JP6846253B2 - Emergency response instruction device for drones, emergency response instruction method for drones, and emergency response instruction program for drones - Google Patents

Description

The present invention relates to devices, methods and programs capable of responding to emergencies during flight of unmanned aerial vehicles such as drones and UAVs (Unmanned aerial vehicles).

Various unmanned aerial vehicles (hereinafter referred to as drones) have come to be used in various fields. At present, the operator often flies the drone within a visible range using a remote control device. Therefore, even if a malfunction occurs in the drone, it is possible to control the drone and make it crash land in a safe place so as not to damage people or objects on the ground. However, even with remote control, it is expected that there will be an increasing number of usage patterns in which the drone is flown so far that the operator cannot see it, or the drone is flown far away by autonomous navigation. In this case, as a response when a problem occurs in the drone in flight, a technique for returning the drone to the ground is important so as not to affect people or objects on the ground.

In Patent Document 1 described later, regarding the flight method of an unmanned aerial vehicle, when a problem that hinders the continuation of flight occurs, the emergency response module mounted on the unmanned aerial vehicle functions and the unmanned aerial vehicle becomes autonomous. An invention is disclosed that allows the aircraft to land in a safe place. The emergency response module of the present invention is a base that can be reached from among the pre-registered bases when it detects that one or more of engine malfunction, power supply malfunction, cruising range limit, and communication malfunction has occurred. It is to identify and make a flight plan to fly there. Further, Patent Document 1 describes that when the base does not exist, for example, the destination is a place away from the residential area.

Japanese Unexamined Patent Publication No. 2014-181034

It is important that the drone (unmanned aerial vehicle) itself has an emergency response function as in the invention disclosed in Patent Document 1 described above. However, it is expected that many drones will be used in various fields in the future. For this reason, each drone in flight does not respond to emergencies based on its own functions, but rather based on detailed map information and applies common standards to ensure reliable emergency response. There is a request that you want to do.

In view of the above, the present invention allows each of the drones in flight, regardless of autonomous navigation or remote control, to take emergency response with high reliability and safety in real time. The purpose is to do.

In order to solve the above problems, the emergency response instruction device for drones of the present invention is used.
A map information storage means for storing 3D map information that forms a 3D map,
A receiving means for receiving a status notification signal that is a signal from a drone that is an unmanned aerial vehicle and includes status information indicating the status of the drone and information indicating the current position of the drone.
When the state or the like notification signal is received through the receiving means, the determination means for determining the state of the drone based on the state information included in the state or the like notification signal and
When it is determined that the state of the drone by the determination means is an emergency and it is not impossible to fly, the landing point that can be reached from the current position is referred to by referring to the three-dimensional map information of the map information storage means. Is a data that indicates a flight route from the current position to the landing point, and forms correspondence instruction information including route instruction data that is a coordinate point sequence including latitude, longitude, and height. Means and
The corresponding instruction information formed by said forming means, the drone having transmitted the state and the like notifying signal, and transmitting means for transmitting selected and one of the apparatus for remotely operating the drone to the destination It is characterized by having.

According to the present invention, when an abnormality occurs in a drone in flight, an appropriate measure can be taken according to the state of the drone. As a result, each of the drones in flight, regardless of autonomous navigation or remote control, can take emergency response with high reliability and safety in real time.

It is a block diagram for demonstrating the configuration example of the emergency response instruction system for a drone of embodiment. It is a figure for demonstrating the instruction method of the flight route by the flight instruction data formed by the emergency response instruction device for a drone. It is a figure for demonstrating the instruction method of the flight route by the flight instruction data formed by the emergency response instruction device for a drone. It is a figure for demonstrating the outline of the storage data of the aerial map DB for a drone. It is a figure for demonstrating an example of fixed flight obstacle information. It is a figure for demonstrating an example of the fluctuation flight obstacle information. It is a figure for demonstrating an example of avoidance facility area information. It is a figure for demonstrating the drone port. It is a figure for demonstrating the drone charging spot. It is a figure which shows an example of the drone aerial map defined by the storage data of the drone aerial map DB. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the definition of a drone flight zone. It is a figure for demonstrating the structural concept of the aviation network data for a drone. It is a figure for demonstrating the definition of a node of the aviation network data for a drone. It is a figure for demonstrating the configuration example of a node and a link. It is a figure for demonstrating the example of the node data and link data formed in the drone aviation NWDB. It is a figure which shows an example of the existing control information and operation information which are expected to be used. It is a figure which shows the contents of the existing air traffic control. It is a figure for demonstrating the example of the aviation network for a drone formed around the lake water where the fixed link cost becomes low. It is a figure for demonstrating an example of an aviation network for a drone formed mainly in the sky around a river where a fixed link cost becomes low. It is a flowchart for demonstrating the process at the time of creating the aviation network data for a drone. It is a figure for demonstrating the example of the stored data of the flight route data file 140 for each drone. It is a figure which shows the example of the traffic regulation for a drone. It is a figure which shows the example of the traffic control sign for a drone. It is a figure which shows the example of the traffic control sign for a drone. It is a figure which shows the example of the traffic instruction sign for a drone. It is a figure which shows the example of the traffic warning sign for a drone. It is a figure which shows the example of the traffic guide sign for a drone. It is a block diagram for demonstrating the configuration example of the information processing part of the emergency response instruction device for a drone shown in FIG. It is a figure for demonstrating the configuration example of the drone used in the emergency response instruction system for a drone of an embodiment. It is a block diagram which shows the structural example of the drive control device part provided in the drive control unit of the drone of embodiment. It is a flowchart for demonstrating the update process of the variable link cost performed by the emergency response instruction device for a drone. It is a flowchart for demonstrating the route search process performed by the emergency response instruction device for a drone. It is a flowchart for demonstrating the reroute process 1 performed by the emergency response instruction device for a drone. It is a flowchart for demonstrating the reroute process 2 performed by the emergency response instruction device for a drone. It is a flowchart for demonstrating the emergency response processing performed by the emergency response instruction device for a drone. It is a figure which shows the specific example of emergency response. It is a figure which shows the example of the condition of the place which is desirable as a crash landing place. It is a figure which shows the specific example of the place which is desirable as a crash landing place. It is a figure which shows the specific example of the ex post response after an emergency response.

Hereinafter, an embodiment of the apparatus, method, and program of the present invention will be described with reference to the drawings.

[Configuration example of emergency response instruction system for drones]
FIG. 1 is a block diagram for explaining a configuration example of an emergency response instruction system for a drone according to this embodiment. The drone emergency response instruction system includes a drone emergency response instruction device 1, drones 2 (1), 2 (2), 2 (3), ..., Information providing devices 4a, 4b, 4c, ... , The drone operation management device 5 is connected to the IoT (Internet of Things) platform 3. In the following, the emergency response instruction device 1 for drones will be referred to as the response instruction device 1.

The response instruction device 1 realizes a navigation function for the drone and an emergency response instruction function, and is configured as a cloud system. In recent years, a cloud computing method that provides users with software and hardware usage rights as a service over a network has been widely used. Various data centers and server devices provided on the Internet to realize such a cloud computing method are called clouds. The cloud provides the user with the target software and hardware without making the user aware of the real server device.

Then, in the response instruction device 1, each of the drone aviation map DB 120, the drone aviation NWDB 130, the drone-specific flight route data file 140, and the drone aviation regulation DB 150 is provided in the data center or server device group on the cloud. .. Similarly, the information processing unit 100 of the response instruction device 1 is also provided in the server device group on the cloud. In this way, the response instruction device 1 is designed to realize its function by using a data center or a group of server devices on the cloud. The character "DB" in the drone aerial map DB 120 and the like is an abbreviation for "Data Base (database)".

Drones 2 (1), 2 (2), 2 (3), ... Are unmanned aerial vehicles. There are various types of unmanned aerial vehicles such as multicopters, fixed-wing aircraft, and small helicopters. The drones 2 (1), 2 (2), 2 (3), ... Of this embodiment will be described by taking a quadcopter type among the multicopters as an example. The IoT platform 3 includes the Internet, a mobile phone network, a general public telephone network, a wireless LAN (Local Area Network), and the like, and provides an environment in which devices connected to the Internet can communicate with each other.

Further, various information providing devices such as a weather information providing device 4a, a traffic information providing device 4b, and a congestion degree information providing device 4c are also connected to the IoT platform 3. As a result, the response instruction device 1 can be used by receiving necessary information from these various information providing devices 4a, 4b, 4c, and the like. The drone operation management device 5 is used by the drone operator to provide necessary information about the drone to the response instruction device 1 or receive information about the drone from the response instruction device 1 so that the drone operation management device 5 can be used. Or

[Characteristics of correspondence instruction device 1]
[Use of flight instruction data]
The response instruction device 1 of the emergency response instruction system for drones configured as shown in FIG. 1 is significantly different from the conventional one in the method of guiding the flight route to the drone. The response instruction device 1 of this embodiment identifies the flight route of the drone based on the information provided from the drone operation management device 5, forms flight instruction data that enables the drone to fly, and forms the drone. Or to a device for remotely controlling a drone. The flight instruction data in this case is a coordinate point sequence including latitude, longitude, and height.

2 and 3 are diagrams for explaining a method of instructing a flight route based on flight instruction data formed by the corresponding instruction device 1. The corresponding instruction device 1 can provide a three-dimensional map. The drone operation management device 5 displays (maps) the three-dimensional map provided by the corresponding instruction device 1 on the touch panel, and receives the instruction input of the flight route through the touch panel. The user of the drone operation management device 5 traces the three-dimensional map displayed on the touch panel with a finger or an electronic pen, and instructs the flight route by the trajectory (three-dimensional free curve). The information of the three-dimensional free curve is transmitted from the drone operation management device 5 to the corresponding instruction device 1.

Although described here as a touch panel, the drone operation management device 5 uses a three-dimensional CAD (computer-aided design) system technology, a drawing technology in a VR (virtual reality) space, and the like to create a three-dimensional space. A three-dimensional free curve can be drawn inside. In short, various techniques that can draw a three-dimensional free curve in a three-dimensional space can be used.

As shown in FIG. 2A, the response instruction device 1 is free from the departure point (start point) S to the destination (end point) E based on the information of the three-dimensional free curve from the drone operation management device 5. It forms flight instruction data consisting of a sequence of points of a large number of coordinate RDn (n is an integer of 1 or more) corresponding to a curve and including latitude, longitude, and height. In this way, by constructing flight instruction data with a sequence of points of a large number of coordinates RDn (n is an integer of 1 or more) including latitude, longitude, and height, for example, a complicated meandering flight route is flown as it is. Can be instructed (guided).

That is, the flight route that becomes one polyline can be guided by the coordinate point sequence that constitutes the flight instruction data. In this case, the distance between the coordinate points can be set in units of, for example, several tens of centimeters to several meters. Therefore, it is possible to specify the actual flight route in more detail than the line connecting the departure point, the relay point, and the destination.

In this case, the flight route is constructed by connecting the coordinates, but the polyline connecting the coordinates can be accurately defined without adding vector information (direction and distance). As shown in FIG. 2B, consider a case of defining a polyline connecting the coordinates RDn and the coordinates RDn + 1, which are a part of the coordinate point sequence constituting the flight instruction data. In this case, the position of the coordinates RDn is specified by the latitude and longitude and the height from the ground surface (water surface) as shown in (1) of FIG. 2 (B).

That is, the "height from the ground surface (water surface)" is the height from the ground surface when the drone flies over the ground, and when the drone flies over rivers, lakes, marshes, the sea, etc. It will be the height from the water surface. Therefore, in the following, "height from the surface of the earth" means "height from the surface of the earth or the surface of the water".

Then, considering the coordinate RDn as the start point, the polyline connecting the coordinate RDn and the coordinate RDn + 1 has the next coordinate RDn + 1 as a time series as the end point as shown in (2) of FIG. 2 (B). In this way, the flight route can be appropriately instructed by each coordinate constituting the coordinate point sequence and a polyline having each coordinate as a start point and an end point.

Further, by adding various attributes (property) as various element information to the coordinate point sequence constituting the flight instruction data, the flight route can be guided as a three-dimensional region. As described with reference to FIG. 2B, the positions of the coordinates constituting the coordinate point sequence are specified by the latitude, longitude, and height from the ground surface. Therefore, as shown in FIG. 3 (1), the position of the coordinate RDn constituting the coordinate point sequence can be specified by the latitude, longitude, and height from the ground surface. Then, the horizontal width and the vertical width are added as attribute information to each coordinate constituting the coordinate point sequence. That is, as shown in FIG. 3 (2), the horizontal width and the vertical width are added as attributes to the coordinates RDn.

