JP6997591B2 - Computer systems and programs - Google Patents

Description

One aspect of the invention relates to computer systems and programs .

Conventionally, a technique for controlling an air vehicle has been known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2002-21494

One aspect of the present invention is intended to adequately control an air vehicle.

The computer system according to one aspect of the present invention corresponds to a setting unit for setting a plurality of candidate point data relating to a plurality of candidate points that are candidates for the waypoint, and a start point of the target area from the plurality of candidate points. A candidate point is determined as a waypoint, and the trajectory of the range of action of the flying object along a virtual straight line connecting the waypoint to the candidate point in front of the flight direction of the flying object includes the target area. It is provided with a determination unit for determining a candidate point located in front of the flight direction of the flying object as the next waypoint among the candidate points satisfying the conditions .

It is a figure which shows the example of the functional structure of the waypoint (WP) determination system which concerns on embodiment. It is a figure which shows the example of the hardware configuration of the server which concerns on embodiment. It is a flowchart which shows the example of the operation of the WP determination system which concerns on embodiment. It is a figure which shows the example of the relationship between the locus of the action range of an air vehicle, and the target area. It is a flowchart which shows the example of the process which determines a plurality of waypoints from a plurality of candidate points. It is a figure which shows a concrete example about the determination of a waypoint. It is a figure which shows a concrete example about the determination of a waypoint. It is a figure which shows the example of the process of determining a waypoint in consideration of altitude. It is a figure which shows the example of the adjustment of the position of a waypoint. It is a figure which shows the example of the process of determining a waypoint so as to avoid a prohibited area.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

[System configuration]
The waypoint determination system (WP determination system) 1 according to the embodiment is a computer system that determines a waypoint (WP) for causing an air vehicle to fly a target area. The WP determination system 1 generates WP data indicating the determined waypoints, and the vehicle can fly in the target area according to the WP data. An air vehicle is an artificial object that can move in the air. The type of the flying object is not limited, and may be, for example, a manned aircraft or an unmanned aerial vehicle (drone). The target area is a geographical area to which the flying object is to fly. A waypoint represents a specific position set to determine the flight path of an air vehicle. Generally, it is expressed as a set of latitude and longitude information, and altitude information may be added. The aircraft body 30 flies while sequentially passing through a plurality of waypoints. The WP data is electronic data that can be read by a computer, and is control data including digital information necessary for the flying object to fly the target area.

As shown in FIG. 1, in the present embodiment, the WP determination system 1 includes a server 10, a map database 20, and an air vehicle 30. The server 10 is a computer that generates WP data. The map database 20 is a device for storing map data used for generating WP data. The flying object 30 can fly based on the generated WP data. The server 10, the map database 20, and the aircraft 30 can send and receive data via a wired or wireless communication network. For example, the server 10 can read map data from the map database 20 and transmit WP data to the flying object 30 via a communication network (not shown).

The server 10 includes a WP candidate setting unit 11, an action range specifying unit 12, a WP determination unit 13, and a communication unit 14 as functional modules.

The WP candidate setting unit 11 is a functional module for setting waypoint candidates necessary for the flying object 30 to fly the target area. Waypoints may be represented by two-dimensional data (eg, latitude and longitude) indicating their position in the horizontal direction. Alternatively, waypoints may be represented by three-dimensional data (eg, latitude / longitude and altitude) indicating their position in the horizontal and vertical directions. In the following, candidate waypoints are referred to as candidate points. Candidate points can also be represented by two-dimensional data or three-dimensional data. The WP candidate setting unit 11 sets a plurality of candidate points corresponding to the target area.

The action range specifying unit 12 is a functional module that specifies the action range (hereinafter, also simply referred to as “action range”) of the flying object 30 in a stationary state. The "range of action of the flying object in a stationary state" means a range in which the flying object 30 is affected when the flying object 30 is stationary in the air (that is, in a state where the flying object 30 is hovering).

