JP2024095432A - Flying robot control system and flying robot control method - Google Patents

Abstract

[Problem] To provide a flying robot control system etc. that can easily set restrictions on manual operation of an autonomously flying robot using an operating device.
[Solution] The flying robot control system has a mode setting unit that sets the flight mode of the flying robot to either an autonomous flight mode in which the flying robot flies autonomously, or a manual flight mode in which the flying robot flies according to manual operation using an operating device, a memory unit that stores restrictions imposed on the manual flight mode in areas assigned with each of a plurality of area attributes, and an acquisition unit that acquires one or more area attributes assigned to specified areas within the flight area of the flying robot, and the mode setting unit sets the restrictions in the specified area based on the area attributes of the specified area acquired by the acquisition unit.
[Selected Figure] Figure 1

Description

The present invention relates to a flying robot control system having a flying robot and an operating device, and a flying robot control method.

In recent years, flying robots that fly autonomously and perform tasks such as returning, tracking, detecting, moving, and patrolling have been developed for security purposes at facilities such as stations, commercial facilities, and power plants. With such flying robots, it is desirable to be able to manually operate the flying robot using an operating device when it is necessary to focus on checking a specific location or when the flying robot loses sight of a target to be tracked.

For example, Patent Document 1 discloses a flying robot capable of semi-autonomous flight that can fly autonomously and can be controlled by a user through operation of a wireless controller device or the like.

JP 2020-162438 A

As described above, when using flying robots to provide detailed security services, it is operationally essential to effectively combine autonomous flight and manual operation. However, if manual operation is freely permitted for an autonomous flying robot, depending on the area in which the flying robot is currently flying, this could affect the stability of the flying robot's flight or raise privacy issues, so manual operation must be appropriately restricted depending on the flight area.

The object of the present invention is to provide a flying robot control system and a flying robot control method that can easily set restrictions on manual operation of an autonomous flying robot using an operating device.

To solve this problem, the present invention provides a flying robot control system having a flying robot and an operating device, the flying robot control system having a mode setting unit that sets the flying robot's flight mode to either an autonomous flight mode in which the flying robot flies autonomously or a manual flight mode in which the flying robot flies according to manual operation using the operating device, a storage unit that stores restrictions imposed on the manual flight mode in areas to which the area attributes are attached in correspondence with each of a plurality of area attributes, and an acquisition unit that acquires one or more area attributes attached to a predetermined area within the flying area of the flying robot, and the mode setting unit sets the restrictions in the predetermined area based on the area attributes of the predetermined area acquired by the acquisition unit.

In this flying robot control system, the restrictions on the manual flight mode preferably include restrictions on changing the flight mode from the autonomous flight mode to the manual flight mode, or restrictions on some of the manual operations in the manual flight mode.

In this flying robot control system, it is preferable to restrict the horizontal movement, altitude change, or turning of the flying robot as a restriction on some of the manual operations.

In this flying robot control system, it is preferable that the mode setting unit sets different restrictions depending on the time of day.

In this flying robot control system, it is preferable that the mode setting unit sets restrictions based on flight environment information indicating the weather or brightness in the flying robot's flight area, or operator capability information indicating the qualifications, operating capabilities, or affiliation of the flying robot's operator.

In this flying robot control system, it is preferable that the mode setting unit sets restrictions based on the positional relationship between the flying robot and other flying robots other than the flying robot.

In this flying robot control system, when the mode setting unit determines to impose restrictions on the manual flight mode, it preferably transmits a signal to the management device requesting the lifting of the restrictions, and when it receives a signal from the management device permitting the lifting of the restrictions, it lifts the restrictions on the manual flight mode.

It is preferable that this flying robot control system further includes a notification unit that notifies the operator of the flying robot of warnings regarding restrictions.

To solve this problem, the present invention provides a flying robot control method in which a computer sets the flight mode of a flying robot to either an autonomous flight mode in which the flying robot flies autonomously, or a manual flight mode in which the flying robot flies according to manual operation using an operating device, stores restrictions imposed on the manual flight mode in areas to which multiple area attributes are assigned in correspondence with each of the multiple area attributes, and acquires one or more area attributes assigned to a specific area within the flight area of the flying robot, and in the setting, sets restrictions in the specific area based on the area attributes of the specific area.

The flying robot control system and flying robot control method according to the present invention make it possible to easily set restrictions on manual operation of an autonomous flying robot using an operating device.

FIG. 2 is a schematic diagram for explaining a monitoring area A1. FIG. 1 is a diagram showing the overall system configuration of a flying robot control system 1. 1A is a diagram showing an example of the data structure of an attribute table 251, and FIG. 1B is a diagram showing an example of the data structure of a region table 252. FIG. 13 is a flowchart illustrating an example of an operation of a setting process.

The flying robot control system according to the embodiment will be described below with reference to the drawings.

Figure 1 is a schematic diagram for explaining a monitoring area A1 of a flying robot control system 1 according to an embodiment. As shown in Figure 1, the flying robot control system 1 has one or more flying robots 10, an operation device 20, a management device 30, and a server S. The flying robot control system 1 is a monitoring system that monitors and guards a monitoring area A1 set in facilities such as stations, commercial facilities, and power plants.

The server S is placed on a monitoring desk or the like of a disaster prevention center C1 installed within the monitoring area A1 or outside the monitoring area A1. The server S sets various settings registered from the operation device 20 and/or the management device 30 in the flying robot 10, and collects and manages the monitoring results by the flying robot 10.

Each flying robot 10 is a device that flies in a flight area A2 set within a monitoring area A1. The flight area A2 is set to include objects to be monitored, such as station buildings, stores, and power generation facilities, and a takeoff and landing point (hangar, roboport) D. A patrol route A3 for each flying robot 10 to patrol is set in the flight area A2. Each patrol route A3 is set to start from each takeoff and landing point D, pass over the objects to be monitored in the flight area A2, and return to each takeoff and landing point D. In the example shown in FIG. 1, high-security facilities B1 to B4, such as station platforms, hot springs, and power generation facilities, that require high security, are present on each patrol route A3. In addition, when the flying robot 10 detects an abnormality, such as the intrusion of a suspicious person, by a sensor or the like installed in the monitoring area A1, it can fly autonomously to head toward the installation location of the sensor that detected the abnormality in order to find the cause of the abnormality.
Each operation device 20 is disposed on a monitoring desk or the like of a disaster prevention center C1 installed within or around the monitoring area A1. Each operation device 20 registers various settings in the corresponding flying robot 10 via the server S, and controls the corresponding flying robot 10 according to operations by a controller (operator) of the disaster prevention center C1.
The management device 30 is installed on a monitor desk or the like of a security center C2 operated by a security company. The management device 30 registers various settings in the flying robot 10 via the server S, and controls the flying robot 10 according to the operation by a controller (operator) of the security center C2.

FIG. 2 is a diagram showing the overall system configuration of the flying robot control system 1.
As shown in Fig. 2, the flying robot 10, the operation device 20, the management device 30, and the server S are connected to each other via a first communication network N1 such as an intranet or the Internet. The flying robot 10 and the operation device 20 are connected to the first communication network N1 via a wireless communication network such as a wireless LAN or a mobile phone network. The management device 30 is connected to the first communication network N1 via a second communication network N2 such as an intranet or the Internet.

The flying robot 10 is an unmanned small flying object capable of flying autonomously, for example, a quad rotor or single rotor type small unmanned helicopter. The flying robot 10 has two flight modes: an autonomous flight mode in which the flying robot 10 flies autonomously, and a manual flight mode in which the flying robot 10 flies according to manual operation using the operation device 20. The flying robot 10 is, for example, a drone, a multicopter, a UAV (Unmanned Aerial Vehicle), etc. The flying robot 10 has a position and orientation sensor 11, an imaging unit 12, a motor 13, a first communication unit 14, a first memory unit 15, a first control unit 16, etc.