Here, the horizontal width is the length of each of the right side and the left side in the horizontal direction with the coordinates as the center in FIG. The vertical width is the length of each of the upper side and the lower side in the vertical direction with the coordinates as the center in FIG. Specifically, consider the case where each of the horizontal width and the vertical width is 1 m. In this case, as shown in FIG. 3, a tubular three-dimensional space in which an area having a width of 2 m and a height of 2 m set with reference to the coordinates RDn continues to the next coordinate RDn + 1 can be designated as a flight route. In this way, the flight route can be designated as a series of ranges in which allowances (margins) are provided at each point in the coordinate point sequence.

Further, although not shown in FIG. 3, for the coordinate RDn + 1, which is the next coordinate of the coordinate RDn, if the width and the vertical width are specified, the flight route beyond the coordinate RDn + 1 is also set as a three-dimensional region. I can instruct. In this way, by forming flight instruction data in which the width and height are specified as attributes for each coordinate constituting the coordinate point sequence, the flight route can be guided as a three-dimensional region, and the flight route can be guided as a three-dimensional region. Can guide the drone to fly. It is also possible to indicate the flight route by adding information such as the arrival time to the coordinates and the speed that must be maintained at the coordinates to each coordinate.

Here, the flight route is three-dimensionally specified by, for example, the width and height as attribute information for each coordinate of the flight instruction data, which is a sequence of coordinate points for instructing the flight route. I tried to guide you as an area. However, it is not limited to this. Specifying the position of each coordinate that composes the coordinate point sequence By changing the accuracy of representing the latitude, longitude, and height from 30 cm to 3 m or 30 m, the flight route has an allowance, and each coordinate is defined as a three-dimensional area. You can also do it.

That is, the latitude and longitude are expressed as, for example, "35 degrees 37 minutes 19 seconds 27 north latitude, 139 degrees 44 minutes 34 seconds 59 east longitude". In this case, 1 second of latitude and longitude is about 30 m, and numbers less than a second are about 3 m in the first digit and 30 cm when the second digit is used. Therefore, the latitude and longitude of the coordinate data that composes the flight instruction data are expressed using up to the first digit in seconds or less, and the height from the ground surface is a small number in units of m (meters), for example, 60.2 m. Express using up to the first place. Further, the vertical width of the three-dimensional region to be formed is set to, for example, 3 m.

In this case, the latitude and longitude are expressed using the first digit of the second or less, so the width and flight range are both 3 m, and the height is 3 m as described above, so 60.2 m from the ground. A circular region with a diameter of 3 m can be formed in the sky at a position specified by latitude and longitude. In this way, by using the accuracy of latitude and longitude up to one digit per second or less and specifying the vertical width of the area to be formed, it is possible to define a circular area based on each coordinate. A tubular route connecting the regions defined corresponding to each coordinate in order can be designated as the flight route for the drone to fly.

Here, a case has been described in which, for example, a circular region is formed based on each coordinate of the coordinate point sequence that is the flight instruction data, and the flight route can be indicated by a tubular three-dimensional region connecting these regions. It is not limited to. It is also possible to set a square centered on each coordinate of the coordinate point sequence constituting the flight instruction data as a region corresponding to each coordinate, and to instruct a tubular route connecting these as a flight route.

In this way, in addition to the latitude, longitude, and height from the ground surface that specify each coordinate of the coordinate point sequence that composes the flight instruction data, it is necessary to specify the route that the drone should fly as a three-dimensional space. Various attribute information and the like can be added to each coordinate.

Such element information can be input by the drone operator through the drone operation management device 5 and provided to the response instruction device 1, for example. The response instruction device 1 receives the provided element information through the communication I / F 101, records the element information in the predetermined storage area of the storage device 103 by the control unit 102, and reads and uses the information as needed. To.

Of course, as described above, it is possible to instruct a flight route as a single line by a sequence of coordinate points in a three-dimensional space specified by the latitude, longitude, and height constituting the flight instruction data. Therefore, the route to be flown by the drone may be specified as a three-dimensional space by giving an allowable range in the vertical and horizontal directions with reference to the flight route specified by the coordinate point sequence. The information in this case can also be input by the drone operator through the drone operation management device 5 and provided to the response instruction device 1.

Further, here, the flight instruction data has been described as a coordinate point sequence including latitude, longitude, and height, but the present invention is not limited to this. For example, flight instruction data may be formed by polylines. A polyline is an object composed of a combination of straight lines and arcs, and consists of information for specifying the coordinates of the connection points and the straight lines and arcs connecting the connection points. Flight instruction data can be constructed by having information indicating the height in addition to the information constituting such a polyline.

In other words, the polyline is a simplified representation of the coordinate point sequence, which is represented by a straight line in the part where it can fly linearly and by a curved line in the part where it flies in a curved line. The start point and end point of are indicated by coordinate points. That is, unlike the instruction method such as the departure point, the relay point, and the destination, the flight route can be instructed by the points and lines (straight lines, curves) to be set in detail. Further, even when the flight instruction data is formed by the polyline, the route to be flown by the drone can be instructed as a three-dimensional space by having the information indicating the allowable range in the vertical and horizontal directions.

In addition, even when the flight instruction data is formed as a coordinate point sequence including latitude, longitude, and height, or when it is formed using polylines, the flight speed of the drone is required each time. Information may be included in the flight instruction data.

[Aerial map for drones, use of aviation network for drones]
By the way, as described above, it may be troublesome to indicate the flight route for each drone by drawing a three-dimensional free curve on the three-dimensional map displayed on the touch panel of the drone operation management device 5. When using multiple drones, such as a courier, you want to create a flight route with as little effort as possible. Therefore, the corresponding instruction device 1 of this embodiment can search for a flight route, identify the flight route, and form flight instruction data so that the flight can follow the flight route. I am doing it. This flight instruction data is the guidance information of the flight route to the drone.

Therefore, as shown in FIG. 1, the correspondence instruction device 1 of this embodiment includes a drone aerial map database 120, a drone aviation network database 130, and a drone-specific flight route data file 140. In the following, the drone aerial map database 120 will be referred to as the drone aerial map DB 120, and the drone aerial network database 130 will be referred to as the drone aviation NWDB 130.

[Structure of aerial map DB120 for drone]
First, the drone aerial map DB 120 will be described. The drone aerial map DB 120 includes three-dimensional data (three-dimensional object data), vector data, raster data, symbols, and characters composed of texture images and polygon data for constructing a three-dimensional aerial (airspace) map for drones. Various map data such as data are stored in association with latitude / longitude information. FIG. 4 is a diagram for explaining an outline of the stored data of the drone aerial map DB 120.

As shown in FIG. 4, the drone aerial map DB 120 stores other information such as fixed flight obstacle information, variable flight obstacle information, avoidance facility area information, and topographical information. FIG. 5 is a diagram for explaining an example of fixed flight obstacle information, FIG. 6 is a diagram for explaining an example of variable flight obstacle information, and FIG. 7 is a diagram for explaining an example of avoidance facility area information.

Fixed flight obstacle information is information for indicating a feature that becomes a fixed obstacle or a place where an obstacle occurs when the drone flies, and is a place where a feature that becomes a fixed obstacle or an obstacle occurs. Three-dimensional data for defining space is associated with latitude / longitude and height. Specifically, the fixed flight obstacle information is information for identifying the feature or place shown in FIG. For example, fixed flight obstacle information of a feature such as "building, building" accurately indicates the location and three-dimensional shape of the building or building. In addition, the fixed flight obstacle information in the case of "electric wire" accurately indicates the location and height by the position of the utility pole or telegraph pole on which the electric wire is hung and the height on which the electric wire is hung. Become.

In addition, for example, the fixed flight obstacle information of the "glider field" accurately indicates the location and area range of the glider field and the sky range where the flight of the drone is restricted for safety such as takeoff and landing of the glider field. It shows. Therefore, the fixed flight obstacle information of the "glider field" is a range specified based on the location position of the glider field, and the range of the three-dimensional shape in which the drone's flight is restricted can be accurately grasped.

Similarly, the fixed flight obstacle information of the "golf course" accurately indicates the location and area range of the golf course and the sky range in which the golf ball may fly from the golf course. Therefore, the fixed flight obstacle information of the "golf course" is a range specified based on the location of the golf course, and the range of the three-dimensional shape in which the drone's flight is restricted can be accurately grasped. The fixed flight obstacle information shown in FIG. 4 is an example, and includes information on various features and places that are fixed obstacles to the flight of the drone.

Fluctuating flight obstacle information is information for indicating a place where an obstacle occurs variably according to the season, time, time, etc. when the drone flies, and is volatile according to the season, time, time, etc. The three-dimensional data for defining the place where the obstacle occurs in the space is composed of the information associated with the latitude / longitude and the height and the information indicating the season, time, and time when the obstacle occurs. Specifically, the fluctuating flight obstacle information includes information for drawing a place specified by the information shown in FIG. 6 and information indicating the season, time, and time when the obstacle occurs.

For example, consider variable flight obstacle information according to "habitat and activity area information (insects) at the time of occurrence of locusts, grasshoppers, butterflies, moths, planthoppers, meichu, etc." The fluctuating flight obstacle information in this case accurately indicates the location and area range of the habitat and activity area of the insect, and the sky range where the insect may fly from the habitat and activity area. is there. Therefore, the variable flight obstacle information in this case is accurately within the range specified based on the location of the habitat and activity area of the insect, and the range in which the drone has a three-dimensional shape that restricts flight. It will be something that can be grasped. In addition, information indicating the activity period (period) of the insects is also added to the variable flight obstacle information so that the range of flight obstacles can be grasped only during the period. The variable flight obstacle information shown in FIG. 5 is an example, and includes information on various places that are variablely obstructive to the flight of the drone.

Avoidance facility area information is information for indicating facilities and areas that should avoid flying over the sky, and 3D data for defining facilities and areas that should avoid flying over the sky in space is latitude and longitude. It is tied to the height. Specifically, the avoidance facility area information is information for drawing the facility or area shown in FIG. 7. For example, in the area information of the avoidance facility of "volcano", the location and area range of the volcano can be accurately grasped, and the area range is given a flight avoidance flag, for example, and the sky can fly at any altitude. It makes it possible to understand what cannot be done.

In addition, in the case of the avoidance facility area information of the "commuting route during school hours", the location and area range of the school route can be accurately grasped, and information indicating the time zone during which flight over the school route is prohibited is also provided. It is an added one. The avoidance facility area information shown in FIG. 6 is an example, and includes information on various facilities and various areas where the drone should avoid flying over the sky.

The "terrain information, etc." shown in FIG. 4 includes, for example, information for defining various terrains such as roads, rivers, lakes, coasts, dunes, and farmlands, information for defining drone ports, and drone charging. Information for defining spots, which is associated with latitude and longitude. FIG. 8 is a diagram for explaining the drone port, and FIG. 9 is a diagram for explaining the drone charging spot.

The drone port is a waiting place (parking place) for drones, can be charged (energy replenishment), can take off and land at least one aircraft, and a place that is not adjacent to a danger zone such as a chemical factory is selected. .. Specifically, as shown in FIG. 8, various places such as a delivery (distribution center), a distribution warehouse, and a post office are arranged as drone ports, which can be grasped by the map information of the drone aerial map DB 120.

Unlike the drone port, the drone charging spot has a small role as a waiting place (parking place), and is a facility that is set up assuming that the drone only charges and will take off immediately after completion. In the case of a drone charging spot, of course, it can be charged (energy replenishment), at least one aircraft can take off and land, and a place that is not adjacent to the danger zone is selected. Specifically, as shown in FIG. 9, various places such as an outdoor vending machine, an illuminated outdoor signboard, and a roof of a telephone BOX are arranged as drone charging spots, which are based on the map information of the drone aerial map DB120. It becomes possible to grasp.

In addition, other information includes various figures, symbols, character information, and the like. Then, the stored data of the drone aerial map DB120 accurately responds to the situation in the real world, and also shows fixed flight obstacle information, variable flight obstacle information, and avoidance facility area information. (3D map) can be formed.

FIG. 10 is a diagram showing an example of a drone aerial map defined by the stored data of the drone aerial map DB 120. As shown in FIG. 10, the drone aerial map can accurately show, for example, the position of a road, the position of a building such as a building, and its three-dimensional shape. That is, the drone aerial map defined by the stored data of the drone aerial map DB120 accurately identifies the features that hinder the flight of the drone, the places and areas that hinder the flight, and the facilities and areas that should be avoided. it can. Therefore, such an aerial map for drones can appropriately grasp the airspace in which the drone can fly.

[Definition of drone flight zone]
Next, the definition of the drone flight zone will be described. If drone users can freely use the drone without restrictions, the safety of the aircraft on which people are riding, people on the ground, buildings, and vehicles may be compromised. For this reason, the Aviation Law and other regulations are being developed to ensure the safe use of drones.

