JP2020087145A - Computer system and program - Google Patents

Abstract

To appropriately control a flying body.SOLUTION: A computer system according to one embodiment includes at least one processor. The at least one processor controls flight of a flying body in a three-dimensional space network on the basis of the three-dimensional space network and area data including dynamic information indicating a dynamically changing status of the three-dimensional space network.SELECTED DRAWING: Figure 3

Description

One aspect of the present disclosure relates to computer systems and/or programs.

Conventionally, a technique for controlling an air vehicle is known (see, for example, Patent Document 1).

JP, 2008-81675, A

One aspect of the present disclosure is directed to appropriately controlling an air vehicle.

A computer system according to an aspect of the present disclosure includes at least one processor, and the at least one processor includes dynamic information indicating a three-dimensional spatial network and a dynamically changing situation of the three-dimensional spatial network. Control the flight of the air vehicle in the three-dimensional spatial network based on the region data.

It is a figure which shows some examples of control. It is a figure which shows an example of utilization of the control system regarding embodiment. It is a figure showing an example of functional composition of a control system concerning an embodiment. It is a figure which shows an example of the hardware constitutions of the server which concerns on embodiment. It is a figure which shows some examples of area|region data. It is a flow chart which shows an example of operation of the control system concerning an embodiment. It is a flow chart which shows another example of operation of the control system concerning an embodiment. It is a figure which shows an example of control. FIG. 11 is a diagram showing an example of area data corresponding to FIGS. 8 and 10. It is a figure which shows another example of control.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements will be denoted by the same reference symbols, without redundant description.

[System overview]
The control system 1 according to the embodiment is a computer system that controls the flight of a flying object in a three-dimensional spatial network. An air vehicle is an artificial object that can move in the air. The type of flying body is not limited, and may be, for example, a manned aircraft or an unmanned aerial vehicle (drone). The three-dimensional spatial network refers to at least a part of a region in which the air vehicle can move. The three-dimensional spatial network includes at least one of a ground network indicating an area on the ground that a landing vehicle can pass through and an air network indicating an air area in which the air vehicle can fly. Control means managing the present or future flight of an aircraft in a three-dimensional spatial network and limiting the flight as necessary. Controls are implemented to ensure flight safety, and to prevent undesired situations such as near misses and air traffic congestion. For example, control may include the process of permitting or prohibiting an aircraft from entering a three-dimensional spatial network. Alternatively, control may include the process of permitting or prohibiting the flight schedule of the air vehicle. Alternatively, the control may include a process of canceling the flight schedule once approved, or a process of temporarily retracting an aircraft in flight in a three-dimensional spatial network for another priority flight.

FIG. 1 is a diagram showing an example of control. The example (a) of FIG. 1 shows the control in the three-dimensional spatial network 200 represented by two adjacent nodes 201 and a link 202 connecting the nodes. A node refers to a position set to control the movement (for example, flight) of a flying object, and more specifically, changes the movement method (for example, flying method. direction, speed, etc.) of the flying object. It means the position where you can do it. The link refers to a virtual line that is set to indicate a moving route (for example, a flight route) of a flying body, and connects adjacent nodes. The example (b) of FIG. 1 shows the control in the three-dimensional spatial network 210 represented by the three-dimensional block 212 including the waypoint 211. The waypoint (WP) refers to a position set to determine the flight path of the flying body, and can also be referred to as a position where the flying body should pass (that is, a passing point). The block means a closed space represented by using virtual boundaries, and can also be called a mesh or a cell. The three-dimensional spatial network may be represented by any method other than the examples (a) and (b) of FIG. 1, and may be represented by a two-dimensional block, for example.

In the example (a), two flight vehicles 301 and 302 already exist in the three-dimensional spatial network 200, and another flight vehicle 303 is about to enter the three-dimensional spatial network 200. The control system 1 determines whether the flying body 303 can enter the three-dimensional space network 200, and controls the flight of the flying body 303 according to the determination result. As in this example, the control system 1 may control the flight in real time based on the current situation of the three-dimensional spatial network.