The position and attitude sensor 11 acquires the current position and attitude of the flying robot 10. The position and attitude sensor 11 includes, for example, a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as GNSS (Global Navigation Satellite System), an acceleration sensor that measures acceleration, an electronic compass that measures orientation, and a gyro sensor that measures angular velocity. The receiver receives navigation signals transmitted from multiple navigation satellites and outputs them to the first control unit 16. The acceleration sensor, the electronic compass, and the gyro sensor output measurement signals indicating the measured acceleration, orientation, and each speed to the first control unit 16. The position and attitude sensor 11 may acquire the current position of the flying robot 10 using other known sensors such as a laser scanner and an air pressure sensor. The position and attitude sensor 11 may also acquire the orientation of the flying robot 10 using other known sensors.

The imaging unit 12 includes a visible light camera. The visible light camera includes a photoelectric conversion element, such as a CCD element or a C-MOS element, that is sensitive to visible light, an imaging optical system that forms an image on the photoelectric conversion element, and an A/D converter, and generates and outputs an image based on visible light. The imaging unit 12 generates images sequentially at a predetermined frame period and outputs them to the first control unit 16. The imaging unit 12 may also include a thermal imaging camera that acquires a thermal image. The thermal imaging camera includes, for example, a two-dimensionally arranged sensor that detects radiant energy of two types of wavelengths of electromagnetic radiation from an object, and an A/D converter that amplifies the electrical signal output from the sensor and performs analog/digital (A/D) conversion. The thermal imaging camera generates a thermal image based on a temperature value calculated from the ratio of the two types of radiant energy, and outputs the thermal image to the first control unit 16 at a predetermined frame period.

The motor 13 includes one or more (e.g., four) motors. A rotor (rotor blade, propeller) is connected to the rotation shaft of each motor. The motor 13 receives a drive signal from the first control unit 16, rotates in accordance with the received drive signal to generate a drive force and rotate each rotor. The flying robot 10 can generate acceleration in any direction by independently rotating one or more rotors, and can adjust the movement and attitude of the aircraft.

The first communication unit 14 has, for example, an antenna for transmitting and receiving wireless signals, and a wireless communication interface circuit for transmitting and receiving signals through a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and connects to the first communication network N1 via an access point. Alternatively, the first communication unit 14 has, for example, a communication interface circuit conforming to the W-CDMA system or the LTE system, and connects to the first communication network N1 via a communication network such as a base station and a mobile communication network. The first communication unit 14 outputs data received from the first communication network N1 to the first control unit 16, and transmits data input from the first control unit 16 to the first communication network N1.

The first storage unit 15 has a semiconductor memory such as a ROM or a RAM, a magnetic disk or an optical disk drive such as a CD-ROM or a DVD-ROM, and a recording medium thereof. The first storage unit 15 stores a computer program and various data for controlling the flying robot 10, and inputs and outputs this information between the first control unit 16. The computer program may be installed in the first storage unit 15 from a computer-readable portable recording medium such as a CD-ROM or a DVD-ROM using a known setup program or the like.
The first storage unit 15 also stores position and attitude information 151, route information 152, and the like as data. The position and attitude information 151 indicates the current position and current attitude of the flying robot 100 detected based on each signal acquired by the position and attitude sensor 11. The route information 152 is information indicating the flight route along which the flying robot 10 is scheduled to move, and is indicated by a coordinate sequence on the flight route. A check point may be set on the flight route. The route information 152 is set from the operation device 20 and/or the management device 30 via the server S. Also, based on the current position and current attitude stored in the position and attitude information 151 and the movement target position set by the operation device 20 and/or the management device 32, the first control unit 16 may search (calculate) a movement route from the current position to the target position, and store the movement route as the route information 152 in the first storage unit 15. In addition, the calculations for searching the route information 152 may be performed not only by the first control unit 16 of the flying robot 10, but also by the second control unit 26 of the operation device 20 or the third control unit 36 of the management device 30.

The first control unit 16 has a processor such as a CPU or MPU, memories such as a ROM or RAM, and peripheral circuits, and executes various signal processing for the flying robot 10. The first control unit 16 has a flight control unit 161 and the like that is implemented as a functional module of a program that runs on the processor. Note that a DSP, LSI, ASIC, FPGA, etc. may also be used as the first control unit 16.

The flight control unit 161 calculates the current position and current attitude of the flying robot 10 in a three-dimensional movement area (e.g., a flight space) from the output of the position/attitude sensor 11, and stores it in the first memory unit 15 as position/attitude information 151. The flight control unit 161 obtains latitude, longitude, and altitude from the navigation signal output from the position/attitude sensor 11, and converts it to a position in the coordinate system of the movement area using a conversion rule stored in advance to obtain the current position. The flight control unit 161 also obtains the current attitude in the coordinate system of the movement area from the measurement signals of the acceleration sensor and gyro sensor output from the position/attitude sensor 11. The flight control unit 161 may obtain the direction in the coordinate system of the movement area from the measurement signal of the electronic compass output from the position/attitude sensor 11, and further use measurement signals from other sensors to calculate the current attitude. Each time the flight control unit 161 calculates the current position and/or current attitude, it transmits the calculated current position and/or current attitude to the server S via the first communication unit 14, and transmits the calculated current position and/or current attitude to the operation device 20 and/or management device 30 via the server S. In addition, each time the imaging unit 12 generates an image, the flight control unit 161 transmits the generated image to the server S via the first communication unit 14, and transmits the generated image to the operation device 20 and/or management device 30 via the server S.

The flight control unit 161 receives a control signal from the operation device 20 or the management device 30 via the first communication unit 14, and drives and controls the motor 13 so that the flying robot 10 performs flight such as ascending, descending, changing direction (turning), moving forward, and hovering (stationary) according to the received control signal. The flight mode in which the flying robot 10 operates is specified in the control signal. Either the autonomous flight mode or the manual flight mode is set as the flight mode. When the autonomous flight mode is set, the flying robot 10 autonomously performs predetermined operations such as calculation of its own position, calculation of a target position, calculation of a route, flight along a route, attitude control, and reporting without the need for operation by the operator using the operation device 20. That is, in the autonomous flight mode, the flying robot 10 performs one of a plurality of tasks. When the autonomous flight mode is set as the flight mode, the task to be performed by the flying robot 10 is specified in the control signal. The tasks are the processes performed by the flying robot 10 classified by purpose. The tasks are set according to instructions from a controller at the disaster prevention center C1 using the operation device 20, instructions from a controller at the security center C2 using the management device 30, notification signals from sensors installed in the monitoring area A1, or a task schedule previously set in the server S.

As the task, any one of a return task, a tracking task, a detection movement task, a designated point movement task, and a patrol task is set. The return task is a task to search (calculate) a return route to the takeoff and landing point D according to a return instruction by a controller when another task is ended or interrupted, or in an emergency such as an aircraft trouble, and to automatically land at the takeoff and landing point D. The tracking task is a task to fly so as to track a specified target (person, car, etc.) according to a designation operation of the target by a controller using the operation device 20 and/or the management device 30 on which the captured image generated by the flying robot 10 is displayed. The detection movement task is a task to fly (or wait to fly) to the vicinity of the sensor or fixed camera that detected the intrusion of the person when the intrusion of the person is detected by a sensor or fixed camera installed in the monitoring area A1, and to confirm the location of the abnormality and the cause of the abnormality. The designated point movement task is a task of flying to a position designated by a controller at the disaster prevention center C1 using the operation device 20, or to a position designated by a controller at the security center C2 using the management device 30. The patrol task is a task of flying along a preset flight route (patrol route), taking photographs at check points set on the flight route, and determining whether or not there are any abnormalities at the check points.
Tasks that are not intended for security purposes, such as inspection tasks, rescue tasks, delivery tasks, surveying tasks, and pesticide spraying tasks, may also be set as tasks.

