JP2020067880A - Information processing apparatus - Google Patents

Abstract

To reduce occurrence of disadvantages due to an excessive operation of a flying object.SOLUTION: A related information storage unit 101 acquires a history of an operation of a drone 20 as related information related to an operation performed by an operator. A skill determination unit 102 determines a skill of the operator of the drone 20 based on the acquired related information. A flight condition acquisition unit 103 acquires a flight condition of the drone 20 operated by the user. An operation amount restriction unit 104 determines whether or not the drone 20 flies in a specific manner based on the acquired flight condition. An operation amount restriction unit 104, when the drone is determined to fly in the specific manner (for example, flight during landing), restricts an amount of an operation to move the drone 20 in the horizontal direction, and restricts a larger amount of the operation as the determined skill is lower.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a technique for assisting an operator's operation.

  As a technique for assisting the operation of an operator, in Patent Document 1, a driving proficiency level is learned based on driving information indicating a history of driving operations, and the driving proficiency level is updated based on the learned driving proficiency level. A technique for supporting driving to some extent is disclosed.

JP, 2009-48307, A

In operating a flying object such as a drone, an operator with insufficient operation skill may cause an unstable flight due to excessive operation and cause an accident (fall, collision, etc.). In addition, when flying near the boundary of the air space where flight is permitted, if the user flies out of the air space by excessive operation, the impact in the event of an accident will be great.
Therefore, it is an object of the present invention to reduce the occurrence of disadvantages due to excessive manipulations on an air vehicle.

  In order to achieve the above object, the present invention, an acquisition unit that acquires related information related to the operation of the operator of the aircraft, a determination unit that determines the skill of the operator based on the acquired related information, There is provided an information processing device including a suppressing unit that suppresses an operation amount of an operator in a specific flight, and that suppresses the operation amount according to the determined skill.

  Further, the specific flight is a flight at the time of landing, and the suppressing unit may suppress the operation amount of the operation of moving the flying body in the horizontal direction.

  Further, the suppressing unit may suppress the operation amount according to the visibility of the landing position of the aircraft from the operator.

  Further, the specific flight is a flight at the time of landing, including a wind speed acquisition unit for acquiring wind speed information indicating the wind speed around the flight body, the suppressing unit, of the operation of moving the flight body vertically downward. The amount of operation may be suppressed, and when the wind speed information indicating the wind speed less than the threshold value is acquired by the wind speed acquisition unit, the suppression of the amount of operation may be released.

  Further, the specific flight is a flight at the time of takeoff, and the suppressing unit may suppress the operation amount of the operation of moving the flying object in the horizontal direction.

  Further, the aircraft has a maintaining function of keeping the front-rear direction and the left-right direction of the aircraft horizontally, and the suppressing unit is configured to maintain the aircraft horizontally by the maintaining function. The suppression of the operation amount may be released.

  Further, the specific flight is a flight in a predetermined range on the boundary side of the airspace in which the aircraft can fly, and the suppressing unit controls the operation amount of the operation to move the aircraft in a direction to jump out of the airspace. May be suppressed.

  Moreover, the wind speed acquisition part which acquires the wind speed information which shows the wind speed around the said flying body may be provided, and the said suppression part may suppress the said operation amount according to the wind speed which the acquired said wind speed information shows.

  Further, the suppressing unit may suppress the operation amount according to the size of the flying object.

  Further, when the flying body has an auxiliary function for assisting stable flight, the suppressing unit suppresses the operation amount by reducing the weight of the skill determined as the performance of the auxiliary function is higher. Good.

  According to the present invention, it is possible to reduce the occurrence of disadvantages due to excessive manipulations on the flying body.

The figure showing an example of the whole composition of the safe flight support system concerning an example. Diagram showing an example of the hardware configuration of each device Diagram showing an example of the hardware configuration of a drone Diagram showing an example of the hardware configuration of the radio system The figure showing an example of the hardware constitutions of a user terminal. Diagram showing the functional configuration realized by each device Figure showing an example of skill table Diagram showing an example of the suppression table The figure showing an example of the flyable airspace Diagram showing an example of the pop-out direction The figure showing an example of the 2nd suppression table. The figure showing an example of the operation procedure of each apparatus in a determination process. The figure showing an example of the operation procedure of each apparatus in suppression processing. Diagram showing an example of coefficient table The figure showing an example of the 3rd suppression table. Diagram showing the functional configuration realized in the modification The figure showing an example of the 4th suppression table. The figure showing an example of the 5th suppression table. Figure showing an example of performance table The figure showing an example of the 6th suppression table.

[1] Embodiment FIG. 1 shows an example of the overall configuration of a safe flight support system 1 according to an embodiment. The safe flight support system 1 is a system that supports the safe flight of a flying body operated by a user. In this embodiment, the safe flight support system 1 supports safe flight of a drone, which is a flying body.

  The safe flight support system 1 includes a network 2, a server device 10, a drone 20, a radio 30, and a user terminal 40. The network 2 is a communication system including a mobile communication network, the Internet, etc., and relays data exchange between devices that access the own system. The server device 10 accesses the network 2 by wire communication (or wireless communication may be used), and the drone 20, the propo 30, and the user terminal 40 access by wireless communication.

  The drone 20 is a flying body that flies according to a user operation. The user operating the drone 20 is an example of the “operator” of the present invention. The drone 20 is used for various purposes such as photographing, monitoring, inspection, and transportation. In the present embodiment, the drone 20 is a rotary-wing aircraft type flying body that includes one or more rotary wings and that rotates by rotating these rotary wings (rotors).

  The transmitter 30 is a device that performs proportional control (proportional control). The transmitter 30 includes, for example, two sticks (a vertically moving stick and a horizontally moving stick), and controls the drone 20 so that the user (operator) performs an operation according to the amount of the stick movement. In this way, the user operates the drone 20 by operating the propo 30.

  The server device 10 performs various processes for supporting the safe flight of the drone 20. The server device 10 is an example of the “information processing device” in the present invention. One of the causes of the drone accident is that the user moves the stick of the propo 30 excessively and operates excessively. For example, an excessive operation of moving the drone 20 in the horizontal direction at the time of landing may cause an accident in which the drone 20 is in contact with the ground while being tilted and the rotor is damaged.

  Also, even if the drone accident itself is force majeure, the damage caused by the dropped drone may be significant. For example, if the flying area of the drone 20 (the flying area where the flight is permitted) is determined, if it falls off the flying area when it flies, it may damage people, personal property, or public objects, causing a large damage. You will be asked for compensation. Therefore, in order to prevent such situations, the server device 10 performs processing (suppression processing) of suppressing the operation amount when operating the drone 20 according to the situation.

  The operation amount means, for example, an operation amount with respect to the transmitter 30, which is an amount and a moving speed of the stick. Further, as the operation amount for the drone 20, for example, the amount of movement of the drone 20 in the left-right direction, the amount of increase, the amount of decrease, the amount of turning, etc. may be used as the operation amount. In the present embodiment, a case will be described where the server device 10 suppresses the amount of operation on the transmitter 30.

  In this embodiment, the server device 10 performs the above-described suppression process when the drone 20 is about to land and take off. In addition, the server device 10 also performs the suppression process when the drone 20 is in a situation where it is likely to deviate from the above-described flyable airspace (airspace in which flight is permitted). The user terminal 40 is a terminal used by a user who operates the drone 20, and performs a process of notifying the server device 10 of information indicating the flyable airspace.

  FIG. 2 shows an example of the hardware configuration of the server device 10. The server device 10 may be physically configured as a computer device including a processor 11, a memory 12, a storage 13, a communication device 14, a bus 15, and the like. In the following description, the word "device" can be read as a circuit, a device, a unit, or the like.

  Also, each device may include one or more devices, or may not include some devices. The processor 11 operates, for example, an operating system to control the entire computer. The processor 11 may be configured by a central processing unit (CPU) including an interface with peripheral devices, a control device, a calculation device, a register, and the like.

  For example, the baseband signal processing unit and the like may be realized by the processor 11. Further, the processor 11 reads a program (program code), a software module, data, and the like from at least one of the storage 13 and the communication device 14 into the memory 12, and executes various processes according to these. As the program, a program that causes a computer to execute at least part of the operations described in the above-described embodiments is used.

  Although it has been described that the various processes described above are executed by one processor 11, they may be executed simultaneously or sequentially by two or more processors 11. The processor 11 may be implemented by one or more chips. The program may be transmitted from the network via an electric communication line. The memory 12 is a computer-readable recording medium.

  The memory 12 may be configured by at least one of a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), a RAM (Random Access Memory), and the like. The memory 12 may be called a register, a cache, a main memory (main storage device), or the like. The memory 12 can store a program (program code) that can be executed to implement the wireless communication method according to the embodiment of the present disclosure, a software module, and the like.