Specifically, (A) the airspace above the surface or water surface + 150 m or more, (B) the airspace around the airport, and (C) the sky above the densely populated area ensure safety, and if permission is not obtained, the drone will fly. Can't. In the airspace other than the above (A), (B), and (C), the drone can fly without permission. In addition, even if the drone can fly due to permission or because it is in an airspace other than (A), (B), and (C) above, the drone is 30 m from the roof or side of the building. You must keep the distance and fly.

For this reason, the drone must fly in an airspace that secures a side distance of 30 m or more from the tall building next to it, even if the distance from the building directly below it passing over the sky is sufficient. It is difficult to obtain the lower limit altitude without a map. In addition, some of the objects that drones should avoid must secure a distance of 300 m due to the Flight Prohibition Law for small unmanned aerial vehicles, etc. There are some, but this is also difficult to grasp without a three-dimensional aerial map for drones.

As described above, the correspondence instruction device 1 of this embodiment includes a drone aerial map DB 120 that stores data for forming a three-dimensional drone aerial map. Therefore, the airspace in which the drone can fly based on the obstacle information such as fixed flight obstacle information, variable flight obstacle information, and avoidance facility area information of the aerial map DB120 for drone, topographical information, and flight regulation information as described above. Can be identified accurately.

However, even if the airspace in which the drone can fly can be identified in this way, the flight route of the drone cannot be obtained. This is because the airspace in which the drone specified at this stage can fly includes bumps on the top, bottom, left, and right, resulting in a distorted airspace. For this reason, it is necessary to define a drone flight zone with a shape with higher visibility of communication radio waves and sensors in the airspace where the drone can fly, which is obtained from obstacle information, terrain information, and flight regulation information. Occurs. In other words, it is desirable to define a gently shaped zone with bumps removed from the base.

11 to 15 are diagrams for explaining the definition of the drone flight zone. As mentioned above, permission is required for drone flight in the airspace above the ground surface or water surface above sea level + 150 m, no matter where the ground is. Also, in consideration of safety, consider the case where the drone is flown in a space lower than the altitude of the ground surface or the water surface + 150 m. For example, even in the sky above a densely populated area with many buildings, it is possible to fly a drone if safety is ensured and permission is obtained. In this case, the drone can fly as long as it is lower than the altitude of the ground surface or the water surface + 150 m and the circumference of a building such as a building is 30 m.

Therefore, as shown in FIG. 11, if it is below the dotted line indicating the position 150 m from the ground surface and outside the dotted line indicating the range of 30 m around each building (outside in the direction away from each building), the drone Is possible to fly. However, as shown in FIG. 11, since the heights of the buildings are different, the flightable airspace of the drone becomes a space with severe unevenness. Therefore, as shown with diagonal lines in FIG. 11, a drone flight zone is set in which the drone can fly, has a high straight line, and has a shape with good visibility of communication radio waves and sensors. In the case of the example shown in FIG. 11, the altitude of the ground surface or water surface is lower than + 150 m, and the range above the tallest building (90 m) + 30 m, that is, the altitude of the ground surface or water surface is lower than + 150 m, and the ground surface or water surface is The drone flight zone is the airspace above +120 m above sea level.

And, for example, various kinds of flight zones can be set in the drone flight zone. As shown in FIG. 12, the airspace above the outer upper edge (top) of the tallest building in the high-rise building area, which is 30 m or more away, and below the altitude of the ground surface or water surface + 150 m, is the line-of-sight of communication radio waves and sensors. Is extremely good, so the drone can fly at high speed. Therefore, the airspace lower than the altitude of the ground surface or the water surface + 150 m and the altitude of the ground surface or the water surface + 120 m or more is defined as the high-speed flight zone.

In addition to the high-rise building area, for example, an airspace lower than the ground surface or water surface altitude + 120 m and above the ground surface or water surface altitude + 60 m is defined as a normal flight zone. Then, an airspace that is lower than the ground surface or water surface altitude + 60 m and is 30 m or more away from the outer upper edge of a general house, for example, the ground surface or water surface altitude + 40 m or more, is sent to a temporary evacuation zone, departure point, relay point, destination, drone port, etc. Access zone, etc. In this way, based on the three-dimensional drone aerial map formed by the map information of the drone aerial map DB120, the drone's flightable airspace (base) is specified, and the communication radio wave with high straightness is within the base. And define a drone flight zone with a clear shape of the sensor.

Although the outline of the case of defining the drone flight zone has been described with reference to FIGS. 11 and 12, the drone flight zone can be defined in more detail based on the three-dimensional aerial map for drone. For example, as shown in FIG. 13, even in the area between buildings, a normal flight zone can be defined if there is a large space between the buildings and there is nothing to protect from the drone on the ground surface.

Further, as shown in FIG. 14, when a river and a riverbed exist between buildings, a safe flight zone can be defined above the river and the riverbed. This is because even if the drone falls, it will have little effect. Further, as shown in FIG. 15, when a very narrow flightable airspace of a drone exists between buildings, the flightable airspace can also be a drone flight zone. However, since there are difficulties in terms of communication radio waves and sensor visibility, we will define a suppressed flight zone in which the drone will not fly unless there is a special case.

In addition to this, it is possible to define a drone flight zone with limited uses based on a three-dimensional aerial map for drones. For example, as shown in FIG. 16, low-speed road links, general road links, dedicated road links, highway links, and highway links are defined according to the altitude from the ground surface or the water surface, and each of these links is moved back and forth. You can also define a contact link that allows you to do so.

[Configuration of aviation NWDB130 for drones]
Then, in this embodiment, as described above, a drone flight zone is defined based on the three-dimensional drone aerial map, and a network for searching the flight route of the drone is configured in the defined drone flight zone. .. Specifically, to ensure that multiple drones maintain speed and fly at sufficient intervals, a tubular link with easy visibility of the drone's communication radio waves and sensors and the intersection of multiple drones are ensured. Build an aviation network for drone route search with cube-shaped nodes that can be used. The drone aviation NWDB 130 stores the network data representing the aviation network constructed in this way.

The flight route described with reference to FIG. 2 will be set in the aviation network constructed in this way. The "tubular" of the "tubular link" does not mean a mere cylinder, but a tubular one having a hollow inside, which has various cross-sectional shapes when cut in a direction intersecting the longitudinal direction. means. Further, the "cube-like" of the "cube-like node" does not mean a mere cube, but means various three-dimensional solids.

FIG. 17 is a diagram for explaining a structural concept of aerial network data for drones. In FIG. 17, a large number of small black circles N1, N2, N3, ... Indicates a node, and lines L1, L2, L3, ... Connecting the nodes indicate a link. In this way, a plurality of nodes N1, N2, N3, ... Are provided above the ground surface or the water surface, and links L1, L2, L3, ... Connecting the nodes are provided, whereby the flight route of the drone is provided. An aviation network for drones is formed to explore. The data expressing such a drone aviation network is the drone aviation network data.

FIG. 18 is a diagram for explaining the definition of the node Nn (n is an integer of 1 or more) of the drone aviation network data. As shown in FIG. 18 (A), the node Nn can basically specify its position in the three-dimensional space by three values of latitude, longitude, and height from the ground surface. However, as described above, the node Nn in the drone aviation network must have a certain margin because it must be possible to reliably intersect the plurality of drones.

Therefore, as shown in FIG. 18B, in addition to latitude, longitude, and height from the ground surface, width, depth, and height are provided as attributes of each node Nn. The width is the length on the right side and the left side in the horizontal direction about the position of the node Nn whose position is specified by the latitude, longitude, and height from the ground surface in FIG. 18B. In FIG. 18B, the depth is the length of each of the front (back side of the figure) and the back (front side of the figure) with respect to the position of the node Nn.

The vertical width is the length of each of the upper side and the lower side in the vertical direction about the position of the node Nn in FIG. 18B. Then, consider the case where each of the width, depth, and height is 2 m. In this case, as shown in FIG. 18B, as shown by a solid line around the node Nn, a cube having a side of 4 m can be defined with the node Nn as the center. A cube with a side of 4 m defined around this node Nn can be defined as a node of the drone aviation network. In the case of this example, the node Nn is just a cube.

FIG. 19 is a diagram for explaining a configuration example of a node and a link. As mentioned above, drone aviation network data is composed of cube-shaped nodes and tubular links. Here, for the sake of simplicity, as a cube-shaped node having various three-dimensional solid shapes, as shown in FIG. 18B, a hexahedral shape (cube) having six quadrangular faces (cube). The case where the shape is) will be described as an example. Further, the tubular link having a hollow tubular shape having various cross-sectional shapes when cut in the direction intersecting the longitudinal direction is tubular corresponding to the shape of the node in this example. The case where it is a thing will be described as an example.

FIG. 19A is an enlargement of the node N2 portion of FIG. 17, which explains the structural concept of the drone aviation network data. As will be described with reference to FIG. 18 (B), the node N2 has width, depth, and height as attributes in addition to latitude, longitude, and height from the ground surface, so that the node N2 has width, depth, and height in FIG. 19 (A). As shown by the thick solid line, it can be defined as a cube-shaped three-dimensional region.

The link in this example connecting such cube-shaped nodes is tubular, and the position of the link in the three-dimensional space is specified by the positions of the nodes at both ends. Therefore, in the case of the example shown in FIG. 19A, for node N2, the link L1 connected to the node N1, the link L2 connected to the node N3, and the link L7 connected to the node N5. And the link L22 connected to the node N8 are connected. Further, although the node to be connected is not shown in FIG. 17, the link La extending to the front side of the figure and the link Lb extending to the lower side of the figure are connected to the node N2.

In this way, the drone aviation network is defined as a three-dimensional space network in which the drone can fly within the drone flight zone created in the drone's flightable airspace in the three-dimensional space.

Here, the case where the node is defined as a hexahedron having six faces of a quadrangle (cube shape) has been described, but the present invention is not limited to this. For example, as shown in FIG. 19B, for each node, in addition to the latitude, longitude, and height from the ground surface that specify the position in the three-dimensional space, a radius is added as an attribute. Thereby, in the three-dimensional space, a spherical node can be defined as a part surrounded by a locus of points having the same distance from a certain point specified by latitude, longitude, and height from the ground surface. In addition to this, nodes can be defined as three-dimensional regions of various shapes by adding various attributes in addition to latitude, longitude, and height from the ground surface.

FIG. 20 is a diagram for explaining an example of node data and link data formed in the drone aviation NWDB 130. That is, FIG. 20 shows an example of network data including node data and link data representing the drone aviation network described with reference to FIGS. 17 and 19.

As shown in FIG. 20 (A), the node data consists of "node ID", "latitude, longitude, height", "width, depth, height", "node type", and "other" information. .. The "node ID" is node identification information that can uniquely identify each node. As described above, the "latitude, longitude, and height" are the latitude, longitude, and height from the ground surface for specifying the position of the node in the three-dimensional space. The "width, depth, and height" are information that specifies the shape and size of the node, as described above. The "node type" is information indicating what kind of node each node is, and specifically, it is information indicating another node such as a start point, an end point, and a branch point. In "Other", necessary information is input as needed.

As shown in FIG. 20B, the link data includes information of "link ID", "node", "fixed link cost", "variable link cost", "link type", and "other". The "link ID" is link identification information that can uniquely identify each link. The "node" is information that identifies the nodes at both ends of the link, so that the position of the link can also be specified.

The "fixed link cost" is determined according to the length of the link and the safety level set for each building, facility, and area under the link, and is preset for each link. .. That is, the fixed link cost of a link set over a long distance over a place where a high degree of safety must be maintained becomes high.

For example, public facilities, important buildings such as historic buildings, facilities used by vulnerable people such as children, the elderly, and the sick, and densely populated areas are places where safety must be maintained. is there. On the contrary, rivers, riverbeds, lakes, seas, agricultural lands, pastures, etc. are places where the degree of safety may be low to some extent because people are rarely concentrated.

For this reason, the fixed link cost of the link set above the place where the safety level must be kept high is set high, but it is set above the place where the safety level must be kept high in that case. The fixed link is set considering the distance of the link. On the contrary, the fixed link cost of the link set above the place with low safety is set low, but the distance of the link set above the place with low safety in that case is also taken into consideration, and the fixed link is set. Set.

In the case of a link that is set over both a place where the safety level must be kept high and a place where the safety level is low, both of them are taken into consideration and set. In addition, the safety level is not only the place where the safety level is kept high or the place where the safety level is low, but also the area with a certain width to the left and right from the place directly below the link setting. Whether it is a place where the safety level is kept high or a place where the safety level is low is considered.

That is, if a drone flying on the link falls for some reason, the affected area will be the lower area to be considered for the link, and this area will keep the safety level high or the safety level. The fixed link cost is set according to the area where is low. This fixed link cost is set by the configuration administrator, i.e., a "person," or by AI (artificial intelligence), or both.

