JP6518392B1 - Flight control system and flight planning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flight control system and a flight plan creation method capable of creating an efficient flight plan. A flight control system manages a first unmanned air vehicle having a battery, a power feeding device for supplying power to the first unmanned air vehicle, airframe information on the first unmanned air vehicle, and a flight of the first unmanned air vehicle. And a flight plan creation device for creating a flight plan of the first unmanned aerial vehicle, the flight plan creation device being based on the airframe information and battery information of the first unmanned aerial vehicle in flight If the first unmanned aerial vehicle detects an abnormality, the first unmanned aerial vehicle selects the first power feeding device capable of landing, and the first power feeding device is selected based on the power feeding device information received from the flight management device. When the second unmanned air vehicle is landing, a first movement plan is created to move the other second unmanned air vehicle from the first power feeding device to the second power feeding device. [Selected figure] Figure 15

Description

  The present invention relates to a flight control system and a flight planning method.

  Unmanned air vehicles such as multicopter (drone) are expected to be applied to various fields such as aerial photography, transportation, surveying, collection of geographical information, environmental measurement, agriculture, and the like. As the unmanned air vehicle, a battery for generating thrust and the like is used (see, for example, Patent Document 1). Patent Document 2 describes a miniature flight system that precisely manages a miniature flight vehicle in flight.

Patent No. 6156605 gazette JP, 2017-77879, A

  The unmanned air vehicle needs to be made to fly safely and efficiently in consideration of shortening of the time required from the departure place to the destination, reduction of the power consumption of the battery, suppression of heat generation of devices such as a motor and the like. Patent Document 1 does not describe the creation of a flight plan for an unmanned air vehicle. When landing on the way point from the departure point to the destination point, the miniature flight system of Patent Document 2 determines the next waypoint based on the remaining battery capacity and information on surrounding landing points. For this reason, in the small flight system of Patent Document 2, it is difficult to create an efficient flight plan beforehand at the time of departure. Further, Patent Document 2 does not describe creating an efficient flight plan based on information on past flight results or information on unmanned air vehicles in flight.

  An object of the present invention is to provide a flight control system and a flight plan creation method capable of solving the above problems and creating an efficient flight plan.

  A flight control system according to an aspect of the present invention includes an unmanned air vehicle having a battery, and a storage unit storing information on the flight results of the unmanned air vehicle in the past, the air vehicle information on the unmanned air vehicle and the battery A flight management device that receives battery information and manages the flight of the unmanned aerial vehicle, and the flight of the unmanned aerial vehicle based on the airframe information from the flight management device, the battery information, and information about the flight results And a flight plan creation device for creating a plan, wherein the flight plan creation device creates a flight path from a departure place to a destination and is associated with the flight path included in the information on the past flight results. The flight plan is created based on the power consumption of the battery.

  According to this, based on the past flight results, it is possible to create a flight plan in which the power consumption of the battery of the unmanned air vehicle is suppressed. As a result, it is possible to extend the life of the battery, and therefore, it is possible to reduce the performance degradation of the battery in flight and maintenance such as battery replacement, and to create an efficient flight plan.

  As a desirable mode of the present invention, the flight planning device further includes a feeding device for feeding power to the unmanned aerial vehicle, and the flight plan creating device creates a flight path from the departure place to the destination via the feeding device. The first charge amount of the battery required for one flight is calculated, the second charge amount is calculated based on the information on the flight record, and the charge of the first charge amount and the second charge amount is smaller than the first charge amount. Create a flight plan based on the quantity. According to this, the charge amount to the battery in the power feeding device is determined by comparing the calculated first charge amount with the second charge amount of the past flight results. Thereby, the charging time in the power feeding device can be shortened. Therefore, the flight control system can reduce the time required from the departure point to the destination, and can create an efficient flight plan.

  As a desirable mode of the present invention, the first charge amount and the second charge amount are charge amounts of the battery necessary for flight from the power feeding device to the destination. According to this, it is possible to fly the unmanned air vehicle from the power feeding device to the destination while shortening the charging time. Thus, the flight control system can create a safe and efficient flight plan.

  As a desirable mode of the present invention, the flight plan creation device acquires information on the target power consumption of the battery, and based on the past flight results, the target power consumption less than the power consumption of the battery in the past Create the flight plan to fly. According to this, the power consumption of the battery of the unmanned air vehicle can be suppressed.

  As a desirable mode of the present invention, the flight plan creation device calculates the power consumption of the battery required for the flight of the flight path, and information on the power consumption in the past included in the information on the flight results, the calculated Create a flight plan based on power consumption and weather information. According to this, the power consumption of the battery of the flying object can be suppressed based on the power consumption and weather information of the past flight results. Alternatively, it is possible to create a flight plan with high accuracy based on power consumption and weather information of past flight results.

  As a desirable mode of the present invention, the flight plan creation device creates a flight plan in which the departure time is corrected based on the weather information, when the power consumption in the past is larger than the power consumption calculated. According to this, it is possible to create a flight plan so that the arrival time to the destination is not delayed. Alternatively, the flight plan can be changed to a departure time at which power consumption can be reduced.

  A flight control system according to an aspect of the present invention includes an unmanned air vehicle having a battery, and a storage unit storing information on the flight results of the unmanned air vehicle in the past, the air vehicle information on the unmanned air vehicle and the battery A flight management device that receives battery information and manages the flight of the unmanned aerial vehicle, and the flight of the unmanned aerial vehicle based on the airframe information from the flight management device, the battery information, and information about the flight results And a flight plan creation device for creating a plan, wherein the flight plan creation device creates a flight path from a departure place to a destination, and the flight information and battery information of the unmanned air vehicle in flight And creating a flight plan with the flight path corrected, based on the flight object information of the past flight results and the battery information.

  According to this, it is possible to change to an efficient flight path based on the airframe information and battery information of the flying object in flight. Moreover, correction can be performed with high accuracy by using the past flight results.

  A flight control system according to an aspect of the present invention includes a first unmanned air vehicle having a battery, a power feeding device for supplying power to the first unmanned aerial vehicle, airborne object information on the first unmanned aerial vehicle, and battery information on the battery. And a flight management apparatus for managing the flight of the first unmanned aerial vehicle by receiving power supply apparatus information related to the power supply apparatus, and based on the airframe information from the flight management apparatus, the battery information, and the power supply apparatus information. A flight plan creation device for creating a flight plan of the first unmanned aerial vehicle, wherein the flight plan creation device is based on the airframe information and the battery information of the first unmanned aerial vehicle in flight. When the abnormal occurrence of the first unmanned aerial vehicle is detected, the first unmanned aerial vehicle selects the first power feeding device to which the first unmanned aerial vehicle can land, and receives it from the flight management device. If another second unmanned aerial vehicle is landing on the first power feeding device based on the power feeding device information, the other second unmanned aerial vehicle from the first power feeding device to the second power feeding device Create a first movement plan to move to

  According to this, by managing the plurality of unmanned air vehicles by the flight management device and the flight plan creation device, safely moving the unmanned air vehicles to the power feeding device even if an abnormality occurs in the in-flight vehicles. Can.

