JP2022129948A - Method and system for managing flight of unmanned aerial vehicle, and managing terminal - Google Patents

Abstract

To provide a method for managing a flight of an unmanned aerial vehicle that allows for ensuring the security of a small-sized unmanned aerial vehicle.SOLUTION: A method for managing a flight of an unmanned aerial vehicle 1 according to the present disclosure includes that, in a system including a managing terminal 20 and a for-identification terminal 30, the managing terminal 20 collates an identification ID obtained from the for-identification terminal 30 with a fuselage ID obtained from the unmanned aerial vehicle 1 to verify the fuselage ID, sends a flight-permission notification entailing a predetermined restriction of a flight to the unmanned aerial vehicle 1 if the fuselage ID is authenticated as a result of verification, and sends information indicative of a flight situation of the unmanned aerial vehicle 1, which is an issuance object of a flight-permission notification, to the for-identification terminal 30 and the for-identification terminal 30 uninterruptedly transmits the flight situation of the unmanned aerial vehicle 1 sent from the managing terminal 20 to the outside.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to a flight management method for an unmanned aerial vehicle, a flight management system for an unmanned aerial vehicle, and a management terminal.

As the application of unmanned aerial vehicles (UAVs) to industry spreads, security regarding the operation of unmanned aerial vehicles is required. For example, Patent Literature 1 discloses a technique for identifying a drone using an identification module incorporated in a flight control unit of the drone.

Japanese Patent Publication No. 2017-532237

Due to the weight of the identification module, it is difficult to load onto a small unmanned air vehicle.

Accordingly, the present disclosure has been made in view of the above problems, and an object thereof is to provide a flight management method for an unmanned flying object that can ensure security of a small unmanned flying object.

According to the present disclosure, in a flight management method for an unmanned flying object, in a system including a management terminal and an identification terminal, the management terminal uses an identification ID obtained from the identification terminal and the unmanned flying object verifying the aircraft ID by comparing it with the aircraft ID obtained from the above; and sending a flight permission notification to the unmanned aircraft accompanied by a predetermined flight restriction when the aircraft ID is authenticated as a result of the verification. and sending to the identification terminal information indicating the flight status of the unmanned air vehicle to which the flight permission notice is sent, wherein the identification terminal A flight management method for an unmanned aerial vehicle is provided, which includes continuously transmitting to the outside the flight status of the unmanned aerial vehicle sent from a terminal.

Further, according to the present disclosure, there is provided a flight management system for an unmanned air vehicle, comprising a management terminal and an identification terminal, the management terminal comprising a verification unit and a transmission unit, the verification unit comprising: The identification ID obtained from the identification terminal and the aircraft ID obtained from the unmanned air vehicle are compared to verify the aircraft ID, and the sending unit, when the aircraft ID is authenticated as a result of the verification, and transmitting to the unmanned flying object a flight permission notification accompanied by a predetermined flight restriction, and sending information indicating the flight status of the unmanned flying object to which the flight permission notification is sent to the identification terminal. Provided is a flight management system for an unmanned aerial vehicle, wherein the identification terminal includes a transmission unit, and the transmission unit continuously transmits to the outside the flight status of the unmanned aerial vehicle transmitted from the management terminal. be done.

Further, according to the present disclosure, there is provided a management terminal for flight management of an unmanned air vehicle, wherein the management terminal includes a verification unit and a transmission unit, and the verification unit calculates flight status of the unmanned air vehicle. The identification ID obtained from the identification terminal for transmitting the information to the outside and the aircraft ID obtained from the unmanned air vehicle are matched to verify the aircraft ID, and the sending unit determines the aircraft ID as a result of the verification. is authenticated, a flight permission notice with a predetermined flight restriction is sent to the unmanned flying object, and the unmanned flying object to which the flight permission notice is sent is sent to the identification terminal A management terminal is provided for sending information indicative of flight conditions.

According to the present disclosure, it is possible to ensure the security of a small unmanned air vehicle.

1 is a schematic diagram showing an example of a use case to which a flight management method for an unmanned air vehicle according to an embodiment of the present disclosure is applied; FIG. 2 is a diagram showing a hardware configuration example of an unmanned flying object 1 according to the same embodiment; FIG. 2 is a block diagram showing the configuration of a management terminal 20 according to the same embodiment; FIG. 3 is a block diagram showing an example of functional configurations of a management terminal 20 and an identification terminal 30 according to the embodiment; FIG. 4 is a flow chart showing an example of the flow of a flight management method for the unmanned flying object 1 according to the same embodiment;

Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the present specification and drawings, constituent elements having substantially the same functional configuration are denoted by the same reference numerals, thereby omitting redundant description.

