JP6904564B2 - Flight route setting device, flight route setting method, and program - Google Patents

Description

The present invention relates to a flight path setting device for setting a safe flight path of an unmanned aerial vehicle, a flight path setting method, and a program for realizing these.

Conventionally, unmanned aerial vehicles called "drones" (hereinafter, also referred to as "UAV (Unmanned Aerial Vehicle)") have been used for various purposes such as military use and pesticide spraying. In particular, in recent years, due to the miniaturization and high output of batteries, small drones that use an electric motor as a power source have been developed. Small drones are rapidly becoming widespread because they are easy to operate, and are expected to be further utilized in fields such as agriculture, telecommunications, and logistics (see Non-Patent Document 1).

On the other hand, with the spread of small drones (hereinafter referred to simply as "drones"), many accidents such as an uncontrollable drone crashing and damaging things on the ground have been reported. (See Non-Patent Document 2.). In this way, if a drone crashes, it may cause serious accidents such as damage to objects on the ground or even injuries to people on the ground. Therefore, when flying a drone, the drone manager needs to carefully set the flight route in consideration of the risk of a crash.

Ministry of Internal Affairs and Communications, "Current status of drones", [online], [Search on May 26, 2017], Internet <URL: http://www.soumu.go.jp/main_content/000401647.pdf> Ministry of Land, Infrastructure, Transport and Tourism, "List of accidents related to unmanned aerial vehicles in 2016", [online], [Search on May 26, 2017], Internet <URL: http://www.mlit.go.jp/common /001132992.pdf ＞

However, at present, the setting of the flight path of the drone is entrusted to the administrator of the drone, and the flight path is set manually. For this reason, it takes a lot of time and effort to set an efficient and highly safe flight route in consideration of the risk of a crash while considering areas where flight is prohibited. Further, in setting the flight route, the judgment of giving priority to efficiency or giving priority to safety differs depending on the person who sets the flight route. For this reason, it is difficult for humans to manually consider a highly safe flight route that considers the risk of a crash from an objective point of view.

An example of an object of the present invention is to provide a flight path setting device, a flight path setting method, and a program capable of setting a flight path of an unmanned aerial vehicle, which solves the above problems and is efficient and highly safe. It is in.

In order to achieve the above object, the flight path setting device in one aspect of the present invention is
A device for setting the flight path of an unmanned aerial vehicle.
A point acquisition unit that acquires the planned departure and arrival points of the unmanned aerial vehicle, and
A plurality of sections set by dividing the area on the map, and a section data in which a score given according to the safety of the unmanned aerial vehicle in the relevant section at the time of a crash is registered for each of the plurality of sections. Candidate setting for setting a plurality of flight route candidates by collating the departure point and the arrival point and combining the sections existing from the section corresponding to the departure point to the section corresponding to the arrival point. Department and
For each of the plurality of flight route candidates, the total score is calculated by adding up the scores given to each of the sections constituting the flight route candidate, and each of the plurality of flight route candidates is described. A flight path setting unit that selects the flight path candidates based on the total score and sets the selected flight path candidates as the flight path of the unmanned aerial vehicle.
It is characterized by having.

In order to achieve the above object, the flight path setting method in one aspect of the present invention is a method for setting a flight path of an unmanned aerial vehicle.
(A) Obtaining the planned departure and arrival points of the unmanned aerial vehicle,
(B) A plurality of sections set by dividing the area on the map, and a score given according to the safety of the unmanned aerial vehicle in the relevant section at the time of a crash is registered for each of the plurality of sections. , The division data is collated with the departure point and the arrival point, and a plurality of flight route candidates are set by combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight route candidates, the total score is calculated by adding up the scores given to each of the sections constituting the flight route candidate, and the total score is calculated from the plurality of flight route candidates. Based on each of the total scores, the flight path candidate is selected, and the selected flight path candidate is set as the flight path of the unmanned aerial vehicle.
It is characterized by having.