  As a desirable mode of the present invention, the unmanned aerial vehicle has a power receiving coil which receives power by non-contact power feeding, and the power feeding device has a power feeding coil which transmits power to the power receiving coil. According to this, in the power feeding device, the battery of the unmanned air vehicle is charged by non-contact power feeding. For this reason, in the feeding device, it is not necessary to connect a power cable or the like to the unmanned air vehicle. Therefore, autonomous flight is possible from the departure place to the destination according to the flight plan.

  A flight planning method according to an aspect of the present invention includes an unmanned air vehicle having a battery, and a storage unit for storing information on flight results of the unmanned air vehicle in the past, the air vehicle information on the unmanned air vehicle and the battery A flight management device for managing the flight of the unmanned aerial vehicle by receiving battery information relating to the unmanned aerial vehicle, and based on the information about the airborne vehicle information from the flight management device, the battery information, and the flight results, A flight plan creation device for creating a flight plan, the flight plan creation device including the steps of creating a flight path from a departure place to a destination, and information included in information regarding the past flight results Creating the flight plan based on the power consumption of the battery associated with.

  According to this, based on the past flight results, it is possible to create a flight plan in which the power consumption of the battery of the unmanned air vehicle is suppressed. As a result, it is possible to extend the life of the battery, and therefore, it is possible to reduce the performance degradation of the battery in flight and maintenance such as battery replacement, and to create an efficient flight plan.

  A flight planning method according to an aspect of the present invention includes an unmanned air vehicle having a battery, and a storage unit for storing information on flight results of the unmanned air vehicle in the past, the air vehicle information on the unmanned air vehicle and the battery A flight management device for managing the flight of the unmanned aerial vehicle by receiving battery information relating to the unmanned aerial vehicle, and based on the information about the airborne vehicle information from the flight management device, the battery information, and the flight results, A flight plan creation device for creating a flight plan, the flight plan creation device creating the flight path from a departure place to a destination, the flight information of the unmanned air vehicle in flight, and the flight information Create a flight plan with the flight path corrected based on battery information and the flight object information and battery information of past flight results. Including the steps of: a.

  According to this, it is possible to change to an efficient flight path based on the airframe information and battery information of the flying object in flight. Moreover, correction can be performed with high accuracy by using the past flight results.

  A flight planning method according to an aspect of the present invention includes a first unmanned air vehicle having a battery, a power feeding device for supplying power to the first unmanned aerial vehicle, airframe information about the first unmanned air vehicle, and a battery regarding the battery A flight management device that receives information and feeding device information related to the feeding device and manages the flight of the first unmanned air vehicle; and based on the flying object information from the flight management device, the battery information, and the feeding device information And a flight plan creation device for creating a flight plan of the first unmanned aerial vehicle, wherein the flight plan creation device is based on the airframe information and the battery information of the first unmanned aerial vehicle in flight. Selecting the first power feeding device to which the first unmanned air vehicle can land when the abnormality occurrence of the first unmanned air vehicle is detected; and The apparatus is configured to, based on the feeding device information received from the flight management device, when another second unmanned air vehicle is landing on the first feeding device, Creating a first movement plan to move from the first feeding device to the second feeding device.

  According to this, by managing the plurality of unmanned air vehicles by the flight management device, the unmanned air vehicles can be safely moved to the power feeding device even when an abnormality occurs in the in-flight vehicles.

  According to the flight control system and flight plan creation method of the present invention, it is possible to create an efficient flight plan.

FIG. 1 is a block diagram showing the configuration of the flight control system according to the first embodiment. FIG. 2 is a perspective view of the flying object according to the first embodiment. FIG. 3 is a block diagram showing the configuration of the flying object according to the first embodiment. FIG. 4 is a block diagram showing the configuration of the power supply device according to the first embodiment. FIG. 5 is a block diagram showing the configuration of the flight management device according to the first embodiment. FIG. 6 is a block diagram showing the configuration of the flight plan creation device according to the first embodiment. FIG. 7 is a block diagram showing a configuration of an information acquisition unit included in the flight plan creation device according to the first embodiment. FIG. 8 is a flowchart of the flight plan creation method according to the first embodiment. FIG. 9 is an explanatory view for explaining a flight plan according to the first embodiment. FIG. 10 is a table showing an example of the flight record database according to the first embodiment. FIG. 11 is a flowchart of a flight plan creation method according to the second embodiment. FIG. 12 is a flowchart of a flight plan creation method according to the third embodiment. FIG. 13 is a flowchart of a flight plan creation method according to the fourth embodiment. FIG. 14 is an explanatory view for explaining a flight plan according to the fourth embodiment. FIG. 15 is a flowchart of a flight plan creation method according to the fifth embodiment. FIG. 16 is an explanatory view for explaining a flight plan according to the fifth embodiment. FIG. 17 is an explanatory diagram for explaining a flight plan for moving another flight vehicle according to the fifth embodiment. FIG. 18 is an explanatory view for explaining a flight plan for emergency landing of the flying body according to the fifth embodiment.

  Hereinafter, embodiments of a flight control system and a flight plan creation method according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited by the following embodiments. Further, constituent elements of the embodiment include substitutable and substitutable ones while maintaining the identity of the invention. In addition, the methods, apparatuses and modifications described in the embodiments can be arbitrarily combined within the scope of one skilled in the art.

First Embodiment
FIG. 1 is a block diagram showing the configuration of the flight control system according to the first embodiment. As shown in FIG. 1, the flight control system 1 includes a flying object 2, a power feeding device 3, a flight management device 4, and a flight plan creation device 5.

  As shown in FIG. 1, the airframe 2 is an unmanned airborne body that travels unmannedly and autonomously in accordance with a flight command Sh transmitted from the flight management device 4. The flying object 2 is, for example, a multicopter, a helicopter, an airplane, a flying robot or the like. The flying object 2 is used for various applications such as, for example, the transportation of luggage and aerial photography. The aircraft 2 transmits to the flight management device 4 aircraft information Sa which is information on the aircraft 2. Further, the flying object 2 has a battery 251 (see FIGS. 2 and 3) for generating thrust and the like. The flying object 2 transmits battery information Sb, which is information on the battery 251, to the flight management device 4. In addition, the flying object 2 can also transmit the flying object information Sa and the battery information Sb during flight to the flight plan creation device 5. As shown in FIG. 1, the flight control system 1 has a plurality of airframes 2-1,. The plurality of airframes 2-1 to 2-m transmit airframe information Sa and battery information Sb to the flight management device 4, respectively. In the following description, when there is no need to distinguish between a plurality of flying objects 2-1,...

