JP2024019233A - Unmanned aircraft management system, determination device, determination method, and program - Google Patents

Abstract

To provide an unmanned aircraft management system etc. that suitably prevent unauthorized attachment of a radio device to an unmanned aircraft.SOLUTION: An unmanned aircraft management system 1 includes a determination device 30, UASs 10, and wireless communication devices 20. The UASs 10 transmit their own identification information to the determination device 30 via wireless communication. The wireless communication devices 20 are associated with the respective UASs 10 in advance, and transmit identification information of the associated UASs 10 to the determination device 30 by wireless communication. The determination device 30 compares the identification information received from the UAS 10 with the identification information received from the wireless communication device 20 attached to the fuselage of the UAS 10, and as a result, determines whether the UAS 10 is the UAS 10 associated with the wireless communication device 20.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to an unmanned aircraft management system, a determination device, a determination method, and a program.

In recent years, with the spread of unmanned aerial vehicles such as drones, techniques have been proposed to prevent unauthorized operation of unmanned aerial vehicles. For example, Patent Document 1 discloses a system that receives information based on the identification information of an unmanned aircraft from an unmanned aircraft before or during flight, and verifies whether the unmanned aircraft is authorized. There is.

In Japan, just as cars display their registration numbers on their license plates, unmanned aircraft should also be given registration numbers and be able to communicate their registration numbers and location information to those around them by radio. It's about to become mandatory. It is expected that the above-mentioned notification function will be built into unmanned aircraft in the future, but in the transitional period of introduction, it is conceivable to attach a radio device having the above-mentioned notification function to the unmanned aircraft.

Special table 2019-518642 publication

However, there is a risk that a malicious operator may attach a wireless device to an unauthorized unmanned aircraft, such as an unmanned aircraft intended for terrorist attacks, and transmit fraudulent information. Therefore, there is a need to suitably prevent such unauthorized attachment of radio equipment to unmanned aircraft.

In view of the above-mentioned problems, an object of the present disclosure is to provide an unmanned aircraft management system, a wireless communication device, a determination device, a determination method, and a program that suitably prevent unauthorized attachment of a wireless device to an unmanned aircraft.

An unmanned aircraft management system according to one aspect of the present disclosure includes a determination device, an unmanned aircraft system (UAS), and a wireless communication device. The UAS transmits its own identification information to the determination device via wireless communication. Each of the wireless communication devices is associated with each of a plurality of UASs in advance, and transmits identification information of the associated UAS to the determination device by wireless communication. The determination device compares the identification information received from the UAS with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, the UAS is associated with the wireless communication device. Determine whether it is a UAS.

A wireless communication device according to one aspect of the present disclosure is associated in advance with each of a plurality of unmanned aircraft systems (UAS), and transmits identification information of the associated UAS to a determination device by wireless communication. The identification information of the UAS transmitted by the wireless communication device is used in the determination device to compare it with the identification information of the UAS received from the UAS attached to the aircraft by the wireless communication device.

A determination device according to one aspect of the present disclosure includes a first communication section, a second communication section, and a control section. The first communication unit receives identification information of an unmanned aircraft system (UAS) by wireless communication. The second communication unit receives identification information of a UAS associated with a plurality of UASs from a wireless communication device associated with each of the plurality of UASs, through wireless communication. The control unit compares identification information received from the UAS with identification information received from a wireless communication device attached to the body of the UAS, and as a result, the UAS is associated with the wireless communication device. Determine whether it is a UAS.

A determination method according to an aspect of the present disclosure includes the steps of receiving identification information of an unmanned aircraft system (UAS) by wireless communication, and wireless communication devices each being associated with each of a plurality of UAS in advance. A step of receiving identification information of a UAS associated with a wireless communication device via wireless communication, and comparing the identification information received from the UAS with the identification information received from a wireless communication device attached to the body of the UAS. , as a result, determining whether the UAS is a UAS associated with the wireless communication device.

A program according to one aspect of the present disclosure includes a process of receiving identification information of an unmanned aircraft system (UAS) by wireless communication, and a wireless communication device that is associated with each of a plurality of UAS in advance. A process of receiving identification information of a UAS associated with a communication device via wireless communication, and comparing the identification information received from the UAS with the identification information received from a wireless communication device attached to the body of the UAS, As a result, the computer is caused to execute a process of determining whether the UAS is a UAS associated with the wireless communication device.

According to the present disclosure, it is possible to provide an unmanned aircraft management system, a wireless communication device, a determination device, a determination method, and a program that suitably prevent unauthorized attachment of a wireless device to an unmanned aircraft.

1 is a schematic configuration diagram of an unmanned aircraft management system according to a first embodiment. FIG. 2 is a diagram showing an unmanned aircraft management system according to a second embodiment. FIG. 2 is a block diagram showing the configuration of an unmanned aircraft management system according to a second embodiment. 7 is a diagram illustrating an example of a flow of installing a wireless communication device according to a second embodiment. FIG. FIG. 3 is a sequence diagram illustrating an example of processing executed by the unmanned aircraft management system according to the second embodiment. FIG. 7 is a sequence diagram showing a specific example of processing executed by the unmanned aircraft management system according to the first example of the third embodiment. FIG. 7 is a sequence diagram showing a specific example of processing executed by the unmanned aircraft management system according to the second example of the third embodiment. FIG. 3 is a block diagram showing the configuration of an unmanned aircraft management system according to a fourth embodiment. FIG. 7 is a sequence diagram illustrating an example of processing executed by the unmanned aircraft management system according to the fourth embodiment. 1 is a diagram illustrating an example configuration of a computer that can be used as a UAS, a wireless communication device, and a determination device.

Hereinafter, the present disclosure will be explained through embodiments, but the claimed invention is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are essential as means for solving the problem. For clarity of explanation, the following description and drawings are omitted and simplified as appropriate. Note that in each drawing, the same elements are given the same reference numerals.