  The storage 13 is a computer-readable recording medium, for example, an optical disc such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disc, a magneto-optical disc (for example, a compact disc, a digital versatile disc, a Blu-ray disc). At least one of a (registered trademark) disk, a smart card, a flash memory (for example, a card, a stick, and a key drive), a floppy (registered trademark) disk, a magnetic strip, or the like.

  The storage 13 may be called an auxiliary storage device. The above-mentioned storage medium may be, for example, a database including at least one of the memory 12 and the storage 13, a server, or another appropriate medium. The communication device 14 is hardware (transmission / reception device) for performing communication between computers via at least one of a wired network and a wireless network.

  The communication device 14 is also called, for example, a network device, a network controller, a network card, a communication module, or the like. The communication device 14 includes a high frequency switch, a duplexer, a filter, a frequency synthesizer, and the like in order to realize at least one of, for example, frequency division duplex (FDD: Frequency Division Duplex) and time division duplex (TDD). May be composed of

  For example, the transmission / reception antenna, the amplifier unit, the transmission / reception unit, the transmission line interface, and the like described above may be realized by the communication device 14. The transmitter / receiver may be implemented by physically or logically separating the transmitter and the receiver. Further, each device such as the processor 11 and the memory 12 is connected by a bus 15 for communicating information. The bus 15 may be configured by using a single bus, or may be configured by using a different bus for each device.

  FIG. 3 shows an example of the hardware configuration of the drone 20. The drone 20 is physically a computer including a processor 21, a memory 22, a storage 23, a communication device 24, a flight device 25, a sensor device 26, a battery 27, a camera 28, a bus 29, and the like. It may be configured as a device. Among these, the hardware having the same name as that shown in FIG. 2 is the same type of hardware as those having different performances and specifications.

  The communication device 24 has a function (for example, a wireless communication function using radio waves in the 2.4 GHz band) of performing communication with the transmitter 30 in addition to communication with the network 2. The flying device 25 is a device that includes a motor, a rotor, and the like, and causes the own device to fly. The flying device 25 can move itself in all directions or keep itself stationary (hovering) in the air.

  The sensor device 26 is a device having a sensor group that acquires information necessary for flight control. The sensor device 26 is, for example, a position sensor that measures the position (latitude and longitude) of the own device, and the direction in which the own device is facing (the front direction of the own device is set for the drone, and the front direction is The direction sensor for measuring the altitude) and the altitude sensor for measuring the altitude of the aircraft.

  Further, the sensor device 26 includes a speed sensor that measures the speed of the own device and an inertial measurement sensor (IMU (Inertial Measurement Unit)) that measures the triaxial angular velocity and the acceleration in three directions. Further, the sensor device 26 includes a rotation speed sensor that measures the rotation speed of the motor of the flying device 25. The battery 27 is a device that stores electric power and supplies the electric power to each unit of the drone 20. The camera 28 includes an image sensor, optical system components, and the like, and takes an image of an object in the direction in which the lens faces.

  FIG. 4 shows an example of the hardware configuration of the transmitter 30. The transmitter 30 may be physically configured as a computer device including a processor 31, a memory 32, a storage 33, a communication device 34, an input device 35, an output device 36, a bus 37 and the like. Among these, the hardware having the same name as that shown in FIG. 2 is the same type of hardware as those having different performances and specifications.

  The input device 35 is an input device (for example, a switch, a button, a sensor, etc.) that receives an input from the outside. In particular, the input device 35 includes a left stick 351 and a right stick 352, and accepts operations on these sticks as movement operations of the drone 20 in the front-rear direction, the up-down direction, the left-right direction, and the rotation direction. The output device 36 is an output device (for example, a monitor 361, a speaker, an LED (Light Emitting Diode) lamp, or the like) that outputs to the outside. The input device 35 and the output device 36 may be integrated (for example, the monitor 361 is a touch screen).

  FIG. 5 shows an example of the hardware configuration of the user terminal 40. The user terminal 40 may be physically configured as a computer device including a processor 41, a memory 42, a storage 43, a communication device 44, an input device 45, an output device 46, a bus 47, and the like. . Of these, the hardware having the same name as that shown in FIG. 2 or FIG. 4 is the same type of hardware as those having different performances and specifications. The input device 45 may be, for example, a keyboard, a mouse, a microphone, or the like, in addition to the above input devices.

  In addition, each of the above devices includes hardware such as a microprocessor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array). May be composed of Further, in each of the above devices, some or all of the functional blocks may be realized by the hardware. For example, the processor 11 may be implemented using at least one of these hardware.

  Each function in each device included in the safe flight support system 1 causes a predetermined software (program) to be loaded onto hardware such as a processor and a memory, so that the processor performs calculation and communication by each communication device is performed. It is realized by controlling or at least one of reading and writing of data in the memory and the storage.

  FIG. 6 shows a functional configuration realized by each device. The server device 10 includes a related information storage unit 101, a skill determination unit 102, a flight status acquisition unit 103, an operation amount suppression unit 104, and a flight information acquisition unit 105. The drone 20 includes an operation control unit 201, a sensor measurement unit 202, and a flight status notification unit 203. The transmitter 30 includes an operation reception unit 301, an operation instruction unit 302, an operation history notification unit 303, and a suppression reflection unit 304. The user terminal 40 includes a flight information notification unit 401.

  The operation reception unit 301 of the transmitter 30 receives an operation performed by the operator on the drone 20. The operation performed on the drone 20 is, for example, an operation of moving (tilting) the left stick 351 and the right stick 352, respectively. The operation of moving each stick is associated with the basic movement operations of ascending, descending, advancing, retracting, moving to the right, moving to the left, turning to the right, and turning to the left.

  In addition, the operation reception unit 301 also receives operations such as automatic takeoff, automatic return, and automatic tracking that cause the drone 20 to automatically perform a predetermined flight and an operation of photographing using the camera 28. The operation reception unit 301 supplies operation data indicating the received operation content to the operation instruction unit 302 and the operation history notification unit 303. The operation contents are the type of the operated operator (stick or button, etc.), the amount of operation (the amount of stick movement, etc.), the speed of operation (speed of stick movement, etc.), and the direction of operation (direction of stick movement). Etc.) etc.

  The operation instruction unit 302 instructs the drone 20 to perform an operation according to the operation content indicated by the supplied operation data. The operation instruction unit 302 has an operation instruction according to the operation content, a user ID (Identification) for identifying a user who is an operator, and a destination (IP (Internet Protocol) address or the like) when transmitting data to the own apparatus. And the operation instruction data indicating the transmission destination information indicating the. The operation instruction unit 302 instructs the operation according to the operation content by transmitting the generated operation instruction data to the drone 20.

  It is assumed that this user ID is stored in advance in the transmitter 30 by an input from the user using the input device 35 of the transmitter 30 or an input from an external device. When the operation control unit 201 of the drone 20 receives the transmitted operation instruction data, the operation control unit 201 controls each unit of its own device to perform the operation indicated by the operation instruction data. The operation control unit 201 requests the sensor measurement unit 202 for the measurement result of the sensor in order to control each unit.

  The sensor measurement unit 202 performs measurement using each sensor (position sensor, direction sensor, altitude sensor, speed sensor, inertial measurement sensor) included in the sensor device 26 illustrated in FIG. 3. The sensor measurement unit 202 repeatedly measures the position, direction, altitude, speed, angular velocity, and acceleration of the own device by each sensor at predetermined time intervals, and supplies the measurement results to the operation control unit 201. The operation control unit 201 controls each unit of the own machine based on the supplied measurement result to fly the own machine.

  The operation history notification unit 303 of the transmitter 30 includes an operation content indicated by the operation data supplied from the operation reception unit 301, an operation time (for example, current time) when the operation is performed, and a user ID of a user who performs the operation. The operation history data indicating is generated. The operation history notification unit 303 notifies the server device 10 of the operation history (operation content and operation time) by transmitting the generated operation history data to the server device 10.

  The related information storage unit 101 of the server device 10 acquires and stores related information regarding the operation of the operator of the aircraft. The related information storage unit 101 is an example of the “acquisition unit” of the present invention. In this embodiment, the related information storage unit 101 stores the operation history indicated by the transmitted operation history data (the operation history of the aircraft by the operator. Specifically, the operation content, the operation time, and the user ID) in the related information. To get as.

  The skill determination unit 102 of the server device 10 determines the skill of the operator of the drone 20 based on the related information acquired by the related information storage unit 101. The skill determination unit 102 is an example of the “determination unit” in the present invention. The skill of the operator here is the skill of operating the drone to fly, and the higher the skill is, the more the drone can fly as intended by the operator.

  The skill determination unit 102 periodically reads out, for example, an operation history having a common user ID from the operation history accumulated in the related information accumulation unit 101, and based on the read operation history, the skill of the user indicated by the user ID. judge. In the present embodiment, the skill determination unit 102 determines the skill based on the operation amount, the operation speed, and the number of times of turning back operation on the left stick 351 and the right stick 352.