The operation device 20 is, for example, a tablet PC or a notebook PC. The operation device 20 has a second operation unit 21, a second display unit 22, a second audio output unit 23, a second communication unit 24, a second storage unit 25, and a second control unit 26.

The second operation unit 21 has input devices such as buttons, a touch panel, and a keyboard, and an interface circuit that acquires signals from the input devices, accepts operations by the user, and outputs a signal corresponding to the accepted operation to the second control unit 26. The second display unit 22 is a liquid crystal display or an organic EL display, etc., and displays various information such as images and text according to instructions from the second control unit 26. The second audio output unit 23 is, for example, a speaker, etc., and outputs audio according to instructions from the second control unit 26.

The second communication unit 24 has, for example, an antenna for transmitting and receiving wireless signals, and a wireless communication interface circuit for transmitting and receiving signals through a wireless communication line according to a wireless communication protocol such as a wireless LAN, and connects to the first communication network N1 via an access point. Alternatively, the second communication unit 24 has a communication interface circuit that complies with, for example, the W-CDMA system or the LTE system, and connects to the first communication network N1 via a communication network such as a base station and a mobile communication network. Alternatively, the second communication unit 24 has a wired communication interface circuit that complies with, for example, TCP/IP, and connects to the first communication network N1. The second communication unit 24 outputs data received from the first communication network N1 to the second control unit 26, and transmits data input from the second control unit 26 to the first communication network N1.

The second storage unit 25 has a semiconductor memory such as a ROM or a RAM, a magnetic disk or an optical disk drive such as a CD-ROM or a DVD-ROM, and a recording medium thereof. The second storage unit 25 stores a computer program and various data for controlling the operation device 20, and inputs and outputs this information between the second storage unit 25 and the second control unit 26. The computer program may be installed in the second storage unit 25 from a computer-readable portable recording medium such as a CD-ROM or a DVD-ROM using a known setup program or the like.
The second storage unit 25 also stores, as data, an attribute table 251, a region table 252, etc. The attribute table 251 and the region table 252 will be described in detail later.

The second control unit 26 has a processor such as a CPU or MPU, a memory such as a ROM or RAM, and peripheral circuits, and executes various signal processing of the operation device 20. The second control unit 26 has a display control unit 261, a mode setting unit 262, an acquisition unit 263, a notification unit 264, and the like, which are implemented as functional modules of a program that runs on the processor. Note that a DSP, an LSI, an ASIC, an FPGA, and the like may also be used as the second control unit 26.

The display control unit 261 periodically receives the captured image transmitted from the flying robot 10 and the current position and/or current attitude of the flying robot 10 from the server S via the second communication unit 24. The display control unit 261 stores the received captured image, current position and/or current attitude in the second storage unit 25 and displays them on the second display unit 22. The display control unit 261 also transmits the route information 152 to the server S via the second communication unit 24 and registers it in the flying robot 10 via the server S. When the flight mode of the flying robot 10 is set to the manual operation mode, the display control unit 261 also accepts manual operation of the flying robot 10 from the operator using the second operation unit 21. The display control unit 261 controls the flight of the flying robot 10 by transmitting an operation signal corresponding to the accepted manual operation to the server S via the second communication unit 24 and transmitting it to the flying robot 10 via the server S. The mode setting unit 262 sets the flight mode of the flying robot 10 to either an autonomous flight mode in which the flying robot flies autonomously, or a manual flight mode in which the flying robot flies according to manual operation using the operation device 20. Also, for each area in the flight area A2 of the flying robot 10, the attribute table 251 is referenced to set a restricted area (area in which restrictions are imposed on the manual flight mode) corresponding to the area attribute of each area. The acquisition unit 263 acquires the area attributes of each of the multiple areas in the flight area A2 of the flying robot 10, and stores them in the second storage unit 25. Also, the acquisition unit 263 acquires the current positions, current time, current operating environment information, operator ability information, etc. of the flying robot 10 to be operated and other flying robots 10 other than the flying robot 10, and stores them in the second storage unit 25. The notification unit 264 notifies the operator of the flying robot 10 of a warning regarding restrictions on the manual flight mode. Details of the processing will be described later.

The management device 30 is, for example, a personal computer or a server. The management device 30 has a third operation unit 31, a third display unit 32, a third audio output unit 33, a third communication unit 34, a third storage unit 35, and a third control unit 36.

The third operation unit 31 has an input device such as a touch panel or a keyboard, and an interface circuit that acquires signals from the input device, accepts operations by the user, and outputs a signal corresponding to the accepted operation to the third control unit 36. The third display unit 32 is a liquid crystal display or an organic EL display, etc., and displays various information such as images and text according to instructions from the third control unit 36. The third audio output unit 33 is, for example, a speaker, etc., and outputs audio according to instructions from the third control unit 36.

The third communication unit 34 has a communication interface circuit that complies with, for example, TCP/IP, and connects to the second communication network N2. Alternatively, the third communication unit 34 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals through a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and connects to the second communication network N2 via an access point. The third communication unit 34 outputs data received from the second communication network N2 to the third control unit 36, and transmits data input from the third control unit 36 to the second communication network N2.

The third storage unit 35 has a semiconductor memory such as a ROM or RAM, a magnetic disk or an optical disk drive such as a CD-ROM or DVD-ROM, and a recording medium thereof. The third storage unit 35 stores computer programs and various data for controlling the management device 30, and inputs and outputs this information between the third control unit 36. The computer programs may be installed in the third storage unit 35 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like.

The third control unit 36 has a processor such as a CPU or MPU, a memory such as a ROM or RAM, and peripheral circuits, and executes various signal processing of the management device 30. The third control unit 36 has an authorization unit 361 and the like that are implemented as functional modules of a program that runs on the processor. Note that a DSP, an LSI, an ASIC, an FPGA, and the like may also be used as the third control unit 36.

The permission unit 361 periodically receives the captured image transmitted from the flying robot 10 and the current position and/or current attitude of the flying robot 10 from the server S via the third communication unit 34. The permission unit 361 stores the received captured image, current position and/or current attitude in the third storage unit 35 and displays them on the third display unit 32. The permission unit 361 also transmits the route information 152 to the server S via the third communication unit 34 and registers it in the flying robot 10 via the server S.

FIG. 3A is a diagram showing an example of the data structure of the attribute table 251. As shown in FIG. 3A, the attribute table 251 has a limit range, a limit item, and the like set in association with each other for each of a plurality of area attributes. That is, the attribute table 251 stores a limit range and a limit item corresponding to each of a plurality of area attributes. The area attribute is an attribute (type) related to the area within the flight area A2 and its surroundings, and in this embodiment, an attribute of an area that requires special attention when the flying robot 10 flies from the viewpoint of safety and privacy protection is set. In FIG. 3A, as examples, area attributes such as a "hot spring" attribute, a "power generation facility" attribute, a "flight path of other flying robots" attribute, a "warning area" attribute, a "narrow passage (left and right)" attribute, and a "narrow passage (up and down)" are prepared in advance. The limit range is a range in which a limit is imposed on the manual flight mode of the flying robot 10 for an area having a corresponding area attribute. The limit item is a limit item imposed on the manual flight mode of the flying robot 10 in an area to which the corresponding area attribute is attached. The area to which the corresponding area attribute is assigned may include a predetermined range from the area to which the corresponding area attribute is assigned.
As the restriction on the manual flight mode, any one of the following is set: a "change restriction" that restricts the change of the flight mode from the autonomous flight mode to the manual flight mode, an "operation restriction" that restricts some of the manual operations such as horizontal movement, altitude change, or turning of the flying robot in the manual flight mode, or "no restriction." When the restriction is an "operation restriction," some of the operations (horizontal movement, altitude change, turning, etc.) that are further restricted may be set as the restriction.