  The power feeding device 3 supplies power to the flying object 2 by non-contact power feeding. The non-contact power feeding system of the power feeding device 3 is, for example, a magnetic field resonance system (AC resonance system or DC resonance system). In addition, it is not limited to this, For example, it is also possible to implement | achieve the electric power feeder 3 by the system of other non-contact electric power feeding, such as an electromagnetic induction system and a microwave system. As shown in FIG. 1, a plurality of power feeding devices 3-1 to 3-n are provided. The plurality of power feeding devices 3-1,..., 3-n transmit, to the flight management device 4, power feeding device information Sc that is information related to the power feeding device 3, respectively. Further, the plurality of power feeding devices 3-1,..., 3-n can transmit the power feeding device information Sc to the flight plan creation device 5 while the flying object 2 is flying or charging. In the following description, when it is not necessary to distinguish and describe the plurality of power feeding devices 3-1,..., 3-n, the power feeding device 3 is simply referred to.

  The flight management device 4 transmits the flight command Sh to the plurality of airframes 2-1,..., 2-m to manage the flight of the airframes 2-1,. The flight management device 4 is, for example, a PC (personal computer) or the like. The flight management device 4 transmits the flight object information Sa, the battery information Sb, and the power feeding device information Sc to the flight plan creation device 5. In addition, the flight management device 4 transmits flight performance information Sd, which is information about the past flight results of each of the aircraft 2, to the flight plan creation device 5.

  The flight plan creation device 5 creates a flight plan of the flying body 2 based on the flying body information Sa from the flight management device 4, the battery information Sb, the power feeding device information Sc, the flight record information Sd, and the like. Also, the flight plan creation device 5 receives the meteorological observation information Se from the meteorological observation device 7. Further, the flight plan creation device 5 receives the weather prediction information Sf from the weather prediction system 71. The flight plan creation device 5 can also create a flight plan based on the meteorological observation information Se and the meteorological forecast information Sf. The weather observation device 7 and the weather prediction system 71 may be included in the flight control system 1 or may use an external weather information provision service. The flight plan creation device 5 transmits flight plan information Sg, which is information on a flight plan, to the flight management device 4. The flight management device 4 generates a flight command Sh based on the flight plan information Sg and transmits it to the aircraft 2.

  Next, detailed configurations of the flying object 2, the power feeding device 3, the flight management device 4, and the flight plan creation device 5 will be described. FIG. 2 is a perspective view of the flying object according to the first embodiment. FIG. 3 is a block diagram showing the configuration of the flying object according to the first embodiment.

  As shown in FIG. 2, the flying object 2 includes a pedestal 21, an arm 22, a leg 23, a flight control device 24, a power receiving device 25, a motor 26, a propeller 27, and a sensor group 28. including. The pedestal portion 21 is a plate-like member, and a plurality of pedestal portions 21 are provided in the vertical direction (z direction). The four arms 22 are provided on the pedestal portion 21 and radially extend when viewed from the z direction.

  The leg portion 23 has a leg support 231 and a horizontal leg 232. The leg support 231 extends downward from the pedestal 21 while extending in the ± x direction. The horizontal leg 232 is fixed to the lower end of the leg support 231 and extends in the y direction.

  The flight control device 24 is provided on the pedestal 21. The flight control device 24 is a control circuit that supplies control signals to the power reception device 25 and the motor 26 to control the flight of the flying object 2. Further, the power receiving device 25 is provided below the pedestal portion 21. The power reception device 25 includes a battery 251, a power reception control device 252, and a power reception coil 253.

  A motor 26 and a propeller 27 are provided near the respective ends of the four arms 22. The motor 26 is provided with the direction of the rotation axis directed in the vertical direction (z-axis direction). A propeller 27 is attached to the rotation shaft of the motor 26. An ESC (Electrical Speed Controller) 261 and a motor controller 262 (see FIG. 3) are connected to each motor 26.

  The sensor group 28 is provided on the pedestal 21. The sensor group 28 includes, for example, a three-axis gyro sensor (angular velocity sensor), a three-axis acceleration sensor, an air pressure sensor, a magnetic sensor, an ultrasonic sensor, a pressure sensor, and the like.

  As shown in FIG. 2, a load 110 of the flying object 2 is mounted below the pedestal 21. The load 110 is disposed in a space surrounded by the lower portion of the pedestal 21 and the two leg struts 231. The load 110 is, for example, a delivery when the aircraft 2 is used for collecting and delivering luggage, or, for example, a shooting equipment (camera, video camera, stabilizer, gimbal when the aircraft 2 is used for aerial imaging). , Vibration buffer etc.).

  The configuration of the flying object 2 shown in FIG. 2 is merely an example, and can be changed as appropriate. For example, although four arms 22 and four propellers 27 are provided, they may be two, three or five or more. Moreover, although the receiving coil 253 is provided under the base part 21, it is not limited to this, What is necessary is just a position which can face the feed coil 313 (refer FIG. 4).

  As shown in FIG. 3, the flying object 2 further includes a communication unit 29, an ESC temperature sensor 281, and a GPS receiving unit 282. The communication unit 29 includes a transmission / reception circuit that performs wireless communication with the flight management device 4 and the flight plan creation device 5. This wireless communication is performed, for example, using a 2.4 GHz band radio wave or the like. The ESC temperature sensor 281 is a temperature sensor that detects the temperature of the ESC 261. The GPS receiving unit 282 includes a receiving antenna, a receiving circuit, and the like that receive GPS signals in a GPS (Global Positioning System).

  The flight control device 24 includes a control circuit 241 and a storage unit 242. The control circuit 241 outputs a control signal to the power receiving device 25 and the motor control device 262 based on the flight command Sh from the flight management device 4 to control the flight of the flying object 2. The control circuit 241 is, for example, a CPU (Central Processing Unit). The storage unit 242 stores flight object information Sa related to the flight object 2, battery information Sb, flight plan information Sg required for flight, and the like. The storage unit 242 is, for example, a read only memory (ROM), a random access memory (RAM), or the like.

  The motor control device 262 outputs a drive signal to the ESC 261 based on the control signal from the control circuit 241. The ESC 261 outputs a voltage signal to the motor 26 by magnitude control of electric resistance value or PWM (Pulse Width Modulation) control. Thus, the ESC 261 controls the rotation of the motor 26. The control circuit 241 controls the number of rotations of the plurality of motors 26 based on the information from the sensor group 28, the ESC temperature sensor 281, and the GPS receiving unit 282. Thereby, the control circuit 241 controls the operation (attitude (pitch, roll, yaw), movement (forward, backward, left-right movement, up, down), etc.) of the flying object 2. The motor 26 is an electric motor, for example, a brushless motor. The control circuit 241 also has a function of performing wireless communication with the power feeding device 3 and performing authentication between the flying object 2 and the power feeding device 3.

  The power reception device 25 includes a charge amount detection circuit 254 in addition to the battery 251, the power reception control device 252, and the power reception coil 253. The power reception control device 252 is a circuit that controls charging of the battery 251 based on a control signal from the control circuit 241. The battery 251 is, for example, a lithium polymer secondary battery, an electric double layer capacitor (electric double layer capacitor), a lithium ion secondary battery or the like. The charge amount detection circuit 254 is a circuit that detects the charge amount based on the voltage between the terminals of the battery 251. In addition, the charge amount detection circuit 254 can also detect the remaining voltage capacity of the battery 251 based on the voltage between terminals of the battery 251. The control circuit 241 calculates the power consumption of the battery 251 based on the information of the remaining voltage capacity.