  The operation amount is an amount of moving each stick, and is represented by, for example, an angle of moving each stick. The operation speed is a speed at which each stick is moved, and is represented by, for example, a value obtained by dividing an angle at which each stick is moved by a time at which the stick is moved. The number of switching operations is the number of operations of reversing the moving direction of each stick. The higher the skill of the operator, the smaller the operation amount, the operation speed, and the number of times of the switching operation are likely to be.

  However, since the amount of operation and the number of switching operations increase as the flight time increases, it is desirable to calculate and compare the values per unit time. Therefore, the skill determination unit 102 determines that the larger the average value of the operation amount (the operation amount per unit time), the average value of the operation speed, and the average value of the number of switching operations (the number of the switching operations per unit time), the more the skill is. Judge as low.

The skill determination unit 102 makes a determination using a skill table in which these pieces of information are associated with skill points (the larger the value, the higher the skill).
FIG. 7 shows an example of the skill table. In FIG. 7A, the skill values of “3”, “2”, and “1” are associated with the average values of the operation amounts of “less than Th11”, “greater than or equal to Th11 and less than Th12”, and “greater than or equal to Th12”, respectively. ing.

  In FIG. 7B, the skill points of “3”, “2”, and “1” are associated with the average values of the operation speeds of “less than Th21”, “th21 or more and less than Th22”, and “th22 or more”, respectively. ing. In FIG. 7C, the skill points of “3”, “2”, and “1” are associated with the average values of the number of turning-back operations of “Th31 or less”, “Th31 or more and Th32 or less”, and “Th32 or more”, respectively. Has been.

  The skill determination unit 102 calculates the average value of the operation amount, the average value of the operation speed, and the average value of the number of times of switching operation from the operation history of the user, and totals the skill points associated with each calculated value. The skill determination unit 102 determines that the skill is higher as the total skill points (in the example of FIG. 7, the values are 3 to 9). The skill determination unit 102 stores the calculated skill points in association with the user ID.

  When the operation control unit 201 of the drone 20 starts the operation indicated by the operation instruction data, the operation control unit 201 supplies the flight status notification unit 203 with the user ID and the propo destination information indicated by the operation instruction data. The sensor measurement unit 202 also supplies the measurement result of each sensor to the flight status notification unit 203. The flight status notification unit 203 notifies the server apparatus 10 of the flight status of the drone 20 operated by the user.

  The flight status is information indicating the position, altitude, direction, speed, etc. at which the drone 20 is flying. The flight status notification unit 203 extracts, from the supplied measurement results, those that represent those flight statuses, generates data indicating these pieces of information, the user ID, and the transmission destination information as status data, and causes the server device 10 to perform the above-mentioned processing. Send. By receiving the transmitted status data, the flight status acquisition unit 103 of the server device 10 acquires the flight status of the drone 20, the user ID, and the propo destination information indicated by the status data.

  The flight status acquisition unit 103 supplies the acquired flight status, user ID, and R / C system destination information to the operation amount suppression unit 104. The operation amount suppression unit 104 suppresses the operation amount of the operator of the drone 20 in a specific flight. The operation amount suppressing unit 104 is an example of the “suppressing unit” in the present invention. The operation amount suppression unit 104 determines whether or not the drone 20 is performing a specific flight based on the flight status acquired by the flight status acquisition unit 103, for example.

  In the present embodiment, the operation amount suppressing unit 104 causes the drone 20 to perform flight during takeoff, flight during landing, and flight near the boundary of the flyable airspace (flight within a predetermined range from the boundary). If so, it is determined that the flight is a particular flight. For example, when the operation amount suppressing unit 104 indicates that the altitude is zero and the number of rotations of the motor changes from a value less than the threshold value to a value greater than or equal to the threshold value due to the acquired flight situation, the operation amount suppression unit 104 may change from the value at the time of takeoff. Determines that the flight will take place.

  When it is determined that the flight at the time of takeoff will be performed, the operation amount suppression unit 104 suppresses the operation amount of the operation of moving the drone 20 in the horizontal direction. The operation of moving in the horizontal direction is, for example, an operation of moving the drone 20 back and forth or left and right, and is performed by moving the left stick 351 or the right stick 352 of the propo 30 back and forth or left and right (which stick is in which direction. It depends on the setting whether to move to).

The operation amount suppression unit 104 largely suppresses the operation amount as the skill determined by the skill determination unit 102 is lower. The operation amount suppression unit 104 determines the amount of operation to be suppressed by using a suppression table in which skill points are associated with the ratio of the amount of operation to be suppressed.
FIG. 8 shows an example of the suppression table. In the example of FIG. 8, the skill points of “3”, “4”, ... “8”, “9” are suppressed to “60”, “50”, ..., “10”, “0”. The ratio (unit is “%”) of the operation amount to be performed is associated with each.

  The operation amount suppression unit 104 requests the skill determination unit 102 for the skill points stored in association with the user ID (user ID of the user whose operation amount is to be suppressed) supplied from the flight status acquisition unit 103. To get. The operation amount suppression unit 104 determines a ratio associated with the acquired skill point in the suppression table as a suppression ratio (a ratio of suppressing the operation amount for the drone 20), and suppresses the operation amount by the determined suppression ratio. The instruction data to be instructed is generated.

  The operation amount suppressing unit 104 transmits the generated instruction data to the destination indicated by the supplied propo destination information (that is, the propo 30). The suppression reflection unit 304 of the transmitter 30 reflects the suppression of the operation amount instructed by the received instruction data. The suppression reflection unit 304, for example, instructs the operation instructing unit 302 to indicate the operation content indicating the horizontal movement of the operation content indicated by the operation data supplied from the operation receiving unit 301 (the corresponding stick in the corresponding direction. Amount of movement: represented by, for example, the direction and angle of tilting the stick) is instructed to be reduced by the instructed ratio.

  According to this instruction, the operation instruction unit 302 reduces the stick operation amount by the instructed ratio (for example, if the operation amount by the user is 40 ° and the reduction ratio is 50%, the operation amount is 20 °). ) Instruct the drone 20 to perform an operation according to the operation content. The suppression reflection unit 304 may directly instruct the operation reception unit 301 to reduce the operation content.

  In that case, the operation reception unit 301 supplies the operation instruction unit 302 with operation data indicating the operation content after the reduction. Further, the operation amount suppression unit 104 may instruct not the ratio of reducing the operation amount but the amount itself (for example, the angle) of reducing the operation amount. In either case, since the motion control is performed by the suppressed operation amount, the amount of movement of the drone 20 in the horizontal direction is reduced in the flight during takeoff, as compared with the case where the operation amount suppression instruction is not issued. .

  If the careless horizontal movement is performed during takeoff, the drone 20 may be tilted more than necessary, the lift force may be insufficient, and the drone 20 may be unable to take off and fall. In the present embodiment, since the amount of horizontal movement during takeoff is small as described above, such an accident can be made less likely to occur. Further, by increasing the ratio of the operation amount to be suppressed as the skill of the user is lower, it is possible to suppress the occurrence of the accident at the time of takeoff by the user having the low skill.

  Further, for a user having a high skill, the ratio of the operation amount to be suppressed can be reduced so that the user can fly along the longitude intended by the user (for example, the route of taking off while rising obliquely upward). In addition, for example, when the flight speed is less than the speed threshold and the altitude becomes less than the altitude threshold due to the acquired flight situation, the operation amount suppression unit 104 determines that the flight at the time of landing will be performed.

  Even when it is determined that the flight at the time of landing will be performed, the operation amount suppression unit 104 suppresses the operation amount of the operation of moving the drone 20 in the horizontal direction as in the case of the takeoff, and the skill determination unit 102 determines the operation amount. The lower the skill is, the more the operation amount is suppressed. The operation amount suppression unit 104 may use the suppression table shown in FIG. 8 even when the flight at the time of landing is performed, or may use another suppression table in which the ratio of the operation amount to be suppressed is changed.

  Then, the operation amount suppressing unit 104 transmits the instruction data in the same manner as when the flight at the time of landing is performed, so that the suppression reflecting unit 304 reflects the suppression of the operation amount. When the control of the operation amount is reflected in this way, the amount of movement of the drone 20 in the horizontal direction is reduced even in the flight at the time of landing, compared to the case where the instruction for the control of the operation amount is not issued. Accidental horizontal movement during landing tends to cause accidents in which the drone 20 is tilted more than necessary and the rotor or chassis collides with the ground and is damaged.

  In the present embodiment, as described above, the amount of movement in the horizontal direction is small even during landing, so it is possible to prevent such an accident from occurring. In addition, by increasing the ratio of the operation amount to be suppressed as the user's skill is lower, the ratio of the operation amount to be suppressed for the user with high skill is suppressed while suppressing the accident at the time of landing by the user with low skill. It can be made smaller so that it can be landed along its intended path (eg, while moving diagonally).