As the restriction range, a restriction range is set for each of a plurality of states (first state, second state, third state, ...). Similarly, as the restriction items, a restriction item is set for each of a plurality of states (first state, second state, third state, ...). The states include, for example, a state related to time, a state related to location, and/or a state related to the operating environment of the flying robot 10. The operating environment of the flying robot 10 includes a flight environment related to the weather or brightness of the flying area of the flying robot 10, and/or an operator's ability related to the qualifications, operating ability, or affiliation of the operator of the flying robot 10. Note that the restriction range and restriction items do not have to be set for each of a plurality of states, and a configuration in which only one is set may be used, and the number or type of states may be different for each area attribute.

As the state related to time, for example, a state in which the current time is outside the business hours or operating hours of the property (store, facility, etc.) related to each area attribute or the property located around the area having each area attribute is set. When the current time is outside the business hours or operating hours of each property, there is a high possibility that no person is present at the property or its surroundings, so there is a low possibility that a person using the property will be captured by manually operating the flying robot 10. Therefore, the limit range of the state in which the current time is outside the business hours or operating hours of the property related to each area attribute or the property located around the area having each area attribute is set to be narrow. For example, when the current time is within the business hours of the property with the "hot spring" attribute, the state is set to the first state, and the limit range corresponding to the "hot spring" attribute is set to "within 20 m". When the current time is outside the business hours of the property with the "hot spring" attribute, the state is set to the third state, and the limit range corresponding to the "hot spring" attribute is set to "no limit". When the current time is within the cleaning time of the property with the "hot spring" attribute, the state is set to the second state, and the limit range is set to within 10 m from the area with the "hot spring" attribute. In this way, different restriction ranges are set depending on the time of day as restriction ranges corresponding to each area attribute, and the more likely the current time is to cause an unintended invasion of privacy or a safety problem, the wider the restriction range is set, making it more difficult for the flying robot 10 to approach the area in that state through manual operation.
In addition, the restrictions in a state where the current time is outside the business hours or operating hours of the property related to each area attribute or the property located around the area having each area attribute are set to be looser. For example, when the current time is within the business hours of the property with the "hot spring" attribute, the first state is set, and the restrictions corresponding to the "hot spring" attribute are set to the strictest "change restriction". When the current time is outside the business hours of the property with the "hot spring" attribute, the third state is set, and the restrictions corresponding to the "hot spring" attribute are set to the strictest "no restriction". When the current time is within the cleaning time of the property with the "hot spring" attribute, the second state is set, and the restrictions corresponding to the "hot spring" attribute are set to "operation restriction (restriction on ascent of 5m or more)". In this way, different restrictions are set according to the time period as restrictions corresponding to each area attribute, and in particular, the more likely the current time is to cause unintended privacy violation or safety problems, the more strict the restrictions set for the flying robot 10, and the flying robot 10 cannot be moved freely by manual operation.

In addition, as a state related to time, for example, a state in which the current time is included in a crowded time zone in which the area related to each area attribute is crowded, that is, a time zone in which many flying robots 10 and people exist in the area, is set. If the current time is included in a crowded time zone, the flying robot 10 may come into contact with other flying robots 10 and people. Therefore, the more crowded the time zone is, the wider the restricted range is set. For example, in an area with the "alert area" attribute, if the current time is included in a crowded time zone, the first state is set, and the restricted range corresponding to the "alert area" attribute is set to "within 20 m". In addition, in an area with the "alert area" attribute, if the current time is included in an unmanned time zone, the third state is set, and the restricted range corresponding to the "alert area" attribute is set to "no limit". In addition, in an area with the "alert area" attribute, if the current time is included in an unmanned time zone, the second state is set, and the restricted range is set to within 10 m from the area with the "alert area" attribute.
In addition, the restrictions in the state where the current time is included in the crowded time period are set to be strict. For example, when the current time is included in the crowded time period in the area with the "alert area" attribute, the restrictions corresponding to the "alert area" attribute are set to the strictest "change restriction". In addition, when the current time is included in the unmanned time period in the area with the "alert area" attribute, the third state is set, and the restrictions corresponding to the "alert area" attribute are set to "operation restriction (horizontal movement)". In addition, when the current time is included in the quiet time period in the area with the "alert area" attribute, the second state is set, and the restrictions corresponding to the "alert area" attribute are set to "operation restriction (horizontal movement, turning)". In the above example, the restriction ranges or restrictions corresponding to the "hot spring" attribute and the "alert area" attribute have been described, but similarly, different restriction ranges may be set according to the time period for the restriction ranges or restrictions corresponding to other area attributes.

As the state related to the position, for example, a state according to the positional relationship between the current position of the flying robot 10 to be operated and the current positions of the other flying robots 10 is set. When the area attribute is the flight path of the other flying robot 10, if the other flying robot 10 is far from the flying robot 10 to be operated, the flying robot 10 to be operated is unlikely to come into contact with the other flying robot 10 even if the flying robot 10 to be operated flies near the flight path of the other flying robot 10. Therefore, the limited range corresponding to the "flight path of the other robot" attribute in the state where the current position of the flying robot 10 to be operated is far away from the current position of the other flying robot 10 (the state where the distance between the robots is large) is set to be narrow. For example, when the distance between the robots is equal to or less than the first threshold (when the robots are quite close), the first state is set, and the limited range corresponding to the "flight path of the other robot" attribute is set to "within 20 m". When the inter-robot distance is equal to or greater than the second threshold (second threshold > first threshold) (when the robots are quite far apart), the state is set to the third state, and the restricted range corresponding to the "flight path of other robots" attribute is set to "within 3 m." When the inter-robot distance is equal to or greater than the first threshold and equal to or less than the second threshold, the state is set to the second state, and the restricted range corresponding to the "flight path of other robots" attribute is set to "within 5 m." In this way, different restricted ranges are set as restricted ranges corresponding to each area attribute according to the positional relationship between the robots, and the closer the inter-robot distance is and the higher the possibility of a safety problem is, the wider the restricted range is set, and it is set so that it is difficult to approach the area in that state by manual operation.
In addition, the smaller the inter-robot distance, the more likely it is that a safety problem will occur, and the more stringent the restrictions corresponding to the "other robot's flight path" attribute are set. For example, when the inter-robot distance is equal to or less than a first threshold (when the robots are quite close), the first state is set, and the restrictions corresponding to the "other robot's flight path" attribute are set to the strictest "change restriction". When the inter-robot distance is equal to or more than a second threshold (when the robots are quite far apart), the third state is set, and the restrictions corresponding to the "other robot's flight path" attribute are set to the loosest "no restriction". When the inter-robot distance is equal to or more than the first threshold and equal to or less than a second threshold, the second state is set, and the restrictions corresponding to the "other robot's flight path" attribute are set to "operation restriction (horizontal movement)".
In the above example, the setting of the restriction range or restrictions corresponding to the "flight path of other robots" attribute was described, but the restriction range or restrictions corresponding to other attributes may also be set in a similar manner according to the positional relationship between the current position of the flying robot 10 to be operated and the current positions of the other flying robots 10.