<Overview>
FIG. 1 is a schematic diagram showing an example of a use case to which a flight management method for an unmanned air vehicle according to an embodiment of the present disclosure is applied. An unmanned flying object 1 according to this embodiment is a rotary wing aircraft that obtains lift and thrust from a plurality of so-called rotary wings 3 .

As shown in FIG. 1, the unmanned flying object 1 is, for example, an unmanned flying object that flies in or around the inspection target facility S1 and performs inspections of the inspection target facility S1. The unmanned air vehicle 1 may be controlled by operation using, for example, a control terminal (propo) 40, or may fly autonomously.

From the viewpoint of security, the unmanned flying object 1 is required to be a proper unmanned flying object. A proper unmanned air vehicle means, for example, an unmanned air vehicle that has been verified as an airframe certified by a public institution. If the unmanned aerial vehicle is inappropriate, for example, there is a possibility that the control related to the flight or inspection of the unmanned aerial vehicle will be hacked, or that a log cannot be obtained when the unmanned aerial vehicle causes trouble. Therefore, for example, it is required that an identification terminal called "remote ID" for remotely identifying the unmanned flying object by a public institution is mounted on the unmanned flying object.

However, when such an identification terminal is mounted on an unmanned air vehicle, it is necessary to consider the weight of the identification terminal during flight of the unmanned air vehicle. In this case, if an identification terminal is mounted on a small unmanned air vehicle, the flight performance of the small unmanned air vehicle will not be exhibited, and it will be difficult to perform work such as inspection in the first place.

Therefore, in the flight management method (flight management system) for an unmanned flying object according to the present embodiment, identification and flight permission of the unmanned flying object 1 are realized by the identification terminal 30 via the management terminal 20 . Although the details will be described later, according to the present embodiment, it is possible to identify the unmanned flying object 1 and restrict its flight without mounting the identification terminal 30 on the unmanned flying object 1 . Therefore, even if the unmanned flying object 1 is small, the identification terminal 30 can perform identification processing required by public institutions, etc., and the flight performance of the small unmanned flying object 1 can be exhibited.

Referring to FIG. 1 again, the flight management system 100 that implements the flight management method for an unmanned air vehicle according to this embodiment includes a management terminal 20 and an identification terminal 30 .

The management terminal 20 is provided so as to be able to communicate with the identification terminal 30 and the unmanned flying object 1, and is a terminal for verifying the unmanned flying object 1 and performing flight management. For example, the management terminal 20 verifies the identification ID associated with the aircraft ID obtained from the identification terminal 30 and the aircraft ID obtained from the unmanned air vehicle 1 . If authentication is successful as a result of the verification, the management terminal 20 sends a flight permission notification to the unmanned flying object 1 and sends flight status of the unmanned flying object 1 (for example, information on flight) to the identification terminal 30. . In addition, the management terminal 20 communicates with the control terminal 40 as necessary, and the management terminal 20 transmits information for controlling the unmanned air vehicle 1 to the control terminal 40, A process for controlling the flight and operation of the unmanned air vehicle 1 may be performed via the terminal 40 . The need here means, for example, emergency braking of the unmanned flying object 1 based on a signal or information received from an identification terminal 30, which will be described later.

The identification terminal 30 is a terminal for identifying the unmanned flying object 1 and monitoring the flight status of the unmanned flying object 1, like the remote ID described above. For example, the identification terminal 30 sends an identification ID (identical to or linked to the machine ID according to the standard) to the management terminal 20 . Further, the identification terminal 30 receives information including the flight status of the unmanned air vehicle 1 (eg, aircraft ID, position information, time information, authentication information, etc.) from the management terminal 20, equipment of public institutions). In this embodiment, the identification terminal 30 is not mounted on the unmanned flying object 1, and even if it is not mounted on the unmanned flying object 1, it realizes identification of the unmanned flying object 1 and monitoring of the flight status. .

Here, the aircraft ID is an aircraft identification number or the like assigned in advance by the manufacturing company of the unmanned air vehicle 1 or the like, and may be, for example, the aircraft production number of the unmanned air vehicle 1 or the like. The identification ID is an aircraft identification number or the like assigned in advance to the unmanned flying object 1 by a public institution such as the Ministry of Land, Infrastructure, Transport and Tourism. can be Note that the device ID and the identification ID can be the same in a predetermined standard.