The "fluctuation link cost" is determined according to the length of the link and fluctuation information such as statistical information, weather information, traffic congestion information, congestion degree information, air traffic control information, and transportation operation information, and also according to the fluctuation information. It changes. For example, in a mobile phone company, depending on the reception status of radio waves from the mobile phone terminal received at each base station, there are areas where the number of users of the mobile phone terminal is large (crowded) and areas where the number of users is not so large (congested). (No) You can identify the area. Based on the congestion degree information, which is such statistical information, the variable link cost is high for links over a congested area, and the variable link cost is low for links over a non-congested area. To do. Also, based on congestion information, it is possible to increase the link cost above the beach because there are many people in the summer, and to lower the link cost because there are few people in the beach in the winter. is there.

In addition, based on meteorological information, for links over areas where it is raining, the variable link cost will be increased, and if it rains, the variable link cost for that area will be reduced. In addition, for links over the area where thunderclouds are approaching, the variable link cost will be increased, and once the thundercloud has passed, the variable link cost for links over the area will be reduced. Similarly, based on traffic information, for links over areas with roads where traffic congestion is occurring, the variable link cost will be increased, and if traffic congestion is resolved, the variable link cost of links over the area will be increased. To lower.

In addition, if it is found that an airspace that may affect the operation of the aircraft on which a person is riding has occurred based on the existing air traffic control information, the change of the link set in that airspace will change. Increase the link cost. In this case, if it is found that the airspace that may affect the operation of the aircraft on which a person is riding has been eliminated based on the air traffic control information, the variable link of the link set in the airspace is changed. Lower costs. In addition, for example, based on passenger ship and cargo ship operation information, the variable link cost is high for links over the sea area where passenger ships and cargo ships are navigating. For links over sea areas where passenger ships and cargo lines are no longer navigating, the variable link cost will be low.

Note that FIG. 21 is a diagram showing an example of existing control information and operation information that are expected to be used. Further, FIG. 22 is a diagram showing the contents of the existing air traffic control. In consideration of the information shown in FIG. 21 and the control content shown in FIG. 22, the area where the variable link cost should be changed can be specified, and the link cost of each link set above the area can be changed.

The link type is information indicating the type of the link. For example, it is possible to provide a link according to the purpose such as general use, delivery use, emergency transportation, etc., but when a link according to the use is provided in this way, which link is used? Is the link type. As another example, similar to the road network used for automobile navigation, links for drones corresponding to private roads, city roads, prefectural roads, national roads, toll roads, expressways, etc. are provided, and the types thereof. May be specified by the link type. In "Other", the information required each time is input as needed.

As other attributes for links, for example, the number of lanes on the road, up lanes and down lanes, flight lanes corresponding to overtaking lanes are defined, high-speed drone dedicated lanes, large drone regulation lanes, etc. are set. You can also do it. Of course, up flight lanes, down flight lanes, overtaking flight lanes, high-speed drone dedicated lanes, large drone regulation lanes, etc. can also be defined as individual links.

In addition, as described above, a drone flight zone is defined based on a three-dimensional drone aerial map, and links and nodes are set in this drone flight zone, but a zone through which only one drone can pass is defined. In that case, the zone itself can be used as a one-way link, or as a link corresponding to a narrow road in terms of a road, the drones that can fly can be restricted.

That is, a drone flight zone may be defined based on a three-dimensional aerial map for drones, and multiple links and nodes may be provided in this drone flight zone, and drones are almost found in areas with low population density. In areas where you can fly alone, the zone itself may be a single link. It is also possible to provide a dedicated link for emergency drones. In addition, aircraft are universally on the right side, and this is considered to be applicable when flying drones. Therefore, each of the up-passage lane and the down-passage lane can be linked.

Further, as described with reference to FIGS. 8 and 9, the corresponding instruction device 1 of this embodiment manages the positions and modes of the drone port and the drone charging spot in the drone aerial map DB 120. Therefore, for example, the access route from the fixed drone port may be a fixed link and node. In other words, in the case of a drone port, the drone can be guided to the takeoff and landing area, and the access route from there to the nearest link can be defined as a fixed dedicated link.

Next, a specific example of the drone aviation network formed by the drone aviation network data stored in the drone aviation NWDB 130 described with reference to FIG. 20 will be described. FIG. 23 is a diagram for explaining an example of an aviation network for drones formed mainly over the lake water where the fixed link cost is low. In FIG. 23, circles Na to Nk indicate nodes, and straight lines connecting the nodes indicate links. The bar (straight line) below the circle that is the node indicates the height from the ground or water surface. Therefore, it can be seen that each node Na to Nk is provided above the ground surface or the water surface.

The nodes Na, Nf, and Ni are nodes provided above the ground surface and serve as inflow nodes for drones from other areas. In addition, the nodes Na, Nf, and Ni also serve as outflow nodes for drones to other regions. Since these nodes Na, Nf, and Ni are located above the surface of the earth, they are provided 50 m to 60 m above the surface of the earth (ground) in consideration of the existence of people and buildings.

Each of the nodes Nb, Nc, Nd, Ne, Ng, Nh, Nj, and Nk is a node provided above the lake water (water surface) of Lake Yamanaka in this example. These nodes are usually the main areas (main points) suitable for properly linking over lake water, where the cost of fixed links is low if links are provided because there are no or few people or structures. ). In particular, the nodes Nj and Nf are provided in this example to draw the link into the sky above the lake water in view of the shape of Lake Yamanaka, and the area between the nodes Nj and Nf is a water surface drawing area. And each of the nodes Nb, Nc, Nd, Ne, Ng, Nh, Nj, and Nk is located above the lake water, and since there are almost no people or buildings, it is 30m to 40m above the lake water (water surface). It is provided in.

In this way, by setting the nodes and links so as to effectively utilize the sky above the lake where the fixed link cost is low, it is possible to configure an aviation network for drones suitable for searching the flight route of the drone. The drone aviation network shown in FIG. 23 is an example, and it is of course possible to provide a link connecting the node Nb and the node Ng, or to provide a node at another location above the lake surface.

Further, FIG. 24 is a diagram for explaining an example of an aviation network for drones formed mainly in the sky around a river where the fixed link cost is low. In the map shown in FIG. 24, a river with a relatively wide river is located from the upper right side to the lower left side of the map, and the elevated railway track is located from the upper left side to the lower right side of the map so as to intersect this river. Is located. On the upper left side of the river, there is a group of condominiums with a height of 50 m to 100 m, and on the lower right side of the river, there is a garbage disposal site and a low-rise residential area with a height of 10 m or less. The area on the upper right side of the elevated railway is also a low-rise residential area with a height of 10 m or less.

Also in FIG. 24, the circles indicate the nodes, and the straight lines connecting the nodes indicate the links. The bar (straight line) below the circle that is the node indicates the height from the ground or water surface. Then, as shown in FIG. 24, each node is provided in a river or a riverbed. This is because rivers and riverbeds usually have few people and few buildings, so it is possible to set links with low fixed link costs.

In the case of the example shown in FIG. 24, a relatively large-scale bridge exists near the mouth of the river on the lower left side of the figure. Therefore, the three nodes provided in the vicinity of the bridge are provided 100 m above the ground surface or the water surface. In addition, the four nodes provided at the intersection of the river and the elevated railway are provided 100 m above the ground surface or the water surface in order to secure a distance of 30 m or more from the elevated railway.

Other than this, a plurality of nodes provided in the low-rise residential area on the lower right side of the river and the low-rise residential area on the upper right side of the elevated railway in FIG. 24 are provided 40 m above the ground or water surface. .. This is because in the low-rise residential area, there are only buildings such as houses whose height is 10 m or less at the maximum, and it is sufficient to be 30 m or more away from such buildings.

On the other hand, the plurality of nodes provided on the condominium group side on the upper left side of the river in FIG. 24 are provided 40 m above the ground surface or water surface, 60 m above the ground, and 140 m above the water surface. There is something that has been done. The node provided 40 m or 60 m above the surface of the earth or water is for connecting a link with the node provided in the low-rise residential area on the lower right side of the river in FIG. 24.

A node provided 140 m above the surface of the earth or water is provided, for example, to extend a link to an area on the side of the condominium group. With the node provided 140 m above the surface of the earth or water, it is possible to set a link capable of flying a drone at an interval of 30 m or more with respect to an apartment having a height of 100 m.

In addition, in FIG. 24, the node provided 140 m above the ground surface or the water surface on the estuary side has a node provided immediately below it, that is, at a position having the same latitude and longitude, 100 m above the ground surface or the water surface. It has become. Similarly, in FIG. 24, the node provided 140 m above the surface or water surface near the center of the river is directly below it, that is, the node provided 40 m above the surface or water surface at the same latitude and longitude. It is supposed to exist.

In this way, by providing the nodes with multiple structures in the vertical direction, a vertical link is formed, and the route can be specified for the vertical movement of the drone according to the drone aviation network. In other words, it is possible to specify at which node the link should be moved to a higher link or a lower link.

As described above, the drone aviation network data stored in the drone aviation NWDB 130 sets nodes and links in the three-dimensional space according to the situation of the features and the terrain in the real world. By using this drone aviation network data, it is possible to easily search for an appropriate flight route for the drone.

[Example of aviation network data creation process for drones]
Next, an example of processing when creating the above-mentioned aviation network data for drone will be described. FIG. 25 is a flowchart for explaining a process when creating aviation network data for a drone by using an AI (artificial intelligence) function realized by the information processing unit 100 of the corresponding instruction device 1.

The information processing unit 100 refers to the map information of the drone aerial map DB 120, and as described with reference to FIGS. 11 to 15, the drone has a shape with high straightness and good visibility of the communication radio waves of the drone and the sensor. The flight zone is defined in the three-dimensional space (step S1). Next, the information processing unit 100 sets information regarding the link to be defined (step S2). Here, the information about the link is the standard, type, usage, etc. of the link, and when creating the aviation network data for drone for each region, the setting of the region where the link is defined and the coordinate position which is the starting point of the link Settings and the like are also performed in step S2.

The standard of the link is, for example, the cross-sectional shape and size in the direction intersecting the vertical direction of the link, and the type of the link is, for example, a high-speed flight link, a normal flight link, a temporary evacuation link, and the like. In addition, there are various uses for the link, such as emergency transportation, home delivery, and photography. Of these, the necessary information is set. The information regarding the set link is input to the information processing unit by the user, for example, via a communication function.

Next, the information processing unit 100 selects the drone flight zone that defines the link from the drone flight zones defined in step S1 according to the information regarding the set link (step S3). For example, when a high-speed flight link is defined as the type of link, the high-speed flight zone described with reference to FIG. 12 is mainly selected.

Then, the information processing unit 100 defines a link and a node in the selected drone flight zone while referring to the fixed flight obstacle information, the variable flight obstacle information, the avoidance facility area information, etc. of the drone aerial map DB 120 (step S4). .. Nodes are simply defined at the start, end, and branch points of the link.

Then, the information processing unit 100 converts the drone aviation network including the links and nodes defined in step S4 into the format of the drone aviation network data described with reference to FIG. 20 (step S5). That is, in step S5, the information processing unit 100 converts the drone aviation network defined in step S4 into the format of node data and link data. The network data defined in this way is recorded in the drone aviation NWDB 130 and can be used for searching the flight route.

Here, the case where the drone aviation network data is created by the AI realized by the information processing unit 100 has been described, but the creator (operator) will adjust the created drone aviation network data. Of course you can do that. In addition, the creator (operator) creates a drone flight zone while referring to the three-dimensional aerial map for drone, and inputs latitude, longitude, height, and various element information in the drone flight zone to define a node. Of course, it is also possible to form an aviation network for drones and to form aviation network data for drones from now on.

[Example of stored data of flight route data file 140 by drone]
Then, the response instruction device 1 of this embodiment can receive a search request including a flight route search condition from the drone operation management device 5, refer to the drone aviation NWDB 130, and search for the drone flight route. Then, the flight route search result is stored in the flight route data file 140 for each drone. Based on the flight route stored in the flight route data file 140 for each drone, the corresponding instruction device 1 forms the flight instruction data described with reference to FIG. 2 and provides the flight instruction data to the drone to guide the flight route. ..

FIG. 26 is a diagram for explaining an example of stored data of the flight route data file 140 for each drone. The flight route data file 140 for each drone manages the "flying object ID", "IP address", "search condition", "flight route (search result)", and "current position" for each drone. The "aircraft ID" is identification information that can uniquely identify the drone, and is mainly used by the operator who operates the drone to identify the drone.