The range of action may be specified according to the characteristics or the type of function of the flying object 30, or may be specified in consideration of other factors. For example, the range of action may be specified depending on the function of the device attached to the flying object 30 (eg, sensor, spraying device, GPS, etc.). When the flying object 30 has a camera (shooting function) which is a kind of sensor, the range of action of the flying object in the stationary state is a range within the frame of the camera in the stationary state (that is, a shooting range). When the flying object 30 has a function of spraying a substance such as water or a pesticide, the range of action of the flying object 30 in a stationary state is a range that the sprayed substance can reach in the stationary state. In consideration of the GPS error of the flying object 30, a range in which the flying object 30 can be said to exist may be specified as an action range. Alternatively, the range in which the aircraft 30 may make an emergency landing may be specified as the range of action. For example, the range of potential emergency landings may be specified based on characteristics such as dimensions, weight, power, etc. of the air vehicle 30. Alternatively, the range of action may be specified in consideration of the fluctuation of the flight range of the flying object 30 due to the weather (for example, wind). The positional relationship between the flying object 30 and the range of action in the plan view is also not limited, and for example, the range of action may or may not include the position of the flying object 30 in the plan view.

The range of action can be represented by a virtual shape. The range of action may be represented by two-dimensional data indicating a range in the horizontal direction, or may be represented by three-dimensional data indicating a range in the horizontal direction and the vertical direction. The method of defining the range of action is not limited to these examples, and may be arbitrarily determined. Regardless of whether the range of action is expressed in two dimensions or three dimensions, the shape of the range of action may be set arbitrarily. For example, the shape of the range of action may be a circle, a rectangle, a sphere, a rectangular parallelepiped, or a cube.

The WP determination unit 13 is a functional module that determines a plurality of waypoints from the set candidate points. The WP determination unit 13 determines a waypoint based on the target area, the candidate point set by the WP candidate setting unit 11, and the action range specified by the action range specifying unit 12, and the WP indicating the waypoint. Generate data.

The communication unit 14 is a functional module that outputs WP data generated by the WP determination unit 13. The WP data is used to determine the route of the flying object 30, and the flying object 30 can fly according to the determined route.

FIG. 2 shows an example of the hardware configuration of the server 10. For example, the server 10 has a control circuit 100. The control circuit 100 has one or more processors 101, a memory 102, a storage 103, a communication port 104, and an input / output port 105. Processor 101 executes operating system and application programs. The storage 103 is composed of a hard disk, a non-volatile semiconductor memory, or a storage medium of a removable medium (for example, a magnetic disk, an optical disk, etc.), and stores an operating system and an application program. The memory 102 temporarily stores the program loaded from the storage 103 or the calculation result by the processor 101. The processor 101 functions as each of the above-mentioned functional modules by executing a program in cooperation with the memory 102. The communication port 104 performs data communication with another device (for example, the map database 20 or the flying object 30) via the communication network NW according to a command from the processor 101. The input / output port 105 executes input / output of an electric signal to / from an input / output device (user interface) such as a keyboard, a mouse, and a monitor according to a command from the processor 101.

The server 10 may be configured by one or more computers. When a plurality of computers are used, one server 10 is logically configured by connecting these computers to each other via a communication network.

The computer that functions as the server 10 is not limited. For example, the server 10 may be configured by a large computer such as a business server, or may be configured by a small computer such as a personal computer or a mobile terminal (for example, a smartphone, a tablet terminal, etc.).