As conditions related to the operating environment of the flying robot 10, conditions such as the weather in the flying area of the flying robot 10 being rainy, snowing or strong winds, the flying area being dark, the operator being qualified, the operator having high operating ability, or the operator belonging to a security company are set.
When the weather in the flight area is rain, snow, or strong wind, or when the flight area is dark, manual operation of the flying robot 10 may be difficult. Therefore, the restricted range when the weather in the flight area is bad (rain, snow, or strong wind) or when the flight area is dark is set to be wider, so that it is difficult to approach the area by manual operation. For example, when the state is "strong wind" and "dark" in the area of the "power generation facility" attribute, the state is set to the first state, and the restricted range corresponding to the "power generation facility" attribute is set to "within 50 m". When the state is "weak wind" and "bright" in the area of the "power generation facility", the state is set to the third state, and the restricted range corresponding to the "power generation facility" attribute is set to "within 30 m". When the state is "weak wind" and "dark" in the area of the "power generation facility", the state is set to the second state, and the restricted range corresponding to the "power generation facility" attribute is set to "within 40 m".
In addition, the restrictions are set to be stricter when the weather in the flight area is bad or when the flight area is dark. For example, in the case of a "strong wind" and "dark" state in the area of the "power generation facility" attribute, the state is set to the first state, and the restrictions corresponding to the "power generation facility" attribute are set to "change restrictions". In addition, in the case of a "weak wind" and "bright" state in the area of the "power generation facility" attribute, the state is set to the third state, and the restrictions corresponding to the "power generation facility" attribute are set to "no restrictions". In addition, in the case of a "weak wind" and "dark" state in the area of the "power generation facility" attribute, the state is set to the second state, and the restrictions corresponding to the "power generation facility" attribute are set to "operation restrictions (horizontal movement, turning)".
In addition, when the operator has a certain qualification, when the operator has high operating ability, or when the operator belongs to a security company, there is a high possibility that the manual operation of the flying robot 10 will be performed well. Therefore, the restriction range of the state in which the operator has a qualification, when the operator has high operating ability, or when the operator belongs to a security company is set to be narrow. In other words, when the operator has high operating ability, the restriction range is set to be able to approach the flying robot 10 to be operated, for example, an area with the attribute "power generation facility" by manual operation. In addition, the restriction items of the state in which the operator has a qualification, when the operator has high operating ability, or when the operator belongs to a security company are set to be loose. In other words, when the operator has high operating ability, the restriction range is set to be less restricted in the movement of the flying robot 10 to be operated, for example, by free manual operation around the area with the attribute "power generation facility". In the above example, the setting of the restriction range or restriction items corresponding to the "power generation facility" attribute has been described, but the restriction range or restriction items corresponding to other attributes may also be set according to the state related to the operation environment.

Figure 3 (B) is a diagram showing an example of the data structure of the region table 252. As shown in Figure 3 (B), in the region table 252, region attributes are set for one or more regions having region attributes set in Figure 3 (A) within the flight area A2 of the flying robot 10. Each region is defined by, for example, latitude or longitude. Note that in Figure 3 (B), the region attributes are defined by individual facility names, etc., but they may be defined for each restriction pattern, such as attribute 1 and attribute 2. For example, the region attributes may be defined so that regions that should be strongly restricted from the standpoint of privacy protection and safety are collectively set as attribute 1, and regions that may be weakly restricted are collectively set as attribute 2.

Figure 4 is a flowchart showing an example of the operation of the setting process by the operation device 20. This flowchart is executed mainly by the second control unit 26 in cooperation with each element of the operation device 20 based on a program previously stored in the second storage unit 25.

First, the mode setting unit 262 waits until it receives an instruction to change the flight mode of the flying robot 10 from the operator using the second operating unit 21 (step S101).
When an instruction to change the flight mode is received, the mode setting unit 262 determines whether the instructed post-change flight mode is a manual flight mode or an autonomous flight mode (step S102).
If the changed flight mode is the autonomous flight mode, the mode setting unit 262 further accepts a task designation from the operator using the second operation unit 21. The mode setting unit 262 transmits a first control signal to the server S via the second communication unit 24, and transmits the first control signal to the flying robot 10 via the server S. The first control signal is a signal for requesting that the flight mode be set to the autonomous flight mode, and includes the mode accepted by the mode setting unit 262. As a result, the mode setting unit 262 sets the autonomous flight mode as the flight mode of the flying robot 10, and sets a task to be executed by the flying robot 10 from among the multiple tasks (step S103), and returns the process to step S101.

On the other hand, if the changed flight mode is the manual flight mode, the acquisition unit 263 acquires the current position of the flying robot 10 and stores it in the second storage unit 25 (step S104). The acquisition unit 263 acquires the current position of the flying robot 10 by transmitting a position acquisition request signal to the server S via the second communication unit 24 to request acquisition of the current position of the flying robot 10, and receiving the current position of the flying robot 10 from the server S via the second communication unit 24.
Next, the acquisition unit 263 acquires area attributes of one or more areas in the flight area A2 of the flying robot 10 (step S105). The acquisition unit 263 reads the area table 252 from the second storage unit 25, and identifies one or more areas in the flight area A2 of the flying robot 10 for which area attributes are set in the area table 252. The acquisition unit 263 acquires one or more area attributes assigned to each identified area as one or more area attributes of one or more areas in the flight area A2 of the flying robot 10.
Next, the acquisition unit 263 acquires the current time (step S106).
Next, the acquisition unit 263 acquires the current positions of the other flying robots 10 other than the flying robot 10 to be operated among the flying robots 10 possessed by the flying robot control system 1, and stores them in the second storage unit 25 (step S107). The acquisition unit 263 acquires the current positions of the other flying robots 10 by transmitting a position acquisition request signal to the server S via the second communication unit 24 to request acquisition of the current positions of the other flying robots 10, and receiving the current positions of the other flying robots 10 from the server S via the second communication unit 24.

Next, the acquisition unit 263 acquires the current operating environment information and stores it in the second storage unit 25 (step S108). The operating environment information is information about the operating environment related to manual operation of the flying robot 10 using the operating device 20. The operating environment information includes flight environment information indicating the weather or brightness of the flying area of the flying robot 10, and/or operator ability information indicating the qualification, operating ability, or affiliation of the operator of the flying robot 10. Weather includes "rainfall/snowfall", "strong wind", or "other", etc. Brightness includes "dark" or "bright", etc. Qualifications include "none" or "yes", etc. Operating ability includes "low" or "high", etc., and affiliation includes "non-security company" or "security company", etc.
The acquisition unit 263 acquires the current operating environment information by, for example, accepting the information from the operator using the second operation unit 21. The acquisition unit 263 may acquire flight environment information from the operating environment information by receiving it from a server of the Japan Meteorological Agency or the like. The acquisition unit 263 may also acquire the flight environment information by estimating the brightness based on the current season or the current time. The operation device 20 may also store operator capability information for each controller in the second storage unit 25 in advance. In that case, the acquisition unit 263 acquires the operator capability information corresponding to the accepted identification information by requesting login using the controller's identification information when accepting access to the operation device 20, by reading it out from the second storage unit 25.

Next, the mode setting unit 262 sets a restricted area within the flight area A2 of the flying robot 10 where restrictions are imposed on the manual flight mode (step S109).
The mode setting unit 262 refers to the attribute table 251 for each area in the flight area A2 of the flying robot 10 identified by the acquisition unit 263 in step S105, and identifies a restricted range corresponding to the area attribute of each area. The mode setting unit 262 sets an area within the identified restricted range from each area in the flight area A2 as a restricted area. In the example shown in FIG. 1, restricted areas R1 to R4 are set for each of the high security facilities B1 to B4. In this way, the mode setting unit 262 sets a restricted area based on a restricted range corresponding to each area attribute of the multiple areas acquired by the acquisition unit 263.