The "IP address" is used when an individual drone is identified and communicated through the IoT platform 3. The "search condition" is condition information for searching the flight route for each drone provided by the drone operation management device 5, and includes a departure point, a waypoint, a destination, and the like. The "flight route (search result)" is information indicating the flight route searched based on the search conditions, and is composed of, for example, a node and a link as shown in FIG. 26. The "current position" is information provided by the in-flight drone at predetermined timings and indicates the current position of the drone, and is composed of latitude (lat), longitude (lon), and height (At).

Of such flight route data for each drone, the "aircraft ID" and "IP address" are registered in advance through the drone operation management device 5. As the "search condition", the one provided by the drone operation management device 5 when searching for a flight route is input. Information (search result) obtained by executing the search of the flight route is input to the "flight route (search result)". For the "current position", information indicating the latitude, longitude, and height transmitted from the drone in flight is input at predetermined timings.

With the stored data of the flight route data file 140 for each drone, the flight route can be managed for each drone, flight instruction data for each drone can be formed, and the flight route can be guided for each drone.

The example of the stored data of the flight route data file 140 for each drone shown in FIG. 26 is an example, and various other information can be managed. For example, it is possible to manage various information such as information on the function of the drone (attribute information of the drone), information on the operator of the drone, flight history of the drone, failure history of the drone, repair and inspection history of the drone, and the like.

In addition, the attribute information of the drone includes flight time, maximum speed, body weight, loading weight, size, dustproof and drip-proof function, communicable distance, impact resistance, charging time, auto cruise function, auto tracking, autopilot, flight. It consists of information such as the controller. The attribute information of these drones can be used as conditional information when searching for an appropriate flight route according to the function of the drone.

[Stored data of aviation regulation DB150 for drones]
FIG. 27 is a diagram showing an example of traffic regulation for a drone, and FIGS. 28 to 32 are diagrams showing an example of a traffic sign for a drone. When many drones fly, it is thought that traffic regulations will be imposed on drones in accordance with the Road Traffic Act. This is because instrument flight aircraft cannot stop in the air, but general drones such as multicopters can hover (stop in the air).

For example, as shown in FIG. 27, it is considered that various traffic restrictions are applied to the drone, such as speed regulation, signal observance of virtual traffic lights, slowing, pausing, and confirmation of up / down / left / right. Further, a drone traffic regulation sign as shown in FIGS. 28 and 29, a drone traffic instruction sign as shown in FIG. 30, a drone traffic warning sign as shown in FIG. 31, and a drone traffic guide sign as shown in FIG. 32 are provided. It is possible that it will be done.

Then, what kind of traffic regulation is applied to which node or link and which traffic sign is applied to which node or link is managed in the drone aviation regulation DB 150 of the corresponding instruction device 1. That is, the drone aviation regulation DB 150 manages the contents of the applied traffic regulation and the applied traffic sign in association with the node and the link.

As a result, the response instruction device 1 performs control control according to the traffic regulation and the traffic sign for the drone in flight based on the current position of the drone in flight and the stored information of the aviation regulation DB 150 for the drone. Can be done. In this case, if the drone is remotely controlled, the AR (Augmented Reality) technology is used to display the regulation contents and traffic signs on the display screen of the remote control device of the remote operator, or display the telop. You can also notify by outputting voice. In addition, drones in autonomous navigation will be notified by transmitting an instruction signal on how to fly in response to traffic regulations and traffic signs.

[Configuration example of the information processing unit 100 of the corresponding instruction device 1]
FIG. 33 is a block diagram for explaining a configuration example of the information processing unit 100 of the corresponding instruction device 1 shown in FIG. As shown in FIG. 33, the information processing unit 100 includes a communication I / F 101, a control unit 102, a storage device 103, a fluctuation information acquisition unit 104, and a fluctuation link cost update unit 105. Further, the information processing unit 100 includes a search condition setting unit 106, a route search unit 107, a flight instruction forming unit 108, a flight information acquisition unit 109, a reroute processing unit 110, and a route change instruction unit 111. Further, the information processing unit 100 includes a state determination unit 112, an emergency response instruction forming unit 113, and a post-response processing unit 114.

The communication I / F 101 realizes a communication function. The control unit 102 is a computer device unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and controls each unit of the information processing unit 100. The storage device 103 includes a large-capacity recording medium such as a hard disk, and writes / reads / stores / retains / deletes data on the recording medium. The fluctuation information acquisition unit 104 acquires various statistical information and fluctuation information disclosed on the Internet through the communication I / F 101, and performs a process of recording the various statistical information and the fluctuation information in the storage device 103.

The variable link cost updating unit 105 performs a process of updating the variable link cost of the link data described with reference to FIG. 20 based on the statistical information and the variable information acquired through the variable information acquisition unit 104. The search condition setting unit 106 receives the search condition for each drone from the drone operation management device 5 received through the communication I / F 101, and sets this in the route search unit 107.

The route search unit 107 uses the Dijkstra method or the A * (A-star) algorithm to refer to the drone aviation NWDB 130 through the communication I / F 101 based on the search conditions for each drone set by the search condition setting unit 106. Then, search for a flight route for each drone. In this case, the route search unit 107 refers to both the fixed link cost and the variable link cost of the network data, and performs the route search so that the total value of both link costs is the smallest. Then, the route search unit 107 stores the search results for each drone in the flight route data file 140 for each drone described with reference to FIG. 26.

The flight instruction forming unit 108 flies a coordinate point sequence including latitude, longitude, and height described with reference to FIG. 2 based on the search result of the flight route for each drone stored in the flight route data file 140 for each drone. Form instructional data. The flight instruction data formed here is transmitted through the communication I / F 101, is transmitted to the drone if the target drone is an autonomous navigation drone, and is transmitted to the drone that is remotely controlled, and if the drone is remotely controlled, the flight instruction data is transmitted. It is transmitted to the device used by the remote operator and used.

The flight information acquisition unit 109 receives and acquires, for example, the current position and the state information of the drone's aircraft, which are transmitted from the drone in flight at predetermined timings, through the communication I / F 101. The reroute processing unit 110 uses the flight route from the current position to the destination for the drone when the current position transmitted from the drone deviates from the searched flight route due to the influence of strong winds or the like. The process of re-searching using the network of the aviation NWDB 130 is performed. And. The reroute processing unit 110 stores the search result in the flight route data file 140 for each drone. That is, the flight route is rewritten.

The route change instruction unit 111 is a flight instruction of a coordinate point sequence including latitude, longitude, and height described with reference to FIG. 2 based on the flight route of the flight route data file 140 for each drone rewritten by the reroute processing unit 110. Form data. The flight instruction data formed here is transmitted through the communication I / F 101, is transmitted to the drone if the target drone is an autonomous navigation drone, and is transmitted to the drone that is remotely controlled, and if the drone is remotely controlled, the flight instruction data is transmitted. It is transmitted to the device used by the remote operator and used.

Here, in order to clarify the functions of the corresponding instruction device 1, the route search unit 107, the flight instruction formation unit 108, the reroute processing unit 110, and the route change instruction unit 111 are provided, but the functions of the reroute processing unit 110 are provided. The route search unit 107 can be realized, and the flight instruction formation unit 108 can be configured to realize the function of the route change instruction unit 111.

Then, as will be described later, each of the drones 2 (1), 2 (2), 2 (3), ... Indicates that an abnormality has occurred in the own machine when an abnormality has occurred due to some cause. A status notification signal including status information is formed and transmitted to the corresponding instruction device 1. The status notification signal includes identification information such as the IP address of the drone, the damaged part (failure location) and the degree of damage (fault degree) of the drone, and the status information indicating the state of the drone including the remaining fuel (remaining battery level). It contains information that indicates the current position of the drone.

When the state determination unit 112 receives a status notification signal including status information indicating that an abnormality has occurred from the drones 2 (1), 2 (2), 2 (3), ... Through the communication I / F 101. In addition, the state of the drone that is the source of the state notification signal is determined based on the state information indicating the state of the drone included in the state notification signal. Further, the state determination unit 112 refers to, for example, the flight route data file 140 for each drone through the communication I / F 101 based on the identification information such as the IP address of the drone included in the received notification signal of the state, etc., and the state. It is possible to acquire the attribute information of the drone that is the source of the notification signal. Further, the state determination unit 112 can acquire the current position (latitude, longitude, altitude) of the drone from which the state notification signal is transmitted, based on the information indicating the current position included in the received status notification signal.

The emergency response instruction forming unit 113 transmits a notification signal of the state, etc., based on the state, attributes, and current position of the drone determined by the state determination unit 112, and also with reference to the drone aerial map DB 120 as necessary. Form the response instruction information to be provided to the original drone. The response instruction information, which will be described later, indicates the landing point and the route to the landing point, and instructs the response to land without significantly affecting the ground. The response instruction information formed by the emergency response instruction forming unit 113 is transmitted to the drone in autonomous navigation, the remote control device of the drone being remotely controlled, and the like through the communication I / F 101. This allows for proper control of drones in emergencies.

After sending a response instruction signal to a drone or the like that has fallen into an emergency, the post-response processing unit 114 identifies the response to be taken and performs processing to take the response. Specifically, the post-response processing unit 114 instructs a predetermined contractor to collect the drone that should have landed at the designated landing point, or repairs the drone that should have landed at the designated landing point. It is possible to take various measures such as instructing.

The information processing unit 100 having such a configuration realizes a function of updating the variable link cost of the link data of the drone aviation NWDB 130. Further, the information processing unit 100 realizes a navigation function of performing a route search from the drone operation management device 5 based on a flight route search request to form flight instruction data and guiding the flight route. The information processing unit 100 also realizes a flight route rerouting function for the drone to be guided by the flight route. Furthermore, in the event of an emergency that prevents the drone from flying normally, we have realized an emergency response instruction function that controls the drone so that it does not hurt people or objects on the ground. To do.

[Configuration example of drone 2]
Next, a configuration example of the drones 2 (1), 2 (2), 2 (3), ... Used in the navigation system of this embodiment will be described. As mentioned above, there are various types of drones such as multicopters, fixed-wing aircraft, and small helicopters. The drone of this embodiment will be described as being a quadcopter type among multicopters. Further, in the following, drones 2 (1), 2 (2), 2 (3), ... Are collectively referred to as drone 2.

FIG. 34 is a diagram for explaining a configuration example of the drone 2 used in the navigation system of this embodiment, and FIG. 34 (A) is a diagram of the drone 2 viewed from above. 34 (B) is a view of the drone 2 from the side. The drone 2 includes a flight mechanism unit 21 having a quadcopter configuration and a drive control unit 22. The flight mechanism unit 21 is driven and controlled by the drive control unit 22. As shown in FIG. 34, the flight mechanism unit 21 is configured by attaching propeller mechanisms 24A, 24B, 24C, 24D to the tips of four arms 23A, 23B, 23C, 23D extending from the drive control unit 22. There is.

The propeller mechanisms 24A, 24B, 24C, and 24D drive the propeller shafts (not shown) by rotating the engine units (driving units) 41A, 41B, 41C, and 41D, respectively, to drive the propellers 42A, 42B, 42C, and 42D. It is configured to be rotationally driven. The rotation speed and rotation direction of the engine units 41A, 41B, 41C, and 41D are controlled by the drive control signal from the drive control unit 22.

In this example, the engine units 41A, 41B, 41C, and 41D are independently controlled by the drive control signal from the drive control unit 22. As a result, the drone 2 can perform various movement operations such as takeoff, landing, ascent, descent, right turn, left turn, forward, reverse, right shift, and left shift, and the attitude such as the tilt angle with respect to the vertical direction. The control and the position of the hovering position can be controlled.

The two legs 25A and 25B are further attached to the housing of the drive control unit 22 so as to face each other. In this example, the legs 25A and 25B are made of a trapezoidal shaped pipe member, and are formed so as to stably hold the drone 2 on the landing plane as shown in FIG. 34 (B). ..

Further, in this embodiment, the housing of the drive control unit 22 of the drone 2 has a substantially cubic shape (hexahedron shape), and a camera is formed on the front surface, the rear surface, the left side surface, the right side surface, and the upper surface, for example, in the central portion. C1, C2, C3, C4 and C5 are provided. A camera is not installed on the lower surface side because, for example, a luggage storage unit may be attached. However, the four cameras C1, C2, C3, and C4 provided on the four side surfaces of the front surface, the rear surface, the left side surface, and the right side surface make it possible to capture an image on the lower side (including directly below) of the drone. As a result, it is possible to simultaneously shoot images in six directions of front / rear, left / right, and up / down of the housing of the drive control unit 22.

A drive control device unit is provided in the drive control unit 22. FIG. 35 is a block diagram showing a configuration example of a drive control device unit provided in the drive control unit 22 of the drone 2 of this embodiment.

