JP6577364B2 - Flight support system, flight support method, and computer program - Google Patents

Description

  The present invention relates to a flight support system, a flight support method, and a computer program.

  In recent years, it has been studied to conduct observations and surveys in the air using an unmanned air vehicle. As an unmanned flying object, for example, a flying object described in Non-Patent Document 1 is known.

Parrot, “Parrot BEBOP DRONE”, [Searched on December 17, 2015], Internet <URL: http://www.parrot.com/jp/products/bebop-drone/>

  Safe flight is one of the challenges for the use of unmanned aircraft. Conventionally, when controlling or monitoring a flight by communication with an unmanned air vehicle, if communication is not possible, there is a possibility that safe flight cannot be performed.

  The present invention has been made in view of such circumstances, and provides a flight support system, a flight support method, and a computer program capable of realizing a restriction of a flight airspace for preventing communication of a flying object. Let it be an issue.

(1) According to one aspect of the present invention, a horizontal direction of the flying body that is mounted on a flying body that communicates with a wireless base station and in which a reception state of a radio wave transmitted from the wireless base station does not satisfy a predetermined communication condition And a position information generation unit that generates position information indicating a position in the vertical direction, and generates the position information when a communication state between the aircraft and the radio base station does not satisfy a predetermined communication condition. A flight support system for operating a predetermined flight function of the flying object .
(2) According to one aspect of the present invention, a horizontal direction of the flying body that is mounted on a flying body that communicates with a wireless base station and that does not satisfy a predetermined communication condition in a reception state of a radio wave transmitted from the wireless base station And a position information generation unit that generates position information indicating a position in the vertical direction, and the position information generation unit operates when a reception state of a radio wave transmitted from the radio base station does not satisfy a predetermined communication condition The flight support system generates the position information in response to an operation of a flight function of the flying object.
(3) One aspect of the present invention is the flight support system according to (1), wherein the position information generation unit includes a radio wave intensity measurement unit that measures reception intensity of a radio wave transmitted from the radio base station, It is a flight support system which judges the pass / fail of the communication conditions based on the measurement result of the reception intensity.
(4) One aspect of the present invention is the flight support system according to any one of (1) to (3), further including a recording unit that records flight data of the flying object, wherein the recording unit The flight support system records information indicating that the part is associated with the part corresponding to the position.
(5) According to one aspect of the present invention, a horizontal direction of the flying body that is mounted on a flying body that communicates with a wireless base station and in which a reception state of a radio wave transmitted from the wireless base station does not satisfy a predetermined communication condition and a position information generating unit for generating position information indicating a vertical position, on the basis of the position information, and the flight control information generation unit for generating a flight restriction information indicating a restriction of airspace the aircraft flies, the A flight support system provided.
(6) One aspect of the present invention is the flight support system according to (5), wherein the flight restriction information generation unit uses the position information generated by the position information generation units of the plurality of flying objects. The flight support system generates the flight restriction information.

(7) According to one aspect of the present invention, the position information generation unit mounted on the flying object that communicates with the radio base station is such that the reception state of the radio wave transmitted from the radio base station does not satisfy a predetermined communication condition. A flight support method including a position information generation step of generating position information indicating horizontal and vertical positions of a flying object, wherein a communication state between the flying object and the radio base station satisfies a predetermined communication condition. If not, the position information is generated and a predetermined flight function of the flying object is activated .

(8) According to one aspect of the present invention, there is provided a computer mounted on an aircraft that communicates with a radio base station, wherein the state of reception of radio waves transmitted from the radio base station does not satisfy a predetermined communication condition. the position information generation function of generating position information indicating the position in the horizontal direction and the vertical direction, when the communication state between the aircraft and the radio base station does not meet a predetermined communication condition, generates the position information And a computer program for realizing a function of operating a predetermined flight function of the flying object .

  According to the present invention, it is possible to obtain an effect that it is possible to realize the restriction of the flying air space to prevent the communication of the flying object.