The present embodiment will be described in detail below.

First, the hardware configuration of the unmanned air vehicle 1 will be described. FIG. 3 is a diagram showing a hardware configuration example of the unmanned flying object 1 according to this embodiment. As shown in the figure, an unmanned air vehicle 1 according to this embodiment includes a main body 2 , rotor blades 3 , motors 4 , and cameras/sensors 5 . The unmanned air vehicle 1 also includes a flight controller 11 , a battery 14 , an ESC (Electric Speed Controller) 15 and a transmitter/receiver 16 in the main body 2 . Note that the configuration of the unmanned flying object 1 shown in FIG. 2 is an example, and even a rotary wing aircraft having a configuration different from that of the main body 2 shown in FIG. 2 can be included in the scope of the present invention.

The main body 2 is formed by a frame or the like that constitutes the unmanned air vehicle 1 . The material constituting the body portion 2 is not particularly limited, and may be, for example, carbon fiber resin, glass fiber resin, magnesium, magnesium alloy, aluminum, aluminum alloy, steel, titanium, or other materials. The rotor blades 3 are attached to the motor 4 . The rotor blades 3 generate lift (thrust force) in the unmanned air vehicle 1 by rotating themselves due to the rotation of the motor 4 . The rotor blades 3 and the motor 4 are an example of a thrust generator. In addition, in the present embodiment, the rotor blades 3 are provided at four locations on the front, rear, left, and right, but the present invention is not limited to this example. Depending on the structure, shape, equipment, size, etc. of the unmanned air vehicle 1, the number of rotor blades 3 provided can be changed as appropriate.

Flight controller 11 may comprise one or more processors, for example a central processing unit (CPU) or a programmable processor such as a Field-Programmable Gate Array (FPGA). The flight controller 11 has a memory 12 and can access the memory 12 . Memory 12 stores logic, code, and/or program instructions that are executable by flight controller 11 to perform one or more steps. Flight controller 11 is an example of a control device.

Memory 12 may include, for example, separable media or external storage devices such as SD cards and random access memory (RAM). Data acquired from camera/sensor 5 may be communicated directly to memory 12 and stored. For example, still image/moving image data captured by the camera 5 is recorded in the built-in memory or the external memory.

Flight controller 11 includes a control module configured to control the state of unmanned air vehicle 1 . For example, the control module may adjust the spatial orientation, velocity, and/or acceleration of the unmanned air vehicle 1, which has six degrees of freedom (translational movements x, y, and z, and rotational movements θx, θy, and θz): The motor 4 which is the propulsion mechanism of the unmanned air vehicle 1 is controlled via the ESC 15 . Rotation of the rotor blades 3 by the motor 4 causes the unmanned air vehicle 1 to generate lift. The flight controller 11 may control the number of revolutions (the number of revolutions also means the number of revolutions per predetermined time) of the motor 4 to adjust the thrust by the rotor blades 3 .

Flight controller 11 can communicate with transceiver 16 configured to transmit and/or receive data from one or more external devices (eg, control terminal 17). Transceiver 16 may use any suitable means of communication, such as wired or wireless communication. The transmitter/receiver 16 can be any communication method such as local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication, etc. One or more can be utilized. The transmitting/receiving unit 16 can communicate with, for example, a management terminal 20, which will be described later, by wire or wirelessly.

The transmitting/receiving unit 16 transmits and/or receives one or more of data acquired by the sensor 5, processing results generated by the flight controller 11, predetermined control data, user commands from a terminal or a remote controller, and the like. can be done. Information obtained by the sensor 5 may be output to the control terminal 40 or the like via the transmission/reception section 16 .

The control terminal 40 is a device for controlling the flight control of the unmanned air vehicle 1 . The flight of the unmanned air vehicle 1 may be controlled by an operator on the ground or the like, or may be controlled by an autonomous flight program based on flight path information and sensing (for example, GCS (Ground Control Station)). Or it may be controlled by manual steering. The control terminal 40 may be, for example, a transceiver (propo), a terminal such as a smartphone, a tablet, or the like. The control terminal 40 can send flight control instruction information to the flight controller 11 .