In order to achieve the above object, the program in one aspect of the present invention is a program for setting a flight path of an unmanned aerial vehicle by a computer.
On the computer
(A) Obtaining the planned departure and arrival points of the unmanned aerial vehicle,
(B) A plurality of sections set by dividing the area on the map, and a score given according to the safety of the unmanned aerial vehicle in the relevant section at the time of a crash is registered for each of the plurality of sections. , The division data is collated with the departure point and the arrival point, and a plurality of flight route candidates are set by combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight route candidates, the total score is calculated by adding up the scores given to each of the sections constituting the flight route candidate, and the total score is calculated from the plurality of flight route candidates. Based on each of the total scores, the flight path candidate is selected, and the selected flight path candidate is set as the flight path of the unmanned aerial vehicle.
It is characterized by executing.

As described above, according to the present invention, it is possible to set a flight path of an unmanned aerial vehicle that is efficient and highly safe in consideration of the risk of a crash.

FIG. 1 is a configuration diagram showing a schematic configuration of a flight path setting device according to an embodiment of the present invention. FIG. 2 is a block diagram specifically showing the configuration of the flight path setting device according to the embodiment of the present invention. FIG. 3 is a diagram showing an example of a starting point and an arriving point designated on the terminal device according to the embodiment of the present invention. FIG. 4 is a diagram conceptually showing the partition data according to the embodiment of the present invention. FIG. 5 is a diagram showing a specific example of partition data according to the embodiment of the present invention. FIG. 6 is a diagram showing an example of flight path candidates and their total scores according to the embodiment of the present invention. FIG. 7 is a diagram showing an example of a case where the total score in the embodiment of the present invention is corrected based on the flight time. FIG. 8 is a flow chart showing the operation of the flight path setting device according to the embodiment of the present invention. FIG. 9 is a block diagram showing an example of a computer that realizes the flight path setting device according to the embodiment of the present invention.

(Embodiment)
Hereinafter, the flight path setting device, the flight path setting method, and the program according to the embodiment of the present invention will be described with reference to FIGS. 1 to 9.

[Device configuration]
First, the configuration of the flight path setting device according to the embodiment of the present invention will be described. FIG. 1 is a configuration diagram showing a schematic configuration of a flight path setting device according to an embodiment of the present invention.

As shown in FIG. 1, the flight path setting device 10 in the present embodiment is a device for setting a flight path of an unmanned aerial vehicle. The flight route setting device 10 includes a point acquisition unit 11, a candidate setting unit 12, and a flight route setting unit 13.

The point acquisition unit 11 acquires the planned departure point and arrival point of the unmanned aerial vehicle. Further, the candidate setting unit 12 collates the departure point and the arrival point with the division data, and combines the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point to obtain a plurality of flight route candidates. Set. In addition, the division data is a plurality of divisions set by dividing the area on the map, and a score given to each of the plurality of divisions according to the safety at the time of a crash of an unmanned aerial vehicle in the division is registered. It is the data that is being done.

The flight route setting unit 13 calculates the total score by adding up the scores given to each of the sections constituting the flight route candidates for each of the set plurality of flight route candidates. Then, the flight route setting unit 13 selects a flight route candidate from the plurality of flight route candidates based on the total score of each, and sets the selected flight route candidate as the flight route of the unmanned aerial vehicle.

As described above, in the present embodiment, the flight route setting device 10 sets the flight route from the calculated total score using the section to which the score is given according to the safety at the time of the crash. That is, the flight path set in this way is obtained from an objective point of view. Therefore, in the present embodiment, it is possible to set an efficient flight route with high safety in consideration of the risk at the time of a crash.

Subsequently, in addition to FIG. 1, the configuration of the flight path setting device 10 in the present embodiment will be described in more detail with reference to FIGS. 2 to 7. FIG. 2 is a block diagram specifically showing the configuration of the flight path setting device according to the embodiment of the present invention.

As shown in FIG. 2, in the present embodiment, the flight path setting device 10 is connected to the terminal device 20 of the user 21 who operates the unmanned aerial vehicle via a network 30 such as the Internet. Specific examples of the terminal device 20 include smartphones, tablet terminals, general-purpose personal computers, and the like.

Specifically, first, when the user 21 specifies a departure point and an arrival point on the map presented on the screen of the terminal device 20, the terminal device 20 specifies the coordinates of both points. Subsequently, the terminal device 20 transmits information for specifying the coordinates of the departure point and the arrival point (hereinafter, referred to as “point information”) to the flight route setting device 10. FIG. 3 is a diagram showing an example of a starting point and an arriving point designated on the terminal device according to the embodiment of the present invention. In the example of FIG. 3, the departure point is indicated by 50 and the arrival point is indicated by 51.