In the example (b), the air vehicle 304 is scheduled to fly in the three-dimensional spatial network 210 from 9:05 am to 9:25 am. Based on this, it is assumed that another air vehicle 305 is scheduled to fly to the three-dimensional spatial network 210 after 9:15 am. The control system 1 determines whether the aircraft 305 can enter the three-dimensional space network 210 as scheduled, and controls the flight schedule of the aircraft 305 according to the determination result. As in this example, the control system 1 may control the flight schedule (flight plan) based on the future situation of the three-dimensional spatial network.

FIG. 2 is a diagram showing an example of use of the control system 1. In this example, the control system 1 can access the database 20 and can be communicatively connected to a plurality of control systems 30. The control system 30 is a computer system that directly controls one or more air vehicles 40 or manages the operation of one or more air vehicles 40.

The database 20 is a device that stores the area data 21. The mounting method of the database 20 is not limited. For example, the database 20 may be at least a part of a map database that stores map data. Here, the map data refers to data that represents an actual flyable space using elements such as nodes, links, and blocks. Alternatively, the map database may function as the database 20. Alternatively, the database 20 may be constructed independently of the map database.

The area data 21 is data indicating a three-dimensional spatial network and a dynamically changing situation of the three-dimensional spatial network. The area data 21 is electronic data that can be read by a computer, and is control data including digital information necessary for controlling the flying body 40. More specifically, the area data 21 is data in which specific information that uniquely identifies a three-dimensional spatial network is directly associated with dynamic information that indicates a dynamically changing situation of the three-dimensional spatial network. The data item used as the specific information is not limited, and may be, for example, a region ID that is an identifier of the three-dimensional spatial network, or position information indicating the position of the three-dimensional spatial network (for example, a position including one or more coordinates). Information). The “dynamically changing situation” means a situation that changes with the passage of time. The length of time required to change the situation is not limited, for example, 1 second, 10 seconds, 30 seconds, 1 minute, 10 minutes, 30 minutes, 1 hour, 2 hours, 3 hours, 12 hours, 1 day, etc. May be a value of. The area data 21 may be a part of the map data, in other words, the map data may function as the area data 21. Alternatively, the area data 21 may be prepared independently of the map data. If the dynamic information is associated with another data item such as specific information, the dynamic information and the other data item may be held separately.

The area data 21 may include other information in addition to the specific information and the dynamic information. For example, the area data 21 may further include restriction information indicating flight restrictions within the three-dimensional spatial network. Flight restrictions are conditions set to ensure flight safety within a three-dimensional spatial network. Examples of flight restrictions include conditions such as the maximum number of aircraft 40 that can coexist in a three-dimensional spatial network at the same time, the minimum distance between adjacent aircraft 40 that should be ensured, and the maximum allowable size of the aircraft 40. However, flight restrictions are not limited to these, and may be defined by any one or more conditions.

Each control system 30 executes a process of directly controlling the flight of one or more air vehicles (drones) 40 or managing the operation of one or more air vehicles 40, and performs the processing by the control system 1 for the processing. Work together. When the control system 30 determines the flight schedule of the individual air vehicle 40, the control system 30 requests the control system 1 for permission of the flight schedule. In response to the request, the control system 1 determines whether to permit the flight schedule, and transmits instruction data based on the determination result to the control system 30 as a response. Like the area data 21, the instruction data is electronic data that can be read by a computer, and is control data that includes digital information necessary for controlling the flying object 40. The control system 30 controls or manages the air vehicle 40 based on the instruction data. For example, the control system 30 causes the air vehicle 40 to fly as scheduled when the control system 1 permits the flight schedule, and changes or cancels the flight schedule when the control system 1 prohibits (rejects) the flight schedule. .. Changing the flight schedule includes, for example, changing the flight route or time.

The control system 1 can process the requests from the plurality of control systems 30 to integrally manage the flight of the air vehicle 40 in each of the three-dimensional spatial networks.

As described above, FIG. 2 is an example of the use of the control system 1, and the method of using the control system 1 is not limited at all. The control system 1 may cooperate with a control system of a type other than the control system 30. Each of the one or more control systems directly controls or manages the air vehicle 40, and the control system 1 integrally manages the control by the individual control systems. For example, the control system 1 permits or prohibits the flight schedule set by the control system, and each control system maintains, changes, or cancels the flight schedule according to the determination of the control system 1.