In FIG. 35, the transmission / reception antenna 201A and the wireless communication unit 201 are for communicating with the corresponding instruction device 1 when the drone 2 is for autonomous navigation, and are for remote control. Communicates with a remote control device. Here, for the sake of simplicity, the drone 2 will be described as being autonomously navigated.

The control unit 202 realizes a function of controlling each part of the drone 2, and the storage device 203 realizes an information storage holding function. The storage device 203 stores various data required for various programs and processes, and is also used as a work area for temporarily storing the intermediate results of various processes. The storage device 203 also stores flight instruction data and the like provided by the corresponding instruction device 1.

The power supply unit 204 includes a battery and supplies necessary power to each unit of the drone 2. The sensor unit 205 includes a gyro sensor, a pressure pressure sensor, an acceleration sensor, an ultrasonic sensor, a geomagnetic sensor, and the like. The gyro sensor is used for attitude control, and the barometric pressure sensor is used for altitude detection. Accelerometers are used to detect speed, and ultrasonic sensors are used to detect distance to the objective. The geomagnetic sensor is also used for orientation detection.

The autonomous attitude control unit 206 utilizes the detection outputs from various sensors mounted on the sensor unit 205 and the captured images from the camera unit 209 so that the drone 2 can fly stably in an appropriate attitude. Controls the flight drive unit 208. Since the ultrasonic sensor is used, it is not always necessary to use the image information from the camera unit 209, but the image information from the camera unit 209 can also be used to confirm the obstacle. Especially, it is important information at the time of takeoff and landing.

The GPS unit 207 and the GPS antenna 207A are parts that realize a function of accurately detecting (positioning) the current position of the own aircraft by receiving and analyzing transmission signals (positioning information) from a plurality of artificial satellites. .. The GPS unit 207 can detect latitude, longitude, and altitude. The flight drive unit 208 supplies drive control signals to the engine units 41A, 41B, 41C, and 41D of the propeller mechanisms 24A, 24B, 24C, and 24D of the flight mechanism unit 21 in accordance with the control of the autonomous attitude control unit 206. As a result, various movement movements, attitude control, and hovering position control can be performed on the drone 2.

As described above, the camera unit 209 includes five cameras C1, C2, C3, C4, and C5 provided at the center of five surfaces on the front, rear, left, and right sides of the drive control unit 22 of the drone 2. It operates according to the control of the control unit 202. Further, since the camera unit 209 includes five cameras C1, C2, C3, C4, C5, and C6, it is possible to control which camera is used for shooting, and four cameras in front, back, left, and right. By synthesizing the images taken with C1, C2, C3, and C4 facing downward, the image on the lower side of the drone 2 can also be appropriately taken.

The flight control unit 211 cooperates with the autonomous attitude control unit 206, receives a supply from the corresponding instruction device 1, and flies so as to fly a flight route according to the flight instruction data stored in the storage device 203. Controls the drive unit 208. While the autonomous attitude control unit 206 mainly controls the attitude of the drone, the flight control unit 211 flies so as to follow a coordinate point sequence including the latitude, longitude, and altitude indicated by the flight instruction data. Controls the drive unit 208.

In this embodiment, the position notification unit 212 transmits the current position information (latitude, longitude, altitude) acquired through the GPS unit 207 to the wireless communication unit 201 when flying in response to the provision of flight instruction data. A process of notifying the corresponding instruction device 1 through 201A is performed. This notification is made at predetermined timings (for example, every few minutes). For example, when a notification request for the current position is received from the corresponding instruction device 1, the notification processing is performed at an appropriate timing. You can also.

The state monitoring unit 213 monitors the state of each sensor of the sensor unit 205, and the state of latitude, longitude, and altitude from the GPS unit 207. At the same time, the condition monitoring unit 213 monitors the driving state of each engine unit 41A, 41B, 41C, 41D of the flight mechanism unit 21 acquired through the flight driving unit 208, and the remaining battery level of the power supply unit 204. Further, the state monitoring unit 213 monitors the communication state of the wireless communication unit 201. In this way, the condition monitoring unit 213 comprehensively monitors the condition of the drone 2.

Then, when the state monitoring unit 213 detects that the own machine is in an abnormal state from the monitored information, the state monitoring unit 213 forms the state information indicating the state of the own machine under the control of the control unit 202. Is notified to the status notification signal forming unit 214. The state information indicating the state of the own machine in this case indicates that the own machine is in an abnormal state. Specifically, for example, "engine section 41A stopped, battery level 30%, altitude cannot rise, flight time is 5 minutes", etc., such as "damaged part (failure part), degree of damage (degree of failure), residual fuel". It consists of information such as (remaining battery level), function restrictions, and flight time.

The status notification signal forming unit 214 receives identification information such as the IP address of the drone, status information indicating the status of the drone, and status information indicating the status of the drone when the status information indicating the status of the own machine is supplied from the status monitoring unit 213. A status notification signal including the current position acquired through the GPS unit 207 is formed. Then, the state notification signal forming unit 214 transmits the formed state notification signal to the corresponding instruction device 1 through the wireless communication unit 201 and the transmission / reception antenna 201A.

The drone 2 having such a configuration flies so as to follow the flight route searched by the corresponding instruction device 1 according to the flight instruction data from the corresponding instruction device 1. In addition, when an emergency occurs in the drone 2, a status notification signal including status information indicating that the emergency has occurred in the drone 2, that is, the drone is in an abnormal state is formed, and this is dealt with. It is transmitted to the instruction device 1. As a result, the control unit 202 can control each unit under the control of the response instruction device 1 and take an appropriate response.

[Various processing of the corresponding instruction device 1]
Next, the variable link cost update process, the route search process, and the reroute process, which are the main processes performed by the correspondence instruction device 1 of this embodiment, will be described with reference to the flowchart.

[Variable link cost update process]
FIG. 36 is a flowchart for explaining the variable link cost update process performed by the corresponding instruction device 1. As mentioned above, the fixed link cost of the link data of the drone aviation NWDB130 is fixedly determined based on the length of the link and the safety level of the location under the link. However, the variable link cost fluctuates according to statistical information and variable information. Therefore, the control unit 102 of the response instruction device 1 fluctuates with the fluctuation information acquisition unit 104 at the transition of the time span indicated by the statistical information, that is, at the timing when the season, day of the week, and time zone change or when the fluctuation information is updated. The link cost update unit 105 is controlled to update the variable link cost.

First, the control unit 102 accesses the drone aviation NWDB 130 through the communication I / F 101, and clears (initializes) the variable link cost of the link data (step S101). Next, the control unit 102 controls the fluctuation information acquisition unit 104 to acquire congestion degree information, which is necessary statistical information published on the Internet, through the communication I / F 101. This statistic shows the degree of congestion of people and cars according to the season, day of the week, and time of day. Specifically, beaches, pools and their surroundings are congested in the summer, tourist spots and large-scale commercial facilities and their surroundings are congested on weekends, and stations and their surroundings, trunk roads and the like during commuting hours. It is possible to identify a crowded place according to the season, day of the week, and time of day, such as when the surrounding area is crowded.

Then, the variable link cost updating unit 105 identifies the affected area based on the statistical information acquired by the variable information acquisition unit 104 under the control of the control unit 102 (step S103). That is, the place or area where people or automobiles are considered to be congested is specified within a predetermined time from the present time. Then, the variable link cost update unit 105 identifies the link over the specified place or area, obtains the variable link cost of the specified link according to the degree of congestion of the statistical information, and determines the variable link cost for drone aviation. The column of the variable link cost of the link data of the NWDB 130 is updated (step S104).

Next, the control unit 102 controls the fluctuation information acquisition unit 104 and acquires fluctuation information such as weather information and traffic congestion information published on the Internet through the communication I / F 101 (step S105). Meteorological information mainly indicates the occurrence of meteorological conditions that affect the flight of drones, such as wind and rain, snow, thunder, leopard, sleet, tornado, yellow sand, volcanic ash, and clear-air turbulence (air pocket). In addition, the traffic information is not the degree of congestion according to the day of the week or the time zone, but the place where the traffic congestion that is occurring at the moment is occurring due to various influences such as traffic accidents, the existence of broken cars, road construction, etc. This is the information to be shown.

Then, the fluctuation link cost update unit 105 identifies the affected area based on the fluctuation information such as the weather information and the traffic jam information acquired by the fluctuation information acquisition unit 104 under the control of the control unit 102 (step S106). That is, within a predetermined time from the present time, a place or area where the weather condition affects the flight of the drone, or a place or area where traffic congestion occurs is specified. Then, the variable link cost update unit 105 identifies the link above the specified place or area, obtains the variable link cost of the specified link according to the weather condition and the traffic condition, and obtains this according to the weather condition and the traffic condition, and obtains this. Update to the column of variable link cost of the link data of (step S107). Then, the process shown in FIG. 36 is terminated.

Here, the variable link cost is updated based on the congestion degree information, which is statistical information, and the variable link cost is updated based on the weather information, traffic jam information, etc., which are variable information. For this reason, there are places that are affected by both the congestion degree information, which is statistical information, and the weather information, traffic congestion information, etc., which are fluctuation information. In this case, both variable link costs are taken into account to determine the variable link cost.

Simply, the person who adds both the update of the variable link cost based on the congestion degree information which is statistical information and the variable link cost based on the weather information and traffic congestion information which are variable information becomes the variable link cost. Will be done. Of course, even if the variable link cost is updated based on the congestion degree information, which is statistical information, and the variable link cost, which is based on the weather information and traffic jam information, which are variable information, is weighted, the link cost is determined accordingly. Good.

The variable link cost may be updated separately based on the congestion degree information which is statistical information and the variable link cost may be updated based on the weather information or traffic jam information which is variable information. In this case, a variable link cost update column based on the congestion degree information, which is statistical information, and a variable link cost update column based on the weather information and traffic congestion information, which are variable information, are provided separately, and each update process is performed. It may be done separately.

In this case, by clearing the update column of the variable link cost based on the congestion degree information which is statistical information and performing the processing of steps S102 to S104 of FIG. 36, the variable link based on the congestion degree information which is statistical information You can update the cost. Further, by clearing the update column of the fluctuation link cost based on the weather information and the traffic jam information which are the fluctuation information and performing the processing of steps S105 to S107 of FIG. 36, the fluctuation based on the weather information and the traffic jam information which is the fluctuation information. You can update the link cost.

[Route search processing]
FIG. 37 is a flowchart for explaining the route search process performed by the corresponding instruction device 1. The correspondence instruction device 1 of this embodiment performs a search process for the flight route of the drone based on the network data of the drone aviation NWDB 130.

The control unit 102 of the response instruction device 1 receives a flight route search request including the flight route search condition of the drone from the drone operation management device 5 through the communication I / F 101 (step S201). The received route search request includes the drone's identification ID, IP address, starting point, destination, and if necessary, a waypoint. Then, under the control of the control unit 102, the search condition setting unit 106 sets the flight route search condition included in the received flight route search request in the route search unit 107 (step S202).

The route search unit 107 refers to the network data of the drone aviation NWDB 130, and searches for a flight route from the departure point to the destination, which has the minimum link cost consisting of the fixed link cost and the variable link cost. (Step S203). In this case, it is possible to search for a flight route by selecting a link so that the total link cost of the fixed link cost and the variable link cost is minimized, or for each of the fixed flight route and the variable flight route. Weighting may be set and the link cost may be used in consideration of the weighting.

As a result, for example, a link having a low fixed link cost such as a river, a riverbed, a sea or a coast can be preferentially used, and an optimum flight route can be searched in consideration of a variable link cost. For example, when the link cost has few variable factors, the flight route can be searched by considering only the fixed link cost and not considering the variable link cost.

Then, the route search unit 107 records the search result in the flight route data file 140 for each drone as route data for each drone (step S204). After that, under the control of the control unit 102, the flight instruction forming unit 108 sets the coordinate point sequence including the latitude, longitude, and height based on the flight data (searched flight route) of the flight route data file 140 for each drone. The flight instruction data is formed (step S205). This flight instruction data may indicate a flight route by a polyline composed of a sequence of coordinate points, or indicate a flight route as a three-dimensional space as described with reference to FIG. You may.

Then, the flight instruction forming unit 108 provides the formed flight instruction data by transmitting the formed flight instruction data to a drone that autonomously navigates, a remote control device of the drone that is remotely controlled, or the like through communication I / F 101 (step S206). In this way, the response instruction device 1 searches for a flight route according to the flight route search condition included in the flight route search request from the drone operation management device 5, and navigates the drone so as to follow the searched flight route ( Guidance) can be done. The corresponding instruction device 1 may include the flight speed at the time of flight in the flight instruction data, and can instruct not only the flight route but also the flight speed.