Further, as shown in FIG. 2, in the present embodiment, the flight route setting device 10 is a division data creation unit in addition to the point acquisition unit 11, the candidate setting unit 12, and the flight route setting unit 13 shown in FIG. 14 and a partition data storage unit 15.

In the present embodiment, the point acquisition unit 11 receives the point information transmitted from the terminal device 20 and acquires the departure point and the arrival point from the received point information. Specifically, the point acquisition unit 11 specifies the coordinates (latitude and longitude) of the departure point and the arrival point, and passes the point information to the section data creation unit 14 and the candidate setting unit 12.

In the present embodiment, the section data creation unit 14 receives the point information from the point acquisition unit 11 and sets the area on the map including the departure point and the arrival point as the target area. Subsequently, the partition data creation unit 14 divides the target area and sets a plurality of partitions. Then, the section data creation unit 14 sets a score according to the safety at the time of a crash for each of the set plurality of sections based on the geographical information. As a result, partition data that specifies the score for each partition is created.

Specifically, the section data creation unit 14 acquires the map data corresponding to the set target area from the map database 40 via the network 30. Specific examples of the map database 40 include a database of a business operator that provides a map information providing service, a database owned by an administrator of the flight route setting device 10, and the like.

Subsequently, the division data creation unit 14 divides the target area into a grid pattern, sets a plurality of divisions, and sets a score according to the safety at the time of a crash in each division based on geographical information. Geographical information is, specifically, information for identifying the positions of rivers, roads, buildings, etc. obtained from the acquired map data.

The section data creation unit 14 subsequently specifies the position of each section using the coordinates (latitude and longitude) of the section extracted from the map data. The coordinates (latitude and longitude) for specifying the section may be the coordinates (latitude and longitude) of one or more points at an arbitrary position (for example, the center) of the section. For example, the coordinates (latitude and longitude) of two points, the northwest corner and the southeast corner of each section, are given as an example.

In addition, the division data creation unit 14 can also assign a number to each division in order to identify each division. The section data creation unit 14 may hold the coordinates of the section and the section number described above as information for specifying the section (hereinafter, referred to as "section identification information"). In addition, the division data may include the division identification information.

Here, the section data will be described with reference to FIGS. 4 and 5. FIG. 4 is a diagram conceptually showing the partition data according to the embodiment of the present invention. In the example of FIG. 4, each section is classified into three types of river, road, and building based on the geographical information extracted from the map data, and the score is set.

In the example of FIG. 4, numbers 1 to 96 are assigned to each section set in the target area, but the description of the numbers is partially omitted in the figure. Further, in the example of FIG. 4, although the description is omitted, the coordinates (latitude and longitude) are specified in addition to the assigned numbers for each section, and the coordinates (latitude and longitude) are specified, and are retained as the section data together with the set score. ing.

Then, in the example of FIG. 4, a score of 30 points is set in the section where the river exists on the target area. In addition, a score of 5 points is set for the section where the road exists on the target area. Then, a score of 1 point is set for the section where the building exists on the target area. In the example of FIG. 4, different patterns are used and the sections are shown in different types of sections.

Then, in the example of FIG. 4, the types of each section are three types of river, road, and building, but are not limited to the above. For example, in addition to the above, a school, an airport, or the like may be added as the type of division. In addition to the geographical information, the score may be set using information such as the population density shown on the map (for example, ^{the population density per 1 m 2).}

In the example of FIG. 4, the lower the risk of an unmanned aerial vehicle crashing, the higher the score is set, but not limited to the above, for example, the lower the risk of a crash, the lower the score is set. Is also good.

The partition data created by the partition data creation unit 14 is stored in the partition data storage unit 15. FIG. 5 is a diagram showing a specific example of partition data according to the embodiment of the present invention. In the example of FIG. 5, the division data includes the division identification information and the score set for each division.
In the case of FIG. 5, the division identification information is the number assigned to each division and the coordinates (latitude and longitude) of two points, the northwest corner and the southeast corner of the division.