  The power receiving coil 253 is, for example, a spiral coil. The receiving coil 253 is provided to face the feeding coil 313 (see FIG. 4) of the feeding device 3 when the flying object 2 lands on the feeding device 3. By magnetically coupling the power receiving coil 253 and the feeding coil 313, the battery 251 is charged from the feeding device 3 by non-contact power feeding. The power of the battery 251 is supplied to the control circuit 241 and the ESC 261.

  FIG. 4 is a block diagram showing the configuration of the power supply device according to the first embodiment. As shown in FIG. 4, the power feeding device 3 includes a power feeding circuit 31, a power feeding control device 32, a storage unit 33, a timer 34, a flying object detection sensor 35, and a communication unit 39. The power supply control device 32 is a circuit that controls the non-contact power supply from the power supply device 3 to the power reception device 25 by controlling the power supply circuit 31, the storage unit 33, the timer 34, the flying object detection sensor 35, the communication unit 39, and the like. .

  The feed circuit 31 includes a feed coil 313, a power measurement circuit 312, and a power supply circuit 311. The power supply circuit 311 includes, for example, an AC / DC converter and a regulator. The power supply circuit 311 supplies, for example, power supplied from a commercial power supply or the like to the feed coil 313 via the power measurement circuit 312. The power measurement circuit 312 measures the power supplied to the feed coil 313. The power measurement circuit 312 includes, for example, a voltmeter and an ammeter. The feeding coil 313 is, for example, a spiral coil, and supplies power to the receiving coil 253 contactlessly.

  The storage unit 33 stores power supply device information Sc that is information related to the power supply device 3. The storage unit 33 also stores feed conditions such as feed time and feed amount for the flying object 2 and conditions regarding past feed results. The timer 34 measures the feeding time for the flying object 2, that is, the time from when the feeding circuit 31 starts feeding to when feeding is completed.

  The flying object detection sensor 35 determines whether the flying object 2 exists at a fixed position of the power feeding device 3 (whether the power feeding region of the power feeding coil 313 and the power receiving region of the power receiving coil 253 face each other). Detect The flying object detection sensor 35 is configured using, for example, a photoelectric sensor, a pressure sensor, a distance measurement sensor, and the like.

  The communication unit 39 includes a transmission / reception circuit that wirelessly communicates with the aircraft 2, the flight management device 4 and the flight plan creation device 5. The power supply control device 32 transmits various information such as the power supply device information Sc to the flight management device 4 and the flight plan creation device 5 via the communication unit 39. Further, the power supply control device 32 receives the flying object information Sa and the battery information Sb from the flying object 2 via the communication unit 39, and authenticates the flying object 2.

  FIG. 5 is a block diagram showing the configuration of the flight management device according to the first embodiment. As shown in FIG. 5, the flight management device 4 includes a control device 41, a storage unit 42, an input unit 43, an output unit 44, and a communication unit 45. The input unit 43 is an interface that receives input of information and instructions from the user, and is, for example, a keyboard, a mouse, a touch panel, or the like. The user can input information such as the identification name of the flying object 2, the departure place of the flight path, the destination, etc. from the input unit 43 to the control device 41. The output unit 44 is an interface that provides information to the user, and is, for example, a liquid crystal display (LCD), a light emitting diode (LED), a speaker, or the like. The communication unit 45 includes a transmission / reception circuit that performs wireless communication with the flying object 2, the power feeding device 3, and the flight plan creating device 5.

  The control device 41 controls the flight of one or more flight vehicles 2 based on various information. The control device 41 is, for example, a CPU. The control device 41 includes a flying object identification unit 411, a battery identification unit 412, an information acquisition unit 413, and a flight command output unit 414.

  The information acquisition unit 413 acquires various types of information from the aircraft 2, the power feeding device 3, and the flight plan creation device 5. The storage unit 42 stores various types of information acquired by the information acquisition unit 413 as a database. The storage unit 42 includes an aircraft information database 421, a battery information database 422, a flight plan information database 423, a power feeding device information database 424, a weather information database 425, a flight results database 426, and the like.

  Based on the flying object information Sa from the flying object 2 and the flight plan information Sg from the flight planning device 5, the flying object identification unit 411 determines whether the flying object 2 is the flight object 2 to be managed. Identify Similarly, the battery identification unit 412 identifies whether the battery 251 is a battery 251 to be managed, based on the battery information Sb from the battery 251 and the flight plan information Sg from the flight plan creation device 5. . The flight command output unit 414 transmits the flight plan information Sg as a flight command Sh to the flight object 2 to be managed.

  FIG. 6 is a block diagram showing the configuration of the flight plan creation device according to the first embodiment. FIG. 7 is a block diagram showing a configuration of an information acquisition unit included in the flight plan creation device according to the first embodiment. As shown in FIG. 6, the flight plan creation device 5 includes a control device 51, a storage unit 52, a communication unit 53, an input unit 54, and an output unit 55.

  The input unit 54 is an interface that receives input of information and instructions from the user, and is, for example, a keyboard, a mouse, a touch panel, or the like. The user can input information regarding flight plan creation from the input unit 54 to the control device 51. The output unit 55 is an interface for providing information to the user, and is, for example, a liquid crystal display (LCD), a light emitting diode (LED), a speaker, or the like. The communication unit 53 includes a transmission / reception circuit that performs wireless communication with the flying object 2, the power feeding device 3, and the flight management device 4.

  The control device 51 includes an information acquisition unit 511 and a flight plan creation unit 512. The control device 51 is, for example, a CPU. The information acquisition unit 511 acquires various types of information from the aircraft 2, the power feeding device 3, and the flight management device 4. As shown in FIG. 7, the information acquiring unit 511 includes an aircraft information acquiring unit 511A, a battery information acquiring unit 511B, a flight condition acquiring unit 511C, a power feeding device information acquiring unit 511D, a weather information acquiring unit 511E, and a flight results information acquiring unit. 511F and the like.

  The airframe information acquisition unit 511A acquires information such as the airframe identification name, airframe specification information, mounted battery identification name, position information, flight speed, flight direction, flight time, ESC temperature, motor temperature, etc., as the airframe information Sa. Do. The battery information acquisition unit 511B acquires information such as a battery identification name, battery specification information, remaining voltage capacity, output current value, and battery temperature as the battery information Sb. The flight condition acquisition unit 511C acquires information such as the departure place, the destination, the load weight, the load capacity, the load shape, and the flight method. The feeding device information acquisition unit 511D acquires information such as a feeding device identification name, an installation place, and feeding device specification information as the feeding device information Sc. The weather information acquisition unit 511E acquires information such as the air temperature, the wind speed, and the wind direction as the weather observation information Se and the weather prediction information Sf. The flight record information acquisition unit 511F acquires information such as a flight path, required time, power consumption, weather conditions, ESC temperature, motor temperature, battery temperature and the like as the flight record information Sd.