The sensor 5 according to the present embodiment is, for example, an inertial sensor, an acceleration sensor, a gyro sensor, a GPS sensor, a wind sensor, a temperature sensor, a humidity sensor, an atmospheric pressure sensor, an altitude sensor, and a proximity sensor such as LiDAR (Laser Imaging Detection and Ranging). It may include a sensor, or a vision/image sensor other than a camera, or the like. Moreover, the sensor 5 may be mounted on the flight controller 11 or may be provided outside the flight controller 11 . Also, if a camera 5 is provided, such camera may be any camera. For example, the camera 5 may be an infrared camera, a stereo camera, or the like, in addition to a general camera.

FIG. 3 is a block diagram showing the configuration of the management terminal 20 according to this embodiment. As illustrated, the management terminal 20 has a control section 21 .

The processor 21a is an arithmetic device that controls the operation of the control unit 21, controls transmission and reception of data between elements, and performs processing necessary for program execution. The processor 21a is, for example, a CPU (Central Processing Unit) in this embodiment, and executes a program stored in a storage 21c described later and developed in a memory 21b to perform each process.

The memory 21b includes a main storage device comprising a volatile storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary storage device comprising a non-volatile storage device such as a flash memory and a HDD (Hard Disc Drive). . The memory 21b is used as a work area for the processor 21a, and stores a boot loader that is executed when the controller 21 is activated, various setting information, and the like.

The storage 21c stores programs and information used for various processes. For example, the storage 21c may store a program for displaying the flight status, inspection status, etc. of the unmanned air vehicle.

The transmission/reception unit 21d connects the control unit 21 to a network such as the Internet network, and includes a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, point-to-point (P2P) networks, It may comprise a communication interface such as a telecommunications network, cloud communication, LTE, Bluetooth (registered trademark), or BLE (Bluetooth Low Energy). Further, the transmitting/receiving section 21d may include a communication interface for wired communication. In this case, the transmitting/receiving section 21d can include, for example, a communication terminal 204, which will be described later. A device that realizes the communication terminal 204 and the standard of the communication terminal 204 are not particularly limited.

The input/output unit 21e is an interface to which an input/output device is connected, and in this embodiment, for example, a display device may be connected.

The bus 21f transmits, for example, address signals, data signals, and various control signals among the connected processor 21a, memory 21b, storage 21c, transmission/reception unit 21d, and input/output unit 21e.

Note that the configuration of the identification terminal 30 according to this embodiment is also the same as that of the management terminal 20, so description thereof will be omitted.

FIG. 4 is a block diagram showing an example of functional configurations of the management terminal 20 and the identification terminal 30 according to this embodiment. As shown in FIG. 4 , the management terminal 20 can include an acquisition unit 201 , verification unit 202 , transmission unit 203 and communication terminal 204 . The identification terminal 30 can also include a communication unit 301 and an identification/machine DB (database) 302 . Note that the identification/machine DB 302 may be provided in the identification terminal 30 , or may be provided in an external server so that the identification/machine DB can be accessed via the communication section 301 . Acquisition unit 201, verification unit 202, and transmission unit 203 can be realized by processor 21a reading a program stored in storage 21c into memory 21b and executing the program. The communication terminal 204 can be implemented by, for example, the input/output unit 21e. The communication unit 301 can be implemented by, for example, a processor and an input/output unit that constitute the identification terminal 30 . The identification/machine DB 302 can be stored, for example, in the storage 21c, an external storage, a cloud server, or the like.

The acquisition unit 201 has a function of acquiring information from the unmanned flying object 1 and the identification terminal 30 . For example, the acquisition unit 201 can acquire information about the unmanned air vehicle 1 from the unmanned air vehicle 1 . More specifically, the acquisition unit 201 can acquire the aircraft ID, which is the identification information of the unmanned air vehicle 1 . Further, the acquiring unit 201 may acquire information about the flight status of the unmanned flying object 1 from the unmanned flying object 1 . The flight status information may include, for example, information on whether or not the aircraft is in flight, information on the flight position, information on the flight time of the unmanned air vehicle 1, information on the airframe status of the unmanned air vehicle 1, and the like. Note that when the management terminal 20 is connected to the unmanned air vehicle 1 by wire via the communication terminal 204 , the acquisition unit 201 obtains information (for example, aircraft ID) from the unmanned air vehicle 1 via the communication terminal 204 . may be obtained. In addition to wired communication, a wireless communication method such as BLE, which is short-range communication and capable of estimating the terminal position, may be used. As a result, even if it is wireless, it is possible to perform communication that ensures the same level of quality and security as wired communication.