<Embodiment 1>
First, Embodiment 1 of the present disclosure will be described. FIG. 1 is a schematic configuration diagram of an unmanned aircraft management system 1 according to the first embodiment. The unmanned aircraft management system 1 is a computer system for managing an unmanned aircraft system (hereinafter referred to as UAS). The unmanned aircraft management system 1 includes a UAS 10, a wireless communication device 20, and a determination device 30.

UAS 10 is an unmanned aircraft that flies under the control of a controller. For example, the UAS 10 may be a drone. The UAS 10 can perform wireless communication with the determination device 30, and transmits its own identification information (ID) to the determination device 30 via wireless communication.

The wireless communication device 20 is a device attached to the body of the UAS 10. Each wireless communication device 20 is associated with each of the plurality of UASs 10 in advance. The wireless communication device 20 can perform wireless communication with the determination device 30, and transmits the ID of the associated UAS 10 to the determination device 30 by wireless communication.

The determination device 30 is a device that receives the ID from the UAS 10 and receives the ID from the wireless communication device 20 attached to the body of the UAS 10 . The determination device 30 then checks the ID received from the UAS 10 and the ID received from the wireless communication device 20, and as a result determines whether the UAS 10 is the UAS 10 associated with the wireless communication device 20.

As described above, according to the unmanned aircraft management system 1 of the first embodiment, it is determined whether the legitimate wireless communication device 20 is attached to the body of the UAS 10, and the unmanned aircraft management system 1 of the unauthorized UAS 10 in which the wireless communication device 20 is illegally attached to the body of the UAS 10 is determined. can be easily found. Therefore, attachment of the wireless communication device 20 to the body of the unauthorized UAS 10 can be suitably prevented.

<Embodiment 2>
Next, a second embodiment of the present disclosure will be described. FIG. 2 is a diagram showing an unmanned aircraft management system 1a according to the second embodiment. The unmanned aircraft management system 1a is an example of a system to which the UAS 10, the wireless communication device 20, and the determination device 30 of the first embodiment can be applied.

The unmanned aircraft management system 1a includes a plurality of UASs 10, a plurality of pilot transmitters 16, a plurality of wireless communication devices 20, a determination device 30, and a server 40. In the following, the number of UAS 10, pilot transmitter 16, and wireless communication device 20 is all two, but is not limited to this and may be three or more.

The UAS 10 receives control signals from the pilot transmitter 16 and flies based on the control signals. The UAS 10 also transmits its own ID to the determination device 30.

The pilot transmitter 16 is a controller of the UAS 10. In this figure, the pilot transmitter 16-1 is associated with the UAS 10-1, and the pilot transmitter 16-2 is associated with the UAS 10-2.

The wireless communication device 20 is attached to the body of the associated UAS 10, and moves the ID and attached information of the associated UAS 10, which are used in a verification process described later, in conjunction with the body of the UAS 10. while transmitting it to the determination device 30.

In this figure, the wireless communication device 20-1 is associated with the UAS 10-1, and the wireless communication device 20-2 is associated with the UAS 10-2 in advance. The wireless communication device 20-1 is attached to the body of the UAS 10-1, and the wireless communication device 20-2 is attached to the body of the UAS 10-2.

The determination device 30 is a terminal device used by a police officer, a person who wants to refer to UAS information, etc. in order to detect an unauthorized UAS 10. The determination device 30 is a terminal device having a wireless communication function that supports wireless communication between the UAS 10 and the wireless communication device 20, and is, for example, a smartphone or a dedicated wireless communication terminal for referring to UAS information. The determination device 30 compares the ID received from the UAS 10 and the ID of the UAS 10 received from the wireless communication device 20, and determines whether or not the wireless communication device 20 and the UAS 10 to which it is attached are in a corresponding relationship. . The above process is called a comparison determination process. When the wireless communication device 20 and the UAS 10 are in a corresponding relationship, the determination device 30 acquires the attached information received from the wireless communication device 20 as information related to the UAS 10 to which the wireless communication device 20 is attached.

Further, the determination device 30 is communicably connected to a server 40 via the Internet 4. The determination device 30 transmits and receives data to and from the server 40 based on various information acquired from the wireless communication device 20, and performs processing based on the received data.

FIG. 3 is a block diagram showing the configuration of an unmanned aircraft management system 1a according to the second embodiment.

(UAS10)
The UAS 10 includes a communication section 11, a control section 12, and a storage section 13.

The communication unit 11 performs wireless communication with the first communication unit 31 of the determination device 30. The wireless communication may be short range wireless communication. Examples of short-range wireless communication include Bluetooth (registered trademark), BLE (Bluetooth Low Energy), UWB (Ultra Wide Band), and ZigBee (registered trademark). Further, the wireless communication may be wireless LAN (Local Area Network) communication, particularly Wi-Fi (registered trademark) communication. In the second embodiment, the communication unit 11 performs wireless communication with the first communication unit 31 of the determination device 30 using BLE long range communication mode. The long distance communication mode may be a mode with a data transmission rate of 125 kbps. The communication unit 11 also performs wireless communication with the corresponding operator transmitter 16. The wireless communication method between the communication section 11 and the pilot transmitter 16 may be the same as or different from the wireless communication method between the communication section 11 and the first communication section 31 of the determination device 30. Good too.