[Reroute processing 1]
FIG. 38 is a flowchart for explaining the reroute process 1 performed by the corresponding instruction device 1. When the drone deviates from the searched flight route, the response instruction device 1 of this embodiment performs a drone flight route reroute process (reroute process 1) based on the network data of the drone aviation NWDB 130. Can be done.

The control unit 102 of the response instruction device 1 acquires the current position transmitted at predetermined timings from the drone that provided the route instruction data through the communication I / F 101 (step S301). Then, the control unit 102 refers to the flight route of the drone in the flight route data file 140 for each drone through the communication I / F 101, and determines whether or not the flight route deviates from the searched flight route (step S302). In the determination process of step S302, when it is determined that the searched flight route is not deviated, the current flight route is maintained (step S303). That is, no instruction to change the flight route is given.

It is assumed that in the determination process of step S302, it is determined that the current position of the drone deviates from the searched flight route. In this case, the control unit 102 determines whether or not the drone can continuously fly to the destination (step S304). That is, in step S301, not only the current position from the drone but also various information indicating the state of the drone, for example, various information such as the state of the defect of the part affecting the flight, the remaining power received, and the remaining flight distance. Be sure to receive the transmission. Then, in step S304, the control unit 102 determines whether or not the drone can continuously fly to the destination based on various information indicating the state of the drone from the received drone.

In the determination process of step S304, when it is determined that the drone is in a state where continuous flight to the destination is impossible, an emergency control circuit search process is performed (step S305). In step S305, a safe place to get off from the current position of the drone is specified with reference to the drone aerial map DB120, and an instruction is given to the drone to get off at the safe place. .. A place where a drone can safely get off means a place where the drone can get off without damaging people or features, specifically rivers, lakes, vacant lots, fields, etc., where there are usually no people. The place. Alternatively, it is a large place such as a drone port where drones can take off and land.

If there is no such place where the drone can safely get off, identify a place that does not affect people or features on the ground as much as possible, such as the roof of a building or the roof of a large building, and get off at that place. Give instructions. In addition, a response such as contacting a predetermined contact may be taken in step S305 so as to collect the drone that has landed (landed or landed).

It is assumed that in the determination process of step S304, it is determined that the drone is in a state where it can continuously fly to the destination. In this case, the control unit 102 controls the reroute processing unit 110 to re-search the flight route from the current position to the destination (step S306). Similar to the route search unit 107, the reroute processing unit 110 refers to the network data of the drone aviation NWDB 130, and is a flight route from the current position to the destination, and has a link cost consisting of a fixed link cost and a variable link cost. , Re-search for the smallest flight route.

Then, the reroute processing unit 110 updates the re-search result to the flight route data file 140 for each drone as route data for each drone (step S307). After that, under the control of the control unit 102, the route change instruction unit 111 sets the coordinate point sequence including the latitude, longitude, and height based on the flight data (searched flight route) of the flight route data file 140 for each drone. The flight instruction data is formed (step S308). The process of step S308 is the same process as the process performed by the flight instruction forming unit 108.

Then, the route change instruction unit 111 provides the formed flight instruction data by transmitting the formed flight instruction data to a drone that autonomously navigates, a remote control device of the drone that is remotely controlled, or the like through communication I / F 101 (step S309).

Then, after each of the processes of step S303, step S305, and step S309, the process shown in FIG. 38 is completed, and the drone waits for the next current position to be transmitted. In this way, when the drone that provided the flight instruction data deviates from the searched flight route, the response instruction device 1 performs reroute processing and follows the re-searched flight route to the destination. You can navigate the drone. Even in this case, the corresponding instruction device 1 can include the flight speed at the time of flight in the flight instruction data, and can instruct not only the flight route but also the flight speed.

[Reroute processing 2]
FIG. 39 is a flowchart for explaining the reroute process 2 performed by the corresponding instruction device 1. The correspondence instruction device 1 of this embodiment can perform reroute processing (reroute processing 2) of the flight route of the drone when the variable link cost of the link data of the drone aviation NWDB 130 is updated.

The process of FIG. 39 is executed when the variable link cost update process described with reference to FIG. 36 is performed. First, the control unit 102 identifies a link in which the variable link cost of the link data of the drone aviation NWDB 130 is updated to new data (step S401). Then, the control unit 102 extracts the flight route including the link specified in step S401 from the flight route data file 140 for each drone (step S402).

Then, the drone using the flight route extracted in step S402 is requested to notify the current position, and the current position of the drone is acquired (step S403). After that, the control unit 102 controls the reroute processing unit 110 to re-search the flight route from the current position to the destination (step S404). Similar to the route search unit 107, the reroute processing unit 110 refers to the network data of the drone aviation NWDB 130, and is a flight route from the current position to the destination, and has a link cost consisting of a fixed link cost and a variable link cost. , Re-search for the smallest flight route.

Then, the reroute processing unit 110 determines whether or not the flight route obtained by re-searching is different from the current flight route (original flight route) and it is necessary to change the route (step S405). When it is determined in the determination process of step S405 that the route needs to be changed, the reroute processing unit 110 updates the re-search result to the flight route data file 140 for each drone as route data for each drone (step S406). After that, under the control of the control unit 102, the route change instruction unit 111 sets the coordinate point sequence including the latitude, longitude, and height based on the flight data (searched flight route) of the flight route data file 140 for each drone. The flight instruction data is formed (step S407). The process of step S407 is the same process as the process performed by the flight instruction forming unit 108.

Then, the route change instruction unit 111 provides the formed flight instruction data by transmitting the formed flight instruction data to a drone that autonomously navigates, a remote control device of the drone that is remotely controlled, or the like through communication I / F 101 (step S408). Further, in the determination process of step S405, when it is determined that the flight route obtained by re-searching and the current flight route (original flight route) are the same and the route change is unnecessary, the current flight route is used. Try to maintain (step S409). That is, no instruction to change the flight route is given.

Then, after the process of step S408 or after the process of step S409, the process shown in FIG. 39 is completed, and then the timing at which the variable link cost is updated is awaited.

In this way, when the variable link cost is updated, the response instruction device 1 can reroute the flight route using the updated latest variable link cost. This allows the drone to be navigated to the destination by following an appropriate flight route that takes into account the latest variable link costs. Variable factors allow you to change a flight route that uses a link that is no longer suitable for flight to a suitable flight route. Even in this case, the response instruction device 1 can include the flight speed at the time of flight in the flight instruction data, and can instruct not only the flight route but also the flight speed.

[Processing in the event of an emergency]
FIG. 40 is a flowchart for explaining a process performed by the response instruction device 1 when an emergency occurs in the drone 2. The processing of FIG. 40 is mainly executed by the communication I / F 101, the state determination unit 112, the emergency response instruction forming unit 113, and the post-response processing unit 114 under the control of the control unit 102.

The control unit 102 constantly receives the signal from the drone 2 through the communication I / F 101 (step S501), and determines whether or not the signal from the drone 2 has been received (step S502). When it is determined in the determination process of step S502 that the signal from the drone 2 has not been received, the process from step S501 is repeated. When it is determined that the signal from the drone 2 has been received in the determination process of step S502, it is determined whether or not there is an abnormality in the data included in the received signal (step S503). When it is determined that there is an abnormality in the data in the determination process of step S503, the process from step S501 is repeated. This is because when there is an abnormality in the data, the subsequent processing may not be performed properly, and it is necessary to receive normal data.

When it is determined in the determination process of step S503 that there is no abnormality in the received data, the control unit 102 determines whether the received signal is a status notification signal including status information indicating that the drone is in an abnormal state. Determine (step S504). When it is determined in the determination process of step S504 that a status notification signal indicating an abnormal state has been received, the status determination unit 112 functions under the control of the control unit 102 to display the status information included in the received signal. Based on this, the state of the source drone 2 is determined (step S505). Specifically, in step S505, the attributes of the source drone, the damaged part (failure location), the degree of damage (degree of failure), the remaining fuel (remaining amount of power received), and the like are determined, and the current position of the source drone 2 is determined. To grasp.

The attribute of the drone 2 acquires the attribute of the drone 2 based on the identification information of the drone 2 such as the IP address included in the status notification signal from the drone 2. For example, if the drone attribute is registered in the flight route data file 140 for each drone, this can be referred to, and if the drone attribute is registered and managed for each drone in another data file, it can be referred to. You can get it by referring to the data file of. Further, the damaged part (failure part), the degree of damage (degree of failure), the remaining fuel (remaining amount of power received), and the current position can be determined from the information included in the notification signal such as the state from the drone 2.

Then, from the state of the drone 2, it is determined whether or not the drone 2 can fly (step S506). This is because the emergency response differs depending on whether or not the flight is possible. FIG. 41 is a diagram for explaining a specific example of emergency response of the drone. When the drone 2 that has transmitted the notification signal such as the state indicating that it is in an abnormal state is in a state where it can fly for at least several minutes, it is safe (less crash damage) as shown in the upper part of FIG. ) You can take an emergency response to search for a location and guide you to that location for landing.

Also, if the drone 2 that has transmitted the notification signal such as the state indicating that it is in an abnormal state is in a state where it can fly for at least several minutes, there is no safe place nearby, or at least When it is difficult to fly for several minutes, an emergency instruction can be sent as shown in the middle of FIG. 41.

FIG. 42 is a diagram showing the conditions of a desirable place as a safe place to be searched in order to lower (land) the drone that has transmitted the state notification signal indicating that it is in an abnormal state. A place satisfying the conditions (A) to (E) of FIG. 42 is a safe place to be searched. FIG. 43 is a diagram showing a specific example of a desirable place as a safe place to be searched. The place shown in FIG. 43 will be searched as a place to drop the drone 2 that has transmitted the state notification signal indicating that it is in an abnormal state.

Then, in the determination process of step S506, it is determined that the aircraft is in a state where it can fly for at least several minutes. In this case, under the control of the control unit 102, the emergency response instruction forming unit 113 functions, identifies the landing point, forms the response instruction information for guiding to the landing point and landing, and communicates I / It is transmitted through F101 (step S507). Specifically, in step S507, the emergency response instruction forming unit 113 considers the attribute, state, current position, season, day of the week, and time zone of the drone 2, and refers to the drone aerial map DB 120 through the communication I / F 101. Identify the landing point.

More specifically, the location shown in FIG. 43 is searched and the location is specified as the landing point. However, if the location where water is constantly flowing even on the riverbed is identified and that location is used as the landing site, it is more possible. It can be said that it is safe. Of course, it is necessary to search for a safe landing place within the flight distance from the degree of damage of the drone and the remaining fuel (remaining charge).

Considering the attributes of the drone 2, for example, if the drone 2 is a fixed-wing aircraft, it is not possible to hover and ascend / descend in the vertical direction, so it is necessary to search for a relatively wide flat place where it can slide. This is because the landing location differs depending on the attributes of the drone. Also, the season, day of the week, and time zone are taken into consideration because the place where people gather changes according to these. For example, there are many people at beaches in the summer, but few people at the beaches in the winter. There are many students in schools from Monday to Friday, but there are few students in schools on Saturdays and Sundays. There are many students on the commuting route during the time of going to and from school, but there are few people such as students on the commuting route during times other than the time of going to and leaving school.

In step S507, the response instruction information that considers the attributes of the drone, the season, the day of the week, and the time zone, flies in the drone flight zone where there are few people and the drone can fly, and instructs the route to the specified landing place. Is created and transmitted through the communication I / F 101. If the drone 2 is in autonomous navigation, the destination will give an instruction directly to the drone 2. When the drone 2 is flying by remote control, for example, it is transmitted to the remote control device, and the drone is controlled through this remote control device.

Further, it is assumed that in the discrimination process of step S505, it is determined that the flight for several minutes is in a difficult state. In this case, under the control of the control unit 102, the emergency response instruction forming unit 113 forms an emergency response instruction as the response instruction information and sends it through the communication I / F 101 (step S508). Here, as shown in the middle part of Fig. 41, the emergency response instruction is to open the airbag or parachute, automatically disassemble the aircraft to reduce the unit weight, or "the drone will fall" at a loud volume. A warning sound is emitted. This emergency response instruction is also transmitted to the drone 2 if the drone 2 is in autonomous navigation. When the drone 2 is flying by remote control, for example, it is transmitted to the remote control device, and the drone is controlled through this remote control device.

Further, in the process of step S508, the drone 2 that has transmitted the status notification signal indicating that it is in an abnormal state does not have the emergency mode, or the aircraft is damaged so that the emergency mode cannot be activated. It turns out that it will happen. The emergency mode is a mode that uses airbags, parachutes, warning sounds, and the like. In this case, a place that meets the conditions shown in FIG. 42 is specified, and correspondence instruction information for making a crash landing is formed and transmitted.