It is a block diagram which shows an example of a function structure of the aircraft 1 which concerns on one Embodiment. It is a figure which shows an example of the external appearance structure of the flying body 1 which concerns on one Embodiment. 2 is a diagram illustrating an example of a position of a flying object 1. FIG. It is a flowchart which shows Example 1 of the positional information generation method which concerns on one Embodiment. It is a chart showing an example of composition of position information concerning one embodiment. It is a flowchart which shows Example 2 of the positional information generation method which concerns on one Embodiment. It is a flowchart which shows Example 3 of the positional information generation method which concerns on one Embodiment. It is a chart showing an example of composition of position information concerning one embodiment. It is a flowchart which shows Example 4 of the positional information generation method which concerns on one Embodiment. It is a block diagram which shows an example of a function structure of the aircraft 1 which concerns on one Embodiment. It is a figure for demonstrating the flight restriction information which concerns on one Embodiment. It is a figure which shows the structural example of the flight assistance system which concerns on one Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram illustrating an example of a functional configuration of the flying object 1 according to the first embodiment. FIG. 2 is a diagram illustrating an example of an external configuration of the flying object 1 according to the first embodiment. First, the mechanical configuration of the flying object 1 will be described with reference to FIG. In FIG. 2, the flying object 1 includes a motor 60 and a rotor RT. The motor 60 gives lift and propulsion to the flying object 1 by rotating the rotor RT. In this example, the flying object 1 includes motors 61 to 64. The motors 61 to 64 rotate the corresponding rotors RT1 to RT4. By controlling the drive current supplied to each motor 60, the flight altitude, direction, and traveling direction of the aircraft 1 can be controlled.

  The flying object 1 includes a camera 40. The imaging unit, that is, the camera 40 images a landscape around the flying object 1. In this example, the imaging direction of the camera 40 matches the nose direction HDG of the flying object 1. In this case, the camera 40 images a landscape in front of the flying object 1. The camera 40 outputs a captured landscape image.

  Next, the functional configuration of the aircraft 1 will be described with reference to FIG. In FIG. 1, the flying object 1 includes a flight control unit 10, a position information generation unit 20, a positioning unit 30, and a communication unit 50. The functions of these units 10, 20, 30, and 50 may be realized by dedicated hardware, or are configured by a CPU (Central Processing Unit) and a memory. The function may be realized by the CPU executing a program for realizing the above.

  The positioning unit 30 measures the position of the flying object 1 and outputs a positioning value as a measurement result. The positioning value indicates a horizontal position (latitude and longitude) and a vertical position (altitude). The positioning unit 30 includes an altimeter as a means for measuring the position in the vertical direction. As a means for measuring the horizontal position of the positioning unit 30, for example, a GPS (Global Positioning System) may be used, or a global navigation satellite system such as a quasi-zenith satellite (QZS) (Global Navigation Satellite System (s): GNSS) may be used.

  The communication unit 50 communicates with the radio base station. The communication unit 50 transmits / receives data to / from an apparatus outside the flying object 1 via the radio base station. The wireless base station with which the communication unit 50 communicates may be, for example, a base station of a mobile phone network of a communication method such as LTE (Long Term Evolution), or a wireless LAN of a communication method such as IEEE 802.11 ( It may be a base station (Access Point (AP)) of a Local Area Network. The communication unit 50 outputs reception state information indicating a reception state of a radio wave transmitted from the communication counterpart wireless base station. The reception state information is information indicating the reception intensity of radio waves, for example.

  The flight control unit 10 controls the flight of the flying object 1 by controlling the drive current supplied to the motor 60. The flight route of the flying object 1 may be set in the flight control unit 10 before the flight, or may be set or changed in the flight control unit 10 by communication during the flight. The flight control unit 10 controls the motor 60 so that the flying object 1 flies along the flight route while comparing the flight route and the positioning value output from the positioning unit 30.