Also, the acquisition unit 201 may acquire information for identifying the unmanned air vehicle 1 from the identification terminal 30 . For example, the acquisition unit 201 may acquire the identification ID from the identification terminal 30 . The identification ID is the same as or linked to the body ID of the unmanned air vehicle 1 . If the identification ID and the device ID are not the same but are managed by linking, the acquiring unit 201 may acquire information on the device ID linked to the identification ID in addition to the identification ID.

The verification unit 202 has a function of matching the identification ID obtained from the identification terminal 30 and the aircraft ID obtained from the unmanned air vehicle 1 to verify the aircraft ID. Specifically, the verification unit 202 verifies whether or not the aircraft ID acquired by the acquisition unit 201 from the unmanned air vehicle 1 is associated with (or identical to) the identification ID acquired from the identification terminal. can. A specific algorithm for verification is not particularly limited. If the verification results show that the aircraft ID acquired from the unmanned flying object 1 corresponds to the identification ID, the unmanned flying object 1 is authenticated as an unmanned flying object registered with a public institution, and flight permission is granted. obtain. In this case, as will be described later, the unmanned flying object 1 may be permitted to fly as an unmanned flying object registered with a public institution.

The sending unit 203 has a function of sending information to the unmanned flying object 1 and the identification terminal 30 . For example, when the device ID is authenticated as a result of verification by the verification unit 202, the sending unit 203 can send a notice of flight permission to the unmanned air vehicle 1 to be sent. At this time, the flight permission may be accompanied by predetermined flight restrictions for the unmanned air vehicle 1 . When the flight exceeds a predetermined limit, the flight capability of the unmanned flying object 1 is invalidated, for example, the flight control becomes impossible, or the unmanned flying object 1 automatically returns to the takeoff place or its vicinity. Processing may take place in the unmanned air vehicle 1 .

Predetermined restrictions on flight may include, for example, restrictions on the flight time of the unmanned air vehicle 1 . Also, the predetermined flight restrictions may include, for example, restrictions on the flightable area A1 (see FIG. 1) of the unmanned air vehicle 1. FIG. As a result, the flightable area of the unmanned air vehicle 1 can be physically limited, and it becomes difficult to fly to a distant place due to unintended use. In addition, the flight time limit can be set, for example, by setting a timer function in the flight controller 11, issuing an alarm at a predetermined time, automatically returning to the takeoff location or its vicinity, or automatically stopping the aircraft. etc. may be performed. In addition, for example, the flight position of the unmanned air vehicle 1 is specified by self-position estimation technology such as GPS (Global Positioning System), beacon, LiDAR, SLAM, etc., and the position is within the restricted area. This can be done by determining whether If the position of the unmanned flying object 1 exceeds the restricted area, for example, the unmanned flying object 1 can automatically stop or autonomously fly back within the restricted area.

The possible flight time can be set based on various information. For example, the available flight time may be set based on the airframe performance of the unmanned air vehicle 1 . Airframe performance may include, for example, the cruising time and/or flight speed of the unmanned air vehicle 1 . Also, the possible flight time may be a time predetermined by the identification terminal 30, for example. Such time may be determined, for example, by laws and regulations. Alternatively, the flightable time may be, for example, the time required to complete an inspection of an inspection area to be inspected. Calculation of such a time may be performed based on the aircraft performance and the like described above.

Note that the flightable area may be determined based on the communicable distance of the identification terminal 30, for example. This is based on the communicable distance of information issued from the communication unit 301 of the identification terminal 30 described later when the identification terminal 30 is mounted on the unmanned air vehicle 1 . That is, by determining the size of the flightable area based on the communicable distance of the identification terminal 30, the flightable area is limited to the same extent as when the identification terminal 30 is mounted on the unmanned air vehicle 1. can be synonymous. By setting a predetermined limit in this way, it is possible not only to authenticate the unmanned flying object 1 but also to ensure security more reliably while reducing the cost of monitoring its flight. Also, the flightable area may be set based on the airframe performance of the unmanned air vehicle 1, for example, as described above. Also, the flightable area may be set based on, for example, an inspection area to be inspected.

The sending unit 203 also sends information indicating the flight status of the unmanned air vehicle 1 to which the flight permission notification is sent, to the identification terminal 30 . For example, when the unmanned air vehicle 1 is in flight, the sending unit 203 can send information to the effect that it is “in flight” to the identification terminal 30 .