After the processing in step S507 or step S508, the post-response processing unit 114 functions under the control of the control unit 102, identifies the post-response after the emergency response, and issues instructions to the relevant parts (step S509). ). FIG. 44 is a diagram showing a specific example of the post-emergency response after the emergency response, and is a diagram showing how to handle the drone that has performed the emergency response, that is, a specific example of the drone rescue.

After the drone that has transmitted the status notification signal indicating that it is in an abnormal state is lowered to the ground by the process of step S507 or step S508, which drone is processed and how is a problem. Therefore, as shown in FIG. 44, the drone searches for a landing point, dispatches an investigator and an investigator, and if necessary, contacts an insurance company or a repair company. For example, identify the appropriate processing for the drone that has been dropped on the ground, and instruct it to perform that processing. After the process of step S509, the process from step S501 is repeated to prepare for the arrival of the status notification signal from another drone.

As described above, the correspondence instruction device 1 of this embodiment can search for an appropriate flight route from the departure point to the destination of the drone 2 and navigate the flight route so as to follow the flight route. .. Then, when the drone 2 in flight becomes in an abnormal state and an emergency occurs, the response instruction device 1 can issue an instruction to the drone 2 and take an appropriate response.

In addition, when an emergency occurs in the drone 2 in flight, it is possible that an unexpected failure occurs in the components of the drone, or a contact or collision with a bird or an obstacle at a high place occurs. Be done. In addition, it is normal due to unexpected deterioration of weather conditions such as guerrilla rainstorms, turbulence of airflow on the flight route when a severe earthquake disaster or forest fire is not encountered, and the effect on sensors when a meteor or magnetic storm occurs. You may not be able to fly.

Even in such a case, it can be determined that an emergency situation in which normal flight is not possible has occurred based on the sensor output, the driving condition of the engine unit, and the like, and the drone 2 can transmit a status notification signal to the corresponding instruction device 1. Therefore, even in the above various cases, the drone 2 that has transmitted the status notification signal is landed on the ground by the processing of FIG. 40 so as not to affect people and objects on the ground. Can be (unloaded).

[Effect of Embodiment]
According to the corresponding instruction device 1 of the above-described embodiment, it is possible to search for a safer place and instruct to land at the searched place in consideration of the case where the drone falls. This will minimize the damage caused by the crash of the drone and the damage to the drone itself.

In addition, it is possible to search for the nearest safe place within the flight distance from the remaining fuel and the degree of damage to the drone's aircraft, and instruct to land at the searched place. This will minimize the damage caused by the crash of the drone and the damage to the drone itself. Also, in the unlikely event that there is no safe place nearby, emergency measures such as the use of air bags and parachutes, and the sound of the opening of the country are available. By giving instructions, the damage caused by the crash of the drone and the damage to the drone itself can be minimized.

In addition, when a guerrilla rainstorm strikes against the forecast, when a severe earthquake disaster occurs, when a forest fire occurs on the route, etc., when the drone can not fly normally, people on the ground You can lower the drone so that it does not affect anything. Therefore, the damage caused by the crash of the drone and the damage to the drone itself can be minimized.

Similarly, if a meteor or magnetic storm occurs and the sensors do not function properly and the drone cannot fly normally, the drone can be lowered so as not to affect people or objects on the ground. it can. Therefore, the damage caused by the crash of the drone and the damage to the drone itself can be minimized.

In addition, by using the drone aerial map DB120, it was identified by appropriately avoiding places where flight obstacles are fixed, places where flight obstacles are variable, places where flight over the sky should be avoided, and the like. You can instruct them to head to the landing site.

[Modification example, etc.]
In the above-described embodiment, the attributes of the drone are stored in the flight route data file 140 for each drone or other storage means, and are read out and used by the drone identification information such as the IP address of the status notification signal. However, it is not limited to this. The drone may include the attributes of its own machine in the status notification signal to notify the drone.

Further, in the above-described embodiment, the case where the drone mainly navigates autonomously has been described, but of course, the drone may be remotely controlled. In this case, the information provided from the response instruction device 1 to the drone 2, such as flight instruction data, response instruction information, and emergency response instruction, is transmitted from the response instruction device 1 to, for example, a remote control device for use. Even if the drone is remotely controlled, the response instruction information and the emergency response instruction are directly transmitted from the response instruction device 1 to the drone so that the drone itself functions to take emergency response. Good.

In the case of a drone that is remotely controlled, emergency response instructions are provided to the remote control device owned by the remote operator, and the camera image from the drone is displayed on the display screen of the remote control device, and the camera image is urgent. The flight route included in the time response instruction can be displayed using AR (Augmented Reality) technology and shown to the remote operator.

In addition, the format of the flight instruction data to be generated can be changed according to the altimeter provided in the drone. That is, there are altimeters that measure altitude using the principle of atmospheric pressure and those that measure altitude using the principle of reflected waves, and the numerical values indicating the height may differ even on the same route. is there. Therefore, the type of the altimeter is also managed as the attribute information of the drone, and the flight instruction data corresponding to the altimeter provided by the drone that provides the flight instruction data can be formed.

Further, as described above, the drone 2 is equipped with a camera. This camera can shoot still images and moving images, shoot live images to be transmitted, blur control by gimbal (rotating body that adjusts the position of the camera), image recognition, and vision positioning. Therefore, by using the vision positioning function of the drone, the ground image taken by the drone can be compared with the information on the aerial map for the drone, and the accurate position of the drone can be grasped on the corresponding instruction device 1.

Further, in the above-described embodiment, the response instruction device 1 provides flight instruction data, emergency instruction information, and emergency instruction information to each drone 2 (1), 2 (2), 2 (3), .... However, it is not limited to this. Flight instruction data, emergency instruction information, and emergency instruction information may be provided to the drone operation management device 5, and may be provided from the drone operation management device 5 to the drones under its control.

[Other]
The function of the receiving means of the emergency response instruction device for drones according to the claim is mainly the communication I / of the information processing unit (hereinafter, simply referred to as the information processing unit) 100 of the response instruction device 1 of the embodiment. F101 has been realized. Further, the function of the discriminating means of the drone emergency response instruction device according to the claim is realized by the state determination unit 112 of the information processing unit 100, and the function of the forming means of the drone emergency response instruction device according to the claim is information. The emergency response instruction forming unit of the processing unit 100 cooperates to realize this. Further, the function of the transmission means of the emergency response instruction device for drones is mainly realized by the communication I / F 101 of the information processing unit 100.

Further, the function of the map information storage means of the drone emergency response instruction device according to the claim is realized by the drone aerial map DB 120 of the drone emergency response instruction device 1. Further, the function of the post-response specific means of the emergency response instruction device for the drone of the claim is realized by the post-response processing unit 114 of the information processing unit 100.

Further, the process described with reference to the flowchart of FIG. 40 is to which one embodiment of the method for instructing emergency response for a drone of the present invention is applied. Further, the program that executes the process described with reference to the flowchart of FIG. 40 is the one to which one embodiment of the emergency response instruction program for drones of the present invention is applied.

1 ... Emergency response instruction device for drone, 100 ... Information processing unit, 101 ... Communication I / F, 102 ... Control unit, 103 ... Storage device, 104 ... Fluctuation information acquisition unit, 105 ... Variable link cost update unit, 106 ... Search condition setting unit, 107 ... route search unit, 108 ... flight instruction formation unit, 109 ... flight information acquisition unit, 110 ... reroute processing unit, 111 ... route change instruction unit, 112 ... state determination unit, 113 ... emergency response instruction formation Department, 114 ... Post-response processing department, 120 ... Aviation map DB for drones, 130 ... Aviation NWDB for drones, 140 ... Flight route data file for each drone, 150 ... Aviation regulation DB for drones, 2 ... Drones, 3 ... IoT platform, 4a ... Meteorological information providing device, 4b ... Traffic information providing device, 4c ... Congestion degree information providing device, 5 ... Drone operation management device

Claims (9)

A map information storage means for storing 3D map information that forms a 3D map,
A receiving means for receiving a status notification signal that is a signal from a drone that is an unmanned aerial vehicle and includes status information indicating the status of the drone and information indicating the current position of the drone.
When the state or the like notification signal is received through the receiving means, the determination means for determining the state of the drone based on the state information included in the state or the like notification signal and
When it is determined that the state of the drone by the determination means is an emergency and it is not impossible to fly, the landing point that can be reached from the current position is referred to by referring to the three-dimensional map information of the map information storage means. Is a data that indicates a flight route from the current position to the landing point, and forms correspondence instruction information including route instruction data that is a coordinate point sequence including latitude, longitude, and height. Means and
The corresponding instruction information formed by said forming means, the drone having transmitted the state and the like notifying signal, and transmitting means for transmitting selected and one of the apparatus for remotely operating the drone to the destination An emergency response instruction device for drones, which is characterized by being equipped with. The emergency response instruction device for drones according to claim 1.
The forming means is characterized in that the landing point is specified in consideration of the information regarding the function of the drone, and the corresponding instruction information including the route instruction data from the current position to the landing point is formed. Emergency response instruction device for drones. The emergency response instruction device for a drone according to claim 1 or 2.
The forming means is characterized in that the landing point is specified in consideration of the season, the day of the week, and the time zone, and the corresponding instruction information including the route instruction data from the current position to the landing point is formed. Emergency response instruction device for drones. The drone emergency response instruction device according to any one of claims 1, 2, or 3.
The forming means is an emergency response instruction for a drone, which forms the response instruction information instructing the drone to land with less influence on the ground when the drone cannot fly. apparatus. The drone emergency response instruction device according to any one of claims 1, 2, 2, 3, and 4.
The three-dimensional map information stored in the map information storage means flies variably according to the season, time, and time, as well as fixed flight obstacle information regarding at least a fixed obstacle location for the drone's flight. Includes variable obstacle information about where the obstacle occurs and avoidance facility area information about where the flight should be avoided.
The forming means is an emergency for a drone, characterized in that the response instruction information including the route instruction data is formed in consideration of the fixed flight obstacle information, the fluctuation obstacle information, and the avoidance facility area information. Situation response instruction device. The drone emergency response instruction device according to any one of claims 1, 2, 3, 3, 4, or 5.
A drone aviation that corresponds to the three-dimensional map information, includes information on nodes specified by latitude, longitude, and height, and information on links connecting the nodes, and can search for the flight route of the drone. Equipped with a network data storage means that stores network data
The forming means uses the drone aviation network data stored in the network data storage means for route instruction data from the current position of the drone that has transmitted the status notification signal to the specified landing point. Formed by searching
An emergency response instruction device for drones. The drone emergency response instruction device according to any one of claims 1, 2, 3, 3, 4, 5, and 6.
It is characterized by comprising a processing means for processing the response instruction information formed by the forming means so as to execute a response for searching the landing point of the drone as a subsequent response after being transmitted through the transmitting means. Emergency response instruction device for drones. It is an emergency response instruction method for drones performed by the emergency response instruction device for drones.
A receiving process for receiving a status notification signal that is a signal from a drone that is an unmanned aerial vehicle and includes status information indicating the status of the drone and information indicating the current position of the drone.
A determination step of determining the state of the drone based on the state information included in the state notification signal when the state notification signal is received in the reception step.
Refer to the three-dimensional map information of the map information storage means for storing the three-dimensional map information forming the three-dimensional map when it is determined in the determination step that the state of the drone is an emergency and the flight is not impossible. A route that identifies a landing point that can be reached from the current position and indicates a flight route from the current position to the landing point, and is a sequence of coordinate points including latitude, longitude, and height. A formation process that forms correspondence instruction information including instruction data,
The corresponding instruction information formed in the forming step, the drone having transmitted the state and the like notifying signal, and a transmission step of transmitting selected and one of the apparatus for remotely operating the drone to the destination The drone emergency response instruction method, characterized in that the drone emergency response instruction device performs the above. It is a program to be executed by the computer installed in the emergency response instruction device for drones.
A reception step that receives a status notification signal that is a signal from a drone that is an unmanned aerial vehicle and includes status information indicating the status of the drone and information indicating the current position of the drone.
When the status notification signal is received in the reception step, a determination step for determining the state of the drone based on the status information included in the status notification signal, and a determination step.
In the determination step, when it is determined that the state of the drone is an emergency and it is not impossible to fly, the three-dimensional map information of the map information storage means for storing the three-dimensional map information forming the three-dimensional map is referred to. , Data that specifies a landing point that can be reached from the current position and indicates a flight route from the current position to the landing point, and is a route instruction that is a sequence of coordinate points including latitude, longitude, and height. A formation step that forms correspondence instruction information including data, and
The corresponding instruction information formed in said forming step, the drone having transmitted the state and the like notifying signal, and a transmission step of transmitting selected and one of the apparatus for remotely operating the drone to the destination An emergency response instruction program for drones, which comprises having the computer execute the above.

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