JP6335354B1 - Route management control server, method and system, and first and second flying bodies used therefor - Google Patents

Abstract

The present invention provides a technique capable of improving warehouse storage efficiency for a plurality of types of luggage. A route management control server according to the present invention is communicably connected to a plurality of first aircrafts via a network. The server stores storage means for storing location data including at least one of map information, terrain information and building information and route data based on three-dimensional coordinates, control means for reading the location data and route data, and reading Transmitting means for transmitting location data and route data to each of the first aircraft. [Selection] Figure 6

Description

  The present invention relates to a route management control server, method and system, and first and second aircrafts used therefor, and more particularly to a technique for managing and controlling appropriate operation of a manned aircraft.

  Patent Document 1 discloses a technique for projecting a planned flight path as a tunnel-like display on a display unit with respect to a flight path guidance technique for an aircraft.

JP 2009-269604 A

  However, the technique described in Patent Document 1 does not disclose any management and control of a plurality of flying objects at the same time.

  Accordingly, an object of the present invention is to provide a technique capable of simultaneously managing and controlling a plurality of flying objects.

According to the present invention, there is a route management control server that is communicably connected to a plurality of first aircrafts via a network,
Storage means for storing location data including at least one of map information, terrain information, and building information; and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data;
There is obtained a route management control server comprising: transmission means for reading the location data and the route data to each of the first flying objects.

  According to the present invention, a plurality of flying vehicles can be managed and controlled simultaneously.

It is a block diagram of the network used for the route management control system by embodiment of this invention. It is a block diagram which shows the hardware constitutions of the route management control server of FIG. It is a block diagram which shows the hardware constitutions of the computer mounted in the 1st flying body of FIG. It is a block diagram which shows the hardware constitutions of the computer mounted in the 2nd flying body of FIG. It is an image figure which shows typically the content of the data used for the route management control system of FIG. It is a schematic diagram which shows the outline | summary of the route management control system of FIG. It is a screen display example of the display part of the 1st flying body of FIG. It is another schematic diagram which shows the outline | summary of the route management control system of FIG. It is another schematic diagram which shows the outline | summary of the route management control system of FIG.