The server 10 uses the map data in the map database 20 to generate the WP data. Map data is data that expresses the attributes of various features. A feature is any tangible or intangible object that exists on the ground. The feature may be a natural object or an artificial object. For example, features can include mountains, agricultural land, residential areas, vacant lots, rivers, lakes, seas, roads, railroads, buildings, parks, towers, and the like. Examples of intangible features include areas set for arbitrary purposes (eg, prohibited areas), areas where events are held, and the like. Of course, the types of features are not limited to these. A feature's attributes are any kind of information that represents the nature or characteristics of the feature. Examples of the attributes of features include names, positions, shapes, dimensions, configurations, and structures. An identifier (feature ID) for uniquely identifying an individual feature, and a feature type (eg, "mountain", "river", "building", "road", etc.) can also be an attribute of the feature. The method of expressing the attributes of features is not limited. For example, the shape, composition, or structure of a feature may be represented by a set of coordinate points, or may be represented by a node (coordinate point) and a link connecting the nodes. The position, shape, and dimension of the feature may be represented by two-dimensional data or three-dimensional data, respectively. The two-dimensional data is composed of values defined in the horizontal direction and may include, for example, latitude / longitude, width, depth, length, and the like. The three-dimensional data is composed of a value defined in the horizontal direction and a value defined in the vertical direction. Examples of values defined in the vertical direction include elevation, altitude, and height. If the feature is represented using a link, the information on the link may include dimensions (eg, road width, number of lanes, etc.).

The map data may be created using road network information, or may be created using information other than the road network (for example, railway network information, building information, natural object information, etc.). Alternatively, the map data may be created using both road network information and information other than the road network. As long as the information necessary for generating the WP data can be provided, the method and structure of preparing the map data are not limited in any way.

[Processing procedure in the system]
The operation of the WP determination system 1 will be described with reference to FIGS. 3 to 5, and the waypoint determination method according to the present embodiment will be described. FIG. 3 is a flowchart showing an example of the operation of the WP determination system 1. FIG. 4 is a diagram showing an example of the relationship between the locus of the working range of the flying object 30 and the target area. FIG. 5 is a flowchart showing an example of a process of determining a plurality of waypoints from a plurality of candidate points.

In step S11, the WP candidate setting unit 11 acquires area data indicating the target area. The shape of the target area is not limited. For example, when a target area is set along a feature extending with a certain width such as a road, a railroad track, a river, or an electric wire, the target area is linear or strip-shaped. As another example, when a target area covering a specific closed area such as a field or a pasture is set, the target area may have a shape like a plane figure. Alternatively, the target area may have a complicated shape such as a combination of a line figure, a band figure and a plane figure.

The acquisition method of area data is not limited. For example, the WP candidate setting unit 11 may generate area data based on the information (input information) input by the user and the map data in the map database 20. The input information may be information indicating one or more features corresponding to the target area (that is, a feature in which the flying object passes over the sky), for example, a set of one or more feature IDs and one or more. It may be a set of feature names. Alternatively, the input information may be represented by a set of coordinate points (latitude and longitude) that define the target area. In any case, the input information includes information indicating a flight start point and a flight end point in the target area. The method of acquiring the input information is not limited. For example, the WP candidate setting unit 11 may receive the input information via the user interface, may receive the input information from another computer, or may read the input information from any storage device. The arbitrary storage device is not limited in any way, and may be, for example, a storage 103 or a database (not shown).

The WP candidate setting unit 11 searches the map database 20 using the input information, identifies one or more features corresponding to the input information, and generates area data using the map data of the specified features. do. For example, the WP candidate setting unit 11 may generate area data using the feature ID included in the input information or the map data of the feature corresponding to the feature name. Alternatively, the WP candidate setting unit 11 may specify a feature existing at a position corresponding to the coordinate point of the input information, and generate area data using the map data of the feature.

The area data may indicate a two-dimensional area along the horizontal direction (that is, data showing a surface), or a three-dimensional area (that is, data showing a solid) considering not only the horizontal direction but also the vertical direction. May be shown. Therefore, the area data represents at least the length and width along the horizontal direction. The area data includes information indicating the flight start point and the flight end point in the target area.

Alternatively, the WP candidate setting unit 11 may acquire the generated area data instead of generating the area data. For example, the WP candidate setting unit 11 may receive the area data input via the user interface, may receive the area data from another computer, or may read the area data from an arbitrary storage device. May be good.