Further, when the flight of the unmanned air vehicle 1 is completed, the sending unit 203 may send information for canceling the flight permission based on the information regarding the completion. Such information can be sent to the unmanned air vehicle 1 . By performing such processing, the flight itself of the unmanned flying object 1 can be restricted. Furthermore, the sending unit 203 may send information for controlling the unmanned air vehicle 1 and/or information for controlling the flight and operation of the unmanned air vehicle 1 to the control terminal 40 . Such processing enables flight control of the unmanned air vehicle 1 from the management terminal 20 via the control terminal 40 . Such processing related to intervention in the control terminal 40 can be performed, for example, by having the management terminal 20 receive information regarding the detection from the identification terminal 30 that has detected a suspicious signal or the like.

The communication unit 301 is an example of a transmission unit, and has a function of transmitting and receiving information between the identification terminal 30 and other devices. The communication unit 301 can communicate with the management terminal 20, for example. The communication unit 301 may send the identification ID acquired from the identification/machine DB 302 to the management terminal 20, for example. Also, the communication unit 301 may acquire information about the flight status of the unmanned air vehicle 1 from the sending unit 203 . The communication unit 301 has a function of transmitting the acquired flight status of the unmanned air vehicle 1 to the outside. Information about such flight status can be continuously transmitted to the outside. The outside may be, for example, a terminal of an organization that controls or manages the unmanned air vehicle 1, such as a smartphone or a server, or a terminal of a public institution such as the Civil Aviation Bureau or the police. Through such a terminal, it becomes possible to monitor the flight status of the unmanned air vehicle.

The identification/machine DB 302 is a database that stores pre-registered identification IDs. Such an identification ID is, for example, an ID corresponding to the body ID of the unmanned air vehicle previously notified to a public institution or the like. For example, the identification ID may be the same as the machine ID. As a result, the identification ID obtained from the identification terminal 30 can be compared with the aircraft ID obtained directly from the unmanned air vehicle 1 in the verification performed by the verification unit 202 .

<Flight management method>
Next, a series of flow of the flight management method for the unmanned flying object 1 according to this embodiment will be described. FIG. 5 is a flow chart showing an example of the flow of the flight management method for the unmanned air vehicle 1 according to this embodiment.

First, the management terminal 20 connects to the identification terminal 30 and starts communication (step S101). Then, the acquisition unit 201 of the management terminal 20 acquires the identification ID from the identification terminal 30 (step S103).

Next, the management terminal 20 connects with the unmanned air vehicle 1 and starts communication (step S105). At this time, the management terminal 20 can be connected to the unmanned air vehicle 1 by wire through the communication terminal 204 . The acquisition unit 201 of the management terminal 20 acquires the aircraft ID from the unmanned air vehicle 1 (step S107).

Next, the verification unit 202 of the management terminal 20 verifies the machine ID by matching the machine ID acquired from the unmanned flying machine 1 with the identification ID acquired from the identification terminal 30 (step S109). As a result of the verification, when the machine ID is authenticated as corresponding to the identification ID, the sending unit 203 of the management terminal 20 sends a flight permission notification to the unmanned air vehicle 1 (step S111). Such a flight permission notification may be sent, for example, when the wired connection between the management terminal 20 and the unmanned air vehicle 1 is disconnected (disconnected). Note that if the predetermined restrictions on flight include flight time restrictions, the flight permission notification may include countdown information for starting the flight time restrictions. This makes it possible to take into consideration the time difference between the issuance of the flight permission notice and the start of flight of the unmanned air vehicle 1 .

Further, the sending unit 203 of the management terminal 20 sends information indicating the flight status of the unmanned air vehicle 1 to the identification terminal 30 (step S113). The identification terminal 30 transmits information indicating the flight status to the outside (step S115). This makes it possible to grasp the flight status of the unmanned air vehicle 1 .

The unmanned air vehicle 1 that has received the flight permission notification is allowed to fly within a predetermined limit (step S117). When a flight control signal or a work control signal obtained from an input to the control terminal 40 is transmitted to the unmanned flying object 1, the unmanned flying object 1 flies according to the flight control signal, and various inspections, etc., are performed based on the work control signal. may be performed (step S119).

When the operation by the operation terminal 40 ends (step S121), the unmanned air vehicle 1 is connected to the management terminal 20 (step S123). After that, the acquisition unit 201 of the management terminal 20 performs wired communication with the unmanned air vehicle 1 to acquire the aircraft ID (steps S125 and S127). Therefore, the verification unit 202 of the management terminal 20 verifies the device ID again by matching the device ID with the previously acquired identification ID (step S129). Such identification ID may be acquired from the identification terminal 30 again. In step S125, the management terminal 20 and the unmanned air vehicle 1 may be connected by wireless communication instead of wired communication. In this case, for example, by using a communication method such as BLE that is short-range communication and that can estimate the terminal position, it is possible to perform communication that ensures the same level of quality and security as wired communication.