The storage unit 13 stores information necessary for processing executed by the UAS 10. Specifically, the storage unit 13 stores the first ID 14. The first ID 14 is the ID of the UAS 10 used in the verification and determination process by the determination device 30, and is, for example, identification information given to the UAS 10 before the UAS 10 is shipped. In the second embodiment, the first ID 14 is information based on the serial number of the UAS 10. In the following, the first ID 14 will be explained as the serial number of the UAS 10, but it may also be information that combines the serial number of the UAS 10 and other identifiers, and the serial number of the UAS 10 will be encoded. It may also be information that has been

The control unit 12 controls various components of the UAS 10. Specifically, the control unit 12 performs flight control of the aircraft based on a control signal received from the pilot transmitter 16 via the communication unit 11. Further, the control unit 12 transmits the first ID 14 of the UAS 10 stored in the storage unit 13 to the first communication unit 31 of the determination device 30 via the communication unit 11. In the second embodiment, the above transmission is performed at predetermined intervals (for example, every second) using a broadcast method.

(Wireless communication device 20)
The wireless communication device 20 includes a communication section 21, a control section 22, a storage section 23, and a sensor 26.

The communication unit 21 transmits transmission information to the second communication unit 32 of the determination device 30 by wireless communication. The wireless communication may be short range wireless communication. Examples of short-range wireless communication include Bluetooth, BLE, UWB, and ZigBee. In the second embodiment, the communication unit 21 uses BLE long range communication mode. The wireless communication method between the communication unit 21 and the second communication unit 32 of the determination device 30 may be different from the wireless communication method between the communication unit 11 of the UAS 10 and the first communication unit 31 of the determination device 30. .

The storage unit 23 stores information necessary for processing executed by the wireless communication device 20. Specifically, the storage unit 23 stores a first ID 24 and a second ID 25. The first ID 24 is the first ID of the UAS 10 associated with the wireless communication device 20, and is used in the verification determination process of the determination device 30. The second ID 25 is identification information of a different type from the first ID of the UAS 10 associated with the wireless communication device 20, and is, for example, identification information given to the UAS 10 after the UAS 10 is shipped. . In the second embodiment, the second ID 25 is the aircraft registration number of the UAS 10 associated with the wireless communication device 20.

The sensor 26 is a sensor that measures the state of the wireless communication device 20 that moves in conjunction with the body of the UAS 10 to which it is attached. For example, the sensor 26 measures the position (for example, altitude, latitude, and longitude), acceleration, angle, etc. of the wireless communication device 20, and generates measurement information. The sensor 26 may receive the position information of the wireless communication device 20 from a positioning system (not shown) such as GNSS (Global Navigation Satellite System).

The control unit 22 controls various components of the wireless communication device 20. Specifically, the control unit 22 determines the first ID 24 and second ID 25 stored in the storage unit 23 and the position information of the wireless communication device 20 as transmission information via the communication unit 21. It is transmitted to the second communication unit 32 of the device 30. The transmission information may include measurement information of the sensor 26 in addition to the first ID 24, second ID 25, and position information. Note that among the transmission information, information other than the first ID 24 is sometimes called attached information. In the second embodiment, the above transmission is performed at predetermined intervals (for example, every second) using a broadcast method.

Note that the wireless communication device 20 may have a tamper detection function that detects tampering such as unauthorized removal from the UAS 10 with which the wireless communication device 20 is associated. For example, the wireless communication device 20 may include a sensor (not shown) that detects removal at a connection portion between the wireless communication device 20 and the UAS 10 . The control unit 22 may output a warning via an output unit (not shown) in response to detecting tampering. For example, the wireless communication device 20 has a light emitting element such as an LED (light emitting diode) or an OLED (organic light emitting diode), and the control unit 22 issues a warning by causing the light emitting element to emit light so that it can be seen from the outside. You can output it. Furthermore, the wireless communication device 20 may include a speaker, and the control unit 22 may output a warning by outputting an alarm sound from the speaker. Thereby, it is possible to prevent the wireless communication device 20 from being illegally removed from the associated UAS 10, and as a result, it is possible to prevent the removed wireless communication device 20 from being attached to the unauthorized UAS 10. Further, in response to detecting tampering, the control unit 22 may add tamper detection information indicating that tampering has been detected to the transmission information and transmit the information to the determination device 30 . Further, the control unit 22 may stop transmitting information to the determination device 30 in response to detecting tampering. Thereby, even if the wireless communication device 20 that has been illegally removed is attached to an unauthorized UAS 10 and used, it will be easy to detect it.

(Determination device 30)
The determination device 30 includes a first communication section 31 , a second communication section 32 , a third communication section 33 , a control section 34 , and a display section 35 .

The first communication unit 31 receives the transmission information (first ID 14) of the UAS 10 from the communication unit 11 of the UAS 10 by wireless communication.

The second communication unit 32 receives information transmitted by the wireless communication device 20 from the communication unit 21 of the wireless communication device 20 through wireless communication.

The third communication unit 33 communicates with the server 40 via the Internet 4.

The control unit 34 controls various components of the determination device 30. The control unit 34 compares the first ID 14 received from the UAS 10 and the first ID 24 received from the wireless communication device 20. Then, the control unit 34 determines whether the UAS 10 is the UAS 10 associated with the wireless communication device 20 as a result of the comparison determination process.

The control unit 34 then performs processing according to the determination result. For example, the control unit 34 causes the display unit 35 to display the determination result. If the correspondence between the UAS 10 and the wireless communication device 20 is not confirmed, the control unit 34 may cause the display unit 35 to display a warning screen. For example, when the correspondence relationship is confirmed, the control unit 34 transmits the second ID 25 to the server 40 via the third communication unit 33, and acquires the owner information regarding the UAS 10 from the server 40. good. Further, the control unit 34 may send a warning to the server 40 via the third communication unit 33 if the correspondence is not confirmed.

The display unit 35 is a display that displays the results of processing by the control unit 34.

FIG. 4 is a diagram illustrating an example of the flow of installing the wireless communication device 20 according to the second embodiment.
First, the aircraft manufacturer that manufactures the UAS 10 assigns a unique serial number (first ID) to each UAS 10 (step S10). The aircraft manufacturer writes the serial number into the storage unit 13 of the UAS 10 (step S11). The aircraft manufacturer then ships the UAS 10 to a store (step S12).

