the weather prediction device 5, the route blockage information generation device 6, and the parking lot management device 7 via the communication network 4, and pre-registered waypoint information. Thus, the flight plan of the unmanned aircraft 2 is determined and set to the unmanned aircraft 2 via the communication network 3. The unmanned aerial vehicle 2 performs autonomous flight according to the set flight plan.

In addition, the data processing device 1 appropriately determines the flight plan when the information from the weather prediction device 5, the route block information generation device 6, and the parking lot management device 7 is updated during the autonomous flight of the unmanned aircraft 2. Is updated and reset to the unmanned aerial vehicle 2 to change the route of the unmanned aerial vehicle 2 according to changes in the flight environment and the like.
Details of the data processing apparatus 1 will be described later.

  The weather prediction device 5 is a device that generates information about the weather around the waypoint. The weather prediction device 5 is an information processing device such as a server, for example. The weather forecasting device 5 uses, for example, a communication network (not shown), for example, a wide-area weather information provided by an external organization such as the Japan Meteorological Agency, a detected value of a weather sensor that detects physical quantities related to the weather installed near the waypoint, and the like. To get through. The weather prediction device 5 calculates current values or predicted values such as rainfall, wind speed, and temperature around each waypoint based on the acquired information.

  The data processing device 1 acquires weather prediction information 407 including current values or predicted values such as rainfall, wind speed, and temperature around each waypoint calculated by the weather prediction device 5 via the communication network 4. For example, the data processing device 1 communicates with the weather prediction device 5 periodically or in response to an instruction from a user (an administrator of the unmanned aircraft 2), and sequentially acquires the latest weather prediction information 407.

  The route blocking information generating device 6 is a device that generates route blocking information indicating an area where the flight of the unmanned aircraft 2 is restricted. The route blocking information generation device 6 is an information processing device such as a server, for example.

  The route block information generation device 6 acquires, for example, information such as flight regulation based on laws and regulations, construction work, the presence of a stationary artifact, the occurrence of an accident, and the presence of a manned aircraft via a communication network (not shown), for example. To do.

  In addition, when the presence of a bird or an unmanaged unmanned aircraft is detected by a sensor that detects obstacles that hinder the flight of the unmanned aircraft 2 installed around the waypoint, The detection information of the sensor is also acquired. The route block information generating device 6 generates route block information 408 indicating an area where the flight of the unmanned aerial vehicle 2 is restricted based on the acquired various information.

  The data processing device 1 acquires the route blocking information 408 generated by the route blocking information generating device 6 via the communication network 4. For example, the data processing device 1 communicates with the route blocking information generation device 6 periodically or in response to an instruction from the user, and sequentially acquires the latest route blocking information 408.

  The parking lot management device 7 is a device that monitors the state of the parking lot installed at the waypoint. The parking lot management device 7 is connected to a device such as a charging port installed in each parking lot via a communication network (not shown), for example, and monitors the state of each parking lot.

  Here, the parking lot includes a place where a charging port 70 capable of charging the battery of the parked unmanned aircraft 2 is provided, and a place where the charging port 70 is not provided and only a parking place is available.

  The parking lot management apparatus 7 generates parking lot information 409 including various information related to the parking lot. The parking lot information 409 includes, for example, information indicating whether or not the unmanned aircraft 2 can be parked at a parking lot installed at a waypoint to be described later, and whether or not the battery of the unmanned aircraft 2 can be charged. Contains information indicating. In addition, when the unmanned aircraft is charging using the charging port 70 provided in the parking lot, the parking lot information 409 includes, for example, information indicating that the unmanned aircraft is being charged, It includes information indicating the estimated time until charging of the unmanned aircraft is completed.

  The data processing device 1 acquires the parking lot information 409 generated by the parking lot management device 7 via the communication network 4. For example, the data processing device 1 communicates with the parking lot management device 7 periodically or in response to an instruction from the user, and sequentially acquires the latest parking lot information 409.

<Configuration of Data Processing Device 1>
Next, the data processing apparatus 1 will be described in detail.
FIG. 2 is a diagram illustrating a functional block configuration of the data processing apparatus. FIG. 3 is a diagram illustrating a hardware configuration of the data processing apparatus 1.

  The data processing device 1 can be realized by various information processing devices such as a personal computer (PC), a server, a tablet terminal, and a smartphone.

  As illustrated in FIG. 2, the data processing device 1 includes a route setting unit 11, a communication unit 12, an instruction input unit 13, a storage unit 14, and an information acquisition unit 15 as functional blocks. The route setting unit 11, the communication unit 12, the instruction input unit 13, the storage unit 14, and the information acquisition unit 15 are software in which hardware resources constituting the information processing device as the data processing device 1 are installed in the information processing device It is realized by cooperating with the wear.

  As illustrated in FIG. 3, the data processing device 1 includes an arithmetic device 101, a storage device 102, an input device 103, an I / F (Interface) device 104, an output device 105, and a bus 106 as hardware resources. .