The mode setting unit 262 may set the limit range differently depending on the time period. The mode setting unit 262 specifies the limit range and sets the limit area based on the current time acquired by the acquisition unit 263 in step S106. For example, the mode setting unit 262 specifies the limit range based on whether the current time is included in the business hours or operating hours of the property related to each area attribute or the property located around the area having each area attribute. The operation device 20 stores the business hours or operating hours of the property related to each area attribute or the property located around the area having each area attribute in the second storage unit 25 in advance. When the current time is outside the business hours or operating hours stored in the second storage unit 25, the mode setting unit 262 specifies the corresponding area attribute and the limit range corresponding to that state in the attribute table 251. This allows the flying robot control system 1 to appropriately restrict manual operation of the flying robot 10 so as to protect the privacy of the person using each property.
The mode setting unit 262 may also specify a restricted range and set a restricted area based on whether the current time is included in a crowded time period in an area with a predetermined area attribute. The operation device 20 stores the crowded time period in advance in the second storage unit 25. When the current time is included in a crowded time period, the mode setting unit 262 specifies the corresponding area attribute and the restricted range corresponding to that state in the attribute table 251. This allows the flying robot control system 1 to appropriately restrict manual operation of the flying robot 10 depending on whether the flying area A2 is crowded.

The mode setting unit 262 may also set a restricted range based on the positional relationship between the flying robot 10 to be operated and other flying robots 10 other than the flying robot 10. The mode setting unit 262 specifies the restricted range and sets a restricted area based on the current position of the flying robot 10 to be operated and the current positions of the other flying robots 10 acquired by the acquisition unit 263 in steps S104 and S107. When the current position of the flying robot 10 to be operated is within a predetermined distance from the current position of the other flying robot 10, or is outside the predetermined distance, the mode setting unit 262 specifies the corresponding area attribute and the restricted range corresponding to that state in the attribute table 251. This allows the flying robot control system 1 to appropriately restrict the manual operation of the flying robot 10 depending on whether the flying robot 10 is close to the other flying robot 10.

The mode setting unit 262 may also set the restricted range based on the operation environment information. The mode setting unit 262 specifies the restricted range and sets the restricted area based on the operation environment information acquired by the acquisition unit 263 in step S108. When the weather indicated in the flight environment information is "rainfall/snowfall" or "strong wind", or when the brightness indicated in the flight environment information is "dark", the mode setting unit 262 specifies the corresponding area attribute and the restricted range corresponding to that state in the attribute table 251. This allows the flying robot control system 1 to appropriately restrict the manual operation of the flying robot 10 according to the flight environment of the flying robot 10.
Furthermore, when the operator's qualification indicated in the operator ability information is "qualified", when the operator's operating ability is "high", or when the operator belongs to a "security company", the mode setting unit 262 specifies the corresponding area attribute and the restriction range corresponding to that state in the attribute table 251. This allows the flying robot control system 1 to appropriately restrict the manual operation of the flying robot 10 according to the skill of the operator of the flying robot 10.

Next, the mode setting unit 262 sets restrictions on the manual flight mode within each of the restricted areas set in step S109 (step S110).
The mode setting unit 262 refers to the attribute table 251 for each restricted area set in step S109 to identify restrictions corresponding to the area attributes related to each restricted area. The mode setting unit 262 sets the identified restrictions as restrictions for the manual flight mode of the flying robot 10. In this way, the mode setting unit 262 sets restrictions for the manual flight mode within the restricted area based on the restrictions of the area attributes of each of the multiple areas acquired by the acquisition unit 263.

The mode setting unit 262 may set different restrictions depending on the time period, similar to the process of identifying the restricted range in step S109. In this case, the mode setting unit 262 may identify the restrictions based on the current time. Similarly, the mode setting unit 262 may set the restrictions based on the positional relationship between the flying robot 10 to be operated and other flying robots 10 other than the flying robot 10. In this case, the mode setting unit 262 may identify the restrictions based on the current position of the flying robot 10 to be operated and the current positions of the other flying robots 10. Similarly, the mode setting unit 262 may set the restrictions based on flight environment information or operator ability information.
Furthermore, when a plurality of different region attributes are set for one region in the region table 252, the mode setting unit 262 may set a restriction range and restriction items for the region based on the restriction ranges and restriction items corresponding to each of the plurality of region attributes in the attribute table 251. For example, the mode setting unit 262 may set the widest restriction range or the strictest restriction item among the plurality of region attributes as the restriction range and restriction items for the region. Alternatively, the mode setting unit 262 may set a restriction range that is wider than the restriction ranges of each of the plurality of region attributes, or set a restriction item that is stricter than the restriction items of each of the plurality of region attributes as the restriction range and restriction items for the region.

Next, the mode setting unit 262 determines whether the current position of the flying robot 10 satisfies the change restriction condition (step S111). If the current position of the flying robot 10 is included in any of the restricted areas set in step S109, the restriction items of which are set in the change restriction in step S110, the mode setting unit 262 determines that the flying robot 10 satisfies the change restriction condition. On the other hand, if the current position of the flying robot 10 is not included in any of the restricted areas of which the restriction items are set in the change restriction, the mode setting unit 262 determines that the flying robot 10 does not satisfy the change restriction condition.

If the current position of the flying robot 10 satisfies the change restriction condition, the mode setting unit 262 decides to impose a restriction on the manual flight mode by restricting the change of the flight mode from the autonomous flight mode to the manual flight mode (step S112).

When it is decided to impose a restriction on the manual flight mode, the mode setting unit 262 transmits a first release request signal to the server S via the second communication unit 24, and transmits the first release request signal to the management device 30 via the server S (step S113). The first release request signal is a signal for requesting the release of the restriction on changing the flight mode from the autonomous flight mode to the manual flight mode. When the permission unit 361 of the management device 30 receives the first release request signal from the server S via the third communication unit 34, it notifies the controller by displaying on the third display unit 32 that the release of the restriction on changing the flight mode from the autonomous flight mode to the manual flight mode has been requested. When the permission unit 361 receives an instruction from the controller to permit the release of the restriction using the third operation unit 31, it transmits a first release permission signal to the server S via the third communication unit 34, and transmits the first release permission signal to the operation device 20 via the server S. The first release permission signal is a signal for permitting the release of the restriction on changing the flight mode from the autonomous flight mode to the manual flight mode. On the other hand, when the permission unit 361 receives an instruction from the air traffic controller using the third operation unit 31 to refuse to release the restriction, it transmits a first release refusal signal to the server S via the third communication unit 34, and transmits it to the operation device 20 via the server S. The first release refusal signal is a signal for refusing to release the restriction on changing the flight mode from the autonomous flight mode to the manual flight mode. As a result, the mode setting unit 262 receives the first release permission signal or the first release refusal signal transmitted from the management device 30 from the server S via the second communication unit 24.

Next, the mode setting unit 262 determines whether or not a first release permission signal has been received from the server S via the second communication unit 24 (step S114).

When the first release refusal signal is received, the notification unit 264 notifies the operator of the flying robot 10 of a warning (warning regarding restrictions) regarding restrictions on the manual flight mode (step S115), and returns the process to step S101. The notification unit 264 notifies the operator by displaying a warning restricting the change of the flight mode from the autonomous flight mode to the manual flight mode on the second display unit 22, or by outputting it from the second audio output unit 23. The notification unit 264 may further notify the operator of the reason why the restriction on the manual flight mode was imposed (the position of the corresponding restricted area and/or the area attribute related to the restricted area). This allows the operator to recognize that the change to the manual flight mode cannot be made and the reason for that. In this case, the mode setting unit 262 does not set the manual flight mode for the flying robot 10, and does not execute the change of the flight mode from the autonomous flight mode to the manual flight mode. This allows the flying robot control system 1 to restrict the manual operation of the flying robot 10 itself depending on the urgency of the flying robot 10 or the flight area.