[System configuration]
FIG. 3 is a diagram showing an example of a functional configuration of the control system 1. In one example, the control system 1 includes a server 10 that is a computer that controls the flight of an air vehicle in a three-dimensional spatial network. The server 10 is communicatively connected to the database 20 and also communicatively connected to one or more control systems 30. For both the connection between the server 10 and the database 20 and the connection between the server 10 and the control system 30, the specific configuration of the communication network is not limited. For example, the communication network may include at least one of the Internet and an intranet. Moreover, the communication network may be configured to include at least one of a wired network and a wireless network.

The configuration of the control system 1 is not limited to the example of FIG. The database 20 may be a part of the control system 1 or may be managed by a computer system different from the control system 1. Alternatively, the server 10 may include the database 20.

The server 10 includes an acquisition unit 11, a determination unit 12, an instruction generation unit 13, a communication unit 14, and an update unit 15 as functional modules. The acquisition unit 11 is a functional module that acquires a control request from the control system 30. The determination unit 12 is a functional module that refers to the area data 21 and executes the requested control. The instruction generation unit 13 is a functional module that generates instruction data based on the determination result of the determination unit 12. The communication unit 14 is a functional module that outputs the instruction data to the control system 30. The update unit 15 is a functional module that updates the dynamic information of the area data 21 based on the information acquired from the control system 30.

FIG. 4 shows an example of the hardware configuration of the server 10. For example, the server 10 has a control circuit 100. In one example, the control circuit 100 includes one or more processors 101, a memory 102, a storage 103, a communication port 104, and an input/output port 105. The processor 101 executes an operating system and application programs. The storage 103 is composed of a hard disk, a non-volatile semiconductor memory, or a removable storage medium (for example, a magnetic disk, an optical disk, etc.), and stores an operating system and application programs. The memory 102 temporarily stores the program loaded from the storage 103 or the calculation result by the processor 101. In one example, the processor 101 functions as each of the above functional modules by executing a program in cooperation with the memory 102. The communication port 104 performs data communication with another device via the communication network NW according to a command from the processor 101. The input/output port 105 executes input/output of electric signals with an input/output device (user interface) such as a keyboard, a mouse, and a monitor according to a command from the processor 101.

The server 10 may be composed of one or more computers. When a plurality of computers are used, these computers are connected to each other via a communication network to logically form one server 10.

The computer that functions as the server 10 is not limited. For example, the server 10 may be composed of a large computer such as a business server, or may be composed of a small computer such as a personal computer or a mobile terminal (for example, a smartphone or a tablet terminal).

[Data structure of area data]
The area data 21 is data indicating a three-dimensional spatial network and a dynamically changing situation of the three-dimensional spatial network. The real space in which the flying body 40 can fly may be represented by a plurality of three-dimensional spatial networks, and in this case, the area data 21 is prepared for each three-dimensional spatial network. Each area data includes specific information that uniquely identifies the three-dimensional spatial network and dynamic information that indicates a dynamically changing situation of the three-dimensional spatial network. In the area data 21, the specific information and the dynamic information are directly associated with each other. For example, one record of the area data 21 includes the specific information and the dynamic information, so that these two types of information are directly associated with each other. Therefore, only by referring to the area data 21 of a certain three-dimensional spatial network, the situation in which the three-dimensional spatial network changes dynamically can be obtained.

The area data 21 may further include restriction information. In this case, the specific information, the dynamic information, and the restriction information are directly associated with each other in the area data 21. For example, one record of the area data 21 includes specific information, dynamic information, and restriction information, so that these three types of information are directly associated. Therefore, only by referring to the area data 21 of a certain three-dimensional spatial network, it is possible to obtain flight restrictions and dynamically changing situations for that three-dimensional spatial network.

FIG. 5 is a diagram showing some examples of the data structure of the area data 21. In either example, the area data 21 includes specific information, restriction information, and dynamic information.

The example (a) of FIG. 5 shows the area data 21 corresponding to one link. In this example, the identification information is a link ID that is an identifier that uniquely identifies the link, and the link ID is a type of area ID. The limit information includes the allowed number, which is the maximum number of vehicles that can be in the link at the same time. The dynamic information includes one or more sets of time zone and aircraft ID. The flight body ID is an identifier for uniquely identifying the flight body 40. Each set shows an aircraft 40 that is scheduled to fly in a three-dimensional spatial network (link) during that time period. If the actual time is within the time zone, then the set can be said to indicate the current flight situation. If the actual time exceeds that time period, the group can be said to show flight performance.