The contents of the embodiment of the present invention will be listed and described. A route management control server, method and system according to an embodiment of the present invention, and a first flying object and a second flying object used therefor have the following configurations.
[Item 1]
A route management control server communicably connected to a plurality of first aircrafts via a network,
Storage means for storing location data including at least one of map information, terrain information, and building information; and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data;
A route management control server comprising: transmission means for transmitting the read location data and route data to each of the first flying objects.
[Item 2]
The route management control server according to item 1, wherein
Receiving means for receiving traffic information of the route;
The transmission means transmits the received traffic information to the first flying object;
Route management control server.
[Item 3]
The route management control server according to item 2,
The receiving means receives the traffic information from one of the first aircrafts,
The transmission means transmits the received traffic information to the other first aircraft.
Route management control server.
[Item 4]
The route management control server according to item 2 or item 3,
The control means generates new route data based on the received traffic information,
The transmission means transmits the generated new route data to the first aircraft.
Route management control server.
[Item 5]
The route management control server according to any one of Items 2 to 4,
The control means generates a flight control instruction based on the received traffic information,
The transmission means transmits the generated flight control instruction to the first aircraft.
Route management control server.
[Item 6]
The route management control server according to any one of Items 1 to 5,
The route data has latitude information, longitude information, and altitude information.
Route management control server.
[Item 7]
The route management control server according to any one of items 1 to 6,
The route data includes speed limit information associated with the first specific area of the route.
Route management control server.
[Item 8]
The route management control server according to any one of Items 1 to 7,
The route data includes fee information associated with the second specific area of the route,
The route management control server, when the first flying object enters the second specific area based on the position information received from the first flying object, the payment means for starting the payment process for the first flying object Further comprising
Route management control server.
[Item 9]
A second aircraft capable of communicating with the route management control server according to any one of items 2 to 8 via a network,
A power unit for the flight,
A positioning unit for positioning position information;
A collection unit for collecting the traffic information of the route;
A transmission unit that transmits the collected traffic information to the route management control server,
Second aircraft.
[Item 10]
The second aircraft according to item 9, wherein
It further comprises a detecting means for detecting an abnormality from the collected traffic information,
The transmission means transmits information on the detected abnormality to at least the route management control server, the first aircraft or the other second aircraft.
Second aircraft.
[Item 11]
The first flying object according to any one of Items 1 to 10,
A power unit for the flight,
A positioning unit for positioning position information;
A receiving unit that receives at least either the location data or the route data from the route management control server;
A control unit for receiving an operation by the operator and controlling a flight of the first flying object;
And a display unit that displays at least the received route data to an operator.
[Item 12]
The first flying object according to item 11, wherein
A transmission unit that transmits the measured position information to the route management control server;
First aircraft.
[Item 13]
The first flying object according to item 11 or item 12,
The control unit controls the power unit based on the route data and the position information.
First aircraft.
[Item 14]
A route management control server using a computer communicably connected to a plurality of first aircrafts via a network,
A storage step in which the computer stores location data including at least one of map information, terrain information, and building information; and route data based on three-dimensional coordinates;
A control step of reading the location data and the route data;
A route management control method comprising: a transmission step of transmitting the location data and the route data to each of the first aircrafts.
[Item 15]
A route management control system including a plurality of first aircrafts, a plurality of second aircrafts, and a route management control device,
The first flying object, the second flying object, and the route management control device are connected to each other via a network so that they can communicate with each other.
The route management controller is:
Storage means for storing location data including at least one of map information, terrain information and building information, and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data;
Transmitting means for transmitting the location data and the route data to each of the first aircraft;
Receiving means for receiving traffic information of the route;
The first aircraft is:
A power unit for flight;
A positioning unit for positioning position information;
A receiving unit that receives at least either the location data or the route data from the route management control server;
A control unit for receiving an operation by the operator and controlling a flight of the first flying object;
A display unit that displays at least the received route data to an operator;
The second aircraft is:
A power unit for flight;
A positioning unit for positioning position information;
A collection unit for collecting the traffic information of the route;
A route management control system comprising: a transmission unit that transmits the collected traffic information to the route management control server;
The control means of the route management control device generates new route data based on the received traffic information, and the transmission means of the route management control device uses the generated new route data to the first flight. Transmitting to the body and the second aircraft,
Route management control system.

<Details of the embodiment>
Hereinafter, a route management control server, method and system according to an embodiment of the present invention, and a route management control warehouse management system realized by a first flying body and a second flying body used therefor will be described with reference to the drawings. .

<Overview>
The route management control system (hereinafter referred to as “control system”) according to the present invention performs appropriate operation control of a manned small aircraft (hereinafter referred to as “airmobile”). The control system performs more appropriate operation control in cooperation with a plurality of monitoring rotor blades (hereinafter referred to as “monitoring drone”).

  An air mobile is a small flying object on which a person can ride, and has a size of a small scooter or a general automobile. The air mobile according to the present embodiment is a so-called multicopter having a plurality of rotor blades. Although the power source is mainly a rotor blade, it may have a lift generation source other than this, and may be able to move on the water, on land or in water. In this case, you may have an auxiliary power means according to the condition of a moving place, various instruments, a control apparatus, etc. The hardware configuration of the information processing apparatus mounted on the air mobile will be described later.

  The monitoring drone is an unmanned air vehicle and includes a battery, a plurality of motors, a position detection unit, a control unit, a driver, a storage device, a wireless communication device, a voltage sensor, a current sensor, and the like. These components are mounted on a frame having a predetermined shape. The hardware configuration of the information processing apparatus mounted on the monitoring drone will be described later. For these basic structures, known techniques can be employed as appropriate.

<Configuration>
As shown in FIG. 1, the control system 100 according to the present embodiment includes a route management control server (hereinafter simply referred to as “server”) 1, an air mobile 2, and a monitoring drone 3.