  The arithmetic device 101 is configured by a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). The storage device 102 has a storage area for storing a program 1021 for causing the arithmetic device 101 to execute various types of data processing, and data 1022 such as parameters and arithmetic results used in the data processing by the arithmetic device 101. For example, it is composed of a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD, a flash memory, and the like.

  A program for realizing a data processing method for generating a flight plan according to the present embodiment is stored in the storage device 102 as a program 1021, for example.

  The program 1021 is a program for realizing the data processing method for generating the flight plan according to the present embodiment, and is installed in the storage device 102 in the data processing device 1 in advance, for example.

  Note that the program may be distributed via a network, or may be distributed by being written on a computer-readable storage medium (Non-transitory computer readable medium) such as a CD-ROM. .

  The input device 103 is a functional unit that detects input of information from the outside, and includes, for example, a keyboard, a mouse, a pointing device, a button, or a touch panel. The I / F device 104 is a functional unit that transmits / receives information to / from the outside, and includes a communication control circuit, an input / output port, an antenna, and the like for performing wired or wireless communication.

  The output device 105 is a functional unit that outputs information obtained by data processing by the arithmetic device 101. The output device 105 is, for example, an external storage device such as an SSD or an HDD, a display device such as an LCD (Liquid Crystal Display) and an organic EL (Electro Luminescence). The bus 106 is a functional unit that connects the arithmetic device 101, the storage device 102, the input device 103, the I / F device 104, and the output device 105 to each other and enables data exchange between these devices.

  The data processing apparatus 1 performs an operation according to the program 1021 stored in the storage device 102 by the arithmetic device 101, and stores the storage device 102, the input device 103, the I / F (Interface) device 104, the output device 105, and the bus 106. By controlling, the function units shown in FIG. 2, that is, the route setting unit 11, the communication unit 12, the instruction input unit 13, the storage unit 14, and the information acquisition unit 15 are realized.

  Hereinafter, each function part which comprises the data processor 1 is demonstrated.

  The storage unit 14 is a functional unit for storing various programs and parameters for determining a flight plan. Specifically, the storage unit 14 stores waypoint information 401 and registered machine information 402.

  The waypoint information 401 is information on a plurality of waypoints registered in advance in the route decision support system 100. The waypoint includes, for example, a position in an area where various steel towers such as a power transmission tower and a mobile phone base station tower are installed. In addition to the position in the area where the steel tower is installed, the waypoint may include a position in an area where a convenience store, a rooftop of a specific facility, or the like is installed, for example.

  Here, the position set as the waypoint may be a position in an area where a specific facility such as a steel tower or a convenience store is installed. For example, it may be the position of the steel tower itself, or the number of surroundings of the steel tower. Any position within a meter may be used.

  The waypoint information 401 includes, for example, position information including latitude, longitude, and altitude in the above-described area. In addition to the position information, the waypoint information 401 includes information on whether or not the unmanned aircraft 2 can land at the waypoint (presence / absence of a parking area), and charging the battery of the unmanned aircraft 2 at the waypoint. Information on whether or not charging is possible (presence / absence of charging port 70).

  The registered aircraft information 402 is information related to the aircraft of the unmanned aircraft 2 to be managed (controlled) in the route determination support system 100 according to the present embodiment. For example, wind resistance performance, weather resistance performance, aircraft weight, system (data processing) It includes information such as the communication method with the device 1) and the charging capacity of the battery mounted on the unmanned aerial vehicle 2.

  In addition, as will be described later, the storage unit 14 stores various types of information acquired from the unmanned aircraft 2, the weather prediction device 5, the route blocking information generation device 6, the parking lot management device 7, and the like.

  The instruction input unit 13 is a functional unit that acquires an instruction from a user who operates the data processing apparatus 1. For example, the instruction input unit 13 detects an operation on the keyboard or touch panel of the data processing device 1 by the user, and instructs the data processing device 1 to create a flight plan for the unmanned aircraft 2 or a flight plan for the unmanned aircraft 2. Get instructions for setting.

  The instruction for creating the flight plan is input together with information specifying the flight start position and the flight end position, for example. The information specifying the flight start position and the flight end position is information specifying one of the waypoints registered in advance as the waypoint information 401 as the flight start position or the flight end position.

  Information specifying the flight start position and the flight end position input from the instruction input unit 13 is stored in the storage unit 14 as a flight start position 403 and a flight end position 404, respectively.

  The communication unit 12 is a functional unit that communicates with the unmanned aircraft 2 via the communication network 3. The communication unit 12 communicates with the unmanned aircraft 2 to be managed periodically or in response to an instruction from the user, information on the position of the unmanned aircraft 2 (for example, latitude, longitude, and altitude information), battery Information indicating the remaining amount, status of communication, and presence / absence of failure of the unmanned aircraft 2 are acquired.

  Status information of the unmanned aerial vehicle 2 acquired by the communication unit 12 is stored in the storage unit 14. For example, information on the position of the unmanned aircraft 2 is stored in the storage unit 14 as unmanned aircraft position information 405, and information indicating the remaining battery level of the unmanned aircraft 2 is stored as battery remaining amount information 406.

  The information acquisition unit 15 is a functional unit that acquires information related to the situation around the waypoint. The information related to the situation around the waypoint includes at least one of the weather forecast information 407, the route block information 408, and the parking lot information 409 described above.