In step S12, the WP candidate setting unit 11 sets a plurality of candidate points corresponding to the target area indicated by the area data. The method of setting candidate points is not limited. For example, when the area data includes data indicating the center line of the target area (for example, data indicating the center line or traveling line of the road obtained by the road network), the WP candidate setting unit 11 is along the center line. You may set a plurality of candidate points. When the area data does not indicate the center line, the WP candidate setting unit 11 may calculate the center line connecting the centers in the width direction of the target area and set the candidate points along the center line. Alternatively, the WP candidate setting unit 11 may set a candidate point at an arbitrary position other than the center. The intervals between candidate points are not limited. For example, the WP candidate setting unit 11 may set candidate points at equal intervals regardless of the shape of the target area. Alternatively, the WP candidate setting unit 11 may change the interval between the candidate points according to the shape of the target area. As an example, the WP candidate setting unit 11 may set the candidate points only at the start point and the end point of the line segment in the straight line portion of the target area, while finely setting the interval between the candidate points according to the degree of bending in the meandering portion. good.

In step S13, the action range specifying unit 12 specifies the action range by acquiring range data indicating the action range of the flying object 30 in a stationary state. The method of specifying the range of action is not limited. For example, the action range specifying unit 12 may specify the action range by receiving the action range input by the user. Alternatively, the action range specifying unit 12 may specify the action range by calculating the action range based on the characteristics or functions of the flying object 30. For example, the working range specifying unit 12 may calculate the working range based on the installation angle (for example, the direction of the camera) of the sensor of the flying object 30 and the planned flight altitude. Alternatively, the range of action specifying unit 12 calculates the range of action based on the installation angle and release performance of the spraying device of the flying object 30 (that is, the direction and strength at which the sprayed material is discharged) and the planned flight altitude. May be good. The action range specifying unit 12 generates or acquires range data indicating the specified action range.

In step S14, the WP determination unit 13 determines a plurality of waypoints from the plurality of set candidate points based on the area data and the range data. The WP determination unit 13 determines a plurality of waypoints so that the locus of the action range moving with the flight of the flying object 30 traces the target area, and generates WP data indicating the waypoints.

"The locus of the action range traces the target area" means that the locus of the action range includes the target area from the start point to the end point of the target area. More specifically, "the locus of the action range traces the target area" means that the locus of the action range covers the entire target area from the start point to the end point of the target area, or the action is performed from the start point to the end point. It means that the entire locus of the range overlaps with the target area. There may be some error in the inclusion relationship between the locus of the range of action and the target area. For example, the locus of the action range does not have to cover a small part of the target area, and the small part of the locus of the action range does not have to overlap with the target area. The “trajectory of the range of action” is a virtual area showing the trace of the range of action that has moved in response to the movement of the flying object 30.

The example (a) of FIG. 4 shows a case where the locus 302 of the circular working range 301 includes the entire target area (road) 200 (the range from the start point 201 to the end point 202). As shown in this example (a), when the locus of the action range covers the entire target region, the locus may further include a region other than the target region. The example (b) of FIG. 4 shows a case where the entire locus 312 of the circular working range 311 overlaps the target area 210 from the start point 211 to the end point 212 of the target area (river) 210.

In step S15, the communication unit 14 transmits WP data. The destination of WP data is not limited. For example, the communication unit 14 may transmit the WP data to the flying object 30, or may transmit the WP data to any computer other than the flying object 30. Alternatively, the communication unit 14 may store the WP data in any database in preparation for future flights. WP data is used to calculate the flight path. For example, the control circuit of the flying object 30 may calculate the flight path by receiving and processing the WP data, and control the power and the rudder of the flying object 30 so as to fly along the path. Alternatively, a computer other than the flying object 30 (for example, a remote controller) calculates a flight path based on the WP data and transmits the route data indicating the route to the flying object 30, and the control circuit of the flying object 30 uses the route data as the route data. Based on this, the power and steering of the flying object 30 may be controlled. In any case, the flying object 30 can fly in a range including the target area based on the WP data provided by the server 10.

The method of determining the waypoint in step S14 will be described in detail with reference to FIG. In step S141, the WP determination unit 13 determines the candidate point corresponding to the start point of the target area as the first waypoint. This waypoint is the first point the aircraft passes through in the area of interest.