  The server 1, the air mobile 2, and the monitoring drone 3 are so-called client / server model systems that are communicably connected to each other via a network 4. The network 4 according to the present embodiment is an IP-based computer network, but may be shared with a carrier network for mobile phones, smartphones, and the like. Here, the computer network is used in a broad concept including the Internet constructed by mutually connected IP networks. The computer network may include a wireless network constructed by a wireless base station (for example, WiFi) not shown. The carrier network and the IP network are connected via, for example, a gateway, but are not limited thereto.

<Hardware configuration>
The hardware configuration of the server 1, the air mobile 2, and the monitoring drone 3 will be described with reference to FIGS.

<Route management control server (server) 1>
As shown in FIG. 2, the server 1 is an information processing apparatus for providing a service through the route management control system 100, and may be a general-purpose computer such as a workstation or a personal computer, or a cloud computer. It may be logically realized by singing. As shown in FIG. 2, the server 1 includes a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, which are electrically connected to each other through a bus 15.

  The processor 10 is an arithmetic device that controls the operation of the entire server 1 and performs control of data transmission / reception between elements, information processing necessary for execution of applications, and the like. For example, the processor 10 is a CPU (Central Processing Unit), and executes each information process by executing a program stored in the storage 12 and expanded in the memory 11.

  The memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary memory composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). . The memory 11 is used as a work area of the processor 10 and stores a BIOS (Basic Input / Output System) executed when the server 1 is started up, various setting information, and the like. The storage 12 stores various programs such as application programs and authentication programs for the airmobiles 2 and the monitoring drones 3. A database (location data, route data, etc. described later) storing data used for each process may be constructed in the storage 12.

<Small Aircraft (Airmobile) 2>
As shown in FIG. 3, the air mobile 2 is equipped with an information processing device 200. The information processing apparatus 200 receives a service provided by the route management control system 100 by executing information processing via communication with the server 1. The information processing apparatus 200 includes at least a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, a positioning unit 26, a detection unit 27, and the like, which are electrically connected to each other through a bus 25. . The information processing apparatus 200 may be a general-purpose computer such as a workstation or a personal computer, or may be linked to a terminal having a touch panel such as a device such as a smartphone, a PDA, or a tablet computer, or cloud computing It may be logically realized by.

  The processor 20 is an arithmetic device that controls the operation of the information processing apparatus 200, performs control of data transmission / reception between elements, processing necessary for execution of an application, and the like. For example, the processor 20 is a CPU and / or a GPU (Graphical Processing Unit), and executes each necessary information process by executing a program stored in the storage 22 and expanded in the memory 21.

  The memory 21 includes a main memory configured by a volatile storage device such as a RAM and an auxiliary storage configured by a nonvolatile storage device such as a flash memory or an HDD. The memory 21 is used as a work area of the processor 20, and stores a BIOS executed when the information processing apparatus 200 is activated, various setting information, and the like. The storage 22 stores application programs and the like.

  The transmission / reception unit 23 connects the information processing apparatus 200 to the network 4 and communicates with the server 1. The transmission / reception unit 23 also includes a short-range communication interface such as Bluetooth (registered trademark) and BLE (Bluetooth (registered trademark) Low Energy).

  The input / output unit 24 is an information input device such as control stick (handle) switches and an output device such as a display, and performs presentation of information to the operator of the air mobile 2 and input operation.

  The bus 25 is commonly connected to the above-described elements, and transmits, for example, an address signal, a data signal, and various control signals.

  The positioning unit 26 detects at least the altitude of the air mobile 2. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, and detects the latitude, longitude, and altitude of the current position of the air mobile 2.

  The detection unit 27 is for sensing the external environment of the air mobile 2 with various sensors such as voice, image, and infrared.