  Specifically, the information acquisition unit 15 acquires the weather prediction information 407 from the weather prediction device 5 via the communication network 4 and stores it in the storage unit 14. Further, the information acquisition unit 15 acquires the route blocking information 408 from the route blocking information generation device 6 via the communication network 4 and stores it in the storage unit 14. Further, the information acquisition unit 15 acquires the parking lot information 409 from the parking lot management device 7 via the communication network 4 and stores it in the storage unit 14.

  The information acquisition unit 15 communicates with the weather prediction device 5, the route blockage information generation device 6, and the parking lot management device 7 via the communication network 4 periodically or in response to an instruction from the user. The weather forecast information 407, the route block information 408, and the parking lot information 409 stored in 14 are sequentially updated to the latest information.

  The route setting unit 11 is a functional unit for determining a flight plan for the unmanned aerial vehicle 2. Specifically, the route setting unit 11 includes an effective waypoint route extraction unit 111 and a flight plan calculation unit 112.

<Valid Waypoint Route Extraction Unit 111>
First, the valid waypoint route extraction unit 111 will be described.
The effective waypoint route extraction unit 111 stores information related to the situation around the waypoint acquired by the information acquisition unit 15 (weather forecast information 407, route blockage information 408, and parking lot information 409) and the storage unit 14. Based on the information on the aircraft (registered aircraft information 402) and the waypoint information 401 stored in the storage unit 14, the route between the effective waypoints in which the unmanned aircraft 2 can fly among the route between the waypoints connecting the waypoints. Is a functional unit for extracting.

FIG. 4 is a diagram for explaining a method of extracting a route between valid waypoints.
First, the valid waypoint route extraction unit 111 selects a route between two waypoints that the unmanned aircraft 2 is permitted to fly among a plurality of waypoints registered as the waypoint information 401. Select as.

  The inter-waypoint route may be, for example, all routes specified by a combination of two points of all waypoints included in the waypoint information 401, or a route connecting adjacent waypoints. Good.

In the present embodiment, as shown in FIG. 4, when 10 waypoints p1 to p10 are registered as waypoint information 401, a route between two waypoints adjacent to each other is referred to as an inter-waypoint route. An example will be described.
That is, the valid inter-waypoint route extraction unit 111 selects each route indicated by the reference symbols R1_2, R2_3, R2_5, R3_4, R3_7, R4_5, R4_8, R6_7, R7_8, R7_9, R8_9, R9_10 as the inter-waypoint route. To do.

  Next, the valid waypoint route extraction unit 111 determines whether or not the selected waypoint route is valid. Specifically, the valid waypoint route extraction unit 111 is based on at least one of the weather prediction information 407, route blocking information 408, parking lot information 409, and registered aircraft information 402 stored in the storage unit 14. Then, it is determined whether or not the unmanned aerial vehicle 2 can fly along the selected waypoint path.

  For example, as shown in FIG. 4, the wind resistance performance of the unmanned aerial vehicle 2 registered in the registered aircraft information 402 is a wind speed of 8 m / s, and the wind speed of the route R2_5 between the waypoints based on the weather forecast information 407 is 10 m / s. In some cases, since the wind speed of the waypoint route R2_5 exceeds the wind resistance performance of the unmanned aircraft 2, the valid waypoint route extraction unit 111 determines that the unmanned aircraft 2 cannot fly the waypoint route R2_5. Then, the waypoint path R2_5 is invalidated.

  Further, as shown in FIG. 4, when the route block information 408 indicates that, for example, the inter-waypoint route R7_8 is blocked, the valid inter-waypoint route extraction unit 111 causes the unmanned aircraft 2 to fly the inter-waypoint route R7_8. It is determined that it is possible, and the inter-waypoint route R7_8 is invalidated.

  As shown in FIG. 4, for example, the inter-waypoint route R2_3 refers to any information of the weather prediction information 407, the route blockage information 408, the parking lot information 409, and the registered aircraft information 402. When the factor that restricts the flight of the vehicle is not found, the valid waypoint route extraction unit 111 determines that the unmanned aircraft 2 can fly the route R2_3 between the waypoints, and validates the route R2_3 between the waypoints. .

  As described above, the valid waypoint route extraction unit 111 determines the validity / invalidity of each waypoint route, and all the waypoint routes judged to be valid are used as the valid waypoint route 412 as the storage unit 14. Register with.

  The effective waypoint route extraction unit 111 extracts the effective waypoint route 412 in accordance with the update of the information acquired by the information acquisition unit 15. For example, the valid waypoint route extraction unit 111 determines whether each waypoint route is valid / invalid each time the weather prediction information 407, the route block information 408, and the parking lot information 409 are updated, and the storage unit 14 The route 412 between effective waypoints stored in is updated.

  Further, the valid waypoint route extraction unit 111 may periodically determine validity / invalidity of each waypoint route and update the valid waypoint route 412 stored in the storage unit 14.