The owner purchases the UAS 10 through the store (step S13). The owner then applies to the registration agency for registration of the UAS 10 (step S14).

The registration authority assigns an aircraft registration number (second ID) to the UAS 10 and notifies the owner (step S15).

Subsequently, the owner brings the UAS 10 to which the aircraft registration number has been assigned to the aircraft manufacturer (step S16).

The aircraft manufacturer writes the serial number and the aircraft registration number into the storage unit 23 of the wireless communication device 20 (step S17). This creates a correspondence relationship between the wireless communication device 20 and the UAS 10. At this time, the aircraft manufacturer may perform the writing process using a dedicated writing tool. The writing process may be performed by a company commissioned by the aircraft manufacturer. The dedicated writing tool is distributed only to specific aircraft manufacturers or businesses that have received permission (for example, permission from the manufacturer of the wireless communication device 20). A management number is assigned to the person who receives permission, and the management number and distribution records are strictly managed. Note that in order to prevent the dedicated writing tool from being illegally copied and used for writing processing, the dedicated writing tool may have an activation function.

After the writing process, the aircraft manufacturer attaches the wireless communication device 20 to the aircraft of the UAS 10 (step S18). Note that if the wireless communication device 20 has the above-mentioned tamper detection function, the aircraft manufacturer may turn on the tamper detection function of the wireless communication device 20 upon completion of installation.

Subsequently, the aircraft manufacturer returns the UAS 10 equipped with the wireless communication device 20 to the owner (step S19), and the owner starts using the UAS 10 (step S20).

FIG. 5 is a sequence diagram showing an example of processing executed by the unmanned aircraft management system 1a according to the second embodiment. In this figure, steps S21 to S26 show the processing when the wireless communication device 20-1 that has a corresponding relationship is attached to the UAS 10-1, and the wireless communication device 20-2 that does not have a corresponding relationship Steps S27 to S32 show the processing when it is attached. Note that the diagonal lines in this figure indicate that the wireless communication device is attached to the UAS 10-1.

First, the corresponding wireless communication device 20-1 is attached to the UAS 10-1 (step S21). The UAS 10-1 starts broadcasting the serial number, which is the first ID 14, in response to the start of the flight (step S22). Thereby, the determination device 30 receives the serial number from the UAS 10-1.

The wireless communication device 20-1 also starts broadcasting transmission information in response to the start of flight of the UAS 10-1 (step S23). In this figure, the transmission information includes a serial number as the first ID 24, a device registration number as the second ID 25, and location information of the wireless communication device 20-1. Thereby, the determination device 30 receives the transmission information from the wireless communication device 20-1.

The determination device 30 compares the serial number received from the UAS 10-1 with the serial number received from the wireless communication device 20-1 (step S24). The determination device 30 determines that their serial numbers match and that the UAS 10-1 and the wireless communication device 20-1 are in a corresponding relationship. Subsequently, the determination device 30 executes a predetermined process when determining that there is a correspondence relationship. For example, the determination device 30 transmits the aircraft registration number to the server 40 and inquires about the authenticity of the aircraft registration number and the owner information of the UAS 10-1 (step S25). The server 40 determines whether a record of the received aircraft registration number exists from its own database (not shown), and if so, transmits the owner information associated with the aircraft registration number to the determination device 30 (step S26).

Here, it is assumed that the wireless communication device 20-1, which has a corresponding relationship, is separated from the UAS 10-1 (step S27), and the wireless communication device 20-2, which has no corresponding relationship, is attached to the UAS 10-1 (step S28). .

The UAS 10-1 starts broadcasting the serial number in response to the start of flight (step S29). Thereby, the determination device 30 receives the serial number from the UAS 10-1.

The wireless communication device 20-2 also starts broadcasting transmission information in response to the start of flight of the UAS 10-1 (step S30). Thereby, the determination device 30 receives the transmission information from the wireless communication device 20-2.

The determination device 30 compares the serial number received from the UAS 10-1 and the serial number received from the wireless communication device 20-2 (step S31). The determination device 30 determines that the serial numbers do not match and that the UAS 10-1 and the wireless communication device 20-2 are not in a corresponding relationship. The determination device 30 then displays a warning screen (step S32).

In this way, according to the unmanned aircraft management system 1a of the second embodiment, it is determined whether a legitimate wireless communication device 20 is attached to the UAS 10, and an unauthorized UAS 10 to which the wireless communication device 20 is illegally attached can be easily found. be able to. Therefore, attachment of the wireless communication device 20 to an unauthorized UAS 10 can be suitably prevented.

Furthermore, since the wireless communication device 20 transmits attached information such as the aircraft registration number to the determination device 30, it can function as a license plate for the aircraft to which it is attached. Thereby, the determination device 30 can perform appropriate processing based on the attached information when the correspondence between the UAS 10 and the wireless communication device 20 is confirmed. For example, the determination device 30 can identify the owner of the UAS 10 based on the aircraft registration number when the UAS 10 is flying in an unauthorized airspace or performing a dangerous flight.

<Embodiment 3>
Next, a third embodiment of the present disclosure will be described. Embodiment 3 is characterized in that the determination device 30 determines whether the wireless communication device 20 that is the source of the first ID 24 is attached to the UAS 10 that is the source of the first ID 14. In other words, in the third embodiment, the determination device 30 identifies the attached pair of the UAS 10 and the wireless communication device 20.

Two examples will be described below as modes for identifying attachment pairs.

(First example)
First, the first example is an example in which the determination device 30 identifies an attachment pair based on the position information of the UAS 10 and the position information of the wireless communication device 20. In the first example, the UAS 10 receives position information of the UAS 10 from a positioning system (not shown) such as GNSS. The control unit 12 of the UAS 10 transmits transmission information including the first ID 14 and the position information of the UAS 10 to the determination device 30 via the communication unit 11.