In step S142, the WP determination unit 13 sets the determined waypoint as a reference point. The "reference point" is a waypoint that serves as a reference when determining the next waypoint. It can also be said that the reference point is the last determined waypoint at the time of step S142.

When the reference point is set, the WP determination unit 13 determines the next waypoint while searching for a plurality of candidate points in order from the candidate points closest to the reference point. Hereinafter, this search method will be described using the variable i for convenience.

The WP determination unit 13 sets the variable i to 1 in step S143, and then in step S144, the i-th candidate point from the reference point (the i-th candidate point that appears when proceeding along the target area from the reference point). ) Is selected. If i = 1, the WP determination unit 13 selects a candidate point next to the reference point (the next scheduled flight point).

In step S145, the WP determination unit 13 calculates the locus of the action range of the flying object along the virtual straight line connecting the reference point and the i-th candidate point as a straight line locus. The linear locus is a virtual area showing the trace of the range of action that has moved according to the movement of the flying object on the virtual straight line. If the range of action is represented by a plane, the linear locus is represented by one plane, and if the range of action is represented by a solid, the linear locus is represented by one solid.

In step S146, the WP determination unit 13 determines whether or not the linear locus traces the target area in the range of the virtual straight line connecting the reference point and the i-th candidate point. "The linear locus traces the target area in the range of the virtual straight line" means that the linear locus includes the target area over the entire section from the reference point to the i-th candidate point (hereinafter referred to as "inspection section"). To say. More specifically, "the linear locus traces the target area" means that the linear locus covers the entire target area in the inspection section, or the entire linear locus overlaps the target area in the search section. say. When the linear locus covers the entire target area, the linear locus may further include a region other than the target region.

If the linear locus traces the target area (YES in step S146), the process proceeds to step S147. In step S147, the WP determination unit 13 determines whether or not the selected candidate point (i-th candidate point) corresponds to the end point of the target area. The fact that the selected candidate point does not correspond to the end point (NO in step S147) means that the flight path covering the entire target area has not yet been determined. In this case, the process proceeds to step S148. In step S148, the WP determination unit 13 increments the variable i by one. Then, the processes after step S144 are executed again. If i = 2, the WP determination unit 13 inspects the relationship between the linear locus and the target area with respect to the candidate points two adjacent to the reference point. The WP determination unit 13 inspects the candidate points in order while incrementing the variable i by 1 as long as it is determined that the linear locus traces the target region.

If the linear locus does not trace the target area in step S146 (NO in step S146), the process proceeds to step S149. In step S149, the WP determination unit 13 determines the i-1st candidate point as the waypoint next to the reference point. That is, the WP determination unit 13 determines the candidate point finally determined when the linear locus traces the target region as the next waypoint. It can also be said that the determined waypoint is the candidate point farthest from the reference point among the candidate points for which the linear locus is determined to trace the target area. The process returns from this step S149 to step S142.

In step S147, if the i-th candidate point corresponds to the end point of the target area (YES in step S147), the process proceeds to step S150. In step S150, the WP determination unit 13 determines the i-th candidate point (candidate point corresponding to the end point of the target area) as the waypoint next to the reference point. As a result, all waypoints corresponding to the target area are determined.

In step S151, the WP determination unit 13 generates WP data indicating a plurality of determined waypoints.

[Data structure of WP data]
The data structure of the WP data includes order information and position information. The order information indicates the order of waypoints from the first to the nth (n is a natural number larger than 1) indicating the flight path in the entire target area. That is, the order information indicates the order in which the flying object 30 passes. The first waypoint corresponds to the start point of the target area and the nth waypoint corresponds to the end point of the target area. The position information indicates the position of each waypoint. The method of expressing the order information and the position information is not limited. For example, the order information may be represented by an array subscript. The position information may be expressed in two-dimensional coordinates (for example, latitude / longitude) or three-dimensional coordinates (for example, latitude / longitude and altitude). In any case, the WP data includes a pair of order information and position information for each determined waypoint.
In particular, the WP data in this embodiment is not merely data in which waypoints are listed. The data is composed of a sequence of waypoints determined by the WP determination unit 13 from a plurality of candidate points by the method described above.