In the present embodiment, the candidate setting unit 12 collates the coordinates (latitude and longitude) of the departure point 50 and the arrival point 51 received from the point acquisition unit 11 with the division data created by the division data creation unit 14, and departs. A section corresponding to the point 50 and the arrival point 51 is specified. In the example of FIG. 4, the section corresponding to the departure point 50 is shown by 60, and the section corresponding to the arrival point 51 is shown by 61.

Subsequently, the candidate setting unit 12 sets a plurality of flight route candidates by combining the sections existing from the section 60 corresponding to the departure point 50 to the section 61 corresponding to the arrival point 51 in the target area. Specifically, when setting a plurality of flight path candidates, the candidate setting unit 12 extracts all combinations of sections existing in the target area, and sets the extracted combinations as flight path candidates.

However, as described above, when the candidate setting unit 12 extracts all the combinations, the processing load on the candidate setting unit 12 may become too large. Therefore, in the present embodiment, the candidate setting unit 12 can limit the number of flight route candidates to be set.

For example, the candidate setting unit 12 may set a plurality of flight route candidates using only the sections existing in the area including the section corresponding to the departure point and the section corresponding to the arrival point. Further, the candidate setting unit 12 extracts a combination of sections existing from the section 60 corresponding to the departure point 50 to the section 61 corresponding to the arrival point 51 so that the unmanned aerial vehicle does not move away from the arrival point 51. You may.

In the present embodiment, the flight route setting unit 13 calculates the total score by adding up the scores given to the divisions constituting the flight route candidates for each flight route candidate by using the division data. FIG. 6 is a diagram showing an example of flight path candidates and their total scores according to the embodiment of the present invention.

In the example of FIG. 6, among the plurality of flight route candidates set by the candidate setting unit 12, the flight route candidate 1 and the flight route candidate 2 are shown. Further, in the example of FIG. 6, the total score of the sections constituting the flight route candidate is calculated based on the score of each section shown in FIG.

The flight route candidate 1 causes the unmanned aerial vehicle to fly over the river section on the target area for 7 sections and over the road section for 1 section. Further, the flight route candidate 1 flies over the section of the building on the target area for three sections including the section 60 corresponding to the departure point 50 and the section 61 corresponding to the arrival point 51. Therefore, the total score of the flight path candidate 1 is calculated to be 218.

Then, the flight route candidate 2 causes the unmanned aerial vehicle to fly over the river section on the target area for two sections and over the road section for four sections. Further, the flight route candidate 2 flies over the section of the building on the target area for five sections including the section 60 corresponding to the departure point 50 and the section 61 corresponding to the arrival point 51. Therefore, the total score of the flight path candidate 2 is calculated to be 85. In the example of FIG. 6, only the flight route candidate 1 and the flight route candidate 2 are shown as the flight route candidates, but the flight route candidates are not limited to the above, and a plurality of flight route candidates are set.

In this embodiment, the higher the total score, the lower the risk of an unmanned aerial vehicle crashing. Therefore, when the flight route candidate 1 and the flight route candidate 2 are compared, it can be seen that the flight route candidate 1 has a lower risk at the time of a crash.

Subsequently, the flight route setting unit 13 selects a flight route candidate from the plurality of flight route candidates based on the total score of each, and sets the selected flight route candidate as the flight path of the unmanned aerial vehicle. Specifically, in the example of FIG. 6, the flight route candidate 1 having the highest total score is selected from the flight route candidates and set as the flight route.

In the above example, the flight path setting unit 13 calculates the total score of the scores set based only on the geographical information according to the risk at the time of the crash as the total score. Therefore, the flight path set by the flight path setting unit 13 has a low risk at the time of a crash, but has a long flight distance and may have a long flight time.

Therefore, the flight path setting unit 13 may estimate the flight time when the unmanned aerial vehicle flies on the flight path for each of the plurality of flight path candidates, and correct the calculated total score. Specifically, the flight path setting unit 13 acquires the flight speed of the unmanned aerial vehicle. Subsequently, the flight route setting unit 13 calculates the time required to fly the route 52 (hereinafter, referred to as the "shortest route") connecting the departure point 50 and the arrival point 51, and the flight is based on this. Time (hereinafter referred to as "reference time").