Here, when the flight by the unmanned flying object 1 is completed, the sending unit 203 of the management terminal 20 sends information for canceling the flight permission to the unmanned flying object 1 (step S131). The management terminal 20 then disconnects communication with the identification terminal 30 (step S133). In the case of re-flying, it is possible to re-perform the processing related to steps S111 and S113 after the verification in step S129.

As described above, in the flight management method for the unmanned flying object 1 according to the present embodiment, the identification terminal 30 can monitor the unmanned flying object 1 without loading the identification terminal 30 on the unmanned flying object 1. . That is, by verifying the aircraft ID of the unmanned flying object 1 and the identification ID registered in advance in the identification terminal 30 via the management terminal 20, and by imposing a predetermined flight restriction on the unmanned flying object 1, Even if the identification terminal 30 is not mounted on the unmanned flying object 1, the security of the unmanned flying object 1 can be ensured. This makes it possible to ensure security even for a small unmanned flying object. Further, by setting a predetermined temporal/spatial restriction, it is possible to perform the same monitoring as when the identification terminal 30 is mounted on the unmanned air vehicle 1 . In addition, by connecting the unmanned air vehicle 1 and the management terminal 20 with a wire to perform processing related to verification and flight permission, the risk of wireless communication hacking by a third party is reduced, and security is enhanced. can be enhanced.

Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is obvious that those who have ordinary knowledge in the technical field of the present disclosure can conceive of various modifications or modifications within the scope of the technical idea described in the claims. is naturally within the technical scope of the present disclosure.

Also, the effects described herein are merely illustrative or exemplary, and are not limiting. In other words, the technology according to the present disclosure can produce other effects that are obvious to those skilled in the art from the description of this specification, in addition to or instead of the above effects.

Note that the following configuration also belongs to the technical scope of the present disclosure.
(Item 1)
A flight management method for an unmanned air vehicle,
In a system that includes a management terminal and an identification terminal,
The management terminal
verifying by comparing an identification ID obtained from the identification terminal and an aircraft ID obtained from the unmanned air vehicle;
Sending a flight permission notification accompanied by a predetermined flight restriction to the unmanned air vehicle when the aircraft ID is authenticated as a result of the verification;
sending information indicating the flight status of the unmanned flying object to which the flight permission notification is sent, to the identification terminal;
including
The identification terminal
continuously transmitting to the outside the flight status of the unmanned air vehicle transmitted from the management terminal;
A flight management method for an unmanned air vehicle, comprising:
(Item 2)
The flight management method for an unmanned aerial vehicle according to item 1, wherein the identification terminal is not provided in the unmanned aerial vehicle.
(Item 3)
3. The flight management method for an unmanned aerial vehicle according to item 1 or 2, wherein the predetermined restrictions on flight include restrictions on flight time of the unmanned aerial vehicle.
(Item 4)
4. The flight management method for an unmanned aerial vehicle according to any one of items 1 to 3, wherein the predetermined restrictions on flight include restrictions on a flightable area of the unmanned aerial vehicle.
(Item 5)
Item 5. A flight management method for an unmanned air vehicle according to item 4, wherein the flightable area is determined based on a communicable distance of the identification terminal.
(Item 6)
Flight of the unmanned air vehicle according to any one of items 1 to 5, wherein the management terminal transmits information for canceling the flight permission based on information regarding completion of flight of the unmanned air vehicle. Management method.
(Item 7)
In the verification of the management terminal,
7. The flight management method for an unmanned aerial vehicle according to any one of items 1 to 6, wherein the management terminal performs the verification while the management terminal and the unmanned aerial vehicle are connected by wired communication.
(Item 8)
8. The above item 7, wherein the management terminal sends the flight permission notification to the unmanned flying object based on an operation of disconnecting wired communication between the management terminal and the unmanned flying object after the verification. A flight management method for an unmanned aerial vehicle.
(Item 9)
A flight management system for an unmanned aerial vehicle,
Equipped with a management terminal and an identification terminal,
The management terminal comprises a verification unit and a sending unit,
The verification unit compares and verifies an identification ID obtained from the identification terminal and an aircraft ID obtained from the unmanned air vehicle,
The sending unit
if the aircraft ID is authenticated as a result of the verification, sending a flight permission notification accompanied by a predetermined flight restriction to the unmanned air vehicle;
sending information indicating the flight status of the unmanned air vehicle to which the flight permission notice is sent, to the identification terminal;
The identification terminal has a transmission unit,
The transmitting unit continuously transmits to the outside the flight status of the unmanned air vehicle transmitted from the management terminal.
A flight management system for unmanned aerial vehicles.
(Item 10)
A management terminal for flight management of an unmanned air vehicle,
The management terminal comprises a verification unit and a sending unit,
The verification unit compares and verifies an identification ID obtained from an identification terminal for transmitting the flight status of the unmanned air vehicle to the outside and an aircraft ID obtained from the unmanned air vehicle,
The sending unit
if the aircraft ID is authenticated as a result of the verification, sending a flight permission notification accompanied by a predetermined flight restriction to the unmanned air vehicle;
sending information indicating the flight status of the unmanned air vehicle to which the flight permission notification is sent, to the identification terminal;
management terminal.