The example (b) of FIG. 5 shows the area data 21 corresponding to one link. Also in this example, the specific information is defined by the link ID. The restriction information includes a safety distance that is the minimum distance that should be ensured between two adjacent air vehicles 40. In this example, the safety distance is defined for each of the front-rear direction, the left-right direction, and the up-down direction, but the safety distance may be defined by another method, for example, the radius of the virtual sphere. The dynamic information includes one or more sets of time zone and aircraft ID.

The example (c) of FIG. 5 shows the area data 21 corresponding to one block. In this example, the identification information is a block ID that is an identifier that uniquely identifies the block, and the block ID is a type of area ID. The limit information includes an allowable number, which is the maximum number of air vehicles that can be simultaneously present in the block. The dynamic information includes one or more sets of time zone and aircraft ID.

The specific data structure of the area data 21 is not limited to the example of FIG. 5, and may have various configurations and formats. For example, the restriction information may include the maximum size of the air vehicle 40 that can pass, and may include the restrictions associated with the passage of a particular air vehicle such as a manned helicopter. The limit information may be a fixed value or may change depending on a given situation. As an example, the safety distance may be updated according to the environment in the three-dimensional spatial network. For example, the safety distance is set to a first value when the wind speed is equal to or higher than a threshold value, and the wind speed is If it is less than the threshold value, it may be set to a second value smaller than the first value. The restriction information may include a combination of a plurality of restriction items, for example, a combination of a safe distance and an allowable number. The area data 21 may not include the restriction information.

The area data 21 is stored in the database 20 in advance for processing by the control system 1. The restriction information is set and stored in advance. As described above, the restriction information may be updated as needed. For example, the updating unit 15 may update the restriction information based on the data input by the user of the control system 1, or update the restriction information based on the data received from any external system such as the weather forecast system. You may. The dynamic information is updated in response to any changes in the 3D spatial network. The update unit 15 may update the dynamic information based on the data received from the control system 30. Alternatively, the update unit 15 may update the dynamic information based on the data input by the user of the control system 1, or the dynamic information based on the data received from an external system other than the control system 30. May be updated.

[Processing procedure in the system]
The operation of the control system 1 and the control method according to the present embodiment will be described with reference to FIGS. 6 and 7. 6 and 7 are both flowcharts showing an example of the operation of the control system 1. More specifically, FIG. 6 shows a process S1 relating to the control of the approach of the flying object 40 to the three-dimensional spatial network, and FIG. Each of the processes S1 and S2 is executed in response to the acquisition of a request from a certain one control system 30. Each time the control system 1 acquires a request, it executes one of the processes S1 and S2 depending on the content of the request.

First, the process S1 will be described. In step S11, the acquisition unit 11 acquires from the control system 30 a request for causing the flying object (second flying object) 40 to fly in the three-dimensional space network. In one example, the request includes identification information of the three-dimensional spatial network (eg, area ID, position), information for identifying the flying object 40 (eg, flying object ID), and flying object 40 to the three-dimensional spatial network. Schedule (for example, scheduled approach time, required time for passing, etc.).

In step S12, the determination unit 12 acquires the area data 21 of the three-dimensional spatial network corresponding to the request from the database 20. For example, the determination unit 12 uses the specific information of the three-dimensional spatial network as a search key to search the database 20 to read the area data 21 corresponding to the three-dimensional spatial network.

In step S13, the determination unit 12 determines whether or not to permit the aircraft 40 to enter the three-dimensional spatial network based on the restriction information and the dynamic information of the area data. For example, the determination unit 12 determines whether the flying object 40 can enter the three-dimensional spatial network by comparing the restriction information and the dynamic information.

For example, the link L004 shown in the example (a) of FIG. 5 is a three-dimensional spatial network to be processed, and the acquisition unit 11 causes the air vehicle (second air vehicle) 40 to enter the link at 9:20. Suppose you get a request. Since there is one aircraft (first aircraft) 40 scheduled to fly on the link L004 in the time zone “9:15 to 9:30” corresponding to the scheduled approach time, and the allowable number is 2, Another aircraft 40 can fly in the link L004 during the time zone. Therefore, the determination unit 12 determines to permit the entry indicated by the request. On the other hand, it is assumed that the acquisition unit 11 acquires a request for causing the flying object (second flying object) 40 to enter the link L004 at 9:35. In this case, there are two aircraft (first aircraft) 40 scheduled to fly on the link L004 in the time zone “9:30 to 9:45” corresponding to the scheduled approach time, and the allowable number is 2 Therefore, the additional air vehicle 40 cannot be flown during that time period. Therefore, the determination unit 12 determines to prohibit (reject) the entry indicated by the request.