  In addition to the information processing apparatus 200, the air mobile 2 according to the present embodiment relays a power source, a motor connected to the rotor blades, and the information processing apparatus 200 and the motor for moving and flying the air mobile 2. At least a driver. The information processing apparatus 200 controls a plurality of motors to control airmobile flight control (control of ascending, descending, horizontal movement, etc.) and a plurality of gyroscopes (not shown) mounted on the airmobile 2. Attitude control is also performed by controlling the motor. The driver drives the motor in accordance with a control signal from the information processing apparatus 200. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. As a matter of course, the air mobile 200 has elements not shown (for example, equipment for manned flight, other equipment for flight, etc.).

<Monitoring rotorcraft (monitoring drone) 3>
As shown in FIG. 4, the monitoring drone 3 is equipped with an information processing device 300. The information processing apparatus 300 constitutes a part of the system of the route management control system 100 by executing information processing via communication with the server 1. The information processing apparatus 300 includes at least a processor 30, a memory 31, a storage 32, a transmission / reception unit 33, an output unit 34, a positioning unit 36, a detection unit 37, and the like, which are electrically connected to each other through a bus 35. The information processing apparatus 300 may be configured by, for example, a microcomputer, ASIC (Application Specific Integrated Circuit), or may be logically realized by cloud computing.

  The processor 30 is an arithmetic device that controls the operation of the information processing apparatus 300, performs data transmission / reception control between elements, processing necessary for execution of an application, and the like. For example, the processor 30 is a CPU and / or a GPU (Graphical Processing Unit), and executes each necessary information process by executing a program stored in the storage 32 and expanded in the memory 31.

  The memory 31 includes a main storage composed of a volatile storage device such as a RAM and an auxiliary storage composed of a nonvolatile storage device such as a flash memory or an HDD. The memory 31 is used as a work area of the processor 30 and stores a BIOS executed when the information processing apparatus 300 is activated, various setting information, and the like. The storage 32 stores application programs and the like.

  The transmission / reception unit 33 connects the information processing apparatus 300 to the network 4 and communicates with the server 1. The transmission / reception unit 33 also includes a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth (registered trademark) Low Energy).

  The input / output unit 34 is an information input device such as control stick (handle) switches and an output device such as a display.

  The bus 35 is commonly connected to the above-described elements, and transmits, for example, an address signal, a data signal, and various control signals.

  The positioning unit 36 detects at least the altitude of the monitoring drone 3. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, and detects the latitude, longitude, and altitude of the current position of the air mobile 2.

  The detection unit 37 is for sensing the external environment of the monitoring drone 3 with various sensors such as voice, image, and infrared rays.

  The monitoring drone 3 according to the present embodiment relays, in addition to the information processing apparatus 300, a power source, a motor connected to the rotor, and the information processing apparatus 300 and the motor for the movement and flight of the monitoring drone 3. At least a driver. The information processing apparatus 300 controls a plurality of motors and uses a monitoring drone flight control (control of ascending, descending, horizontal movement, etc.) and a gyro (not shown) mounted on the monitoring drone 3. Attitude control is also performed by controlling the motor. The driver drives the motor according to a control signal from the information processing apparatus 300. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. The monitoring drone 300 may have other elements not shown.

<Data>
As shown in FIG. 5, in the present embodiment, location data 530 including at least one of map information, terrain information, and building information, route data 510 based on three-dimensional coordinates, and a state on the route Traffic data 520 representing the These data are transmitted from the server 1 to some or all of the airmobiles 2 or the monitoring drone 3 and shared.

  Specifically, as shown in FIG. 5, the location data is map information and includes information on topography, buildings, and other structures. The location data in the present embodiment includes accurate height information (altitude information) of the structure in addition to so-called plane map information (latitude information and longitude information). In particular, the structure also has coordinate information of the volume occupying the real space (that is, including the shape information of the structure for the air mobile 2 to fly without colliding).

  The route data 510 plays a role of a road in the air of the air mobile 2, and as will be described later, the route data is displayed on the display section of the air mobile 2 so that safe operation of the air mobile is possible. Become. The route data has at least continuous latitude information, longitude information, and altitude information, and the route is specified by the information. Note that the route data may include certain width information that can be operated in the same manner as the width of a normal road. The route data 510 includes information related to route branching, speed limit, distance from other routes, traveling direction, vehicle type restriction, and traffic restriction (information corresponding to signals and information related to operation restrictions).