The WP data is referenced by a processor operating to fly the vehicle 30. For example, the WP data may be referred to by a processor mounted on the flying object 30, or may be referred to by a computer (for example, a processor of a remote controller) that transmits an instruction signal to the flying object 30. The processor refers to the position information according to the order indicated by the order information of the WP data, and flies the flying object 30 toward the waypoint indicated by the position information. As a result, the flying object 30 flies so that the trajectory of the working range of the flying object 30 traces the target area.

[Specific example of determining waypoints]
6 and 7 show specific examples of waypoint determination. In this example, the server 10 determines a plurality of waypoints so that the locus of the working range covers the entire target area (road) 200. Hereinafter, the processing of the WP candidate setting unit 13 will be described on the premise that the WP candidate setting unit 11 has set 13 candidate points C1 to C13 from the start point 201 to the end point 202 of the target area 200. The broken line asterisks in FIGS. 6 and 7 represent the candidate points selected in the process of step S144.

The WP determination unit 13 determines the candidate point C1 corresponding to the start point 201 as the first waypoint WP1. Then, the WP determination unit 13 determines the next waypoint WP2 by determining whether or not the linear locus covers the entire target region 200 in order from the candidate point C2 adjacent to the waypoint WP1. In the example of FIG. 6, the WP determination unit 13 determines that the linear locus covers the entire target region 200 for each of the candidate points C2 and C3, and further, for the candidate point C4, the linear locus 321 based on the circular action range 301. Is determined to include the entire target area 200. Next, the WP determination unit 13 further determines whether or not the linear locus 322 based on the working range 301 covers the entire target region 200 for the candidate point C5. As shown in FIG. 6, this linear locus 322 does not include the entire target area 200 (a part of the target area 200 deviates from the linear locus 322 in the inspection section). Therefore, the WP determination unit 13 determines the candidate point C4 as the next waypoint WP2.

Next, the WP determination unit 13 determines the next waypoint WP3 by determining whether or not the linear locus covers the entire target region 200 in order from the candidate point C5 next to the waypoint WP2. In the example of FIG. 7, the WP determination unit 13 determines that the linear locus covers the entire target region 200 for each of the candidate points C5 to C9, and further, for the candidate point C10, the linear locus 323 based on the action range 301 is the target. It is determined that the entire region 200 is included. Next, the WP determination unit 13 further determines whether or not the linear locus 324 based on the working range 301 covers the entire target region 200 for the candidate point C11. As shown in FIG. 7, this linear locus 324 does not include the entire target area 200. Therefore, the WP determination unit 13 determines the candidate point C10 as the next waypoint WP3.

Next, the WP determination unit 13 determines the next waypoint WP4 with the waypoint WP3 as a reference point. In the example of FIG. 7, the WP determination unit 13 determines the candidate point C13 as the next waypoint WP4. Since this waypoint WP4 corresponds to the end point 202 of the target area 200, the WP determination unit 13 ends the search for the waypoint and generates WP data indicating a plurality of waypoints WP1 to WP4. As shown in FIG. 7, the locus 302 of the working range 301 of the flying object 30 passing through the waypoints WP1 to WP4 covers the entire target area 200.

[program]
The program for making the computer function as the server 10 includes a program code for making the computer function as a WP candidate setting unit 11, an action range specifying unit 12, a WP determination unit 13, and a communication unit 14. This program may be provided after being fixedly recorded on a tangible recording medium such as a CD-ROM, a DVD-ROM, or a semiconductor memory. Alternatively, the program may be provided via a communication network as a data signal superimposed on a carrier wave. The provided program is stored in the storage 103, and the processor 101 executes the program in cooperation with the memory 102 to realize each of the above functional modules.