As another example, the link L012 shown in the example (b) of FIG. 5 is a three-dimensional spatial network to be processed, and the acquisition unit 11 puts the flying object (second flying object) 40 in the link at 9:05. Suppose that you have received a request to enter. There is one aircraft (first aircraft) 40 scheduled to fly on the link L012 in the time zone “9:00 to 9:15” corresponding to the scheduled approach time. For example, the determination unit 12 is based on the speed of the flying object (second flying object) 40 indicated by the request, the speed of the flying object (first flying object) DN001 indicated by the dynamic information, and the safety distance. It is estimated whether or not the two flying bodies 40 can fly while securing the safe distance from time to time in the time zone “9:00 to 9:15”. When the two aircraft 40 can secure the safe distance from beginning to end, the determining unit 12 determines to permit the approach indicated by the request. On the other hand, if the two aircraft 40 cannot always secure the safety distance, the determination unit 12 determines to prohibit (reject) the approach indicated by the request.

In step S14, the instruction generation unit 13 generates instruction data based on the determination result of the determination unit 12. For example, the instruction generation unit 13 generates instruction data indicating entry permission when the request is permitted, and generates instruction data indicating entry prohibition when the entry is prohibited. The data structure of the instruction data is not limited at all.

In step S15, the communication unit 14 transmits the instruction data to the control system 30 that is the transmission source of the request. The control system 30 can control the flight of the air vehicle 40 based on the instruction data. For example, the control system 30 causes the flying object 40 to fly as scheduled based on the instruction data indicating the entry permission. Alternatively, the control system 30 changes or cancels the flight schedule based on the instruction data indicating the entry prohibition.

In step S16, the processing is divided depending on whether or not the determination unit 12 has permitted the entry of the flying body 40 into the three-dimensional space network. If the entry is permitted (YES in step S16), the process proceeds to step S17. In step S17, the update unit 15 updates the dynamic information by writing the flight schedule indicated by the request in the dynamic information of the area data acquired in step S12. For example, the determination unit 12 adds the flight object ID of the flight object 40 permitted to enter to the set corresponding to the approach time. By updating the dynamic information, the database 20 can continue to hold the area data 21 indicating the latest situation. On the other hand, if the entry is prohibited (NO in step S16), the dynamic information need not be updated, and thus step S17 is not executed.

Next, the process S2 will be described. In step S21, the acquisition unit 11 acquires a request for causing the flying object (second flying object) 40 to preferentially fly in the three-dimensional space network. The priority flight means that a specific flight object (second flight object) 40 is given priority over another flight object (first flight object) 40 to fly. More specifically, the priority flight is to apply a change that was not originally scheduled to the flight of the other flight vehicle 40 to smoothly fly the specific flight vehicle 40. .. One example of priority flight is to fly a particular air vehicle 40 to a destination as soon as possible for emergency purposes. The "other flight vehicle" means a flight vehicle other than the flight vehicle to be preferentially flown. In the process S2 as well, the request acquired by the acquisition unit 11 includes the identification information of the three-dimensional spatial network, the information for identifying the flying object 40, and the schedule of the approach of the flying object 40 to the three-dimensional spatial network. Including. In the following, the flight vehicle to be given priority flight is also referred to as “priority flight vehicle”.

In step S22, the determination unit 12 acquires the area data 21 of the three-dimensional space network corresponding to the request from the database 20. This process is similar to step S12 described above.

In step S23, the determination unit 12 determines, based on at least the dynamic information of the area data, of the other flight vehicle 40 corresponding to the three-dimensional spatial network (this is the flight vehicle 40 indicated by the dynamic information). Determine the control. For example, the determination unit 12 compares a predetermined rule (priority rule) regarding the priority flight with the dynamic information of the area data, so that the same 3 as that of the priority flight object (second flight object) in a certain time zone. The control of the other air vehicle (first air vehicle) 40 to be present in the dimensional space network is determined. The content of the priority rule is not limited. For example, the priority rule may include temporarily evacuating another vehicle 40 from the three-dimensional spatial network, or canceling the entry of another vehicle 40 into the three-dimensional spatial network once permitted. May be included. The priority rule may be stored in advance in the server 10 or the database 20 as data different from the area data 21. Alternatively, the priority rule may be stored as at least a part of the restriction information of the area data 21, and in this case, the determination unit 12 compares the priority rule and the dynamic information only by referring to the area data 21. be able to.