  The storage unit 52 illustrated in FIG. 6 stores the information acquired by the information acquisition unit 511. The storage unit 52 is, for example, a ROM, a RAM, a hard disk or the like.

  The flight plan creation unit 512 is a circuit that creates a flight plan based on the various information acquired by the information acquisition unit 511. The flight plan creation unit 512 includes a flight route creation unit 513, a flight time calculation unit 514, a charge time calculation unit 515, a flight distance calculation unit 516, a required time calculation unit 517, an ESC cooling time calculation unit 518, and a determination unit 519. The flight plan creation unit 512 may be configured by an arithmetic circuit individually formed for each of the above functions. Alternatively, each function of the flight plan creation unit 512 may be formed by one semiconductor integrated circuit (IC: Integrated Circuit). The flight plan created by the flight plan creation unit 512 is transmitted to the flight management device 4 via the communication unit 53 as flight plan information Sg.

  Next, a flight plan creation method by the flight plan creation device 5 will be described with reference to FIGS. FIG. 8 is a flowchart of the flight plan creation method according to the first embodiment. FIG. 9 is an explanatory view for explaining a flight plan according to the first embodiment. FIG. 10 is a table showing an example of the flight record database according to the first embodiment.

  As shown in FIG. 8, the flight plan creation device 5 receives the information of the departure place P1 and the destination P2 (see FIG. 9) from the flight management device 4 (step ST11). The information on the departure point P1 and the destination P2 is the respective position information. Thus, the flight plan creation device 5 starts to create a flight plan. The flight plan creation device 5 further acquires various types of information such as the aircraft information Sa, the battery information Sb, and the power supply device information Sc from the flight management device 4 (step ST12).

  The flight distance calculation unit 516 calculates the distance that can be fly by one flight based on the flying object information Sa and the battery information Sb. In other words, the flight distance calculation unit 516 calculates the flightable distance without charging the battery 251 by the power feeding device 3. Determination unit 519 determines whether or not flight object 2 can not reach destination P2 in one flight, based on the information of departure place P1 and destination P2 and the information from flight distance calculation unit 516. (Step ST13).

  If the flying object 2 can not reach the destination P2 in one flight (step ST13, No), the determining unit 519 determines that the flying object 2 does not need to pass through the power feeding device 3 (see FIG. 9). Do. Thus, the flight path creation unit 513 and the flight time calculation unit 514 create a flight plan from the departure place P1 to the destination P2 (step ST18-3). The flight plan in step ST18-3 includes the flight path from the departure point P1 to the destination P2 not via the power feeding device 3 and the flight time required from the departure point P1 to the destination P2. Then, the flight plan creation device 5 transmits flight plan information Sg to the flight management device 4 (step ST19). Thereby, the flying body 2 flies according to the flight plan by the flight command Sh based on the flight plan information Sg.

  If the flying object 2 can not reach the destination P2 in one flight (Step ST13, Yes), the determining unit 519 determines that the flying object 2 needs to pass through the power feeding device 3 (see FIG. 9). Do. Then, the flight path creation unit 513 creates the first flight path FP1, and the flight distance calculation unit 516 calculates the flight distance of the second partial flight path FP1-2 from the power feeding device 3 to the destination P2 (step ST14). Specifically, the flight path creation unit 513 creates a first flight path FP1 that reaches the destination P2 from the departure point P1 shown in FIG. 9 via the power feeding device 3. Here, the first flight path FP1 includes a first partial flight path FP1-1 and a second partial flight path FP1-2. The first partial flight path FP1-1 is a flight path from the departure point P1 to the power feeding device 3. The second partial flight path FP1-2 is a flight path from the feeding device 3 to the destination P2. Then, the flight distance calculation unit 516 calculates the flight distance of the first partial flight path FP1-1 and the flight distance of the second partial flight path FP1-2. The flight time calculation unit 514 calculates the flight time of the first flight path FP1 based on the flight distance of each flight path and the flight object information Sa.

  Then, charge time calculation unit 515 calculates the first charge amount of battery 251 necessary for the flight of second partial flight path FP1-2 (step ST15). The charge time calculation unit 515 can calculate the first charge amount based on the flight information Sa, the battery information Sb, and the flight distance of the second partial flight path FP1-2. In this case, the first charge amount of the battery 251 is smaller than the maximum charge amount. And charge time calculation part 515 calculates charge time required in order to charge the 1st charge with electric supply device 3 based on the 1st charge of battery 251, and electric power feeder information Sc.

  The charge time calculation unit 515 calculates the second charge amount based on the information related to the power consumption of the past flight record information Sd (step ST16). The flight record information Sd is stored in the flight record database 426 of the flight management device 4. As shown in FIG. 10, as an example of the flight record information Sd, information such as a flying body identification name, a battery identification name, a flight route, a power feeding device identification name, power consumption, weather conditions, loading conditions, departure time, flight time, etc. Are associated and stored. The information acquisition unit 511 of the flight plan creation device 5 acquires information regarding the past flight results of the first flight path FP1. Then, the information acquisition unit 511 outputs the result of the power consumption of the first flight path FP1 to the charge time calculation unit 515. The charge time calculation unit 515 can calculate the second charge amount of the battery 251 necessary for the flight of the second partial flight path FP1-2 based on the power consumption of the past flight results. Then, the charge time calculation unit 515 calculates the charge time required to charge the second charge amount by the power feeding device 3 based on the second charge amount of the battery 251 and the power feeding device information Sc.

  Determination unit 519 compares the first charge amount with the second charge amount (step ST17). When the first charge amount is smaller than the second charge amount (No in step ST17), the charge time calculation unit 515 resumes the flight from the power feeding device 3 to the destination P2 when the first charge amount is charged. Are created (step ST18-2). In this case, the flight plan creating unit 512 is based on the first flight path FP1 created by the flight route creating unit 513 and the charging time of the first charge amount in the power feeding device 3 calculated by the charging time calculating unit 515. Create a flight plan.

  When the second charge amount is smaller than the first charge amount (Yes in step ST17), the flight plan creation unit 512 resumes the flight from the power feeding device 3 to the destination P2 when the second charge amount is charged. Are created (step ST18-1). In this case, the flight plan creation unit 512 is based on the first flight path FP1 created by the flight route creation unit 513 and the charge time of the second charge amount in the power feeding device 3 calculated by the charge time calculation unit 515. Create a flight plan. Thus, by comparing the calculated first charge amount with the second charge amount based on the past flight results, the flight plan creation unit 512 creates a flight plan in which the charging time in the power feeding device 3 is shortened. it can. Then, the flight plan creation device 5 transmits flight plan information Sg to the flight management device 4 (step ST19).

  The flight plans in steps ST18-1 and ST18-2 are required for the first flight path FP1 to reach the destination P2 from the place of departure P1 via the power feeding device 3, and from the point of departure P1 to the destination P2 And time required. The required time is the total time required for the flight from the departure point P1 to the destination P2, and includes the flight time required for the first flight path FP1 and the charging time of the power feeding device 3. The required time calculation unit 517 calculates the required time.