[effect]
As described above, the method for determining waypoints according to one aspect of the present embodiment is a method for determining waypoints for making an air vehicle fly a target area, which is executed by a computer system including a processor. Based on the area data showing the target area and the range data showing the range of action in the stationary state of the flying object, multiple waypoints are set so that the trajectory of the range of action moving with the flight of the flying object traces the target area. Includes steps to determine.

The program according to one aspect of the present embodiment is a program for causing a computer to determine a waypoint for making a flying object fly a target area, and is a program for causing a computer to execute area data indicating the target area and a stationary state of the flying object. Based on the range data indicating the range of action in, the computer is made to perform a step of determining a plurality of waypoints so that the trajectory of the range of action moving with the flight of the flying object traces the target area.

The data structure according to one aspect of the present embodiment is a data structure for causing the flying object to fly the target area, and is order information indicating the order of each of the plurality of waypoints and the position of each of the plurality of waypoints. By having the processor refer to the position information in the order indicated by the order information, the aircraft is made to fly so that the trajectory of the range of action in the stationary state of the aircraft traces the target area.

In such an aspect, since a plurality of waypoints are determined so that the trajectory of the flight range of action traces the target area, it is possible to create an efficient flight path in consideration of the purpose or condition of flight. .. Since this flight path is generated based on the area data indicating the target area and the range data indicating the range of action of the flying object, it is not necessary to use GPS information, and the computer required to determine the waypoint by that amount. The processing load can be reduced.

In the method of determining waypoints related to other aspects, in the step of determining multiple waypoints, the locus of the range of action along the virtual straight line connecting the determined waypoint reference point and the next waypoint is The next waypoint may be determined so as to trace the target area in the range of the virtual straight line, the determined next waypoint may be set as a reference point, and a further next waypoint may be determined.

In this case, a plurality of waypoints are determined one after another so that the locus of the action range along the virtual straight line connecting the adjacent waypoints traces the target area. Since the flight path is determined by the continuity of straight lines, the energy consumption of the flying object flying in the target area can be further reduced.

In the method of determining waypoints relating to other aspects, in the step of determining a plurality of waypoints, the locus of the action range covers the entire target area, or the entire locus of the action range overlaps with the target area. You may determine multiple waypoints as you do.

By determining a plurality of waypoints so that the trajectory of the range of action and the target area satisfy such a relationship, it is possible to create an efficient flight path in consideration of the purpose or condition of flight.

[Modification example]
The present invention has been described in detail above based on the embodiments thereof. However, the present invention is not limited to the above embodiment. The present invention can be modified in various ways without departing from the gist thereof.

The server 10 satisfies the condition that the locus of the action range traces the target area (hereinafter referred to as "trace condition"), and the condition that the distance between the locus and the ground in the target area is equal to or more than the threshold value (hereinafter referred to as "altitude"). A plurality of waypoints may be determined so as to satisfy (referred to as "condition"). That is, the waypoint may be determined in consideration of maintaining the altitude of the flying object 30. In this case, the area data should include the altitude and the range data should include the altitude of the aircraft 30. The threshold is preset.

After executing the processes of steps S141 to S145 in the above embodiment, the WP determination unit 13 traces the linear locus in the inspection range to the target area (trace condition), and the distance between the straight locus and the ground is the threshold value in the inspection range. It is determined whether or not the above (altitude condition) is satisfied. When both of these two conditions are satisfied, the WP determination unit 13 inspects the relationship between the linear locus and the target region for the next candidate point, as in the above embodiment. That is, the WP determination unit 13 executes the processes of steps S147, S144, and S145 in the above embodiment. On the other hand, when at least one of the two conditions is not satisfied, the WP determination unit 13 determines the last candidate point determined to satisfy both of the two conditions as the next waypoint, and is the target. Search for the next waypoint as long as it does not reach the end of the region. That is, the WP determination unit 13 executes the processing after step S148 (including the repetition of the processing after step S142) in the above embodiment.