On the other hand, when the first release permission signal is received, the mode setting unit 262 releases the restriction on changing the flight mode from the autonomous flight mode to the manual flight mode, thereby releasing the restriction on the manual flight mode (step S116). As a result, even if the position of the flying robot 10 is close to an area related to a specific area attribute (within the restricted range of the area attribute), the flying robot control system 1 can allow the operator to manually operate the flying robot 10 in the event of an emergency, allowing the system to flexibly respond to the emergency.
Next, the mode setting unit 262 transmits the second control signal to the server S via the second communication unit 24, and transmits the second control signal to the flying robot 10 via the server S. The second control signal is a signal for requesting that the flight mode be set to the manual flight mode. As a result, the mode setting unit 262 sets the manual flight mode as the flight mode of the flying robot 10 (step S117), and returns the process to step S101.

On the other hand, if the current position of the flying robot 10 does not satisfy the change restriction condition in step S111, the mode setting unit 262 determines whether the current position of the flying robot 10 satisfies the operation restriction condition (step S118). The mode setting unit 262 determines that the flying robot 10 satisfies the operation restriction condition if the current position of the flying robot 10 is included in any of the restricted areas set in step S109, the restriction items of which are set in the operation restriction in step S110. On the other hand, the mode setting unit 262 determines that the flying robot 10 does not satisfy the operation restriction condition if the current position of the flying robot 10 is not included in any of the restricted areas the restriction items of which are set in the operation restriction.

If the current position of the flying robot 10 satisfies the operation restriction condition, the mode setting unit 262 decides to impose restrictions on the manual flight mode by restricting the horizontal movement, altitude change, or turning of the flying robot 10 in the manual flight mode (step S119).

When it is decided to impose restrictions on the manual flight mode, the mode setting unit 262 transmits a second release request signal to the server S via the second communication unit 24, and transmits it to the management device 30 via the server S (step S120). The second release request signal is a signal for requesting the release of restrictions on the horizontal movement, altitude change, or rotation of the flying robot 10 in the manual flight mode. When the permission unit 361 of the management device 30 receives the second release request signal from the server S via the third communication unit 34, it notifies the controller by displaying on the third display unit 32 that the release of restrictions on the horizontal movement, altitude change, or rotation of the flying robot 10 in the manual flight mode has been requested. When the permission unit 361 receives an instruction from the controller to permit the release of the restrictions using the third operation unit 31, it transmits the second release permission signal to the server S via the third communication unit 34, and transmits it to the operation device 20 via the server S. The second release permission signal is a signal for permitting the lifting of restrictions on the horizontal movement, altitude change, or rotation of the flying robot 10 in the manual flight mode. On the other hand, when the permission unit 361 receives an instruction from the air traffic controller to refuse the lifting of the restrictions using the third operation unit 31, the permission unit 361 transmits a second release refusal signal to the server S via the third communication unit 34, and transmits it to the operation device 20 via the server S. The second release refusal signal is a signal for refusing to lift the restrictions on the horizontal movement, altitude change, or rotation of the flying robot 10 in the manual flight mode. As a result, the mode setting unit 262 receives the second release permission signal or the second release refusal signal transmitted from the management device 30 from the server S via the second communication unit 24.

Next, the mode setting unit 262 determines whether or not a second release permission signal has been received from the server S via the second communication unit 24 (step S121).

When the second release refusal signal is received, the notification unit 264 notifies the operator of the flying robot 10 of a warning regarding the restrictions on the manual flight mode (warning regarding restrictions) (step S122). The notification unit 264 notifies the operator by displaying a warning restricting the horizontal movement, altitude change, or rotation of the flying robot 10 in the manual flight mode on the second display unit 22, or by outputting from the second audio output unit 23. The notification unit 264 may further notify the operator of the operation (horizontal movement, altitude change, or rotation) for which the restriction on the manual flight mode is imposed, and the reason for it. This allows the operator to recognize that a specified operation cannot be performed in the manual flight mode and the reason for it.

Next, the mode setting unit 262 transmits the second control signal to the server S via the second communication unit 24, and transmits it to the flying robot 10 via the server S. As a result, the mode setting unit 262 sets the manual flight mode as the flight mode of the flying robot 10 (step S117), and returns the process to step S101. In this case, the mode setting unit 262 specifies with the second control signal that the horizontal movement, altitude change, or turning of the flying robot 10 is to be restricted in the manual flight mode. As a result, the flying robot control system 1 can restrict some of the manual operation of the flying robot 10 according to the need for safety of the flying robot 10 or the flight area, protection of privacy, etc.

On the other hand, when the second release permission signal is received, the mode setting unit 262 releases the restriction on the horizontal movement, altitude change, or rotation of the flying robot 10 in the manual flight mode, thereby releasing the restriction on the manual flight mode (step S123). As a result, even if the position of the flying robot 10 is close to an area related to a specific area attribute (within the restricted range of the area attribute), the flying robot control system 1 can allow the operator to manually operate the flying robot 10 in the event of an emergency, thereby allowing the system to flexibly respond to the emergency.
Next, the mode setting unit 262 transmits the second control signal to the flying robot 10 via the second communication unit 24, and transmits the second control signal to the flying robot 10 via the server S. As a result, the mode setting unit 262 sets the manual flight mode as the flight mode of the flying robot 10 (step S117), and returns the process to step S101. In this case, the mode setting unit 262 does not specify in the second control signal that the horizontal movement, altitude change, or turning of the flying robot 10 is restricted in the manual flight mode.

Furthermore, if the current position of the flying robot 10 does not satisfy the change restriction condition in step S118, the mode setting unit 262 transmits the second control signal to the flying robot 10 via the second communication unit 24, and transmits the second control signal to the flying robot 10 via the server S. As a result, the mode setting unit 262 sets the manual flight mode as the flight mode of the flying robot 10 (step S117), and returns the process to step S101.
This completes the explanation of the setting process.

In addition, in steps S109 and S110, the mode setting unit 262 does not need to specify the restricted range or restrictions based on the time period, flight environment information, operator ability information, or the positional relationship between the flying robot 10 to be operated and other flying robots 10. In this case, the restricted range or restrictions are set in the attribute table 251 regardless of the state. In this case, the processing of steps S106 to S108 may be omitted. Also, the processing of steps S113, S114, S116, the processing of steps S120, S121, S123, the processing of step S115, and/or the processing of step S122 may be omitted.

As described above, the flying robot control system 1 can appropriately control the flying robot 10 by setting the flight mode of the flying robot 10 to the manual flight mode when it is desired to check a specific location intensively or when the flying robot 10 has lost sight of the tracking target. On the other hand, the flying robot control system 1 can appropriately restrict the manual operation of the flying robot 10 by setting a restricted area in which restrictions are imposed on the manual flight mode or restrictions on the manual flight mode. Therefore, the flying robot control system 1 can appropriately restrict the manual operation of the flying robot 10 using the operating device 20 for the flying robot 10 that flies autonomously.
In addition, since the flying robot control system 1 sets the restricted area based on the area attributes of each area in the flying area A2 of the flying robot 10, it is not necessary to set whether or not restrictions are applied to the manual flight mode for each small position in the flying area A2. Therefore, the flying robot control system 1 can easily set an area for restricting manual operation of the autonomously flying flying robot 10 using the operating device 20.
In addition, since the flying robot control system 1 sets restrictions for each area based on the area attributes of each area within the flying area A2 of the flying robot 10, it is not necessary to set restrictions for each fine position within the flying area A2. Therefore, the flying robot control system 1 can easily set restrictions on manual operation of the autonomously flying flying robot 10 using the operating device 20.
As a result, the flying robot control system 1 is able to reduce the processing time and processing load required to set restricted areas or restrictions.