The control unit 34 of the determination device 30 acquires position information of the UAS 10 via the first communication unit 31 and acquires position information of the wireless communication device 20 via the second communication unit 32. Then, the control unit 34 of the determination device 30 compares the position information of both, and as a result, determines whether the wireless communication device 20 is attached to the body of the UAS 10 or not. When determining that the wireless communication device 20 is attached to the body of the UAS 10, the control unit 34 of the determination device 30 checks the first ID 14 received from the UAS 10 and the first ID 24 received from the wireless communication device 20. Execute judgment processing.

FIG. 6 is a sequence diagram showing a specific example of processing executed by the unmanned aircraft management system 1a according to the first example of the third embodiment. In FIG. 6, steps similar to those in FIG. 5 are denoted by the same symbols, and description thereof will be omitted as appropriate.

The UAS 10-1 to which the corresponding wireless communication device 20-1 is attached starts broadcasting transmission information in response to the start of flight (step S50). The transmission information includes the own serial number and the position information of the own aircraft. Thereby, the determination device 30 receives the transmission information from the UAS 10-1.

The wireless communication device 20-1 also starts broadcasting transmission information in response to the start of flight of the UAS 10-1 (step S51). The transmission information includes the serial number of the UAS 10-1, the registration number of the UAS 10-1, and the location information of the wireless communication device 20-1. Thereby, the determination device 30 receives the transmission information from the wireless communication device 20-1.

The determination device 30 compares the location information received from the UAS 10-1 and the location information received from the wireless communication device 20-1, and determines whether the UAS 10-1 and the wireless communication device 20-1 are an attached pair. (Step S52). For example, if the positions of the UAS 10-1 and the wireless communication device 20-1 are less than a predetermined distance, the determination device 30 determines that the wireless communication device 20-1 is attached to the UAS 10-1. Further, when the determination device 30 receives transmission information from each of the plurality of UASs 10 and the plurality of wireless communication devices 20, the determination device 30 may identify the pair whose positions are closest to each other as the attached pair. The determination device 30 then collates the serial numbers received from each of the UAS 10-1 and the wireless communication device 20-1 that are determined to be an attached pair (step S24).

Even when a wireless communication device 20-2 that is not in a corresponding relationship is attached to the UAS 10-1, the UAS 10-1 and the wireless communication device 20-2 each broadcast transmission information in the same manner as in steps S50 to S51. (Steps S53-54). The determination device 30 identifies the attachment pair based on the position information (step S55), and the subsequent processing is the same as steps S31 and S32.

(Second example)
In the second example, the wireless communication device 20 transmits the address information of the UAS 10 with which a short-range wireless communication connection has been established to the determination device 30, and the determination device 30 transmits the address information of the UAS 10 with which a short-range wireless communication connection is established, and , is an example of identifying an attachment pair. In the second example, the UAS 10 stores its own address information in the storage unit 13. Then, the wireless communication device 20 establishes a short-range wireless communication connection with the attached UAS 10, and stores address information of the UAS 10 with which the connection has been established in the storage unit 23.

The control unit 12 of the UAS 10 transmits transmission information to which its own address information is added to the determination device 30 via the communication unit 11. Furthermore, the control unit 22 of the wireless communication device 20 adds the address information of the UAS 10 with which the connection has been established to the transmission information, and transmits the information to the determination device 30 via the communication unit 21.

The control unit 34 of the determination device 30 obtains address information from the UAS 10 via the first communication unit 31 and obtains address information from the wireless communication device 20 via the second communication unit 32. Then, the control unit 34 of the determination device 30 compares the address information of both, and as a result, determines whether the wireless communication device 20 is attached to the UAS 10 or not. Specifically, the control unit 34 of the determination device 30 determines that the wireless communication device 20 is attached to the body of the UAS 10 when the address information of both devices match. When determining that the wireless communication device 20 is attached to the body of the UAS 10, the control unit 34 of the determination device 30 checks the first ID 14 received from the UAS 10 and the first ID 24 received from the wireless communication device 20. Execute judgment processing.

FIG. 7 is a sequence diagram showing a specific example of processing executed by the unmanned aircraft management system 1a according to the second example of the third embodiment. In this figure, the address information is a BD (Bluetooth Device) address that identifies a Bluetooth compatible device, but is not limited to this, and may be a MAC (Media Access Control address) address.

The wireless communication device 20-1 attached to the UAS 10-1 has been paired with the UAS 10-1 and has acquired the BD address of the UAS 10-1. The wireless communication device 20-1 establishes a Bluetooth standard mode connection with the UAS 10-1 before the UAS 10-1 flies or in response to the start of the flight (step S60). In the standard mode, the data transmission speed is higher than that in the long distance communication mode (for example, 1 Mbps), and the range is shorter than that in the long distance communication mode.

In response to the start of flight, the UAS 10-1 starts broadcasting transmission information using Bluetooth long distance communication mode (step S61). The transmission information includes the BD address of the UAS 10-1 and the serial number of the UAS 10-1. Furthermore, in response to the start of flight of the UAS 10-1, the wireless communication device 20-1 also starts broadcasting transmission information using the long-distance communication mode of Bluetooth (step S62). The transmission information includes the BD address of the UAS 10-1, the serial number of the UAS 10-1, the aircraft registration number, and the location information of the aircraft.

The determination device 30 compares the BD address received from the UAS 10-1 and the BD address received from the wireless communication device 20-1, and determines whether the UAS 10-1 and the wireless communication device 20-1 are an attached pair. (Step S63). If the BD addresses received from each of the UAS 10-1 and the wireless communication device 20-1 match, the determination device 30 determines that the wireless communication device 20-1 is attached to the UAS 10-1. The subsequent processing is similar to steps S24 to S26.