In step S24, the instruction generator 13 generates instruction data based on the determination made by the determiner 12. For example, the instruction generation unit 13 may generate instruction data for retracting the other flight vehicle (first flight vehicle) 40, or may permit the entry of the other flight vehicle (first flight vehicle) 40. Instruction data for canceling may be generated. Similar to step S14, the data structure of the instruction data is not limited at all. When a plurality of air vehicles 40 are targeted, there may be a plurality of control systems 30 corresponding to the plurality of air vehicles 40. In this case, the instruction generator 13 individually generates instruction data for each control system 30. The instruction generator 13 further generates instruction data indicating permission of priority flight, which is to be transmitted to the control system 30 that is the transmission source of the request.

In step S25, the communication unit 14 transmits the instruction data to each of the at least one control system 30 that manages another flight vehicle (first flight vehicle) 40 that needs to be controlled. Each control system 30 can control the flight of the air vehicle 40 based on the instruction data. For example, control system 30 may temporarily evacuate air vehicle 40 or modify a flight schedule for which authorization has been revoked. The communication unit 14 further transmits instruction data indicating permission of the priority flight to the control system 30 (that is, the control system 30 corresponding to the priority aircraft) that is the transmission source of the request.

In step S26, the updating unit 15 updates the dynamic information in the area data 21 based on the determination made by the determining unit 12. For example, the determination unit 12 adds the flight body ID of the priority flight body to the dynamic information corresponding to the passing time of the priority flight body, and the dynamic body information of the flight body ID of the other flight body 40 whose permission is canceled. Remove from. By updating the dynamic information, the database 20 can continue to hold the area data 21 indicating the latest situation.

An example of the process S1 will be described with reference to FIGS. 8 and 9. FIG. 8 is a diagram showing an example of control on the flight network 220 including seven links with link IDs “L001” to “L007”. FIG. 9 is a diagram showing an example of the area data 21 of the six links L002 to L007 directly related to the control. In the example of FIGS. 8 and 9, flight schedules are set for three flight vehicles having flight vehicle IDs “DN001” to “DN003”. Aircraft D001 will pass links L002, L004, L006 in this order, and aircraft D002 will pass links L005, L004, L003 in this order. Aircraft DN003 is scheduled to pass link L007.

Based on this, it is assumed that the acquisition unit 11 receives a request from the control system 30 that manages the flight vehicle DN003 to cause the flight vehicle DN003 to enter the link L004 at 9:35. Referring to the area data 21 of the link L004, the allowable number is 2, and the dynamic information indicates that two air vehicles pass between 9:30 and 9:45. Since it is not possible to fly more air vehicles during this time period, the determination unit 12 determines to prohibit the request. As a result, the control system 30 needs to change the flight schedule of the air vehicle DN003, for example, change the approach time of the air vehicle DN003 to the link L004 or change the flight route so as not to pass through the link L004. I need to do it.

An example of the process S2 will be described with reference to FIGS. 9 and 10. FIG. 10 is a diagram showing another example of control on the flight network 220. The flight schedules of the air vehicles DN001 and DN002 are the same as those in FIGS. 8 and 9. In this example, it becomes necessary to urgently pass through the links L003 and L006 to the priority flight vehicle DN101 in this order, and the acquisition unit 11 causes the control system 30 of the priority flight vehicle DN101 to transfer the priority flight vehicle DN101 to the link L003 at 10:40. Suppose you have received a request to enter.

Referring to the area data 21 of the link L003, the dynamic information indicates that the flight object DN002 passes between 10:30 and 11:00. Therefore, the determination unit 12 determines to cancel the flight schedule of the air vehicle DN002 on the link L003. As a result, the control system 30 of the air vehicle DN002 needs to change the flight schedule of the air vehicle DN002. You need to change the route.