  The flight control unit 10 receives control of flight from a device external to the aircraft 1 by the communication unit 50 or transmits flight monitoring data indicating a flight state to a device external to the aircraft 1. Examples of the flight monitoring data include an image captured by the camera 40.

  The position information generation unit 20 generates position information indicating the position of the flying object 1 in the horizontal direction and the vertical direction. The position information generated by the position information generation unit 20 is the position of the air vehicle 1, and the position where the reception state of the radio wave transmitted from the partner radio base station with which the communication unit 50 communicates does not satisfy the predetermined communication condition Indicates.

  The position information generation unit 20 includes a recording unit 70. The recording unit 70 records the position information generated by the position information generation unit 20. The recording unit 70 includes a recording medium such as a non-volatile semiconductor memory, and stores the position information generated by the position information generating unit 20 in the recording medium. The recording medium provided in the recording unit 70 may be a portable IC memory that can be removed from the flying object 1, or a flash ROM that cannot be removed from the flying object 1. The flying object 1 may be provided with an interface for accessing the recording medium of the recording unit 70 from outside the flying object 1 and reading data from the recording medium. If at least the recording medium of the recording unit 70 is a flash ROM or the like that cannot be removed from the flying object 1, an interface for accessing the recording medium from outside the flying object 1 and reading data from the recording medium is provided. Is preferred.

  The position information generation unit 20 may transmit the generated position information to a recording device outside the flying object 1 by the communication unit 50, and the recording device may record the position information.

  FIG. 3 is a diagram illustrating an example of the position of the flying object 1. With reference to FIG. 3, the reception state of the radio wave in the flying body 1 will be described. FIG. 3 shows the radio base station BS and the coverage Ca of the radio base station BS. The coverage Ca is an area where radio waves transmitted from the radio base station BS can be received. In FIG. 3, at a position P1, radio waves transmitted from the radio base station BS can be received without any problem. On the other hand, at the position P2, radio waves transmitted from the radio base station BS are blocked by the high-rise building A. For this reason, although it is in the coverage Ca, the radio wave transmitted from the radio base station BS cannot be received at the position P2. Therefore, when the flying object 1 flies to the position P2, the communication of the flying object 1 may be interrupted. It is preferable to prevent communication loss of the flying object 1 for the safe flight of the flying object 1. Therefore, in this embodiment, the position P2 is detected and recorded. Since the recorded position P2 is excluded from the flight route of the flying object 1, communication disconnection of the flying object 1 can be prevented, and the flying of the flying object 1 can be contributed to safe flight.

  Next, an example of the position information generation method according to the present embodiment will be described with reference to FIGS.

[Example 1 of position information generation method]
With reference to FIG. 4 and FIG. 5, Example 1 of the position information generation method according to the present embodiment will be described. FIG. 4 is a flowchart illustrating a first example of the position information generation method according to the present embodiment. The process of FIG. 4 is started at a predetermined timing. For example, the process of FIG. 4 is started at a predetermined cycle.

(Step S1) The position information generation unit 20 determines whether the reception state of the radio wave indicated by the reception state information output from the communication unit 50 satisfies a predetermined communication condition. The communication conditions used for this determination are determined for the purpose of keeping the flying object 1 safe. For example, the communication condition includes that a communication speed sufficient to control the flight of the flying object 1 from a device outside the flying object 1 can be obtained. Alternatively, as a communication condition, it is possible to obtain a communication speed sufficient for transmitting a landscape image captured by the camera 40 to a device outside the aircraft 1 within a certain delay time range. As a sufficient communication speed, for example, a more appropriate margin can be given to a necessary communication speed. In the position information generation unit 20, a value indicating a communication condition, for example, a reception intensity is set. As a value indicating the communication condition, a lower limit value of the reception strength may be set, or threshold values of a plurality of stages of the reception strength may be set. As the reception intensity as a value indicating the communication condition, a different reception intensity may be set for each frequency band used by the radio base station. The position information generation unit 20 may generate position information for each frequency band used by the radio base station, or may generate position information that summarizes a plurality of frequency bands used by the radio base station. When threshold values of a plurality of stages of reception strength are set as values indicating communication conditions, for example, reception strength is determined at relatively long intervals up to a lower threshold of the first stage of relatively high reception strength, In the second step of the reception strength lower than the lower threshold of the first step, the reception strength may be determined at a relatively short interval. For example, the threshold value of the lower limit of the first stage of the reception strength may be a level slightly lower than normal (a level before communication starts to cause a problem, although there is no problem with communication yet).
The communication condition may be set in the position information generation unit 20 before the flight, or may be set or changed in the position information generation unit 20 by communication during the flight.