Although the preferred embodiment has been described above, the embodiment is not limited to the above example. For example, the mode setting unit 262 may set only one of the restricted area and the restricted items based on the area attribute.
When the setting of the restriction items is omitted, only the restriction range is set for each of the multiple area attributes in the attribute table 251. In this case, in step S110, the mode setting unit 262 sets fixed restriction items as restrictions on the manual flight mode in each restricted area. The fixed restriction items are set in advance to restrictions on changing the flight mode from the autonomous flight mode to the manual flight mode, or restrictions on the horizontal movement, altitude change, or turning of the flying robot 10, etc.
On the other hand, when the setting of the restricted area is omitted, only the restriction items are set for each of the multiple area attributes in the attribute table 251. In this case, in step S109, the mode setting unit 262 sets, as the restricted area, the multiple areas for which the area attributes are set in the area table 252 or areas within a predetermined range (e.g., a fixed range of 10 m or the like) from each area. In step S110, the mode setting unit 262 sets the restriction items in the restricted area set in step S109.

In addition, the restrictions on the manual flight mode may include only one of changing the flight mode from the autonomous flight mode to the manual flight mode and some operations of the flying robot 10 in the manual flight mode (horizontal movement, altitude change, or turning). In addition, the limited operations may not be limited to horizontal movement, altitude change, or turning, but may also include restrictions on the tilt, turning speed, and movement speed of the aircraft during manual operation.

The mode setting unit 262 may also impose restrictions on the manual flight mode at any time, not just when the operator instructs the flying robot 10 to change its flight mode. For example, while the flying robot 10 is operating in the manual flight mode, the mode setting unit 262 may impose restrictions on the manual flight mode based on the latest area attributes or operating environment information, or the current time or the current position of each flying robot 10.

In addition, the server S may be omitted in the flying robot control system 1. In that case, the flying robot 10, the operation device 20, and/or the management device 30 transmit and receive information to and from each other without going through the server S.

In addition, in the flying robot control system 1, the management device 30 may impose restrictions on the manual flight mode instead of the operation device 20. In that case, the third memory unit 35 of the management device 30 stores each piece of information stored in the second memory unit 25 of the operation device 20, and the third control unit 36 of the management device 30 has each unit that the second control unit 26 of the operation device 20 has, and executes the setting process shown in FIG. 4. The third control unit 36 acquires various pieces of information specified by the operator of the management device 30 using the third operation unit 31, and transmits various signals to the flying robot 10 via the third communication unit 34 and the server S. In addition, when the mode setting unit decides to impose restrictions on the manual flight mode, the permission unit 361 notifies the controller by displaying on the third display unit 32 that the lifting of the restrictions has been requested. When the permission unit 361 receives an instruction from the controller to permit or deny the lifting of the restrictions using the third operation unit 31, the mode setting unit lifts the restrictions on the manual flight mode. In addition, when the third control unit 36 sets the flying robot 10 to the manual flight mode, it transmits the same to the operation device 20 via the third communication unit 34 and the server S, and notifies the operator of the operation device 20. In addition, when the third control unit 36 imposes restrictions on the manual flight mode, it transmits a warning to the operation device 20 via the third communication unit 34 and the server S, and notifies the operator of the operation device 20. In this case, too, the flying robot control system 1 can appropriately restrict manual operation of the autonomously flying flying robot 10 using the operation device 20. In addition, the flying robot control system 1 can easily set the area in which manual operation using the operation device 20 is restricted for the autonomously flying flying robot 10, and/or the restrictions on manual operation.

In addition, in the flying robot control system 1, the flying robot 10 may restrict the manual flight mode instead of the operating device 20. In that case, the first memory unit 15 of the flying robot 10 stores each piece of information stored in the second memory unit 25 of the operating device 20, and the first control unit 16 of the flying robot 10 has each part of the second control unit 26 of the operating device 20, and executes the setting process shown in FIG. 4. The first control unit 16 acquires various pieces of information by receiving them from the operating device 20 and/or the management device 30 via the first communication unit 14 and the server S, and sets them in the first memory unit 15. In addition, the first control unit 16 transmits each release request signal to the management device 30 via the first communication unit 14 and the server S, and receives each release permission signal from the management device 30 via the first communication unit 14 and the server S. In addition, when the first control unit 16 sets the flying robot 10 to the manual flight mode, it transmits the same to the operation device 20 via the first communication unit 14 and the server S, and notifies the operator of the operation device 20. In addition, when the first control unit 16 imposes restrictions on the manual flight mode, it transmits a warning to the operation device 20 via the first communication unit 14 and the server S, and notifies the operator of the operation device 20. In this case, too, the flying robot control system 1 can appropriately restrict manual operation of the autonomously flying flying robot 10 using the operation device 20. In addition, the flying robot control system 1 can easily set the area in which manual operation using the operation device 20 is restricted for the autonomously flying flying robot 10, and/or the restrictions on manual operation.

The flying robot control system and flying robot control method of one embodiment of the present invention can contribute to solving social issues such as a declining labor force and long working hours.
In addition, the flying robot control system and flying robot control method of one embodiment of the present invention can also contribute to Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, which is to "build resilient infrastructure, promote industry, innovation and infrastructure."

1 Flying robot control system, 10 Flying robot, 20 Operation device, 30 Management device, 25 Second memory unit, 262 Mode setting unit, 263 Acquisition unit, 264 Notification unit

Claims (9)

A flying robot control system having a flying robot and an operating device,
A mode setting unit that sets, as a flight mode of the flying robot, either an autonomous flight mode in which the flying robot flies autonomously or a manual flight mode in which the flying robot flies according to manual operation using the operation device;
A storage unit that stores restrictions imposed on the manual flight mode in the area to which each of a plurality of area attributes is assigned, in correspondence with the area attributes;
An acquisition unit that acquires one or more area attributes attached to a predetermined area within a flight area of the flying robot,
The mode setting unit sets the restriction items in the predetermined area based on the area attribute of the predetermined area acquired by the acquisition unit.
A flying robot control system comprising: The flying robot control system of claim 1, wherein the restrictions on the manual flight mode include restrictions on changing the flight mode from the autonomous flight mode to the manual flight mode, or restrictions on some of the manual operations in the manual flight mode. The flying robot control system according to claim 2, wherein the mode setting unit limits the horizontal movement, altitude change, or turning of the flying robot as a restriction on some of the manual operations. The flying robot control system according to any one of claims 1 to 3, wherein the mode setting unit sets the restrictions differently depending on the time of day. The flying robot control system according to any one of claims 1 to 3, wherein the mode setting unit sets the restrictions based on flight environment information indicating the weather or brightness of the flying area of the flying robot, or operator ability information indicating the qualifications, operating ability, or affiliation of the operator of the flying robot. The flying robot control system according to any one of claims 1 to 3, wherein the mode setting unit sets the restrictions based on a positional relationship between the flying robot and other flying robots other than the flying robot. The flying robot control system according to any one of claims 1 to 3, wherein the mode setting unit transmits a signal to a management device requesting the lifting of the restriction when it has decided to impose a restriction on the manual flight mode, and lifts the restriction on the manual flight mode when it receives a signal permitting the lifting of the restriction from the management device. The flying robot control system according to any one of claims 1 to 3, further comprising a notification unit that notifies an operator of the flying robot of a warning regarding the restriction. The computer
As a flight mode of the flying robot, either an autonomous flight mode in which the flying robot flies autonomously or a manual flight mode in which the flying robot flies according to manual operation using the operation device is set;
storing restrictions imposed on the manual flight mode in the area to which each of a plurality of area attributes is assigned, in correspondence with each of the plurality of area attributes;
Acquiring one or more area attributes attached to a predetermined area within a flight area of the flying robot;
In the setting, the restriction items in the predetermined area are set based on an area attribute of the predetermined area.
A flying robot control method comprising:

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