  In addition, since the operation amount suppression unit 104 determines flight near the boundary of the flyable airspace, information regarding the flyable airspace of the drone 20 to be flown by the user whose operation amount is to be suppressed (hereinafter referred to as “flight information”). ) Is requested to the flight information acquisition unit 105. The flight information acquisition unit 105 acquires the above-mentioned flight information (information regarding the feasible airspace). The flight information acquisition unit 105 stores the acquisition destination of the flight information for each user registered as the drone operator.

  In this embodiment, the access destination (IP address or the like) to the user terminal 40 is stored as the acquisition destination. The flight information acquisition unit 105 transmits request data requesting flight information to the acquisition destination. The flight information notification unit 401 of the user terminal 40 notifies the request source of the flight information requested by the request data. It is assumed that the flight information notification unit 401 stores flight information input by the user or flight information supplied from an external device.

  The flight information is, for example, information on a set of latitudes and longitudes that indicate boundaries of the flyable airspace. When the flight information notification unit 401 receives the request data, the flight information notification unit 401 reads the stored flight information and transmits it to the server device 10 that is the sender of the request data. The flight information acquisition unit 105 acquires the transmitted flight information and supplies it to the operation amount suppression unit 104. When the distance between the drone 20 and the boundary of the flyable airspace indicated by the supplied flight information is less than the distance threshold, the operation amount suppression unit 104 determines that the flight is being performed.

  FIG. 9 shows an example of the flyable airspace. In FIG. 9, when viewed from above in the vertical direction, a rectangular-shaped flyable airspace A1 having a short side along the north-south direction and a long side along the east-west direction, and the distance from the boundary of the flyable airspace A1 is the distance threshold. The above airspace B1 and airspaces B2 and B3 in which the distance from the boundary of the flyable airspace A1 is less than the distance threshold are shown. The airspace B2 is an airspace whose distance from one of the short sides and the long sides is less than the distance threshold, and the airspace B3 is an airspace whose distance from both the short sides and the long sides is less than the distance threshold.

  For example, when the drone 20 is flying in the airspace B1 in the figure, the operation amount suppression unit 104 determines that the flight is not a specific flight because the distance from the boundary of the flyable airspace A1 is equal to or greater than the distance threshold. In addition, when the drone 20 is flying in the airspace B2 or B3, the operation amount suppressing unit 104 determines that the drone 20 is performing a specific flight because the distance from the boundary of the flyable airspace A1 is less than the distance threshold. The operation amount suppressing unit 104 suppresses the operation amount of the operation of moving the drone 20 in a direction (hereinafter, referred to as “jumping direction”) that pops out of the flyable airspace A1.

  FIG. 10 shows an example of the pop-out direction. In FIG. 10A, the flying direction when the drone 20 flies in the airspace B3 is shown. When viewed from this drone 20, there are portions of the boundary of the flyable airspace A1 where the distance from the aircraft is less than the distance threshold on the north side and the west side, so a direction including a northward component or a westward component (for example, northeastward direction). , Northward, northwestward, westward, southwestward) is the direction of flight.

  FIG. 10B shows the flying direction when the drone 20 flies in the airspace B2. When viewed from this drone 20, the part of the boundary of the flyable airspace A1 where the distance from the aircraft is less than the distance threshold exists only on the north side, so the direction including the northward component (for example, northeast direction, northward direction, northwest direction). The direction of the direction) is the pop-out direction. The operation amount suppression unit 104 determines the operation amount to be suppressed by using the second suppression table in which the pop-out direction and the operation amount suppression ratio are associated with each other, in addition to the suppression table shown in FIG. 8.

  FIG. 11 shows an example of the second suppression table. In FIG. 11, "0.6", "0.8", "1.0", "0." in the pop-out directions of "left edge", "left edge", "center", "right edge" and "right edge". The correction coefficients “8” and “0.6” are associated with each other. As shown in FIG. 10, there is a width in the projecting direction. For example, in the example of FIG. 10A, the projection direction is from the east direction to the north direction and to the south direction across the west direction (not including the east direction and the south direction).

  "Center" and the like represent the range in that width. For example, "left edge" is the range from south to southwest, "left side" is from southwest to west, and "center" is from west to north. , "To the right" represents the range from north to northeast, and "the right edge" represents the range from northeast to east. The suppression rate is a rate of suppressing the operation amount determined by the suppression table shown in FIG.

  For example, assume that the suppression rate is determined to be 50% based on the skill points of the user. In this case, if the flight direction of the drone 20 located in the airspace B3 is included in the “leftward” range, the operation amount suppressing unit 104 only 40% obtained by multiplying 50% by 0.8 of the correction coefficient. Control the operation amount. When the flight direction of the drone 20 is included in the “right end” range, the operation amount suppressing unit 104 suppresses the operation amount by 30% obtained by multiplying 50% by 0.6 of the correction coefficient.

  In the example of FIG. 10B, the direction from the east to the west across the north (not including the east and the west) is the projection direction. In this case, for example, "left end" represents the range from west to northwest, "center" represents the range from northwest to northeast, and "right end" represents the range from northeast to east. (There is no "leftward" or "rightward"). The operation amount suppression unit 104 corrects the suppression ratio using only “left end”, “center”, and “right end” of the second suppression table to suppress the operation amount.

  In FIG. 10, the magnitude of the flight speed due to the controlled operation amount when moving in each of the flying directions is represented by the length of the arrow. In addition, altitude is usually limited in the flyable airspace. Therefore, even if the distance from the upper limit of the altitude of the flyable airspace A1 is less than the distance threshold, the operation amount suppressing unit 104 determines that the flight is in a specific flight, and the flight direction (in this case, the vertical flight direction). The operation amount of the operation of moving the drone 20 in the direction having the component) is suppressed.

  The operation amount suppression unit 104 releases the operation amount suppression when, for example, a predetermined time has elapsed when the flight at the time of takeoff is being performed. Specifically, the operation amount suppression unit 104 transmits instruction data for instructing to cancel the operation amount suppression to the radio controller 30 when the time has elapsed. Upon receipt of this instruction data, the suppression reflection unit 304 of the transmitter 30 ends the operation of reflecting the suppression.

  In addition, when the flight at the time of landing is performed, the operation amount suppression unit 104 releases the suppression of the operation amount when the landing is completed, and the flight is performed near the boundary of the flyable airspace. In this case, the control of the operation amount is canceled when the vehicle is separated from the boundary (when the distance between the drone 20 and the boundary is equal to or more than the distance threshold).

Each device included in the safe flight support system 1 performs a determination process of determining the skill of the operator of the drone 20 and a suppression process of suppressing the operation amount of the operation of the drone 20 based on the above configuration.
FIG. 12 shows an example of an operation procedure of each device in the determination processing. This operation procedure is started when the user starts operating the drone 20.

  First, the transmitter 30 (operation accepting unit 301) accepts an operation performed by the operator on the drone 20 (step S11). Next, the propo 30 (motion instruction unit 302) generates motion instruction data according to the content of the accepted operation (step S12), and transmits the generated operation instruction data to the drone 20 (step S13). The drone 20 (operation control unit 201) controls the operation of each unit of its own device so as to perform the operation indicated by the received operation instruction data (step S14).

  Next, the propo 30 (operation history notification unit 303) generates operation history data indicating the operation content, operation time, and user ID of the user (step S21), and transmits the generated operation history data to the server device 10 (step S21). Step S22). Note that the transmitter 30 may perform the operations of steps S21 and S22 in parallel with steps S12 and S13. The server device 10 (related information storage unit 101) acquires and stores the information indicated by the received operation history data as the related information regarding the operation of the operator of the aircraft (step S23).

  Then, the server device 10 (skill determination unit 102) determines the skill of the operator of the drone 20 based on the accumulated related information (step S24). Up to this point, the operation procedure in the determination processing has been described. The determination process is performed regularly as described above, and the determination result of the skill of each user is updated. The determination process may be performed each time the user operates the drone 20.

  FIG. 13 shows an example of the operation procedure of each device in the suppression processing. This operation procedure is started when the drone 20 starts flying. First, the drone 20 (flight status notification unit 203) generates status data indicating the flight status of the aircraft (step S31), and transmits the generated status data to the server device 10 (step S32). The server device 10 (flight status acquisition unit 103) acquires the flight status indicated by the transmitted status data (step S33).

  Next, the server device 10 (flight information acquisition unit 105) requests flight information (flight available area and landing point information) from the acquisition destination (user terminal 40 in this embodiment) corresponding to the operator of the drone 20. (Step S41). The user terminal 40 (flight information notification unit 401) notifies the server device 10 of the requested flight information (step S42). The server device 10 (flight information acquisition unit 105) acquires the notified flight information (step S43).