Aircraft DN001 is scheduled to leave Link L006 by 10:00. Therefore, the determination unit 12 does not change the flight schedule of the air vehicle DN001 in the link L006 in response to the above request regarding the priority air vehicle DN101. As a result, the air vehicle DN001 can fly as scheduled.

[program]
The program that causes the computer to function as the server 10 includes a program code that causes the computer to function as the acquisition unit 11, the determination unit 12, the instruction generation unit 13, the communication unit 14, and the update unit 15. This program may be provided after being fixedly recorded in a tangible recording medium such as a CD-ROM, a DVD-ROM, or a semiconductor memory. Alternatively, the program may be provided via a communication network as a data signal superimposed on a carrier wave. The provided program is stored in the storage 103, and the above-mentioned functional modules are realized by the processor 101 cooperating with the memory 102 and executing the program.

[effect]
As described above, a computer system according to one aspect of the present disclosure includes at least one processor, and at least one processor includes a three-dimensional spatial network and a situation in which the three-dimensional spatial network dynamically changes. The flight of the air vehicle in the three-dimensional spatial network is controlled based on the area data including the dynamic information shown.

A program according to an aspect of the present disclosure is based on region data including dynamic information indicating a three-dimensional spatial network and a dynamically changing situation of the three-dimensional spatial network, and a flying vehicle in the three-dimensional spatial network. Causes the computer to perform the steps to control the flight of.

In such an aspect, since the area data includes the three-dimensional spatial network and the dynamic information, the situation of the three-dimensional spatial network can be acquired only by referring to the area data. Therefore, the control process can be executed quickly. Further, since the association between the three-dimensional spatial network and the dynamic information is expressed with a small amount of data, the storage capacity of the area data can be saved.

In the computer system according to another aspect, the area data may be data in which dynamic information is directly associated with specific information that uniquely identifies the three-dimensional spatial network. By directly associating the three-dimensional spatial network with the dynamic information, the dynamic information can be referred to efficiently and at high speed. Therefore, it is possible to quickly execute the control process and reduce the size of the area data.

In the computer system according to another aspect, at least one processor may control the flight of the air vehicle in the three-dimensional spatial network based on the restriction information indicating the flight restriction in the three-dimensional spatial network and the dynamic information. Good. The control can be appropriately executed by considering the dynamically changing situation and the flight restriction.

In the computer system according to another aspect, the area data may be data in which restriction information and dynamic information are directly associated with specific information that uniquely specifies a three-dimensional spatial network. By directly associating the three-dimensional space network with the dynamic information and the restriction information, both the dynamic information and the restriction information can be referred to efficiently and at high speed. Therefore, it is possible to quickly execute the control process and reduce the size of the area data.

In a computer system according to another aspect, the dynamic information indicates one or more first air vehicles in or about to fly in a three-dimensional spatial network, the at least one processor instructing the second air vehicle to be in the three-dimensional space. If it is determined whether the network can enter the network based on the restriction information and the dynamic information, and if it is determined that the second aircraft can enter the three-dimensional spatial network, the second vehicle can enter the three-dimensional spatial network. When the entry is permitted and it is determined that the second aircraft cannot enter the three-dimensional spatial network, the entry of the second aircraft into the three-dimensional spatial network may be prohibited. By referring to the area data, it is possible to obtain information on the first air vehicle that is currently or will be flying in the three-dimensional spatial network. You can quickly decide whether to permit or disallow.

In a computer system according to another aspect, the at least one processor may update the dynamic information such that the dynamic information further indicates a second air vehicle that is permitted to enter the three-dimensional spatial network. This update process keeps the dynamic information up to date, so that the next control process can be appropriately executed.

In a computer system according to another aspect, the dynamic information indicates one or more first air vehicles in or about to fly in the three-dimensional spatial network, and at least one processor is more than one or more first air vehicles. May also control each flight of one or more first air vehicles in order to cause the second air vehicle to fly over the three-dimensional spatial network. It is necessary to prioritize the flight of the second air vehicle because it is possible to obtain information on the first air vehicle that is currently or will be flying in the three-dimensional spatial network only by referring to the area data. It is possible to quickly perform various processes.