<Flight plan calculation unit 112>
Next, the flight plan calculation unit 112 will be described.
The flight plan calculation unit 112 is a functional unit that calculates a flight plan indicating a route to fly from a flight start position to a flight end position.

  The flight plan calculation unit 112 converts the flight start position 403 and the flight end position 404 specified by the user via the instruction input unit 13 and the effective waypoint path 412 extracted by the effective waypoint path extraction unit 111. Based on this, the flight plan 413 is calculated and stored in the storage unit 14.

  Here, the flight plan 413 includes position information (latitude, longitude, altitude) of each waypoint as a flight start position, a flight end position, or a relay position, and a scheduled transit time at which the unmanned aircraft 2 passes through each waypoint. And time information including a waiting time. Note that the estimated passage time of each waypoint can be calculated from the distance between the waypoints and the speed of the unmanned aircraft 2.

  For example, the flight plan calculation unit 112 combines the effective waypoint paths 412 so that the flight distance from the flight start position 403 to the flight end position 404 is the shortest. For example, in FIG. 4, when the flight start position is the waypoint p1, the flight end position is the waypoint p5, and the wind exceeding the wind resistance performance of the unmanned aircraft 2 is not blowing on the inter-waypoint path R2_5, the inter-waypoint path R2_5 is a route between effective waypoints. In this case, the flight plan calculation unit 112 stores in the storage unit 14 a combination of effective waypoint routes R1_2 and R2_5 that connect waypoints in the order of p1, p2, and p5 that minimizes the flight distance of the unmanned aircraft 2 as the flight plan 413. Remember.

  When the instruction input unit 13 receives an instruction to set the flight plan for the unmanned aircraft 2 from the user, the communication unit 12 transmits the flight plan 413 stored in the storage unit 14 to the unmanned aircraft 2 via the communication network 3. Then, the flight plan 413 is set. Thereafter, the communication unit 12 instructs the unmanned aircraft 2 to start flying via the communication network 3 when the instruction input unit 13 receives an instruction to start the flight of the unmanned aircraft 2 from the user.

  The flight plan calculation unit 112 further has a function of recalculating the flight plan during autonomous flight according to the flight plan of the unmanned aircraft 2.

  Specifically, the flight plan calculation unit 112 recalculates the flight plan 413 when the inter-wayway point route extraction unit 111 determines that the inter-waypoint route included in the flight plan 413 is invalid.

  For example, consider a case where the unmanned aerial vehicle 2 is flying in accordance with a flight plan 413 that flies in the order of waypoints p1, p2, and p5 in FIG. In this case, the wind speed between p2 and p5 exceeds the wind resistance performance of the unmanned aircraft 2 while the unmanned aircraft 2 is moving from the waypoint p1 to the waypoint p2, and the waypoint between the effective waypoints is extracted by the route extraction unit 111. Assume that the inter-path route R2_5 is excluded from the effective waypoint path.

  In this case, the flight plan calculation unit 112 stores a combination of valid waypoint paths R1_2, R2_3, R3_4, and R4_5 in the order of p1, p2, p3, p4, and p5 in the storage unit 14 as a new flight plan 413. The communication unit 12 resets the recalculated new flight plan 413 to the unmanned aircraft 2. Thereby, the unmanned aerial vehicle 2 continues to fly according to the new flight plan 413.

  Further, for example, consider the case where the unmanned aerial vehicle 2 is flying according to the flight plan 413 flying in the order of waypoints p6, p7, and p8 in FIG. In this case, while the unmanned aircraft 2 is moving from the waypoint p6 to the waypoint p7, the presence of an obstacle between p7 and p8 is detected by the route block information 408, and the route extraction unit 111 between the effective waypoints is detected. , The inter-waypoint route R7_8 is excluded from the effective inter-waypoint route.

  In this case, the flight plan calculation unit 112 stores the combination of the effective waypoint routes R6_7, R7_9, and R9_8 connected in the order of p6, p7, p9, and p8 in the storage unit 14 as a new flight plan 413, and the communication unit 12 Resets the recalculated new flight plan 413 to the unmanned aerial vehicle 2. Thereby, the unmanned aerial vehicle 2 continues to fly according to the new flight plan 413.

  Further, the flight plan calculation unit 112 is based on the information of the unmanned aircraft 2 (unmanned aircraft position information 405 and battery remaining amount information 406) acquired via the communication unit 12 and the various types of information acquired by the information acquisition unit 15. Calculate a flight plan that passes through a waypoint with a parking area.

  Specifically, the flight plan calculation unit 112 determines that the unmanned aircraft 2 reaches the flight end position 404 based on the position of the unmanned aircraft 2 (for example, the current flight position) and the flight end position 404 in the flight plan 413. The remaining flight distance is calculated, and a flight plan including rechargeable waypoints is calculated based on the calculated remaining flight distance, battery remaining amount information 406, and parking lot information 409.

  For example, the flight plan calculation unit 112 periodically calculates the remaining flight distance until the unmanned aircraft 2 reaches the flight end position 404, and based on the remaining battery information 406, the flightable distance of the unmanned aircraft 2 is calculated. Is calculated. The flight plan calculation unit 112 compares the remaining flight distance with the flightable distance, and recalculates the flight plan when the remaining flight distance is larger than the flightable distance.