  Subsequently, the server device 10 (the operation amount suppressing unit 104) determines whether or not the drone 20 is performing a specific flight based on the acquired flight status and the acquired flight information (step S51). Next, when it is determined that the server device 10 (operation amount suppression unit 104) is performing a specific flight, the server device 10 (operation amount suppression unit 104) determines a suppression ratio (a ratio that suppresses the operation amount for the drone 20) according to the determined skill. Yes (step S52).

  Subsequently, the server device 10 (operation amount suppression unit 104) generates instruction data for instructing to suppress the operation amount by the determined suppression ratio (step S53), and transmits the generated instruction data to the propo 30 (step S53). S54). After that, it is assumed that the transmitter 30 (operation accepting unit 301) accepts an operation performed by the operator on the drone 20 (step S61). Then, the transmission 30 (suppression reflection unit 304) reflects the suppression rate indicated by the instruction data received in step S54 (step S62).

  Then, the transmitter 30 (motion instruction unit 302) generates motion instruction data according to the content of the operation in which the suppression is reflected (step S63), and transmits the generated operation instruction data to the drone 20 (step S64). The drone 20 (motion control unit 201) controls the motion of each unit of its own device so as to perform the motion indicated by the received motion instruction data (motion due to the manipulation in which the manipulation amount is suppressed) (step S65).

  If the operation amount of the drone 20 is too large, it causes an accident as described above. Especially when an operator having a low skill is operated, the operation amount tends to be large. In this embodiment, as described above, in a situation where an excessive operation is likely to lead to an accident, the operation amount is suppressed by a size according to the skill of the operator. It is possible to reduce the occurrence of disadvantages due to excessive operations on the.

  Situations that tend to lead to accidents are, for example, flight during takeoff and flight during landing. In addition, although it is not always easy to lead to an accident, in the present embodiment, even if the accident has a great influence in the case of jumping out of the flyable airspace, the size according to the skill of the operator is large. The operation amount is suppressed by. Even with this suppression, it is possible to reduce the occurrence of disadvantages (compensation in the event of an accident, etc.) due to excessive operations on the drone 20, as compared with the case where the operation amount is not suppressed.

[2] Modified Example The above-described embodiment is merely an example of the implementation of the present invention, and may be modified as follows. Further, the embodiment and each modification may be combined as needed. In that case, each modified example may be prioritized (if each modified example is implemented, a priority is determined when a conflicting event occurs).

  In addition, as a specific combination method, for example, modification examples in which different parameters are used to obtain a common value (for example, user's skill) may be combined, and a common value or the like may be obtained using those parameters together. Further, the values or the like obtained individually may be summed according to some rule to obtain a single value or the like. Further, in those cases, different weighting may be performed for each parameter used.

[2-1] Method of Suppressing Operation Quantity In the embodiment, the suppression of the operation quantity is reflected by changing the value indicating the operation content of the transmitter 30 (the angle indicating the operation quantity of the stick). The reflection method is not limited to this. For example, the content of the operation may be left unchanged, and the content of the instruction for the operation performed according to the content of the operation (for example, the rotation speed of the rotor) may be changed. The change of the instruction content may be performed by the propo 30 or the drone 20.

  Alternatively, the weight (resistance) when moving the stick of the propo 30 may be variable, and the resistance may be increased as the operation amount to be suppressed is increased, whereby the operation amount may be easily decreased. Whichever method is used, it is sufficient that the lower the skill of the operator, the more the operation amount is suppressed.

[2-2] Related Information Although the skill determination unit 102 determines the skill by using the operation history as the related information in the embodiment, the related information used for the skill determination is not limited to this. The skill determination unit 102 may use, for example, the flight history of the drone 20 as the related information. For example, a user with a high skill makes the drone 20 fly straight to the destination point as compared with a user with a low skill.

  Therefore, the skill determination unit 102 may determine that the skill is lower as the ratio of the curved portion (the portion having a curvature equal to or more than the threshold value) included in the flight route is higher. Further, when the information indicating the flight route scheduled to fly is acquired as the flight information of the drone 20, the skill determination unit 102 has a higher skill as the spatial difference between the flight route of the flight history and the flight route is larger. It may be determined to be low. If the flight time is also determined, the skill determination unit 102 may determine that the skill is lower as the temporal difference is larger.

  Also, licenses are being issued to drones. Therefore, for example, when the information indicating the rank of the license of the user is acquired as the flight information, the skill determination unit 102 may determine that the higher the rank of the license, the higher the skill. In short, any information may be used as the related information as long as the information indicates the skill of the user to operate the drone to fly.

[2-3] Past operation history The skill to fly by operating the drone improves as the operation experience is gained, but the skill gradually declines as time passes after the operation is experienced. Therefore, the skill determination unit 102 may determine the skill in consideration of this decline.

In the present modification, the skill determination unit 102 determines the skill of the operator by weighting the newer operation history acquired by the related information storage unit 101. The skill determination unit 102 makes this determination using a coefficient table in which the operation timing and the weighting coefficient are associated with each other.
FIG. 14 shows an example of the coefficient table. In the example of FIG. 14, weights of “2.0”, “1.5”, and “1.0” are assigned to the operation times of “within half a year”, “within a year from half a year ago”, and “one year or more ago”. Coefficients are associated.

  When calculating the average value of the operation amount, the average value of the operation speed, and the average value of the number of times of the switching operation from the operation history read out as described above, the skill determination unit 102 performs the operation amount, the operation speed, and the switching operation. The calculation is performed by multiplying the weighting factors associated in the coefficient table at the time of the break. For example, when calculating the average value like the operation speed, the skill determination unit 102 calculates the average value assuming that the number has increased by the same ratio as the weighting coefficient.

  For example, when the weighting factors of the operation speeds E1, E2, E3 are "2.0", "1.5", and "1.0", respectively, the weighting factor of the operation speed E1 is 2.0 times the operation speed E3. The weighting factor of the operation speed E2 is 1.5 times the operation speed E3. In this case, the skill determination unit 102 calculates (E1 + E1 + E1 + E1 + E2 + E2 + E2 + E3 + E3) ÷ 9 as an average value (E1 is a number twice E3, and E2 is a number 1.5 times E3). By using this calculation method, a value closer to a value with a larger weighting factor is calculated as an average value.

  Also, in the calculation of the average value of the operation amount and the average value of the number of switching operations, similarly to the above average value, the number of operation amounts and the number of switching operations in each unit period are increased by the same ratio as the weighting factor. You can do as. In the present modified example, by performing the weighting as described above, it is possible to determine a more appropriate skill based on the fact that the technique worn in the past deteriorates as compared with the case where the weighting is not performed. In the above example, the larger the weighting coefficient, the larger the number, but conversely, the smaller the weighting coefficient, the smaller the number may be, and the average value may be calculated.

[2-4] Horizontal maintenance function The operation control unit 201 of the drone 20 may function as a horizontal maintenance function that keeps the front-rear direction and the left-right direction of the aircraft horizontal. In that case, the operation control unit 201 starts the control for maintaining the level immediately after the takeoff, and a stable horizontal state (the front-back direction and the left-right direction of the aircraft are kept horizontal after a while after the takeoff. State) will be maintained.

  In the present modification, the operation control unit 201 notifies the flight status notification unit 203 of that when the horizontal state is maintained. The flight status notification unit 203 generates data indicating that the horizontal state has been maintained as status data, and transmits the status data to the server device 10. When the flight status acquisition unit 103 receives the status data, the flight status acquisition unit 103 acquires the flight status indicating that the drone 20 is maintained in the horizontal state.

  When the operation amount suppressing unit 104 suppresses the operation amount in the flight at the time of takeoff, when the flight situation indicating the maintenance of the horizontal state is acquired, that is, the operation control unit 201 keeps the drone 20 horizontal. When it becomes, the suppression of the operation amount is released. Until the horizontal state is maintained, the control by the horizontal maintenance function is not stable yet, so there is a risk of falling due to excessive operation.

  However, if the horizontal state is maintained, even if the operation amount is a little large, the horizontal state is maintained by the horizontal maintenance function even if the stick is released, so the risk of falling is reduced. In this modified example, the operation amount is suppressed until the horizontal state is maintained in this way to reduce the risk of falling, and the control amount is released after the horizontal state is maintained. Thus, the operator can freely fly the drone 20.

[2-5] Visibility of landing position When landing the drone 20, it may be difficult for the operator to see the landing position. For example, when the landing position is far, when the fog is generated, or when the view is blocked by an obstacle such as a tree, the visibility of the landing position is deteriorated. Therefore, in the present modification, when the operation amount suppression unit 104 suppresses the operation amount during flight during landing, the degree of suppression of the operation amount increases as the visibility of the landing position of the drone 20 from the operator decreases. To do.