Subsequently, the flight route setting unit 13 calculates the time required for the flight of the flight route candidate (hereinafter, referred to as “flight time”) for each of the plurality of flight route candidates, and obtains the difference from the reference time. Then, the flight route setting unit 13 calculates the difference score from the difference between the flight time and the reference time, and corrects the total score using the calculated difference score. The difference score can be calculated based on a predetermined rule. FIG. 7 is a diagram showing an example of a case where the total score in the embodiment of the present invention is corrected based on the flight time.

In the example of FIG. 7, the difference between the flight time and the reference time of the flight path candidate 1 is +5 minutes. Therefore, the flight path setting unit 13 collates the difference value of +5 minutes with the predetermined rule, and calculates, for example, the difference score as -10 points. As a result, the total score of the flight path candidate 1 is corrected, and the total score becomes 208. Then, the flight route setting unit 13 similarly corrects the total score for the other flight route candidates, and sets the flight route based on the corrected total score as in the example of FIG. 7.

[Device operation]
Next, the operation of the flight path setting device 10 according to the embodiment of the present invention will be described with reference to FIG. FIG. 8 is a flow chart showing the operation of the flight path setting device according to the embodiment of the present invention. In the following description, FIGS. 1 to 7 will be referred to as appropriate.

Further, in the present embodiment, the flight route setting method is implemented by operating the flight route setting device 10. Therefore, the description of the flight path setting method in the present embodiment will be replaced with the following description of the operation of the flight path setting device 10.

First, as shown in FIG. 8, in the flight route setting device 10, the point acquisition unit 11 acquires the planned departure point and arrival point of the unmanned aerial vehicle (step A1). Specifically, in step A1, the point acquisition unit 11 identifies the departure point and the arrival point from the point information transmitted by the terminal device 20 in the flight route setting device 10.

Next, the section data creation unit 14 receives the point information acquired in step A1 and sets an area on the map including the departure point and the arrival point as the target area. Then, the division data creation unit 14 divides the target area and sets a plurality of divisions (step A2). Specifically, in step A2, the map data corresponding to the target area is acquired from the map database 40 via the network 30. Subsequently, the partition data creation unit 14 divides the target area and sets a plurality of partitions.

Next, the division data creation unit 14 sets a score according to the safety at the time of a crash based on the geographical information for each division (step A3). As a result, partition data that specifies the score for each partition is created. In step A3, the division data creation unit 14 can also include the division identification information in the division data.

Next, the candidate setting unit 12 collates the created section data with the coordinates of the departure point 50 and the arrival point 51 acquired in step A1, and identifies the sections corresponding to the departure point 50 and the arrival point 51. do. Subsequently, the candidate setting unit 12 sets a plurality of flight route candidates by combining the sections existing from the section 60 corresponding to the departure point 50 to the section 61 corresponding to the arrival point 51 (step A4). The candidate setting unit 12 can also limit the number of flight route candidates to be set in step A4.

Next, the flight route setting unit 13 calculates the total score by adding up the scores given to each of the sections constituting the flight route candidates for each flight route candidate (step A5). Specifically, the flight route setting unit 13 adds up the scores included in the section data created in step A3 and calculates the total score for each flight route candidate.

Next, the flight route setting unit 13 estimates the time when the flight route candidate flies, and corrects the calculated total score (step A6).

Specifically, in step A6, the flight route setting unit 13 acquires the flight speed of the unmanned aerial vehicle and calculates the flight time, which is the time required for the flight of the flight route candidate. Subsequently, the flight path setting unit 13 calculates the reference time required for flying on the shortest path 52, and obtains the difference between the flight time and the reference time. In step A6, the flight path setting unit 13 calculates the difference score from the above difference. The difference score is calculated based on a predetermined rule. Further, the flight path setting unit 13 corrects the total score by using the calculated difference score.

Next, the flight route setting unit 13 selects a flight route candidate from the plurality of flight route candidates based on the total score corrected in step A6, and sets the selected flight route candidate as the flight route (). Step A7).

[Effect of the embodiment]
As described above, in the present embodiment, a plurality of flight route candidates are set by combining the sections using the sections to which the scores are given according to the safety at the time of the crash. Then, the flight route is set based on the total score calculated by summing the scores of the sections constituting the flight route candidates. Therefore, in the present embodiment, it is possible to set an efficient flight route with high safety in consideration of the risk at the time of a crash.