  For example, consider the case where the unmanned aerial vehicle 2 is flying in accordance with a flight plan 413 that flies in the order of waypoints p6, p7, p9, and p8 in FIG. Here, it is assumed that the waypoint p7 is provided with a parking lot, and the waypoint p9 is provided with a parking lot and a charging port 70.

  In this case, while the unmanned aerial vehicle 2 is moving from the waypoint p6 to the waypoint p7, the flight plan calculation unit 112 can fly where the remaining flight distance of the unmanned aerial vehicle 2 is calculated from the battery remaining amount information 406. Suppose that it has detected that it became larger than the distance.

In this case, the flight plan calculation unit 112 refers to the parking lot information 409 and determines whether or not charging is possible at any waypoint included in the flight plan 413 that has been set for the unmanned aircraft 2.
For example, when there is no other unmanned aircraft using the charging port 70 at the waypoint p9, it is determined that the unmanned aircraft 2 can be charged at the waypoint p9, and charging and charging at the waypoint p9 are performed. Considering the time (standby time), a new flight plan 413 is calculated and stored in the storage unit 14. Then, the communication unit 12 resets the recalculated new flight plan 413 to the unmanned aircraft 2.

  On the other hand, when another unmanned aircraft using the charging port 70 exists at the waypoint p9, charging of the other unmanned aircraft is completed at the waypoint p10 adjacent to the waypoint p9 having the charging port 70, for example. A new flight plan 413 is calculated and stored in the storage unit 14 so that the unmanned aerial vehicle 2 is kept on standby until this time. Then, the communication unit 12 resets the recalculated new flight plan 413 to the unmanned aircraft 2.

  As a result, the unmanned aerial vehicle 2 moves to the waypoint p10 after passing through the waypoint p9, waits there, and when charging of another unmanned aircraft at the waypoint p9 is completed, moves to the waypoint p9 from the waypoint p10. And charge it.

  Since the time required for charging another unmanned aircraft is managed by the parking management device 7 and included in the parking space information 409, the data processing device 1 waits at the waypoint p10 of the unmanned aircraft 2. It is possible to calculate the time.

  In addition, when any abnormality occurs in the unmanned aerial vehicle 2, the flight plan calculation unit 112 restarts the flight plan 413 so as to autonomously land and wait at the nearest landing-possible waypoint as described above. You may calculate.

<Flight plan creation procedure>
Next, a procedure for creating a flight plan by the route decision support system 100 will be described with reference to the drawings.
FIG. 5 is a flowchart showing the flow of the flight plan creation process by the data processing apparatus 1.

  First, the data processing apparatus 1 determines whether or not an instruction for creating a flight plan is input from the user (step S1). In step S1, if there is no instruction to create a flight plan from the user, the data processing apparatus 1 continues to wait.

  On the other hand, when an instruction to create a flight plan is input to the instruction input unit 13 in step S1, the data processing apparatus 1 starts a flight plan creation process to create a flight plan (step S2).

  In the flight plan creation process, first, the data processing apparatus 1 includes information on the situation around the waypoint (weather forecast information 407, route blocking information 408, parking area information 409) and status information (unmanned aircraft position information 405) of the unmanned aircraft 2. And whether or not the battery remaining amount information 406) has been acquired (step S3).

In step S3, when the above information has not been acquired, the data processing device 1 communicates with the weather prediction device 5, the route blocking information generation device 6, the parking lot management device 7, and the unmanned aircraft 2 to acquire various information. (Step S4).
Specifically, the information acquisition unit 15 communicates with the weather prediction device 5, the route block information generation device 6, and the parking lot management device 7 via the communication network 4, and the weather prediction information 407, the route block information 408, and The parking lot information 409 is acquired and stored in the storage unit 14. Further, the communication unit 12 communicates with the unmanned aircraft 2, acquires status information such as the unmanned aircraft position information 405 and the remaining battery information 406, and stores the status information in the storage unit 14.

  After the acquisition of the information in step S4 or when it is determined in step S3 that the information has been acquired, the data processing device 1 extracts a route between valid waypoints (step S5). Specifically, the valid inter-waypoint route extraction unit 111 determines the validity / invalidity of the inter-waypoint route using the above-described method, and the valid inter-waypoint route is stored in the storage unit 14 as the valid inter-waypoint route 412. Remember.

  Next, the data processing device 1 calculates a flight plan (step S6). Specifically, the flight plan calculation unit 112 creates the flight plan 413 based on the route 412 between the effective waypoints extracted in step S <b> 5 by the method described above, and stores it in the storage unit 14.

  Then, the data processing apparatus 1 sets the calculated flight plan 413 to the unmanned aerial vehicle 2 according to the above-described method in accordance with an instruction from the user (step S7). Thereby, the unmanned aerial vehicle 2 can be caused to fly according to the flight plan 413.

<Flight plan update procedure>
Next, a flight plan update procedure by the route determination support system 100 will be described with reference to the drawings.
FIG. 6 is a flowchart showing the flow of the flight plan update process by the data processing apparatus 1.