  The operation amount suppression unit 104 determines the visibility of the landing position based on, for example, flight information. In the present modification, the user inputs the operation position of the operator in the flyable airspace and the landing position to be landed in the user terminal 40 as flight information. The flight information acquisition unit 105 acquires flight information indicating the operation position and the landing position. The operation amount suppression unit 104 calculates the distance between the operation position and the landing position (distance to the landing position) from the acquired flight information.

The operation amount suppression unit 104 determines the suppression ratio using the third suppression table in which the distance to the landing position and the correction coefficient of the suppression ratio are associated with each other.
FIG. 15 shows an example of the third suppression table. In the example of FIG. 15, the suppression ratios of “1.4”, “1.2”, and “1.0” are included in the distances to the landing positions “Th1 or more”, “Less than Th1 and Th2” and “Less than Th2”. The correction coefficients of are associated with each other.

  The operation amount suppression unit 104 multiplies the suppression ratio by the calculated distance to the landing position by the correction coefficient associated in the third suppression table, and suppresses the operation amount using the suppression ratio. By using the third suppression table shown in FIG. 15, the lower the visibility of the landing position of the drone 20 from the operator, the larger the suppression ratio and the greater the degree of suppressing the operation amount. In this modified example, the risk of landing failure of the drone 20 in a state with poor visibility can be reduced as compared with the case where this suppression is not performed.

  There are other methods for determining the visibility of the operator at the landing position. For example, the operation amount suppression unit 104 may acquire the weather information in the area of the flyable airspace and determine that the visibility is poor when the dense fog warning is issued. Further, when the flight information indicating obstacles (trees, buildings, etc.) existing in the flyable airspace in addition to the operation position and the landing position is acquired, the operation amount suppressing unit 104 sets the operation amount between the operation position and the landing position. If there is an obstacle, it may be determined that the visibility is poor. In either case, it is possible to reduce the risk of landing failure of the drone 20 when visibility is poor.

[2-6] Suppression of operation amount during landing The operation amount suppression unit 104 suppresses the operation amount of the operation of moving the drone 20 in the horizontal direction in the embodiment when the flight during the landing of the drone 20 is performed. However, it is not limited to this. If the drone descends too fast, it may be caught in the downward wind generated by it and lose its lift rapidly (a phenomenon called set ring with power).

  In order to prevent the occurrence of this phenomenon, the operation amount suppressing unit 104 may suppress the operation amount of the operation of moving the drone 20 vertically downward. However, this suppression will increase the time required for landing. Therefore, for example, when the wind is strong and it is desired to land quickly when the wind is weak, this suppression may not be desirable. Therefore, the operation amount suppressing unit 104 may suppress the operation amount according to the situation as follows.

  FIG. 16 shows a functional configuration realized in this modification. FIG. 16 illustrates the server device 10a including the wind speed information acquisition unit 106 in addition to the units illustrated in FIG. The wind speed information acquisition unit 106 acquires wind speed information indicating the wind speed around the drone 20. The wind speed information acquisition unit 106 is an example of the “wind speed acquisition unit” in the present invention. The wind speed information acquisition unit 106 acquires, for example, meteorological information in an area of a flyable airspace, and acquires wind speed information included in the meteorological information.

  Further, when the wind speed information indicating the local wind speed measured by the operator of the drone 20 using the anemometer is transmitted to the server device 10a, the wind speed information acquisition unit 106 may acquire the wind speed information. The wind speed information acquisition unit 106 supplies the acquired wind speed information to the operation amount suppression unit 104. When the wind speed information acquisition unit 106 acquires the wind speed information indicating the wind speed lower than the wind speed threshold, the operation amount suppression unit 104 cancels the above-described suppression of the operation amount of the operation of moving vertically downward.

  As the wind speed threshold value in this case, for example, a value of the wind speed at which the vehicle can land without difficulty is used. Therefore, the operation amount suppression unit 104 may use a larger wind speed threshold value as the determined skill of the user is higher. When the wind speed information indicating the wind speeds lower than those wind speed thresholds is acquired, the operation amount suppression unit 104 transmits instruction data to the propo 30 to instruct to release the operation amount suppression as described in the embodiment. , Release the control of the operation amount. According to the present modification, even when the operation amount for lowering the drone 20 during flight during landing is suppressed, it is possible to land without missing the timing when the wind becomes weak.

[2-7] Suppression According to Wind Speed The operation amount suppression unit 104 may change the degree of suppressing the operation amount according to the above-described wind speed. Specifically, the operation amount suppression unit 104 increases the degree of suppression of the operation amount as the wind speed indicated by the wind speed information acquired by the wind speed information acquisition unit 106 increases. The operation amount suppression unit 104 determines the degree to which the operation amount is suppressed by using, for example, a fourth suppression table in which the wind speed and the correction coefficient of the suppression ratio are associated with each other.

  FIG. 17 shows an example of the fourth suppression table. In the example of FIG. 17, the correction factors of the suppression ratios of “1.4”, “1.2” and “1.0” are added to the wind speeds of “Th11 or more”, “Th12 less than Th12” and “Less than Th12”. It is associated. For example, assume that the suppression rate is determined to be 50% based on the skill points of the user. The operation amount suppressing unit 104 multiplies the wind speed indicated by the acquired wind speed information by 50% of the correction coefficient associated in the fourth suppression table.

  For example, when the wind speed is less than Th11 and Th12 or more, the operation amount suppression unit 104 suppresses the correction amount by 50% × 1.2 = 60%. Further, the operation amount suppressing unit 104 suppresses the correction amount by 50% × 1.4 = 70% when the wind speed is Th11 or more. The higher the wind speed, the more difficult it becomes to operate the drone 20. Especially, it is even more difficult in a situation where a particular flight is originally caused by an accident.

  In the present modified example, as the wind speed is higher, the operation amount is more greatly suppressed, so that the risk of a fall in a windy situation can be reduced compared to the case where this suppression is not performed. Further, even when the operation amount of the operation of moving the drone 20 in the pop-out direction is suppressed, the degree of suppression becomes larger and it becomes difficult to jump out of the flyable airspace in a situation where the risk of a fall is high (a situation in which the wind speed is high). . As a result, it is possible to reduce the occurrence of disadvantages (compensation, etc. in the event of an accident) due to flight outside the feasible airspace.

[2-8] Drone size Generally, the larger the size of the drone, the more expensive the parts become, and the heavier the weight, the greater the impact when dropped. The amount of damage caused will increase. Therefore, the operation amount suppressing unit 104 may increase the degree of suppressing the operation amount as the size of the drone 20 increases.

In this modification, for example, information indicating the size of the drone 20 is acquired as flight information. The operation amount suppression unit 104 determines the degree to which the operation amount is suppressed by using the fifth suppression table in which the drone size and the correction coefficient of the suppression ratio are associated with each other.
FIG. 18 shows an example of the fifth suppression table. In the example of FIG. 18, the drone sizes “large”, “medium”, and “small” are associated with the correction factors for the suppression ratios “1.4”, “1.2”, and “1.0”. ing.

  For example, assume that the suppression rate is determined to be 50% based on the skill points of the user. The operation amount suppression unit 104 multiplies the size of the drone 20 indicated by the acquired flight information by 50% of the correction coefficient associated in the fifth suppression table. For example, if the size of the drone is medium, the operation amount suppression unit 104 suppresses the correction amount by 50% × 1.2 = 60%. Moreover, the operation amount suppression unit 104 suppresses the correction amount by 50% × 1.4 = 70% when the size of the drone is large.

  As mentioned above, the larger the size of the drone, the greater the damage amount when it falls. In this modified example, as the size of the drone increases, the amount of operation is greatly suppressed so that safe flight is performed instead of reducing the degree of freedom in operation. Therefore, as compared with the case where this suppression is not performed, it is possible to reduce the risk of the drone falling (risk of falling, risk of high damage amount when damaged).

[2-9] Drone functions In addition to the leveling function described above, some drones have an auxiliary function to assist stable flight. The auxiliary function is, for example, a function of maintaining the same position without any operation while measuring the position of the own device by GPS (Global Positioning System). In addition, the function of grasping and maintaining the position of the own device using ultrasonic waves, laser light, captured images, and the like, and the function of detecting an object by a sensor and avoiding collision with an obstacle are auxiliary functions.

  Note that the auxiliary function referred to in this modification does not include the function of performing the same flight regardless of the skill of the user (for example, the function of automatically flying to a landing point set when a button is pressed and landing). I shall. When the drone 20 has the auxiliary function according to the present modification, it is possible to stably fly even when an excessive operation is performed, as compared with the case where the drone 20 does not have the auxiliary function.