  The traffic data 520 is information for specifying a troubled area on the route when trouble occurs in the route, for example, and includes at least latitude information, longitude information, altitude information, and trouble content.

<Process flow>
Referring to the conceptual diagram of the control system according to the present embodiment shown in FIG. 6, the server 1 reads the location data and the route data, transmits them to the air mobile 2, and displays the operation area on the display section of the air mobile 2. indicate. The display unit of the air mobile 2 according to the present embodiment is preferably a display unit that does not block the driver's field of view, such as a head-up display, for example, a method of projecting on the windshield, or AR (Augmented Reality). Various devices using technology can be employed.

  As shown in FIG. 7, a route 710 based on route data 510 is displayed on the windshield of the air mobile 2. The state (congestion status, accident status, etc.) of the route 710 is collected by the monitoring drone 2 as traffic information and transmitted to the server 1. The traffic information may be transmitted from the air mobile 2 to the server 1 automatically or manually. The traffic information is shared among the plurality of airmobiles 2, the monitoring drone 3, and the server 1.

  In the received traffic information, the server 1 generates data of a new route when the current route is not appropriate, for example, when it is congested. The generated new route data is transmitted to the air mobile 2. As shown in FIG. 8, the generated new route 510 ′ is set, and information on the new route 510 ′ is shared with the airmobile and the monitoring drone 3. The server 1 may generate and transmit a flight control instruction for automatically (remotely) controlling the airmobile so that the airmobile 2 flies on the new route 510 '. In this case, the air mobile 2 is controlled to fly based on the received flight control instruction.

  The route data according to the present embodiment may further include speed limit information. That is, more appropriate route management can be performed by setting a speed limit for a part or all of the route, as in the road for automobiles. Further, for example, as shown in FIG. 9, the route may be a separate road depending on the up line and the down line and the speed limit. As shown in FIG. 9, the route 520 having a large speed limit is set at a higher altitude than the route 530 having a low speed limit. When the air mobile 2 moves from the route 530 to the route 520, the air mobile 2 passes through a guide route (a route connecting the route 530 and the route 520) (not shown).

  Furthermore, the route data may be set as a toll for part or all of the route. The area where the toll is set (hereinafter referred to as “paid section”) is specified by information such as latitude, longitude, altitude, and the like. When the air mobile 2 enters the toll section based on the position information received from the air mobile, the server 1 starts settlement for the air mobile 2. Various conventional techniques can be used for settlement.

  The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Route management control server 2 Small air vehicle 3 Monitoring rotorcraft 4 Network 10 Processor 11 Memory 12 Storage 13 Transmission / reception part 14 Input / output part 15 Bus 20 Processor 21 Memory 22 Storage 23 Transmission / reception part 24 Input / output part 25 Bus 26 Positioning part DESCRIPTION OF SYMBOLS 27 Detection part 30 Processor 31 Memory 32 Storage 33 Transmission / reception part 34 Input / output part 35 Bus 36 Positioning part 37 Detection part 100 Route management control system 200, 300 Information processing apparatus 510, 510 ', 520, 530 Route data 520 Traffic data 530 Location data

Claims (10)