  Here, a case where the flight plan is updated when the unmanned aerial vehicle 2 performs autonomous flight according to the flight plan that has been set once will be described.

First, the data processing device 1 periodically or in response to an instruction from the user, information on the situation around the waypoint (weather forecast information 407, route block information 408, parking lot information 409) and status information of the unmanned aircraft 2 (Unmanned aircraft position information 405 and remaining battery information 406) are updated (step S11).
Specifically, as described above, the information acquisition unit 15 communicates with the weather prediction device 5, the route blocking information generation device 6, and the parking lot management device 7 via the communication network 4, and the weather prediction information 407, the route The blockade information 408 and the parking lot information 409 are acquired and the information stored in the storage unit 14 is updated. Further, the communication unit 12 communicates with the unmanned aircraft 2, acquires status information such as the unmanned aircraft position information 405 and the remaining battery information 406, and updates those information stored in the storage unit 14.

  Next, the data processing device 1 extracts a route between valid waypoints, similarly to step S5, based on the various information updated in step S11 (step S12).

  Next, the data processing device 1 calculates the remaining flight distance of the unmanned aircraft 2 and the flightable distance of the unmanned aircraft 2 in the set flight plan by the above-described method (step S13).

  Next, the data processing device 1 determines whether or not the unmanned aircraft 2 can fly to the flight end position of the flight plan (step S14). Specifically, as described above, the flight plan calculation unit 112 compares the remaining flight distance calculated in step S13 with the flightable distance.

  In step S14, when the remaining flight distance is larger than the flightable distance, the data processing device 1 determines that the unmanned aircraft 2 cannot continue to fly, and recalculates the flight plan 413 (step S14). S17). Specifically, as described above, the flight plan calculation unit 112 refers to the parking lot information 409 and newly sets the flight plan 413 so that the unmanned aircraft 2 parks at a waypoint where the charging port 70 is attached. Created and stored in the storage unit 14.

On the other hand, if the remaining flight distance is smaller than the possible flight distance in step S14, the data processing device 1 determines that the unmanned aircraft 2 can continue to fly, and the inter-waypoint route in the flight plan 413. Whether or not is valid is determined (step S15).
Specifically, all the inter-waypoint routes in the flight plan 413 set for the unmanned aircraft 2 are valid based on the valid inter-waypoint route 412 extracted by the flight plan calculation unit 112 in step S12. It is determined whether or not.

  In step S15, when all the inter-waypoint routes in the flight plan 413 set for the unmanned aircraft 2 are valid, the flight plan calculation unit 112 does not recalculate the flight plan 413 (step S16). ). In this case, the unmanned aerial vehicle 2 continues to fly according to the already set flight plan.

On the other hand, in step S15, when at least one waypoint path in the flight plan 413 set for the unmanned aircraft 2 is invalid, the flight plan calculation unit 112 recalculates the flight plan 413. (Step S17).
Specifically, as described above, the flight plan calculation unit 112 calculates a new flight plan 413 using the route between valid waypoints extracted in step S <b> 12 and stores it in the storage unit 14.

  After step S17, the data processing apparatus 1 sets the flight plan 413 calculated in step S17 to the unmanned aerial vehicle 2 by the method described above (step S18). Thereby, the unmanned aerial vehicle 2 can continue to fly by charging, for example, during the flight, or can fly to the end of flight without passing through the waypoint wayway that has become impossible to fly. .

  As described above, the data processing device 1 of the route determination support system 100 according to the embodiment includes the information about the situation around the waypoint acquired by the information acquisition unit 15, the information about the aircraft stored in the storage unit 14, and the storage unit 14. Based on the information on the waypoints stored in (1), a route 412 between effective waypoints where the unmanned aircraft 2 can fly is extracted from the route between waypoints connecting the waypoints. Then, the data processing apparatus 1 calculates a flight plan based on the extracted effective waypoint path.

  According to this, since the data processing apparatus 1 creates a flight plan based on various types of information, it is possible to reduce the burden on the administrator required for creating a flight plan, compared to a conventional UTM. In particular, by using waypoints registered in advance, it is not necessary for the administrator to set waypoints by himself / herself, so that the burden on the administrator can be further reduced.

  In addition, after setting the flight plan to an unmanned aerial vehicle and starting autonomous flight, even if an abnormal situation such as sudden deterioration of weather or approach of an obstacle occurs, information on the situation around the waypoint is updated. Since the data processing device 1 can newly create a flight plan based on various information and set it to the unmanned aircraft 2 by inputting the data into the data processing device 1, an abnormal situation compared to the conventional UTM It becomes possible to reduce the burden on the administrator when this occurs.

  Further, in the data processing apparatus 1, since the information about the situation around the waypoint includes the weather forecast information 407 about the weather around the waypoint, the flight plan is created by excluding the route between waypoints that cannot fly due to bad weather. can do.

  Further, in the data processing device 1, the information related to the situation around the waypoint includes route blocking information 408 indicating an area where the flight of the unmanned aircraft 2 is restricted. Alternatively, it is possible to create a flight plan by excluding routes between waypoints that are difficult to fly safely due to the presence of obstacles.