  Therefore, in the present modification, when the drone 20 has an auxiliary function, the operation amount suppressing unit 104 decreases the operation amount by decreasing the weight of the skill determined by the skill determining unit 102 as the performance of the auxiliary function is higher. Suppress. The high performance of the auxiliary function is determined by, for example, the drone manufacturer, model (higher-end models have higher performance) and year (newer the higher performance).

The operation amount suppressing unit 104 stores, for example, a performance table in which the manufacturer name, model name, and year of the drone are associated with the high performance of the auxiliary function.
FIG. 19 shows an example of the performance table. In the example of FIG. 19, the performance of the auxiliary function is represented by three levels of “high”, “medium”, and “low”. In this modified example, it is assumed that information indicating the manufacturer name, model name, and year of the drone is acquired as the flight information.

The operation amount suppression unit 104 identifies the performance associated with these pieces of information indicated by the acquired flight information in the performance table as the high performance of the auxiliary function of the drone 20. The operation amount suppression unit 104 determines the operation amount to be suppressed by using the sixth suppression table in which the skill point and the suppression ratio (ratio of the operation amount to be suppressed) are associated with each other for each performance of the auxiliary function.
FIG. 20 shows an example of the sixth suppression table.

  In the example of FIG. 20, when the performance of the auxiliary function is “low”, the same skill point and suppression rate correspondence relationship as those in the suppression table shown in FIG. 8 are represented. When the performance of the auxiliary function is "medium", the suppression rate is smaller as the skill point is lower than when the performance of the auxiliary function is "low" ("60" for the skill point "3"). % Was 45%, skill point was 4 and 50% was 37.5%, while skill point was 9% was 0%. It hasn't changed).

  Further, when the performance of the auxiliary function is “high”, the suppression rate is smaller as the skill point is lower than when the performance of the auxiliary function is “medium” (“45” for the skill point “3”). The percentage was "30"%, the skill point "4" was "37.5"% was "25"%, while the skill point "9" was "0"%. It remains unchanged). The operation amount suppression unit 104 determines the operation amount to be suppressed using the correspondence relationship between the skill point and the suppression ratio associated with the performance of the auxiliary function of the drone 20.

  As described above, the higher the performance of the auxiliary function is, the more the skill of the user is compensated for, and the stable flight can be performed even if an excessive operation is performed. In the present modification, by using the sixth suppression table shown in FIG. 20, the higher the performance of the auxiliary function, the smaller the difference between the suppression ratios when the skill is low and when the skill is high. Therefore, as compared with the case where this suppression is not performed, even if the user has a low skill, there is more room to fly freely if the skill is covered by the auxiliary function.

[2-10] Suppression of Operation Amount In the operation amount suppression unit 104, the user having the skill point "3" has suppressed the operation amount to a greater extent than the user having the skill point "4" in the embodiment. With respect to, the operation amount to be suppressed may be common. However, even in that case, for example, the operation amount suppressing unit 104 suppresses the operation amount to be larger for the user whose skill point is “4” or “3” than the user whose skill point is “5”.

  That is, as the basic processing, the operation amount suppression unit 104 suppresses the operation amount to a greater extent as the skill determined by the skill determination unit 102 is lower, but especially for a user of the skill that does not need to change the operation amount to be suppressed. On the other hand, as exception processing, the same operation amount is suppressed. In this case, the operation amount suppression unit 104 suppresses the operation amount according to the skill determined by the skill determination unit 102.

  Note that, for example, when the user's skill is determined in seven stages (skill points from “3” to “9”) as in the embodiment, the operation amount to be suppressed may be divided into seven stages as in the embodiment. , It may be divided into fewer stages. In short, when the skill of the user is determined in N (N is a natural number of 2 or more) stages, the amount of operation to be suppressed may be M (M is 2 or more and a natural number of N or less) stages. In any case, the operation amount suppression unit 104 suppresses the operation amount (the operation amount of the stage determined according to the skill among the M operation amounts) in accordance with the skill determined by the skill determination unit 102. Will be done.

  Similarly, when the visibility of the landing position is used, the operation amount suppression unit 104 basically increases the degree of suppressing the operation amount as the visibility of the landing position of the drone 20 from the operator is lower. However, in the case of visibility where the operation amount to be suppressed is not particularly changed (for example, when the distance to the landing position shown in FIG. 15 is “Th1 or more” and “less than Th1 and Th2 or more”), as an exceptional process, You may suppress only the same operation amount. In this case, the operation amount suppressing unit 104 suppresses the operation amount according to the visibility of the landing position of the drone 20 from the operator.

  Similarly, when the wind speed around the drone 20 is used, the operation amount suppression unit 104 suppresses the operation amount as the basic processing, as the wind speed indicated by the wind speed information acquisition unit 106 increases. When the wind speed is set to a high degree but the operation amount to be suppressed does not need to be changed (for example, when the wind speed shown in FIG. 17 is “less than Th11, Th12 or more” and “less than Th12”), the same operation is performed as an exceptional process You may suppress only the amount.

  Also, when the wind speed becomes high, the wind will be swept away unless the drone 20 is operated to fly upwind. Then, depending on the situation, the disadvantage caused by the wind may be greater than the disadvantage caused by excessive operation. In that case, the operation amount suppressing unit 104 may perform a process of reducing the degree of suppressing the operation amount as the second exception process as the wind speed indicated by the acquired wind speed information increases.

  Further, the operation amount suppressing unit 104 may perform the above-described basic processing when the wind speed is equal to or higher than the threshold value, and may perform the second exception processing when the wind speed is lower than the threshold value. In any case, the operation amount suppression unit 104 suppresses the operation amount according to the wind speed indicated by the wind speed information acquired by the wind speed information acquisition unit 106.

  Similarly, when using the size of the drone, the operation amount suppressing unit 104 basically increases the degree of suppressing the operation amount as the size of the drone increases, but does not particularly change the operation amount to be suppressed. If the size is acceptable (for example, if the sizes shown in FIG. 18 are “medium” and “small”), the same operation amount may be suppressed as an exceptional process. In addition, when the size of the drone becomes smaller, the inertial becomes smaller, so that the response to the operation may become faster.

  In that case, the smaller the size of the drone, the greater the risk of falling due to excessive operation. Therefore, the operation amount suppressing unit 104 may perform a process of increasing the degree of suppressing the operation amount as the size of the drone is smaller, as a second exception process. Further, the operation amount suppression unit 104 may perform the above-described basic processing when the drone is a certain size or more, and may perform the second exception processing when the drone is less than the certain size. In any case, the operation amount suppressing unit 104 suppresses the operation amount according to the size of the drone 20.

[2-11] Aircraft In the embodiment, a rotary wing aircraft is used as a vehicle that performs autonomous flight, but the invention is not limited to this. For example, it may be an airplane-type flying body or a helicopter-type flying body. In short, any flying body may be used as long as it flies according to the instruction given by the user.

[2-12] Device that realizes each function The device that realizes each function shown in FIG. 6 and the like is not limited to the above-described device. For example, the functions realized by the server device 10 and the user terminal 40 may be realized by one device. In that case, the one device is an example of the “information processing device” of the present invention. Further, the functions realized by the transmitter 30 may be realized by devices such as a personal computer and a smartphone. In short, each function shown in FIG. 6 and the like may be realized in the safety flight support system 1 as a whole.

[2-13] Operation Using Table In each of the above examples, the operation using the table shown in FIG. 7 and the like has been described, but the operation is not limited to this. For example, a table different from the table of FIG. 7 (one having a different number of rows, one having a different value for each row, etc.) may be used. Also, some algorithm may be used instead of the table. For example, in the example of FIG. 7, a function for calculating skill points from an average value of operation amounts or the like may be used. In this way, any method may be used as long as another value (skill point, etc.) is derived in accordance with some value (average value of operation amount, etc.).

[2-14] Category of the Invention The present invention is applicable to information processing devices such as the server device 10 and the user terminal 40, as well as those information processing devices, flying objects such as the drone 20, and operating components such as the transmitter 30. It can be understood as an information processing system including a device. Further, the present invention can be understood as an information processing method for realizing the processing executed by those devices (including the drone 20) and as a program for causing a computer that controls the devices to function. This program may be provided in the form of a recording medium such as an optical disc having the program stored therein, or may be provided in a form in which the program is downloaded to a computer via a network such as the Internet and the program is installed and made available. May be done.

[2-15] Functional Blocks The block diagrams used in the description of the above embodiments show functional blocks. These functional blocks (components) are realized by an arbitrary combination of at least one of hardware and software. The method of realizing each functional block is not particularly limited.

  That is, each functional block may be realized by using one device physically or logically coupled, or directly or indirectly (for example, two or more devices physically or logically separated). , Wired, wireless, etc.) and may be implemented using these multiple devices. The functional blocks may be realized by combining the one device or the plurality of devices with software.