  As described above, the flight control system 1 of the present embodiment stores the flight object 2 (unmanned air vehicle) having the battery 251, and the storage unit for storing the flight result information Sd (information about flight results) of the flight object 2 in the past. 42, a flight management apparatus 4 for managing the flight of the aircraft 2 by receiving the aircraft information Sa on the aircraft 2 and battery information Sb on the battery 251, the aircraft information Sa from the flight management apparatus 4, and battery information And a flight plan creation device 5 for creating a flight plan of the aircraft 2 based on Sb and flight record information Sd. The flight plan creation device 5 creates the first flight path FP1 from the departure place P1 to the destination P2, and uses the power consumption of the battery 251 associated with the first flight path FP1 included in the past flight result information Sd. Create a flight plan based on it.

  According to this, based on the past flight results, it is possible to create a flight plan in which the power consumption of the battery 251 of the aircraft 2 is suppressed. As a result, since the life of the battery 251 can be extended, the performance degradation of the battery 251 in flight and maintenance such as battery replacement can be reduced, and an efficient flight plan can be created.

  In addition, the flight control system 1 further includes a power feeding device 3 for feeding power to the flying object 2, and the flight plan creation device 5 has a first flight path from the departure place P1 to the destination P2 via the power feeding device 3. FP1 is created, the first charge amount of the battery required for one flight is calculated, the second charge amount is calculated based on the flight record information Sd, and the charge among the first charge amount and the second charge amount is smaller Create a flight plan based on the quantity. According to this, the charge amount to the battery in the power feeding device 3 is determined by comparing the calculated first charge amount with the second charge amount of the past flight results. Thereby, the charge time in the electric power feeder 3 can be shortened. Therefore, the flight control system 1 can shorten the time required from the departure point P1 to the destination P2, and can create an efficient flight plan.

  Further, in the flight control system 1, the first charge amount and the second charge amount are the charge amounts of the battery 251 necessary for the flight from the power feeding device 3 to the destination P2. According to this, it is possible to fly the flying object 2 from the power feeding device 3 to the destination P2 while shortening the charging time. Thus, the flight control system 1 can create a safe and efficient flight plan.

  Further, the flying object 2 has a power receiving coil 253 that receives power by non-contact power feeding, and the power feeding device 3 has a power feeding coil 313 that transmits power to the power receiving coil 253. According to this, in the power feeding device 3, the battery 251 of the flying object 2 is charged by non-contact power feeding. For this reason, in the feeding device 3, connection of a power cable or the like to the flying object 2 is unnecessary. Therefore, autonomous flight is possible according to the flight plan from the departure place P1 to the destination P2.

Second Embodiment
FIG. 11 is a flowchart of a flight plan creation method according to the second embodiment. Step ST21 and step ST22 shown in FIG. 11 are the same as step ST11 and step ST12 shown in FIG. 8, and the detailed description will be omitted.

  The information acquisition unit 511 acquires information on target power consumption from the flight management device 4 (step ST23). The information on the target power consumption is the power consumption of the battery 251 consumed in the flight from the departure point P1 to the destination P2. Information on target power consumption is input to the control device 41 as one of flight conditions via the input unit 43 of the flight management device 4. The target power consumption is power smaller than the power consumption required for normal flight in past flight results.

  The flight path creation unit 513 creates a flight path based on the information on the departure place P1 and the destination P2 (step ST24). The flight path creation unit 513 may create a flight path passing through the power feeding device 3 as in FIG. 9, or may create a flight path not passing through the power feeding device 3. Then, the flight plan creating unit 512 creates a flight plan of the target power consumption based on the information such as the flight conditions of the past flight results and the power consumption included in the flight record information Sd (step ST25). Specifically, the flight distance calculation unit 516 calculates the flight distance from the current flight route. The flight time calculation unit 514 obtains the relationship between the flight path and the flight distance, and the power consumption from the past flight result information Sd. The flight time calculation unit 514 calculates flight time (flight speed) as flight conditions that can suppress power consumption to target power consumption. The flight plan creation unit 512 creates a flight plan based on the flight path, flight time, and the like. Then, the flight plan creation device 5 transmits the flight plan information Sg to the flight management device 4 (step ST26).

  As described above, the flight plan creation device 5 obtains information on the target power consumption of the battery 251, and flies with target power consumption smaller than the power consumption of the battery 251 in the past, based on the past flight performance information Sd. Create a flight plan. According to this, the power consumption of the battery 251 of the flying object 2 can be suppressed. In addition, although flight time was illustrated as flight conditions which suppress power consumption, you may change other conditions, such as a flight path.

Third Embodiment
FIG. 12 is a flowchart of a flight plan creation method according to the third embodiment. Step ST31 and step ST32 shown in FIG. 12 are the same as step ST11 and step ST12 shown in FIG. 8, and the detailed description will be omitted.

  As shown in FIG. 12, the flight plan creation unit 512 creates a flight path, and calculates the power consumption required to fly this flight path (step ST33). Specifically, the flight path creation unit 513 creates a flight path based on the information on the departure place P1 and the destination P2. The charge time calculation unit 515 calculates the power consumption of the battery 251 based on information such as the flight object information Sa, the battery information Sb, the flight path, and the flight distance.

  The information acquisition unit 511 acquires information on power consumption from the past flight record information Sd (step ST34). In this case, the information acquisition unit 511 acquires the past of power consumption in the same flight route and the flight route created by the flight route creation unit 513.

  Determination unit 519 determines whether the past performance of power consumption is larger than the calculated power consumption (step ST35). If the past performance of power consumption is smaller than the calculated power consumption (step ST35, No), the flight plan creation unit 512 creates a flight plan based on the past past power consumption (step ST37). Specifically, the charging time calculation unit 515 calculates the charging time in the power feeding device 3 based on the past power consumption results and the power feeding device information Sc. The flight plan creation unit 512 creates a flight plan including the flight path created by the flight path creation unit 513 and the charging time and flight time based on the past of the power consumption. Then, the flight plan creation device 5 transmits flight plan information Sg to the flight management device 4 (step ST38).

  If the past performance record of power consumption is larger than the calculated power consumption (step ST35, Yes), the flight plan creation unit 512 estimates power consumption above weather conditions (for example, head wind etc.) in past flight records. It is determined that the The flight plan creation unit 512 creates a flight plan with the departure time corrected based on the meteorological observation information Se and the meteorological forecast information Sf (step ST36). For example, in the case where the wind direction of the flight route is a head wind from the meteorological observation information Se and the meteorological forecast information Sf, the charging time calculation unit 515 calculates the charging time from the past power consumption results. Further, the flight time calculation unit 514 calculates the flight time longer than the normal flight time based on the meteorological observation information Se and the meteorological prediction information Sf. The flight time calculation unit 514 corrects the flight plan so that the departure time of the airframe 2 is advanced earlier than the normal departure time based on the calculated flight time. Thus, it is possible to create a flight plan with the departure time corrected so that the arrival time to the destination P2 is not delayed.