  Further, in the data processing device 1, the information on the situation around the waypoint indicates whether the unmanned aircraft 2 can be parked at the waypoint and whether the unmanned aircraft 2 can be charged. Since the parking area information 409 is included, it is possible to create a flight plan in which the unmanned aerial vehicle 2 is landed on the parking area during the flight and temporarily waited, or the battery of the unmanned aircraft 2 is charged during the navigation. As a result, the degree of freedom in creating the flight plan is increased, and safer flight of the unmanned aerial vehicle 2 can be realized.

  In the data processing device 1, the flight plan calculation unit 112 calculates the remaining flight distance until the unmanned aircraft 2 reaches the flight end position, and calculates the remaining flight distance, the remaining battery level, A flight plan including a rechargeable waypoint is calculated based on the aircraft information.

  According to this, even when the remaining amount of battery of the unmanned aerial vehicle 2 autonomously flying according to the set flight plan is less than expected, the data processing device 1 recalculates the flight plan, The unmanned aerial vehicle 2 can be landed and charged at a waypoint provided with a charging port 70 in the flight plan. Thereby, it becomes possible to further reduce the burden on the administrator when an abnormal situation occurs.

  In the data processing device 1, the effective waypoint route extraction unit 111 extracts the effective waypoint route according to the update of the information acquired by the information acquisition unit 15, and the flight plan calculation unit 112 adds the flight plan to the flight plan. The flight plan is updated when the included inter-waypoint route is no longer an effective inter-waypoint route.

  According to this, it is possible to automatically create an appropriate flight plan according to the situation around the waypoints and the change in status information of the unmanned aircraft 2, so that the burden on the administrator can be further reduced. Become.

  In the data processing device 1, the waypoint includes a position in the area where the steel tower is installed. In general, there are no structures such as houses or buildings around the area where steel towers such as power transmission towers are installed, and entry of people is generally prohibited. In addition, a transmission line is stretched between power transmission towers, and there is often no structure underneath.

  Therefore, by setting the position in the area where the steel tower is installed as a waypoint in advance, there is a possibility that the unmanned aircraft 2 flying according to the flight plan connecting the waypoints will contact the structure during the flight. In addition to being lowered, it is possible to avoid damage to people and structures even when the unmanned aerial vehicle 2 is dropped due to some accident. Thereby, it becomes possible to further improve the flight safety of the unmanned aerial vehicle 2.

<Extension of Embodiment>
Although the invention made by the present inventors has been specifically described based on the embodiments, it is needless to say that the present invention is not limited thereto and can be variously modified without departing from the gist thereof. Yes.

  For example, in the above-described embodiment, the case where the data processing device 1 calculates and sets the flight plan of one unmanned aircraft 2 is illustrated. However, the present invention is not limited to this, and the data processing device 1 includes a plurality of unmanned aircraft 2. The flight plan may be calculated and set.

Moreover, although the case where the flight plan of the unmanned aerial vehicle 2 determined by the data processing device 1 is set to the unmanned aerial vehicle 2 by wireless communication is illustrated in the above embodiment, the present invention is not limited to this.
For example, before the flight of the unmanned aircraft 2, the flight plan is set to the unmanned aircraft 2 by performing wired communication such as USB between the unmanned aircraft 2 and the data processing device 1. The flight plan may be set to the unmanned aircraft 2 by performing wireless communication between the aircraft 2 and the data processing device 1.

  Moreover, although the case where the data processing apparatus 1 was implement | achieved by one computer (information processing apparatus) was illustrated in the said embodiment (refer FIG. 3), it is not restricted to this, Wired like a client server system Alternatively, the data processing apparatus 1 may be realized by a plurality of computers connected to each other by radio so that the data processing apparatus 1 is not limited to the hardware configuration illustrated in FIG. 3.

  Moreover, in the said embodiment, although the case where the data processing apparatus 1, the weather prediction apparatus 5, the route blockage information generation apparatus 6, and the parking lot management apparatus 7 were each implement | achieved by the separate apparatus was illustrated, it is not restricted to this. . For example, the data processing device 1 may perform part of the processing performed in the weather prediction device 5, the route blocking information generation device 6, and the parking lot management device 7.

  Moreover, the above-mentioned flowchart shows an example for explaining the operation, and is not limited to this. That is, the steps shown in the flowcharts are specific examples and are not limited to this flow. For example, the order of some processes may be changed, other processes may be inserted between the processes, and some processes may be performed in parallel.

DESCRIPTION OF SYMBOLS 1 ... Data processing apparatus, 2 ... Unmanned aerial vehicle, 3 ... Communication network, 4 ... Communication network, 5 ... Weather prediction apparatus, 6 ... Route blockade information generation apparatus, 7 ... Parking place management apparatus, 11 ... Path setting part Communication unit, 13 ... Instruction input unit, 14 ... Storage unit, 15 ... Information acquisition unit, 70 ... Charging port, 100 ... Route decision support system, 111 ... Route extraction unit between effective waypoints, 112 ... Flight plan calculation unit, 401 ... Waypoint information, 402 ... Registered aircraft information, 403 ... Flight start position, 404 ... Flight end position, 405 ... Unmanned aerial vehicle position information, 406 ... Battery remaining amount information, 407 ... Weather forecast information, 408 ... Route blockage information, 409 ... parking lot information, 412 ... route between effective waypoints, 413 ... flight plan, p1-p10 ... waypoints.