(Step S2) As a result of the determination in Step S1, if the communication condition is satisfied, the process is terminated. If the communication condition is not satisfied, the process proceeds to Step S3.

(Step S3) The position information generation unit 20 generates an event of position information. The position information generation unit 20 causes the recording unit 70 to record an event of the generated position information.

  FIG. 5 shows a configuration example of the position information. In FIG. 5, the event of position information includes an event identifier (event ID), event occurrence time information, and position information. The event ID is an identifier for identifying an event of position information. The event occurrence time information is date / time information indicating the date / time when the event occurred. The position information indicates a horizontal position (latitude and longitude) and a vertical position (altitude) of the flying object 1 corresponding to the event. The position information generation unit 20 uses the positioning values (latitude, longitude, altitude) output from the positioning unit 30 as position information included in the event. Note that an event may include an image captured by the camera 40 at the time of occurrence of the event. Further, base station information may be included in the event. For example, radio base station identification information (base station ID) may be included as base station information. Alternatively, the base station information may include base station ID and use frequency band information indicating a frequency band used by the radio base station. Further, the event may include identification information such as the model number of the communication module provided in the communication unit 50. This can be useful information when the reception sensitivity differs depending on the type of communication module.

[Example 2 of position information generation method]
With reference to FIG. 6, Example 2 of the position information generation method according to the present embodiment will be described. FIG. 6 is a flowchart illustrating a second example of the position information generation method according to the present embodiment. In the second example of the position information generation method, the operation of the GO HOME function that the flight control unit 10 of the aircraft 1 has is used. The go-home function is a flight function that operates when the reception state of the radio wave transmitted from the wireless base station of the communication partner in the communication unit 50 does not satisfy a predetermined communication condition. For example, the go-home function is activated when the reception intensity of a radio wave transmitted from a radio base station with which the communication unit 50 communicates falls below a preset lower limit value of the reception intensity. When the go-home function is activated, the flight control unit 10 controls the flight of the flying object 1 so as to return to the original location where the flight started. The go-home function can prevent the flying vehicle 1 from being in an uncontrollable or unmonitorable state.

  The process of FIG. 6 is started at a predetermined timing. For example, the processing of FIG. 6 is started when a flight control event occurs in the flight control unit 10.

(Step S <b> 11) The position information generation unit 20 determines whether the go-home function is activated in the flight control unit 10. Information on events occurring in the flight control unit 10 is input from the flight control unit 10 to the position information generation unit 20. The position information generation unit 20 determines that the go-home function has been activated when the event indicated by the information input from the flight control unit 10 is the operation of the go-home function, and otherwise, the activation of the go-home function. It is determined that it is not.

(Step S12) As a result of the determination in step S11, if the go-home function is activated, the process proceeds to step S13. If the go-home function is not activated, the process is terminated.

(Step S13) The position information generating unit 20 generates an event of position information. The position information generation unit 20 causes the recording unit 70 to record an event of the generated position information. For the location information event generated by the location information generation unit 20, the configuration example of the location information shown in FIG. 5 described above can be applied.

[Example 3 of position information generation method]
With reference to FIGS. 7 and 8, Example 3 of the position information generation method according to the present embodiment will be described. FIG. 7 is a flowchart illustrating a third example of the position information generation method according to the present embodiment. The process of FIG. 7 is started at a predetermined timing. For example, the process of FIG. 7 is started at a predetermined cycle.