Further, in the present embodiment, the total score calculated for each flight path candidate can be corrected based on the flight time when flying on the flight path. Therefore, according to the present embodiment, it is possible to set a more efficient flight route and a highly safe flight route in consideration of the risk at the time of a crash.

[program]
The program in this embodiment may be any program that causes a computer to execute steps A1 to A7 shown in FIG. By installing this program on a computer and executing it, the flight path setting device 10 and the flight path setting method according to the present embodiment can be realized. In this case, the CPU (Central Processing Unit) of the computer functions as a point acquisition unit 11, a candidate setting unit 12, a flight route setting unit 13, and a section data creation unit 14, and performs processing.

Further, in the present embodiment, the partition data storage unit 15 can be realized by storing a data file constituting the partition data in a storage device such as a hard disk provided in the computer.

Further, the program in the present embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as any of a point acquisition unit 11, a candidate setting unit 12, a flight route setting unit 13, and a section data creation unit 14, respectively. Further, the partition data storage unit 15 may be realized by a storage device of any computer.

(Physical configuration)
Here, a computer that realizes the flight path setting device by executing the program in the embodiment will be described with reference to FIG. FIG. 9 is a block diagram showing an example of a computer that realizes the flight path setting device according to the embodiment of the present invention.

As shown in FIG. 9, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. Each of these parts is connected to each other via a bus 121 so as to be capable of data communication.

The CPU 111 expands the programs (codes) of the present embodiment stored in the storage device 113 into the main memory 112 and executes them in a predetermined order to perform various operations. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory). Further, the program according to the present embodiment is provided in a state of being stored in a computer-readable recording medium 120. The program in the present embodiment may be distributed on the Internet connected via the communication interface 117.

Further, specific examples of the storage device 113 include a semiconductor storage device such as a flash memory in addition to a hard disk drive. The input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and mouse. The display controller 115 is connected to the display device 119 and controls the display on the display device 119.

The data reader / writer 116 mediates the data transmission between the CPU 111 and the recording medium 120, reads the program from the recording medium 120, and writes the processing result in the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and another computer.

Specific examples of the recording medium 120 include a general-purpose semiconductor storage device such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), a magnetic recording medium such as a flexible disk, or a CD-. Examples include optical recording media such as ROM (Compact Disk Read Only Memory).

The flight path setting device 10 in the present embodiment can also be realized by using hardware corresponding to each part instead of the computer in which the program is installed. Further, the flight path setting device 10 may be partially realized by a program and the rest may be realized by hardware.

As described above, according to the present invention, it is possible to set a flight path of an unmanned aerial vehicle that is efficient and highly safe in consideration of the risk of a crash. The present invention is useful in fields where unmanned aerial vehicle management is required.

10 Flight route setting device 11 Point acquisition unit 12 Candidate setting unit 13 Flight route setting unit 14 Division data creation unit 15 Division data storage unit 20 Terminal equipment 21 User 30 Network 40 Map database 110 Computer 111 CPU
112 Main memory 113 Storage device 114 Input interface 115 Display controller 116 Data reader / writer 117 Communication interface 118 Input device 119 Display device 120 Recording medium 121 Bus

Claims (15)