1 unmanned air vehicle 20 management terminal 30 identification terminal 201 acquisition unit 202 verification unit 203 transmission unit 301 communication unit 302 identification/aircraft DB

Claims (10)

A flight management method for an unmanned air vehicle,
In a system that includes a management terminal and an identification terminal,
The management terminal
verifying the aircraft ID by matching the identification ID obtained from the identification terminal with the aircraft ID obtained from the unmanned air vehicle;
Sending a flight permission notification accompanied by a predetermined flight restriction to the unmanned air vehicle when the aircraft ID is authenticated as a result of the verification;
sending information indicating the flight status of the unmanned flying object to which the flight permission notification is sent, to the identification terminal;
including
The identification terminal
continuously transmitting to the outside the flight status of the unmanned air vehicle transmitted from the management terminal;
A flight management method for an unmanned air vehicle, comprising: 2. The flight management method for an unmanned aerial vehicle according to claim 1, wherein said identification terminal is not provided on said unmanned aerial vehicle. 3. The flight management method of the unmanned air vehicle according to claim 1, wherein the predetermined flight restrictions include restrictions on the flight time of the unmanned air vehicle. The flight management method for an unmanned air vehicle according to any one of claims 1 to 3, wherein said predetermined flight restrictions include restrictions on a flightable area of said unmanned air vehicle. 5. The flight management method for an unmanned air vehicle according to claim 4, wherein said flightable area is determined based on a communicable distance of said identification terminal. The unmanned air vehicle according to any one of claims 1 to 5, wherein the management terminal transmits information for canceling the flight permission based on information regarding completion of flight of the unmanned air vehicle. flight management methods. In the verification of the management terminal,
The flight management method for an unmanned aerial vehicle according to any one of claims 1 to 6, wherein said management terminal performs said verification while said management terminal and said unmanned aerial vehicle are connected by wired communication. 8. The management terminal according to claim 7, wherein said management terminal sends said flight permission notification to said unmanned flying object based on an operation of disconnecting wired communication between said management terminal and said unmanned flying object after said verification. flight management method for an unmanned air vehicle. A flight management system for an unmanned aerial vehicle,
Equipped with a management terminal and an identification terminal,
The management terminal comprises a verification unit and a sending unit,
The verification unit compares an identification ID obtained from the identification terminal with a device ID obtained from the unmanned flying object to verify the device ID;
The sending unit
Sending a flight permission notification with a predetermined flight restriction to the unmanned air vehicle whose aircraft ID has been authenticated as a result of the verification,
sending information indicating the flight status of the unmanned air vehicle to which the flight permission notice is sent, to the identification terminal;
The identification terminal has a transmission unit,
The transmitting unit continuously transmits to the outside the flight status of the unmanned air vehicle transmitted from the management terminal.
A flight management system for unmanned aerial vehicles. A management terminal for flight management of an unmanned air vehicle,
The management terminal comprises a verification unit and a sending unit,
The verification unit compares an identification ID obtained from an identification terminal for transmitting the flight status of the unmanned air vehicle to the outside with an airframe ID obtained from the unmanned air vehicle to verify the airframe ID,
The sending unit
if the aircraft ID is authenticated as a result of the verification, sending a flight permission notification accompanied by a predetermined flight restriction to the unmanned air vehicle;
sending information indicating the flight status of the unmanned air vehicle to which the flight permission notification is sent, to the identification terminal;
management terminal.

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