  Alternatively, based on the weather prediction information Sf, the flight time calculation unit 514 may correct the departure time according to the time when the headwind weakens in the flight path or the time when the backwind becomes. In this case, the charge time calculation unit 515 calculates the charge time from the calculated power consumption. Thus, the power consumption of the battery 251 can be suppressed, and the charging time can be shortened. In addition, the flight time calculation unit 514 calculates the normal flight time based on the flight distance of the flight path and the aircraft information Sa.

  Then, the flight plan creation device 5 transmits flight plan information Sg to the flight management device 4 (step ST38).

  As described above, in the flight control system 1 of the present embodiment, the flight plan creation device 5 calculates the power consumption of the battery 251 required for the flight of the flight path, and relates to the past power consumption included in the flight record information Sd. A flight plan is created based on the information, the calculated power consumption and the weather information (the weather observation information Se and the weather prediction information Sf).

  In addition, when the past power consumption is larger than the calculated power consumption, the flight plan creation device 5 creates a flight plan in which the departure time is corrected based on the weather information.

  According to this, the flight plan creation device 5 can create a flight plan with the departure time corrected so that the arrival time to the destination P2 is not delayed based on the power consumption and weather information of the past flight results. . That is, the flight plan creation device 5 can create a flight plan with high accuracy. Alternatively, the flight plan creation device 5 can correct the departure time to a time of good weather conditions and change it to a flight plan that can reduce power consumption.

Fourth Embodiment
FIG. 13 is a flowchart of a flight plan creation method according to the fourth embodiment. FIG. 14 is an explanatory view for explaining a flight plan according to the fourth embodiment.

  As shown in FIG. 13, the flight plan creation device 5 transmits flight plan information Sg to the flight management device 4 (step ST41). As shown in FIG. 14, the flight plan creation device 5 creates a flight plan for flying the second flight path FP2-1 from the departure place P1 to the destination P2. The flight plan creation device 5 transmits flight plan information Sg based on the flight plan of the second flight path FP2-1 to the flight management device 4.

  Next, as shown in FIG. 13, the flight management device 4 transmits a flight command Sh to the aircraft 2 (step ST42). Thus, the aircraft 2 receives the flight command Sh and starts flight according to the flight plan (step ST43). The flying object 2 transmits the flying object information Sa and the battery information Sb in flight to the flight management device 4 and the flight plan creation device 5. The flight plan creation device 5 acquires in-flight vehicle information Sa and battery information Sb (step ST44).

  The flight plan creation device 5 corrects the flight plan based on the past flight results and the current flight status (step ST45). For example, when the power consumption obtained from the battery information Sb in flight is larger than the power consumption obtained from the battery information Sb in the past flight record information Sd, the flight plan creation device 5 is more efficient. Create a flight plan of the corrected flight path FP2-2 (see FIG. 14). The correction of the flight plan by the flight plan creation device 5 is not limited to the case where the power consumption increases. For example, when the flight speed obtained from the flying object information Sa in flight is lower than the past flight result information Sd, or the ESC temperature obtained from the flying object information Sa in flight is in the past flight result information Sd There is a case where it is higher than

  The flight plan creation device 5 transmits the corrected flight plan information Sg to the flight management device 4 (step ST46). The flight management device 4 transmits the corrected flight command Sh to the aircraft 2 (step ST47). Thus, the aircraft 2 flies according to the corrected flight plan (step ST48). The flying object 2 flies the corrected flight path FP2-2 which is more efficient than the second flight path FP2-1 shown in FIG.

  After the end of the flight, the aircraft 2 transmits the aircraft information Sa and the battery information Sb to the flight management device 4 (step ST49). The flight management device 4 receives the airframe information Sa and the battery information Sb, and updates the flight history information Sd stored in the flight history database 426. Thereby, the flight plan creation device 5 can create a flight plan with high accuracy. Also in the first to third embodiments described above, the flight management device 4 similarly receives the aircraft information Sa and the battery information Sb after the flight of the aircraft 2 ends, and Make an update.

  As described above, the flight control system 1 according to the present embodiment includes the flying object 2 having the battery 251 and the storage unit 42 that stores the past flight performance information Sd of the flying object 2. Based on the information Sa and the battery information Sb concerning the battery 251 and managing the flight of the flying object 2, the flight management device 4 based on the flight information Sa, the battery information Sb and the flight history information Sd from the flight management device 4, And a flight plan creation device 5 for creating a flight plan of the flying object 2. The flight plan creation device 5 creates a second flight path FP2-1 from the departure place P1 to the destination P2, and the flight object information Sa and battery information Sb of the flying object 2 in flight and the flight results of the past flight results Based on the body information Sa and the battery information Sb, a flight plan in which the second flight path FP2-1 is corrected is created, and the corrected flight plan information Sg is transmitted to the flight management device 4.

  According to this, it is possible to change to the efficient corrected flight path FP2-2 based on the aircraft information Sa and the battery information Sb of the flying object 2 in flight. Moreover, correction can be performed with high accuracy by using the past flight results.

Fifth Embodiment
FIG. 15 is a flowchart of a flight plan creation method according to the fifth embodiment. FIG. 16 is an explanatory view for explaining a flight plan according to the fifth embodiment. FIG. 17 is an explanatory diagram for explaining a flight plan for moving another flight vehicle according to the fifth embodiment. FIG. 18 is an explanatory view for explaining a flight plan for emergency landing of the flying body according to the fifth embodiment.

  As shown in FIG. 15, the flight plan creation device 5 determines that the first flying object 2A is abnormal based on the flying object information Sa and the battery information Sb transmitted from the first flying object 2A (see FIG. 16) in flight. The occurrence is detected (step ST51). Examples of the abnormality of the first flying object 2A include an abnormal increase in the temperature of the ESC 261 and the motor 26, a rapid decrease in the voltage of the battery 251, and a decrease in the rotational speed of the motor 26.

  The flight plan creation device 5 uses the power supply device 3 in the vicinity of the first airborne object 2A from the position information included in the airborne object information Sa of the first airborne object 2A in flight for emergency landing of the first airborne object 2A Is selected (step ST52). For example, as shown in FIG. 16, when there are a plurality of first power feeding devices 3A and a plurality of second power feeding devices 3B, the first power feeding device 3A located closest to the first flying object 2A is selected.

  The flight plan creation device 5 detects whether or not the other second flying object 2B is being fed by the first power feeding device 3A based on the power feeding device information Sc (step ST53). When the other second flying body 2B is not supplying power (step ST53, No), the flight plan creation device 5 is the flight management device 4 for emergency landing information for emergency landing of the first flying body 2A to the first power supply device 3A. (Step ST58). The flight management device 4 transmits an emergency landing command Sj (see FIG. 18) based on the emergency landing information to the first flying object 2A in flight (step ST59). The first airframe 2A receives the emergency landing command Sj, and lands on the first power feeding device 3A selected for emergency landing (step ST60).