Claims (15)

A storage unit that stores information on the unmanned aircraft body to be managed, and a plurality of waypoints that indicate positions serving as reference for navigation of the unmanned aircraft;
An information acquisition unit for acquiring information about the situation around the waypoint;
Based on the information on the situation around the waypoint acquired by the information acquisition unit, the information on the aircraft stored in the storage unit, and the waypoint stored in the storage unit, An effective waypoint route extracting unit that extracts an effective waypoint route that the unmanned aerial vehicle can fly among the connecting waypoint routes; and
A flight plan calculation unit that calculates a flight plan indicating a route to fly from a flight start position to a flight end position based on the route between effective waypoints extracted by the route between effective waypoints;
A data processing apparatus comprising: a communication unit that sets the flight plan calculated by the flight plan calculation unit to the unmanned aircraft. The data processing apparatus according to claim 1,
The information on the situation around the waypoint includes information on the weather around the waypoint. The data processing device according to claim 1 or 2,
The information on the situation around the waypoint includes route blocking information indicating an area where the flight of the unmanned aircraft is restricted. The data processing apparatus according to any one of claims 1 to 3,
The information about the situation around the waypoint includes information indicating whether or not the unmanned aircraft can be parked at the waypoint, and parking space information indicating whether or not the unmanned aircraft can be charged. A data processing apparatus. The data processing apparatus according to claim 4, wherein
The communication unit further obtains information on the battery level of the unmanned aircraft and the position of the unmanned aircraft from the unmanned aircraft,
The flight plan calculation unit calculates and calculates the remaining flight distance until the unmanned aircraft reaches the flight end position based on the position of the unmanned aircraft and the flight end position in the flight plan. The data processing device, wherein the flight plan including the rechargeable waypoint is calculated based on the remaining flight distance, the remaining battery level, and the parking lot information. The data processing apparatus according to any one of claims 1 to 5,
The effective waypoint route extraction unit extracts the effective waypoint route according to the update of the information acquired by the information acquisition unit,
The said flight plan calculation part updates the said flight plan, when the said route between waypoints contained in the said flight plan is no longer the said route between effective waypoints. The data processing apparatus characterized by the above-mentioned. The data processing device according to any one of claims 1 to 6,
The waypoint includes a position in an area where a steel tower is installed. Data processing capable of communicating with the unmanned aerial vehicle via a communication network, having a storage unit that stores information on the airframe of the unmanned aerial vehicle to be managed and a plurality of waypoints indicating positions serving as reference for navigation of the unmanned aerial vehicle A data processing method using an apparatus,
An information acquisition step in which the data processing device acquires information about the situation around the waypoint; and
Based on the information on the situation around the waypoint acquired by the information processing step, the information on the aircraft stored in the storage unit, and the waypoint stored in the storage unit. An effective waypoint route extracting step for extracting an effective waypoint route in which the unmanned aircraft can fly among the waypoint routes connecting the waypoints;
A flight plan in which the data processing device calculates a flight plan indicating a route to fly from a flight start position to a flight end position based on the route between effective waypoints extracted in the route extraction step between effective waypoints A calculation step;
A data processing method comprising: a flight plan setting step in which the data processing device sets the flight plan calculated in the flight plan calculation step to the unmanned aircraft. The data processing method according to claim 8, wherein
The information on the situation around the waypoint includes information on the weather around the waypoint. The data processing method according to claim 8 or 9,
The information on the situation around the waypoint includes route blocking information indicating a route between the waypoints where flight of the unmanned aircraft is restricted. In the data processing method as described in any one of Claims 8 thru | or 10,
The information on the situation around the waypoint includes information indicating whether the unmanned aircraft can be parked at the waypoint stored in the storage unit, and whether the unmanned aircraft can be charged. A data processing method characterized by including the information on the parking area. The data processing method according to claim 11,
The information acquisition step includes a step in which the data processing apparatus acquires information on a battery remaining amount of the unmanned aircraft and a position of the unmanned aircraft from the unmanned aircraft,
The flight plan calculation step includes:
Calculating a remaining flight distance until the unmanned aircraft reaches the flight end position based on the position of the unmanned aircraft and the flight end position in the flight plan;
Calculating the flight plan including the rechargeable waypoints based on the calculated remaining flight distance, the remaining battery level, and the parking lot information. Processing method. The data processing method according to any one of claims 8 to 12,
The effective waypoint route extraction step is executed according to the update of the information acquired by the information acquisition step,
The data processing method, wherein the flight plan calculation step is executed when the inter-waypoint path included in the flight plan is no longer the effective inter-waypoint path. The data processing method according to any one of claims 8 to 13,
The waypoint includes a position in an area where a steel tower is installed.   The program for making a computer perform each step in the data processing method as described in any one of Claims 8 thru | or 14.

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