A device for setting the flight path of an unmanned aerial vehicle.
A point acquisition unit that acquires the planned departure and arrival points of the unmanned aerial vehicle, and
A plurality of sections set by dividing the area on the map, and a section data in which a score given according to the safety of the unmanned aerial vehicle in the relevant section at the time of a crash is registered for each of the plurality of sections. Candidate setting for setting a plurality of flight route candidates by collating the departure point and the arrival point and combining the sections existing from the section corresponding to the departure point to the section corresponding to the arrival point. Department and
For each of the plurality of flight route candidates, the total score is calculated by adding up the scores given to each of the sections constituting the flight route candidate, and each of the plurality of flight route candidates is described. A flight path setting unit that selects the flight path candidates based on the total score and sets the selected flight path candidates as the flight path of the unmanned aerial vehicle.
A flight path setting device equipped with. The area on the map is divided to set the plurality of sections, and the score is set for each of the set plurality of sections based on the geographical information in the area, and the section data is created. , Further equipped with a partition data creation unit,
The flight path setting device according to claim 1. The candidate setting unit sets the plurality of flight route candidates using only the sections existing in the area including the section corresponding to the departure point and the section corresponding to the arrival point.
The flight path setting device according to claim 1 or 2. A plurality of sections existing from the section corresponding to the departure point to the section corresponding to the arrival point are combined so that the candidate setting unit does not move away from the arrival point during flight from the unmanned aerial vehicle. Set flight path candidates,
The flight path setting device according to claim 1 or 2. The flight route setting unit estimates the flight time when the unmanned aerial vehicle flies the flight route candidate for each of the plurality of flight route candidates, and further obtains the difference between the estimated flight time and the reference value. , The total score in the flight path candidate is corrected by the obtained difference.
The flight path setting device according to any one of claims 1 to 4. A method for setting the flight path of an unmanned aerial vehicle,
(A) Obtaining the planned departure and arrival points of the unmanned aerial vehicle,
(B) A plurality of sections set by dividing the area on the map, and a score given according to the safety of the unmanned aerial vehicle in the relevant section at the time of a crash is registered for each of the plurality of sections. , The division data is collated with the departure point and the arrival point, and a plurality of flight route candidates are set by combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight route candidates, the total score is calculated by adding up the scores given to each of the sections constituting the flight route candidate, and the total score is calculated from the plurality of flight route candidates. Based on each of the total scores, the flight path candidate is selected, and the selected flight path candidate is set as the flight path of the unmanned aerial vehicle.
A flight route setting method characterized by having. (D) The area on the map is divided to set the plurality of sections, and the score is set for each of the set plurality of sections based on the geographical information in the area, and the section data. To create a step,
The flight route setting method according to claim 6, further comprising. In the step (b), the plurality of flight path candidates are set using only the sections existing in the area including the section corresponding to the departure point and the section corresponding to the arrival point.
The flight route setting method according to claim 6 or 7. In the step (b), the sections existing from the section corresponding to the departure point to the section corresponding to the arrival point are combined so as not to move away from the arrival point during flight from the unmanned aerial vehicle. Set multiple flight path candidates,
The flight route setting method according to claim 6 or 7. In the step (c), the flight time when the unmanned aerial vehicle flies the flight path candidate is estimated for each of the plurality of flight path candidates, and the difference between the estimated flight time and the reference value is obtained. The total score in the flight path candidate is corrected by the obtained difference.
The flight route setting method according to any one of claims 6 to 9. A program for setting the flight path of an unmanned aerial vehicle using a computer.
On the computer
(A) Obtaining the planned departure and arrival points of the unmanned aerial vehicle,
(B) A plurality of sections set by dividing the area on the map, and a score given according to the safety of the unmanned aerial vehicle in the relevant section at the time of a crash is registered for each of the plurality of sections. , The division data is collated with the departure point and the arrival point, and a plurality of flight route candidates are set by combining the divisions existing from the division corresponding to the departure point to the division corresponding to the arrival point. , Steps and
(C) For each of the plurality of flight route candidates, the total score is calculated by adding up the scores given to each of the sections constituting the flight route candidate, and the total score is calculated from the plurality of flight route candidates. Based on each of the total scores, the flight path candidate is selected, and the selected flight path candidate is set as the flight path of the unmanned aerial vehicle.
A program that runs. On the computer
(D) The area on the map is divided to set the plurality of sections, and the score is set for each of the set plurality of sections based on the geographical information in the area, and the section data. To create a step,
The program according to claim 11, which is further executed. In the step (b), the plurality of flight path candidates are set using only the sections existing in the area including the section corresponding to the departure point and the section corresponding to the arrival point.
The program according to claim 11 or 12. In the step (b), the sections existing from the section corresponding to the departure point to the section corresponding to the arrival point are combined so as not to move away from the arrival point during flight from the unmanned aerial vehicle. Set multiple flight path candidates,
The program according to claim 11 or 12. In the step (c), the flight time when the unmanned aerial vehicle flies the flight path candidate is estimated for each of the plurality of flight path candidates, and the difference between the estimated flight time and the reference value is obtained. The total score in the flight path candidate is corrected by the obtained difference.
The program according to any one of claims 11 to 14.

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