  Functions include judgment, decision, judgment, calculation, calculation, processing, derivation, investigation, search, confirmation, reception, transmission, output, access, solution, selection, selection, establishment, comparison, assumption, expectation, and observation. Broadcasting, notifying, communicating, forwarding, configuration, reconfiguring, allocating, mapping, assigning, etc., but not limited to these. I can't. For example, a functional block (component) that causes transmission to function is called a transmitting unit or a transmitter. In any case, as described above, the implementation method is not particularly limited.

[2-16] Input / output direction Information and the like (see the item of "information and signal") can be output from the upper layer (or lower layer) to the lower layer (or upper layer). Input / output may be performed via a plurality of network nodes.

[2-17] Handling of input / output information, etc. The input / output information, etc. may be stored in a specific place (for example, a memory) or may be managed using a management table. Information that is input / output can be overwritten, updated, or added. The output information and the like may be deleted. The input information and the like may be transmitted to another device.

[2-18] Judgment Method The judgment may be performed by a value (0 or 1) represented by 1 bit, a true / false value (Boolean: true or false), or a numerical value. (For example, comparison with a predetermined value) may be performed.

[2-19] Information Notification, Signaling Information notification is not limited to the mode / example described in the present disclosure, and may be performed using another method. For example, the information is notified by physical layer signaling (for example, DCI (Downlink Control Information), UCI (Uplink Control Information)), upper layer signaling (for example, RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling, It may be implemented by notification information (MIB (Master Information Block), SIB (System Information Block)), another signal, or a combination thereof. Further, the RRC signaling may be referred to as an RRC message, and may be, for example, an RRC connection setup (RRC Connection Setup) message, an RRC connection reconfiguration message, or the like.

[2-20] Processing Procedure and the Like The processing procedure, sequence, flowchart, etc. of each aspect / embodiment described in the present disclosure may be interchanged as long as there is no contradiction. For example, the methods described in this disclosure present elements of the various steps in a sample order, and are not limited to the specific order presented.

[2-21] Handling of input / output information The input / output information may be stored in a specific place (for example, a memory) or may be managed by a management table. Information that is input / output can be overwritten, updated, or added. The output information and the like may be deleted. The input information and the like may be transmitted to another device.

[2-22] Software Software, whether called software, firmware, middleware, microcode, hardware description language, or any other name, is an instruction, instruction set, code, code segment, program code, program. , Subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc., should be broadly construed.

  Also, software, instructions, information, etc. may be sent and received via a transmission medium. For example, the software may use a wired technology (coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), etc.) and / or wireless technology (infrared, microwave, etc.) websites, When sent from a server, or other remote source, at least one of these wired and wireless technologies is included within the definition of transmission medium.

[2-23] Information, Signals The information, signals, etc. described in this disclosure may be represented using any of a variety of different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description include voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any of these. May be represented by a combination of

  The terms described in the present disclosure and terms necessary for understanding the present disclosure may be replaced with terms having the same or similar meanings. For example, at least one of the channel and the symbol may be a signal (signaling). The signal may also be a message. Moreover, a component carrier (CC: Component Carrier) may be called a carrier frequency, a cell, a frequency carrier, or the like.

[2-24] System, Network The terms "system" and "network" used in this disclosure are used interchangeably.

[2-25] Parameter, Channel Name Further, the information, parameters, etc. described in the present disclosure may be expressed using absolute values, or may be expressed using relative values from predetermined values. However, it may be represented by using other corresponding information. For example, the radio resources may be those indicated by the index.

  The names used for the above parameters are not limiting in any way. Further, the formulas and the like that use these parameters may differ from those explicitly disclosed in this disclosure. Since different channels (eg PUCCH, PDCCH, etc.) and information elements can be identified by any suitable name, the different names assigned to these different channels and information elements are in no way limited names. is not.

[2-26] "Judgment", "Decision"
The terms "determining" and "determining" as used in this disclosure may encompass a wide variety of actions. "Judgment", "decision" means, for example, judgment (judging), calculation (calculating), calculation (computing), processing (processing), derivation (deriving), investigating (investigating), searching (looking up, search, inquiry) (Eg, searching in a table, database, or another data structure), ascertaining to be regarded as “judgment” and “decision” may be included.

  In addition, "decision" and "decision" include receiving (eg, receiving information), transmitting (eg, transmitting information), input (input), output (output), access (accessing) (for example, accessing data in a memory) may be regarded as “judging” and “deciding”. In addition, "judgment" and "decision" are considered to be "judgment" and "decision" when things such as resolving, selecting, choosing, choosing, establishing, and comparing are done. May be included. That is, the “judgment” and “decision” may include considering some action as “judgment” and “decision”. In addition, “determination (decision)” may be replaced with “assuming”, “expecting”, “considering”, and the like.

[2-27] Meaning of “Based On” As used in this disclosure, the description “based on” does not mean “based only on,” unless expressly specified otherwise. In other words, the phrase "based on" means both "based only on" and "based at least on."

[2-28] "Different"
In the present disclosure, the term “A and B are different” may mean “A and B are different from each other”. The term may mean that “A and B are different from C”. The terms "remove", "coupled" and the like may be construed as "different" as well.

[2-29] "and", "or"
In the present disclosure, for the configurations that can be implemented by “A and B” or “A or B”, the configuration described in one expression may be used as the configuration described in the other expression. For example, when "A and B" is described, it may be used as "A or B" as long as it is practicable without inconsistency with other descriptions.

[2-30] Aspect Variation, etc. Each aspect / embodiment described in the present disclosure may be used alone, in combination, or may be switched and used in accordance with execution. Further, the notification of the predetermined information (for example, the notification of “being X”) is not limited to the explicit notification, and is performed implicitly (for example, the notification of the predetermined information is not performed). Good.

  Although the present disclosure has been described in detail above, it is obvious to those skilled in the art that the present disclosure is not limited to the embodiments described in the present disclosure. The present disclosure can be implemented as modified and changed modes without departing from the spirit and scope of the present disclosure defined by the description of the claims. Therefore, the description of the present disclosure is for the purpose of exemplifying description, and does not have any restrictive meaning to the present disclosure.

1 ... Safe flight support system, 10 ... Server device, 20 ... Drone, 30 ... Propo, 40 ... User terminal, 101 ... Related information storage unit, 102 ... Skill determination unit, 103 ... Flight status acquisition unit, 104 ... Operation amount suppression Unit, 105 ... Flight information acquisition unit, 106 ... Wind speed information acquisition unit, 201 ... Operation control unit, 202 ... Sensor measurement unit, 203 ... Flight status notification unit, 301 ... Operation acceptance unit, 302 ... Operation instruction unit, 303 ... Operation History notification unit, 304 ... Suppression reflection unit, 401 ... Flight information notification unit.

Claims (10)

An acquisition unit that acquires related information about the operation of the operator of the air vehicle,
A determination unit that determines the skill of the operator based on the acquired related information,
An information processing apparatus, comprising: a suppression unit that suppresses an operation amount of an operator in a specific flight, and an operation unit that suppresses the operation amount according to the determined skill. The specific flight is a landing flight,
The information processing apparatus according to claim 1, wherein the suppressing unit suppresses an operation amount of an operation of moving the flying object in a horizontal direction. The information processing apparatus according to claim 2, wherein the suppressing unit suppresses the operation amount according to the visibility of the landing position of the aircraft from the operator. The specific flight is a landing flight,
A wind speed acquisition unit for acquiring wind speed information indicating the wind speed around the air vehicle,
The suppression unit suppresses an operation amount of an operation of moving the aircraft vertically downward, and releases the operation amount suppression when wind speed information indicating a wind speed less than a threshold value is acquired by the wind speed acquisition unit. The information processing apparatus according to any one of Items 1 to 3. The specific flight is a flight at takeoff,
The information processing device according to claim 1, wherein the suppressing unit suppresses an operation amount of an operation of moving the flying object in a horizontal direction. The aircraft has a maintenance function of keeping the front-rear direction and the left-right direction of the aircraft horizontal.
The information processing apparatus according to claim 5, wherein the suppression unit releases the suppression of the operation amount when the aircraft is in a horizontal state by the maintenance function. The specific flight is a flight in a predetermined range on the boundary side of the air space in which the air vehicle can fly,
The information processing device according to any one of claims 1 to 6, wherein the suppressing unit suppresses an operation amount of an operation of moving the flying object in a direction of jumping out of the airspace. A wind speed acquisition unit for acquiring wind speed information indicating the wind speed around the air vehicle,
The information processing apparatus according to claim 1, wherein the suppressing unit suppresses the operation amount according to the wind speed indicated by the acquired wind speed information. The information processing apparatus according to claim 1, wherein the suppressing unit suppresses the operation amount according to the size of the flying object. The suppression unit suppresses the operation amount by reducing the weight of the skill determined as the performance of the auxiliary function is higher, when the aircraft has an auxiliary function of assisting stable flight. 10. The information processing device according to any one of 1 to 9.

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