Even when a wireless communication device 20-2 that is not compatible with the UAS 10-1 is attached, the UAS 10-1 and the wireless communication device 20-2 establish a connection and each transmits data, as in steps S60 to S62. Broadcasting of information is performed (steps S64 to S66). The determination device 30 identifies the attached pair based on the BD address (step S67), and the subsequent processing is the same as steps S31 and S32.

As described above, according to the unmanned aircraft management system 1a of the third embodiment, the determination device 30 identifies the attachment pair between the UAS 10 and the wireless communication device 20. Therefore, even if a plurality of UASs 10 are flying in the same airspace, the determination device 30 can suitably perform correspondence comparison determination processing for the identified attachment pairs.

<Embodiment 4>
Next, a fourth embodiment of the present disclosure will be described. In the embodiment described above, the determination device 30 receives the first ID 14 from the UAS 10 via wireless communication. However, if the UAS 10 does not have a wireless communication function that can be received by the determination device 30 or does not have a function to transmit the first ID 14, the determination device 30 can communicate with the wireless communication device 20. It becomes difficult to determine the correspondence relationship. The fourth embodiment is characterized in that the determination device 30 can determine the correspondence with the wireless communication device 20 even if the determination device 30 does not receive the first ID 14 from the UAS 10.

FIG. 8 is a block diagram showing the configuration of an unmanned aircraft management system 1b according to the fourth embodiment. The unmanned aircraft management system 1b has basically the same configuration and functions as the unmanned aircraft management system 1a of Embodiments 1 to 3, but instead of the UAS 10, the wireless communication device 20, and the determination device 30, the UAS 10b, the wireless communication device 20b and a determination device 30b.

The UAS 10b basically has the same configuration and functions as the UAS 10, but differs from the UAS 10 in that it includes a communication unit 11b instead of the communication unit 11.

The communication unit 11b differs from the communication unit 11 in that it does not transmit the first ID 14 to the first communication unit 31 of the determination device 30. Therefore, in the UAS 10b, the storage unit 13 that stores the first ID 14 may be omitted.

In the fourth embodiment, the storage unit 23 of the wireless communication device 20b stores the third ID 27 instead of the first ID 24 as verification identification information. The third ID 27 is information used to specify the appearance of the UAS 10b. For example, the third ID 27 is information based on the product model number of the associated UAS 10b. In the following, the third ID 27 will be explained as the product model number of the associated UAS 10b. The control unit 22 of the wireless communication device 20b transmits transmission information including the product model number as the third ID to the second communication unit 32 of the determination device 30b via the communication unit 21.

The determination device 30b includes a control section 34b and an imaging section 36 instead of the control section 34.

In response to receiving the transmission information including the product model number from the wireless communication device 20b, the control unit 34b acquires an external appearance image of the product corresponding to the product model number from the server 40. The exterior image is an image of the body of the product. The control unit 34b also activates the imaging unit 36 to generate a photographed image of the body of the UAS 10b. The control unit 34b compares the captured image with the external appearance image corresponding to the product model number received from the wireless communication device 20b, and determines whether the UAS 10b and the wireless communication device 20b are in a corresponding relationship.

The imaging unit 36 is a camera that photographs the body of the UAS 10b in flight.

FIG. 9 is a sequence diagram showing an example of processing executed by the unmanned aircraft management system 1b according to the fourth embodiment.

First, the corresponding wireless communication device 20b-1 is attached to the UAS 10b-1 (step S21).

The wireless communication device 20b-1 starts broadcasting the transmission information in response to the start of flight of the UAS 10b-1 (step S70). In this figure, the transmission information includes the product model number as the third ID 27, the device registration number as the second ID 25, and the location information of the wireless communication device 20b-1.

Subsequently, the determination device 30b transmits the product model number information received from the wireless communication device 20b-1 to the server 40 (step S71), and receives the external appearance image of the product corresponding to the product model number from the server 40 (step S72). .

Further, the determination device 30b photographs the body of the UAS 10b and generates a photographed image (step S73). At this time, the determination device 30b may generate an image obtained by cutting out the image area of the body of the UAS 10b from the captured image as the captured image. Subsequently, the determination device 30b compares the photographed image and the external appearance image (step S74). For example, the determination device 30b may display the photographed image and the exterior image on the display unit 35, prompt the user of the determination device 30b to make a comparison determination, and accept input of the determination result. Further, for example, the determination device 30b calculates a feature amount for each of the photographed image and the exterior image, and calculates the degree of similarity based on the feature amounts of both. At this time, for example, the determination device 30b uses a trained convolutional neural network that receives an image as input and outputs a feature amount corresponding to the image, or receives two images as input and calculates the similarity between the two images. good. However, the determination device 30b is not limited to this, and may calculate the similarity using an existing method. If the similarity is less than a predetermined threshold, the determination device 30b may determine that the UAS 10b-1 and the wireless communication device 20b-1 are in a corresponding relationship. Furthermore, the determination device 30b determines whether or not there is a correspondence relationship between the UAS 10b-1 and the wireless communication device 20b-1 by combining the above-described similarity determination result and the result of the comparison determination by the user. You can. The subsequent processing is similar to steps S25 and S26.

Even when a wireless communication device 20b-2 that is not in a corresponding relationship is attached to the UAS 10b-1, the wireless communication device 20b-2 broadcasts the transmission information in the same way as in step S70 (step S75). The determination device 30b then performs the same processing as steps S71-74 (steps S76-78). The subsequent processing is similar to steps S31 to S32.

Note that the determination device 30b may have the same function as the determination device 30, and when determining that the first ID 14 can be received from the UAS, the determination device 30b performs the same verification determination process as in Embodiments 1 to 3 (see FIG. 5, 6 and 7) may be performed. In this case, the wireless communication device may include information indicating the type of verification identification information in the information transmitted to the determination device 30b. The information indicating the type of verification identification information may be, for example, an identifier indicating whether the verification identification information is a first ID or a third ID. Then, the determination device 30b may determine whether or not the first ID 14 can be received from the UAS, based on information indicating the type of verification identification information received from the wireless communication device.