(Step S21) The recording unit 70 records flight data of the flying object 1. As shown in FIG. 8, the flight data of the flying object 1 includes a flight data identifier (flight data ID), flight time information, and position information. The flight data ID is an identifier for identifying flight data of the air vehicle 1. The flight time information is date / time information indicating the date / time of the flight corresponding to the flight data. The position information indicates a horizontal position (latitude and longitude) and a vertical position (altitude) of the flying object 1 corresponding to the date and time of the flight time information of the flight data. The recording unit 70 uses the positioning values (latitude, longitude, altitude) output from the positioning unit 30 as position information included in the flight data. In addition, you may include the information which shows the flight state of the flying body 1, such as flight speed, in flight data.

(Step S22) The position information generation unit 20 determines whether the reception state of the radio wave indicated by the reception state information output from the communication unit 50 satisfies a predetermined communication condition. The process in step S22 is the same as step S1 in the first example of the position information generation method shown in FIG.

(Step S23) As a result of the determination in step S22, if the communication condition is satisfied, the process is terminated. If the communication condition is not satisfied, the process proceeds to step S24.

(Step S24) As shown in FIG. 8, the recording unit 70 records the reception state defect flag “ON” in association with the flight data recorded in step S21. The reception state defect flag “ON” indicates that the flight data is a part corresponding to a position where the reception state of the radio wave transmitted from the wireless base station of the communication partner of the communication unit 50 does not satisfy the predetermined communication condition. .

  With regard to flight data recorded in the recording unit 70, flight data in which the reception state failure flag “ON” is not recorded in association is equivalent to the reception state failure flag “OFF” being recorded in association. The reception state defect flag “off” indicates that the flight data is not a part corresponding to a position where the reception state of the radio wave transmitted from the wireless base station of the communication partner of the communication unit 50 does not satisfy the predetermined communication condition. . The reception state defect flag “off” may be explicitly recorded.

  The flight data may include an image captured by the camera 40 on the date and time of the flight time information of the flight data.

[Example 4 of position information generation method]
With reference to FIG. 9, Example 4 of the position information generation method according to the present embodiment will be described. FIG. 9 is a flowchart illustrating Example 4 of the position information generation method according to the present embodiment. In the fourth example of the position information generation method, similar to the second example of the position information generation method described above, the operation of the go-home function that the flight control unit 10 of the aircraft 1 has is used.

  The process of FIG. 9 is started at a predetermined timing. For example, the process of FIG. 9 is started at a predetermined cycle.

(Step S31) The recording unit 70 records flight data of the flying object 1. The process in step S31 is the same as step S21 in the third example of the position information generation method shown in FIG.

(Step S <b> 32) The position information generation unit 20 determines whether the go-home function is activated in the flight control unit 10. The process in step S32 is the same as step S11 in the second example of the position information generation method shown in FIG.

(Step S33) As a result of the determination in step S32, if the go-home function is activated, the process proceeds to step S34. If the go-home function is not activated, the process is terminated.

(Step S34) The recording unit 70 records the reception state defect flag “ON” in association with the flight data recorded in step S31. The configuration example of the position information shown in FIG. 8 can be applied to the data configuration in which the recording unit 70 records the reception state defect flag “ON” in association with the flight data.

According to the present embodiment, it is possible to realize the restriction of the flight airspace for preventing communication disconnection with the flying object, based on the position information recorded in the recording unit 70. For example, the position information recorded in the recording unit 70 may be used for input of automatic flight control by the flight control unit 10 as information indicating a flight prohibited airspace.
In addition, by accumulating position information acquired by multiple flights of the flying object 1 and position information acquired by flying the flying objects 1 of a plurality of users, it is possible to grasp a dead zone of radio waves in the air in real time. The grasped result can be used for communication area countermeasures.

  The location information generation unit 20 includes a radio wave intensity measurement unit that measures the reception intensity of radio waves transmitted from the radio base station with which the communication unit 50 communicates, and whether or not the communication condition is acceptable based on the measurement result of the reception intensity. May be determined.