  When the other second flying object 2B is supplying power (Yes in step ST53), the flight plan creating device 5 cancels the flight planning of the first flying object 2A and waits for waiting near the first power feeding device 3A. The information is sent to the flight management device 4. The flight management device 4 transmits a standby command Si (see FIG. 16) based on the standby information to the first flying object 2A in flight (step ST54). Thereby, the first flying body 2A stands by in the vicinity of the first power feeding device 3A.

  The flight plan creation device 5 transmits, to the flight management device 4, emergency movement information for moving the other second flight vehicle 2B from the first power feeding device 3A (step ST55). Specifically, the flight plan creation device 5 performs an emergency movement of the second other flying object 2B based on the flying object information Sa and the battery information Sb of the other second flying object 2B, and the power feeding device information Sc. Choose a point. In this case, the flight plan creation device 5 selects another second power feeding device 3B as an emergency movement point of the second flying object 2B. As shown in FIG. 17, the flight plan creation device 5 creates a movement path FP3-1 from the first power supply device 3A to the second power supply device 3B. Then, the flight plan creation device 5 creates an emergency movement plan for moving the other second flying object 2B from the first power feeding device 3A to the second power feeding device 3B. Emergency movement information based on the emergency movement plan is transmitted to the flight management device 4.

  The flight management device 4 transmits an emergency movement command based on the emergency movement information to the second aircraft 2B (step ST56). Thereby, as shown in FIG. 17, the second airframe 2B moves from the first power feeding device 3A to the second power feeding device 3B according to the emergency movement plan (step ST57).

  The flight plan creation device 5 transmits, to the flight management device 4, emergency landing information for causing the first flight vehicle 2A to make an emergency landing on the first power feeding device 3A (step ST58). Specifically, the flight plan creation device 5 performs the first power feeding from the standby position of the first flying object 2A based on the flying object information Sa and the battery information Sb of the first flying object 2A, and the power feeding device information Sc. The movement path FP3-2 (see FIG. 18) to the device 3A is created. The flight plan creation device 5 creates an emergency movement plan for moving the first airframe 2A to the first power feeding device 3A. The flight management device 4 transmits an emergency landing command Sj (see FIG. 18) based on the emergency landing information to the first flying object 2A in flight (step ST59). The first airframe 2A receives the emergency landing command Sj, and lands on the first power feeding device 3A selected for emergency landing (step ST60).

  As described above, the flight control system 1 of the present embodiment includes the flying object 2 having the battery 251, the power feeding device 3 for supplying power to the flying object 2, the flying object information Sa on the flying object 2, and the battery information on the battery 251. Sb and power supply device information Sc related to the power supply device 3 are received, and based on the flight management device 4 that manages the flight of the flying object 2, and flight object information Sa from the flight management device 4, battery information Sb and power supply device information Sc , And a flight plan creation device 5 for creating a flight plan of the flying object 2. When the flight plan creation device 5 detects an abnormality occurrence of the first flight object 2A based on the flight object information Sa and the battery information Sb of the first flight object 2A in flight, the first flight object 2A can be landed 1) Select a feeding device 3A, and create a movement plan for moving another second flying object 2B from the first feeding device 3A when the other second flying object 2B is landing on the first feeding device 3A. .

  According to this, the flight management device 4 and the flight plan creation device 5 manage the plurality of flying bodies 2 so that the flying body 2 can be safely fed even if an abnormality occurs in the flying body 2 in flight. Can be moved to

  As mentioned above, although embodiment of this invention was described, this invention is not limited by the content of this embodiment, It can change suitably. For example, the flight plan creation methods of the above-described embodiments can be combined as appropriate. The configuration of the flight management device 4 shown in FIG. 5 and the configuration of the flight plan creation device 5 shown in FIG. 6 are merely examples. The flight management device 4 and the flight plan creation device 5 may omit some of the components shown in FIGS. 5 and 6, respectively. Alternatively, the flight management device 4 and the flight plan creation device 5 may add another component to the configuration shown in FIGS. 5 and 6, respectively. Further, the various types of information of the information acquisition unit 511 illustrated in FIG. 7 are also merely examples, and some information may be omitted or other information may be added.

DESCRIPTION OF SYMBOLS 1 flight control system 2 flight body 24 flight control apparatus 25 receiving apparatus 251 battery 252 receiving control apparatus 253 receiving coil 26 motor 3 feeding apparatus 31 feeding circuit 313 feeding coil 32 feeding control apparatus 4 flight management apparatus 5 flight plan creation apparatus 7 meteorological observation Device 71 Weather forecast system Sa Flight information Sb Battery information Sc Power feed information Sd Flight record information Se Weather observation information Sf Weather forecast information Sg Flight plan information Sh flight command Si standby command Sj Emergency landing command 110 Load

Claims (4)

A first unmanned air vehicle having a battery,
A feeding device for feeding power to the first unmanned aerial vehicle;
A flight management device that receives flight body information on the first unmanned aerial vehicle, battery information on the battery, and power feeding device information on the power feeding device, and manages the flight of the first unmanned aerial vehicle;
A flight plan creation device for creating a flight plan of the first unmanned aerial vehicle based on the flight object information from the flight management device, the battery information, and the power feeding device information;
The first unmanned aerial vehicle lands when the flight plan creation device detects an abnormality occurrence of the first unmanned aerial vehicle based on the airframe information and the battery information of the first unmanned airborne object in flight. Select the first possible feeding device,
When another second unmanned aerial vehicle is landed on the first power feeding device based on the power feeding device information received from the flight management device, the other second unmanned aerial vehicle is used as the first power feeding device The flight control system which creates the 1st movement plan which moves to a 2nd electric power feeding device from this. The flight plan creation device cancels the flight plan of the first unmanned aerial vehicle and creates a second movement plan for moving the first unmanned aerial vehicle to the first power feeding device.
The flight control system according to claim 1, wherein the first unmanned air vehicle is landed on the first power feeding device after the other second unmanned air vehicle moves from the first power feeding device. A first unmanned air vehicle having a battery,
A feeding device for feeding power to the first unmanned aerial vehicle;
A flight management device that receives flight body information on the first unmanned aerial vehicle, battery information on the battery, and power feeding device information on the power feeding device, and manages the flight of the first unmanned aerial vehicle;
A flight plan creation device for creating a flight plan of the first unmanned aerial vehicle based on the flight object information from the flight management device, the battery information, and the power feeding device information,
The first unmanned aerial vehicle lands when the flight plan creation device detects an abnormality occurrence of the first unmanned aerial vehicle based on the airframe information and the battery information of the first unmanned airborne object in flight. Selecting a possible first feeding device;
The flight plan creating device is configured to, according to the power feeding device information received from the flight management device, when another second unmanned air vehicle is landing on the first power feeding device, the other second unmanned flight Creating a first movement plan for moving the body from the first feeding device to the second feeding device. The flight planning device cancels the flight plan of the first unmanned aerial vehicle and generates a second movement plan for moving the first unmanned aerial vehicle to the first power feeding device;
The method according to claim 3, further comprising: landing the first unmanned air vehicle on the first power feeding device after the other second unmanned air vehicle moves from the first power feeding device.

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