As described above, according to the unmanned aircraft management system 1b of the fourth embodiment, the same effects as those of the first to third embodiments can be obtained even when the determination device 30b cannot receive the first ID 14 from the UAS 10b.

Next, the physical configurations of the UAS, the wireless communication device, and the determination device will be explained. FIG. 10 is a diagram illustrating a configuration example of a computer that can be used as a UAS, a wireless communication device, and a determination device. The computer 1000 includes a processor 1010, a storage unit 1020, a ROM (Read Only Memory) 1030, a RAM (Random Access Memory) 1040, a communication interface (IF) 1050, and a user interface 1060.

Communication interface 1050 is an interface for connecting computer 1000 and a communication network via wired communication means, wireless communication means, or the like. User interface 1060 includes, for example, a display unit such as a display. Further, the user interface 1060 includes input units such as a keyboard, a mouse, and a touch panel.

The storage unit 1020 is an auxiliary storage device that can hold various data. The storage unit 1020 does not necessarily have to be a part of the computer 1000, and may be an external storage device or a cloud storage connected to the computer 1000 via a network.

ROM 1030 is a nonvolatile storage device. For example, a semiconductor storage device such as a flash memory having a relatively small capacity is used as the ROM 1030. A program executed by processor 1010 may be stored in storage unit 1020 or ROM 1030. The storage unit 1020 or the ROM 1030 stores various programs for realizing the functions of each unit in the UAS, the wireless communication device, or the determination device, for example.

The program can be stored and provided to computer 1000 using various types of non-transitory computer readable media. Non-transitory computer-readable media includes various types of tangible storage media. Examples of non-transitory computer-readable media are magnetic recording media such as flexible disks, magnetic tapes, or hard disks, magneto-optical recording media such as magneto-optical disks, compact discs (CDs), or digital versatile disks (DVDs). and semiconductor memories such as mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, or RAM. Also, the program may be provided to the computer using various types of temporary computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can provide the program to the computer via wired communication channels, such as electrical wires and fiber optics, or wireless communication channels.

RAM 1040 is a volatile storage device. Various semiconductor memory devices such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory) are used for the RAM 1040. RAM 1040 can be used as an internal buffer for temporarily storing data and the like. Processor 1010 expands the program stored in storage unit 1020 or ROM 1030 into RAM 1040 and executes it. By the processor 1010 executing the program, the functions of each part within the UAS, the wireless communication device, or the determination device can be realized. Processor 1010 may have an internal buffer that can temporarily store data and the like.

Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the above embodiments, and can be modified as appropriate without departing from the spirit.
For example, in Embodiments 1 to 3, the information transmitted from the UAS 10 to the determination device 30 includes the first ID 14, and the information transmitted from the wireless communication device 20 to the determination device 30 corresponds to the first ID 14. It is assumed that the first ID24 is included. However, instead of the first ID 24, the information transmitted from the wireless communication device 20 to the determination device 30 may include information (encrypted information) obtained by encrypting the first ID 24 using a secret key. Further, the information transmitted from the UAS 10 to the determination device 30 may further include information on a public key corresponding to the private key. The determination device 30 may then use the public key obtained from the UAS 10 to decrypt the encrypted information and perform a verification determination process. This prevents an unauthorized operator from writing the first ID of a UAS 10 that is not in a corresponding relationship into the wireless communication device 20 and pretending that the wireless communication device 20 is in a corresponding relationship with that UAS 10.

Further, in the above embodiment, the UAS 10 is described as an unmanned aircraft, but the UAS 10 may be configured to include an unmanned aircraft and the operator transmitter 16. The pilot transmitter 16 stores the first ID 14 in advance, and the pilot transmitter 16 transmits the transmission information including the first ID 14 to the first communication unit of the determination device 30 instead of the unmanned aircraft. You may send it to 31. Note that in the first example of the third embodiment, the unmanned aircraft serving as the UAS 10 may periodically transmit position information of its own aircraft to the pilot transmitter 16. In this case, the transmission information transmitted from the pilot transmitter 16 includes position information of the UAS 10 in addition to the first ID 14. In the second example of the third embodiment, the pilot transmitter 16 stores the address information of the unmanned aircraft in advance, or the unmanned aircraft of the UAS 10 transmits the address information of its own aircraft to the pilot transmitter 16. You may send it. In this case, the transmission information transmitted from the pilot transmitter 16 includes address information of the UAS 10 in addition to the first ID 14.

In the above-described embodiment, the determination device 30 performs the collation determination process, but the server 40 may perform the verification process instead of the determination device 30. In this case, the determination device 30 may transmit information necessary for the comparison determination to the server 40 and receive the determination result from the server 40. It has been explained that the determination device 30 inquires of the server 40 about the authenticity of the aircraft registration number and the owner information as an example of the process after confirming the correspondence between the UAS 10 and the wireless communication device 20. However, since the determination device 30 has a database in which the aircraft registration number and owner information are recorded, the above-mentioned inquiry to the server 40 may be omitted.

In the above-described fourth embodiment, the determination device 30b performs the comparison determination process using the product image linked to the product model number. The product model number indicated by the third ID 27 of 20b and the product model number stored in the server 40 may be compared and verified.