In a computer system according to another aspect, control of each flight of one or more first air vehicles includes a process of retracting a first air vehicle that is in flight in a three-dimensional spatial network and a first flight in the three-dimensional spatial network. At least one of the process of canceling the flight schedule of the flying object may be included. In this case, the withdrawal of the first flight object or the cancellation of the flight schedule of the first flight object can be quickly executed.

[Modification]
The present disclosure has been described above in detail based on the embodiment. However, the present disclosure is not limited to the above embodiment. The present disclosure can be variously modified without departing from the gist thereof.

The control system 1 may execute control based on information on objects other than the flying body 40. For example, the control system 1 acquires information about a bird or a flock of birds, identifies a flying body 40 existing in a three-dimensional spatial network in which the bird or the flock exists, and controls the controlling system 30 that manages the flying body 40. The instruction data of arbitrary content (for example, instruction data regarding alerting or control of the flying body 40) may be transmitted.

The update of the dynamic information may be executed by a computer system different from the control system 1. That is, the control system 1 may not include the updating unit 15.

The procedure of the control of the air vehicle executed by the at least one processor is not limited to the example in the above embodiment. For example, some of the steps (processes) described above may be omitted, or each step may be executed in a different order. Further, any two or more of the steps described above may be combined, or some of the steps may be modified or deleted. Alternatively, other steps may be executed in addition to the above steps.

Aspects described in all or part of the above embodiments are appropriate control of a flying object, improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of functions using data, or provision of appropriate functions. Providing appropriate data, programs, recording media, devices and/or systems, and data for improving other functions or providing appropriate functions, reducing the capacity of data and/or programs, miniaturizing devices and/or systems, etc. , Reduction of production/manufacturing costs of programs, devices or systems, facilitation of production/manufacturing, reduction of production/manufacturing time, etc., optimization of production/manufacturing of data, programs, recording media, devices and/or systems Solve one problem.

1... Control system, 10... Server, 11... Acquisition part, 12... Judgment part, 13... Instruction generation part, 14... Communication part, 15... Update part, 20... Database, 21... Area data, 30... Control system, 40 , 301-305... Aircraft, 200... Three-dimensional spatial network, 201... Node, 202... Link, 210... Three-dimensional spatial network, 211... Waypoint, 212... Three-dimensional block.

Claims (9)

With at least one processor,
The at least one processor performs a flight of an air vehicle in the three-dimensional spatial network based on area data including dynamic information indicating the three-dimensional spatial network and dynamically changing conditions of the three-dimensional spatial network. Control,
Computer system. The area data is data in which the dynamic information is directly associated with specific information that uniquely identifies the three-dimensional spatial network,
The computer system according to claim 1. The at least one processor controls the flight of an air vehicle in the three-dimensional spatial network based on restriction information indicating flight restrictions in the three-dimensional spatial network and the dynamic information.
The computer system according to claim 1. The area data is data in which the restriction information and the dynamic information are directly associated with specific information that uniquely identifies a three-dimensional spatial network,
The computer system according to claim 3. The dynamic information indicates one or more first air vehicles in or about to fly in the three-dimensional spatial network,
The at least one processor is
Determining whether the second air vehicle can enter the three-dimensional spatial network based on the restriction information and the dynamic information,
When it is determined that the second air vehicle can enter the three-dimensional spatial network, the second air vehicle is allowed to enter the three-dimensional spatial network,
When it is determined that the second aircraft cannot enter the three-dimensional spatial network, the second aircraft is prohibited from entering the three-dimensional spatial network.
The computer system according to claim 3 or 4. The at least one processor updates the dynamic information such that the dynamic information further indicates the second air vehicle that has admitted into the three-dimensional spatial network.
The computer system according to claim 5. The dynamic information indicates one or more first air vehicles in or about to fly in the three-dimensional spatial network,
The at least one processor controls each flight of the one or more first air vehicles in order to cause a second air vehicle to fly the three-dimensional spatial network over the one or more first air vehicles. To do
The computer system according to claim 3 or 4. Controlling the flight of each of the one or more first air vehicles by retracting the first air vehicle in flight in the three-dimensional spatial network, and the flight of the first air vehicle in the three-dimensional spatial network. Including at least one of the process of canceling an appointment,
The computer system according to claim 7. A computer executes a step of controlling flight of a flying object in the three-dimensional spatial network based on area data including dynamic information indicating a three-dimensional spatial network and dynamically changing conditions of the three-dimensional spatial network. Program to let.

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