  In the present embodiment, the position information generation unit 20 corresponds to a flight support system.

[Second Embodiment]
FIG. 10 is a block diagram illustrating an example of a functional configuration of the flying object 1 according to the second embodiment. FIG. 2 described above can be applied to the flying object 1 of the present embodiment. 10, parts corresponding to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted. The air vehicle 1 shown in FIG. 10 further includes a flight restriction information generation unit 90 with respect to the air vehicle 1 shown in FIG. The function of the flight restriction information generation unit 90 may be realized by dedicated hardware, or is configured by a CPU and a memory, and a program for realizing the function of the flight restriction information generation unit 90 is stored in the CPU. The function may be realized by executing.

  The flight restriction information generation unit 90 generates flight restriction information indicating the restriction of the airspace in which the flying object 1 flies based on the position information recorded in the recording unit 70. The recording unit 70 records the flight restriction information generated by the flight restriction information generation unit 90.

  FIG. 11 is a diagram for explaining flight restriction information according to the present embodiment. FIG. 11 shows a radio base station BS, a coverage Ca of the radio base station BS, and a high-rise building A. The coverage Ca is an area where radio waves transmitted from the radio base station BS can be received. The radio base station BS, coverage Ca, and high-rise building A shown in FIG. 11 correspond to the radio base station BS, coverage Ca, and high-rise building A shown in FIG.

  In FIG. 11, the flight restricted airspace Xa is shown. The flight restricted airspace Xa is an airspace determined based on position information recorded in the recording unit 70. The flight restriction information generation unit 90 determines an air space where the communication disconnection of the flying object 1 may occur based on the position information recorded in the recording unit 70. An example of the airspace resulting from this determination is the flight restricted airspace Xa. The flight restriction information generation unit 90 generates flight restriction information indicating the flight restriction airspace Xa as one of the flight restriction information. The flight restriction information may indicate only the horizontal range (range indicated by latitude and longitude), or indicate the horizontal and vertical range (range indicated by latitude, longitude, and altitude). Also good.

  According to the present embodiment, it is possible to generate flight restriction information indicating the restriction of the airspace in which the flying object 1 flies. With this flight restriction information, it is possible to realize a flight airspace restriction to prevent the communication of the flying object 1.

  In the present embodiment, the position information generation unit 20 and the flight restriction information generation unit 90 correspond to a flight support system.

[Third Embodiment]
FIG. 12 is a diagram illustrating a configuration example of a flight support system according to the third embodiment. In FIG. 12, the flying object 1 according to the first embodiment described above or the flying object 1 according to the second embodiment described above can be applied to the flying object 1. The aircraft 1 transmits and receives data to and from the flight management server 100 via the communication network NW. The flying object 1 transmits the position information generated by its own position information generation unit 20 to the flight management server 100 through the communication unit 50.

  The flight management server 100 includes a flight restriction information generation unit 110, a recording unit 120, and a communication unit 130. The communication unit 130 transmits / receives data to / from the communication unit 50 of the flying object 1 via the communication network NW. The recording unit 120 records the position information received from the flying object 1 by the communication unit 130. The recording unit 120 records position information generated by each position information generation unit 20 of the plurality of flying objects 1.

  The flight restriction information generation unit 110 uses the position information recorded in the recording unit 120 to generate flight restriction information. In the generation of the flight restriction information, the flight restriction information generation unit 110 generates the flight restriction information using the position information generated by each position information generation unit 20 of the plurality of aircrafts 1. The example described with reference to FIG. 11 can be applied to the flight restriction information generated by the flight restriction information generation unit 110. The recording unit 120 records the flight restriction information generated by the flight restriction information generation unit 110.