1, 1a, 1b Unmanned aircraft management system 4 Internet 10, 10b Unmanned aircraft system (UAS)
11, 11b communication section 12 control section 13 storage section 14 first ID
16 Pilot transmitter 20, 20b Wireless communication device 21 Communication unit 22 Control unit 23 Storage unit 24 First ID
25 Second ID
26 Sensor 27 Third ID
30, 30b determination device 31 first communication section 32 second communication section 33 third communication section 34 control section 35 display section 36 imaging section 40 server 1000 computer 1010 processor 1020 storage section 1030 ROM
1040 RAM
1050 Communication interface 1060 User interface

Claims (11)

A determination device;
an unmanned aircraft system (UAS) that transmits its own identification information to the determination device by wireless communication;
a wireless communication device, each of which is associated in advance with each of the plurality of UASs, each of which is attached to the body of each of the plurality of UASs, and which transmits identification information of the associated UAS to the determination device by wireless communication. ,
The determination device compares the identification information received from the UAS with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, the UAS is associated with the wireless communication device. Determine whether it is a UAS,
The determination device includes:
obtaining position information of the UAS and position information of the wireless communication device;
An unmanned aircraft management system that determines whether the wireless communication device is attached to the UAS body based on position information of the UAS body and position information of the wireless communication device. The unmanned aircraft management system according to claim 1, wherein the wireless communication device transmits the aircraft registration number of the associated UAS to the determination device in addition to the identification information of the associated UAS. The unmanned aircraft management system according to claim 1 or 2, wherein the identification information transmitted from the UAS and the identification information transmitted from the wireless communication device are information based on a serial number of the UAS. The unmanned vehicle according to any one of claims 1 to 3, wherein the wireless communication device outputs a warning in response to detecting that the wireless communication device has been removed from the body of the associated UAS. Aircraft management system. a first communication unit that receives identification information of an unmanned aircraft system (UAS) by wireless communication;
each of which is associated with each of a plurality of UASs, and each of which is attached to the body of each of the plurality of UASs; 2 communications department and
The identification information received from the UAS is compared with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, it is determined whether the UAS is a UAS associated with the wireless communication device. and a control unit that determines whether the
obtaining position information of the UAS and position information of the wireless communication device;
A determination device that determines whether the wireless communication device is attached to the UAS body based on position information of the UAS body and position information of the wireless communication device. receiving identification information of an unmanned aircraft system (UAS) by wireless communication;
Each of the wireless communication devices is associated in advance with each of the plurality of UASs, and each of the wireless communication devices is attached to the body of each of the plurality of UASs, and the identification information of the UAS associated with the wireless communication device is received by wireless communication. stages and
The identification information received from the UAS is compared with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, it is determined whether the UAS is a UAS associated with the wireless communication device. a step of determining the location information of the UAS body and a step of obtaining location information of the wireless communication device;
determining whether the wireless communication device is attached to the UAS body based on the position information of the UAS body and the position information of the wireless communication device;
A determination method comprising: A process of receiving identification information of an unmanned aircraft system (UAS) by wireless communication;
Each of the wireless communication devices is associated in advance with each of the plurality of UASs, and each of the wireless communication devices is attached to the body of each of the plurality of UASs, and the identification information of the UAS associated with the wireless communication device is received by wireless communication. processing and
The identification information received from the UAS is compared with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, it is determined whether the UAS is a UAS associated with the wireless communication device. a process for determining whether
a process of acquiring location information of the UAS and location information of the wireless communication device;
A process of determining whether the wireless communication device is attached to the UAS body based on position information of the UAS body and position information of the wireless communication device;
A program that causes a computer to execute A determination device;
an unmanned aircraft system (UAS) that transmits its own identification information to the determination device by wireless communication;
a wireless communication device, each of which is associated in advance with each of the plurality of UASs, each of which is attached to the body of each of the plurality of UASs, and which transmits identification information of the associated UAS to the determination device by wireless communication. ,
The determination device compares the identification information received from the UAS with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, the UAS is associated with the wireless communication device. Determine whether it is a UAS,
The wireless communication device transmits the product model number of the associated UAS aircraft to the determination device by wireless communication,
The determination device includes:
Generate a photographed image of the UAS body,
An unmanned aircraft management system that compares the photographed image with an external appearance image corresponding to a product model number received from the wireless communication device. a first communication unit that receives identification information of an unmanned aircraft system (UAS) by wireless communication;
each of which is associated with each of a plurality of UASs, and each of which is attached to the body of each of the plurality of UASs; 2 communications department and
The identification information received from the UAS is compared with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, it is determined whether the UAS is a UAS associated with the wireless communication device. and a control unit that determines whether the
Obtaining the product model number of the associated UAS aircraft from the wireless communication device through wireless communication;
Generate a photographed image of the UAS body,
A determination device that compares the captured image with an external appearance image corresponding to a product model number received from the wireless communication device. receiving identification information of an unmanned aircraft system (UAS) by wireless communication;
Each of the wireless communication devices is associated in advance with each of the plurality of UASs, and each of the wireless communication devices is attached to the body of each of the plurality of UASs, and the identification information of the UAS associated with the wireless communication device is received by wireless communication. stages and
The identification information received from the UAS is compared with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, it is determined whether the UAS is a UAS associated with the wireless communication device. a step of determining a product model number of the associated UAS aircraft from the wireless communication device through wireless communication;
generating a captured image of the UAS;
comparing the photographed image with an external appearance image corresponding to the product model number received from the wireless communication device;
A determination method comprising: A process of receiving identification information of an unmanned aircraft system (UAS) by wireless communication;
Each of the wireless communication devices is associated in advance with each of the plurality of UASs, and each of the wireless communication devices is attached to the body of each of the plurality of UASs, and the identification information of the UAS associated with the wireless communication device is received by wireless communication. processing and
The identification information received from the UAS is compared with the identification information received from a wireless communication device attached to the body of the UAS, and as a result, it is determined whether the UAS is a UAS associated with the wireless communication device. a process for determining whether
a process of acquiring the product model number of the associated UAS aircraft from the wireless communication device through wireless communication;
A process of generating a photographed image of the UAS body;
a process of comparing the photographed image with an external appearance image corresponding to the product model number received from the wireless communication device;
A program that causes a computer to execute

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