A route management control server that is communicably connected via a network to a plurality of first aircraft and a plurality of second aircraft that can be boarded by a person ,
Storage means for storing location data including at least one of map information, terrain information, and building information; and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data;
A route management control server comprising: transmission means for transmitting the read location data and the route data to each of the first aircraft and the second aircraft ,
The route data includes latitude information, longitude information, altitude information, width information, and speed limit information, and the route based on the route data is displayed as the operable area of the first aircraft. To be displayed on the display,
The second flying body includes a power unit for flight, a positioning unit that measures position information, a collection unit that monitors and collects traffic information of the route, and the collected traffic information to the route management control server. A transmission unit for transmitting, and transmitting the traffic information received from the second aircraft in a displayable manner on the display unit of the first aircraft so as to be superimposed on the route,
In the received traffic information, if the current route is not appropriate, new route data is generated, and the generated new route data is transmitted to the first aircraft and the second aircraft.
Route management control server. The route management control server according to claim 1 ,
The receiving means receives the traffic information from one of the first aircrafts,
The transmission means transmits the received traffic information to the other first aircraft.
Route management control server. The route management control server according to claim 2 ,
The control means generates a flight control instruction based on the received traffic information,
The transmission means transmits the generated flight control instruction to the first aircraft.
Route management control server. A route management control server according to any one of claims 1 to 3,
The route data includes fee information associated with the second specific area of the route,
The route management control server, when the first flying object enters the second specific area based on the position information received from the first flying object, the payment means for starting the payment process for the first flying object Further comprising
Route management control server. A route management control server according to any one of claims 1 to 4,
The second aircraft further includes a detection unit that detects an abnormality from the collected traffic information, and the transmission unit includes at least the route management control server, the first aircraft, or other information about the detected abnormality. To the second aircraft of the
Route management control server. A first flying object according to any one of claims 1 to 5 ,
A power unit for the flight,
A positioning unit for positioning position information;
A receiving unit that receives at least either the location data or the route data from the route management control server;
A control unit for receiving an operation by an operator and controlling a flight of the first flying object;
And a display unit that displays at least the received route data to the operator. The first flying object according to claim 6 ,
A transmission unit that transmits the measured position information to the route management control server;
First aircraft. The first aircraft according to claim 6 or claim 7 ,
The control unit controls the power unit based on the route data and the position information.
First aircraft. A route management control method using a route management control server terminal that is communicably connected via a network with a plurality of first aircraft and a plurality of second aircraft that can be boarded by a person ,
The route management control server terminal is
A storage step for storing location data including at least one of map information, terrain information, and building information; and route data based on three-dimensional coordinates;
A control step of reading the location data and the route data;
Transmitting the read location data and the route data to each of the first aircraft,
The route data includes latitude information, longitude information, altitude information, width information, and speed limit information, and the transmission step uses the route based on the route data as the operable area of the first flying object. Including the step of transmitting in a displayable manner on a display unit of one aircraft,
The second flying body includes a power unit for flight, a positioning unit that measures position information, a collection unit that monitors and collects traffic information of the route, and the collected traffic information is transmitted to the route management control server terminal The transmission step further transmits the traffic information received from the second flying object so that the traffic information can be displayed on the route in the display section of the first flying object. Including the steps of
In the traffic information received by the route management control server terminal , when the current route is not appropriate, a step of generating new route data, and the generated new route data as the first aircraft and the second Further comprising transmitting to the aircraft,
Route management control method. A route management control system including a plurality of first aircraft, a plurality of second aircraft, and a route management control device that can be boarded by a person ,
The first flying object, the second flying object, and the route management control device are connected to each other via a network so that they can communicate with each other.
The route management controller is:
Storage means for storing location data including at least one of map information, terrain information and building information, and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data;
Transmitting means for transmitting the location data and the route data to each of the first aircraft;
Receiving means for receiving traffic information of the route;
The first aircraft is:
A power unit for flight;
A positioning unit for positioning position information;
A receiving unit that receives at least either the location data or the route data from the route management control device;
A control unit for receiving an operation by an operator and controlling a flight of the first flying object;
A display unit that displays at least the received route data to the operator;
The second aircraft is:
A power unit for flight;
A positioning unit for positioning position information;
A collection unit for collecting the traffic information of the route;
A route management control system comprising: a transmission unit that transmits the collected traffic information to the route management control device;
The route data includes latitude information, longitude information, altitude information, width information, and speed limit information, and the management control device uses the route based on the route data as the operable area of the first aircraft. Including the step of transmitting to the display unit of the first flying body in a displayable manner,
The control means of the route management control device generates new route data based on the received traffic information, and the transmission means of the route management control device uses the generated new route data to the first flight. Transmitting to the body and the second aircraft,
Route management control system.