  According to the present embodiment, it is possible to generate flight restriction information indicating the restriction of the airspace in which the flying object 1 flies using position information generated by the plurality of flying objects 1. With this flight restriction information, it is possible to realize a flight airspace restriction to prevent the communication of the flying object 1. For example, the flight restriction information recorded in the recording unit 120 is transmitted to the flying object 1 by the communication unit 130, and the flight route of the flying object 1 is set or set to bypass the airspace indicated by the flight restriction information. It may be changed.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the specific structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.

Further, a computer program for realizing the functions of the above-described flying object 1 or the flight management server 100 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. You may do it. Here, the “computer system” may include an OS and hardware such as peripheral devices.
“Computer-readable recording medium” refers to a flexible disk, a magneto-optical disk, a ROM, a writable nonvolatile memory such as a flash memory, a portable medium such as a DVD (Digital Versatile Disc), and a built-in computer system. A storage device such as a hard disk.

Further, the “computer-readable recording medium” means a volatile memory (for example, DRAM (Dynamic DRAM) in a computer system that becomes a server or a client when a program is transmitted through a network such as the Internet or a communication line such as a telephone line. Random Access Memory)), etc., which hold programs for a certain period of time.
The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 1 ... Flying object, 10 ... Flight control part, 20 ... Position information generation part, 30 ... Positioning part, 40 ... Camera, 50, 130 ... Communication part, 60 ... Motor, 70, 120 ... Recording part, 90, 110 ... Flight Restriction information generation unit, 100 ... flight management server

Claims (8)

Position information indicating the horizontal and vertical positions of the flying body that is mounted on the flying body that communicates with the wireless base station and that does not satisfy a predetermined communication condition in a reception state of radio waves transmitted from the wireless base station. A position information generation unit for generating ,
When the communication state between the aircraft and the radio base station does not satisfy a predetermined communication condition, the position information is generated, and a predetermined flight function of the aircraft is activated.
Flight support system. Position information indicating the horizontal and vertical positions of the flying body that is mounted on the flying body that communicates with the wireless base station and that does not satisfy a predetermined communication condition in a reception state of radio waves transmitted from the wireless base station. A position information generation unit for generating,
The position information generation unit generates the position information according to an operation of a flight function of the flying object that operates when a reception state of a radio wave transmitted from the radio base station does not satisfy a predetermined communication condition.
Flight support system.   The position information generation unit includes a radio wave intensity measurement unit that measures reception intensity of a radio wave transmitted from the radio base station, and determines whether the communication condition is acceptable based on a measurement result of the reception intensity. The flight support system described. A recording unit for recording flight data of the flying object;
The recording unit records information indicating that the part is associated with the part corresponding to the position of the flight data,
The flight support system according to any one of claims 1 to 3. Position information indicating the horizontal and vertical positions of the flying body that is mounted on the flying body that communicates with the wireless base station and that does not satisfy a predetermined communication condition in a reception state of radio waves transmitted from the wireless base station. A position information generation unit to generate,
Based on the position information, a flight restriction information generating unit that generates flight restriction information indicating a restriction of an airspace in which the flying object flies ,
A flight support system comprising:   The flight support system according to claim 5, wherein the flight restriction information generation unit generates the flight restriction information using the position information generated by each of the position information generation units of the plurality of flying objects. The position information generating unit mounted on the flying object that communicates with the radio base station has a horizontal position and a vertical position of the flying object in which the reception state of the radio wave transmitted from the wireless base station does not satisfy a predetermined communication condition. A flight support method including a position information generation step for generating position information indicating
When the communication state between the aircraft and the radio base station does not satisfy a predetermined communication condition, the position information is generated, and a predetermined flight function of the aircraft is activated.
Flight support method. In the computer mounted on the aircraft that communicates with the radio base station,
The position information generation function of receiving condition of the radio wave to generate position information indicating the horizontal and vertical position of the aircraft that do not meet the predetermined communication condition transmitted from the radio base station,
A function for generating the position information and activating a predetermined flight function of the flying object when a communication state between the flying object and the radio base station does not satisfy a predetermined communication condition;
Computer program for realizing.

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