FIG. 8 shows an example of a process of determining a waypoint in consideration of altitude. The elevation of the same target area (road) 200 as in the above embodiment is schematically represented by a solid line 203. That is, the section from the start point 201 of the target area 200 to a short time is flat, but the descent continues from the middle of the first curve to the middle of the second curve, and then flat until the end point 202. When only the trace condition of whether or not the linear locus traces the target area is considered, the candidate point C4 is determined as the second waypoint WP2 as shown in FIG. However, in the example of FIG. 8, the linear locus 331 connecting the waypoint WP1 which is the reference point and the candidate point C4 is close to the ground in the vicinity of the candidate point C3. If the distance d1 between the linear locus 331 and the ground in the vicinity of the candidate point C3 is less than the threshold value, the candidate point C4 satisfies the trace condition but does not satisfy the altitude condition. Determined as waypoint WP2. In the example of FIG. 8, the WP determination unit 13 finally determines the candidate points C1, C3, C4, C10, and C13 as waypoints WP1 to WP5.

After executing the processes (steps S141 to S149) in the above embodiment, the WP determination unit 13 may adjust at least one of the determined positions of the plurality of waypoints so that the flight path is close to a straight line. .. However, the WP determination unit 13 adjusts the position of the waypoint as long as the condition that the locus of the action range traces the target area is satisfied. The flight path is represented by the connection of straight lines connecting adjacent waypoints, and an angle can be formed by two adjacent straight lines. Adjusting the position of the waypoint so that the flight path is closer to a straight line means adjusting the position of the waypoint so that at least one of the angles approaches 180 °. FIG. 9 shows an example of adjusting the position of a waypoint. In this example, the positions of waypoints WP1 and WP4 among the waypoints WP1 to WP4 that define the locus 302 of the working range 301 are adjusted, and as a result, the locus 302A that covers the entire target area 200 is defined. Such waypoint adjustments may be performed when the waypoints are determined to meet both trace and altitude conditions. In any case, by adjusting the waypoints so that the flight path is close to a straight line, a shorter flight path is created, so that the energy consumption of the flying object 30 flying in the target area can be further reduced.

The WP determination unit 13 satisfies the condition that the locus of the action range traces the target area (trace condition), and the condition that the entire locus is out of the predetermined prohibited area (hereinafter, “avoidance condition””. A plurality of waypoints may be determined so as to satisfy the above. That is, the waypoints may be determined so that the vehicle 30 does not affect the prohibited area. The information on the prohibited area is obtained by the WP candidate setting unit 11 referring to the map data, and constitutes a part of the area data.

After executing the processes of steps S141 to S145 in the above embodiment, the WP determination unit 13 traces the linear locus in the inspection range to the target area (trace condition), and the entire linear locus deviates from the prohibited area in the inspection range. (Avoidance condition) is determined. When both of these two conditions are satisfied, the WP determination unit 13 inspects the relationship between the linear locus and the target region for the next candidate point, as in the above embodiment. That is, the WP determination unit 13 executes the processes of steps S147, S144, and S145 in the above embodiment. On the other hand, when at least one of the two conditions is not satisfied, the WP determination unit 13 determines the last candidate point determined to satisfy both of the two conditions as the next waypoint, and is the target. Search for the next waypoint as long as it does not reach the end of the region. That is, the WP determination unit 13 executes the processing after step S148 (including the repetition of the processing after step S142) in the above embodiment.

FIG. 10 shows an example of a process of determining waypoints to avoid prohibited areas. It is assumed that the prohibited area 220 exists in the vicinity of the second curve of the same target area (road) 200 as in the above embodiment. When only the trace condition of whether or not the linear locus traces the target area is considered, the candidate point C10 is determined as the third waypoint WP3 as shown in FIG. However, in the example of FIG. 10, since a part of the locus 302 of the working range 301 overlaps with the prohibited area 220, the avoidance condition is not satisfied, and therefore, the WP determination unit 13 selects a candidate point closer to the waypoint WP2 than the candidate point C10. It is necessary to determine as waypoint WP3. In the example of FIG. 10, the WP determination unit 13 determines the candidate point C8 as the third waypoint WP3, and subsequently determines additional waypoints to avoid the prohibited area 220. In this example, the WP determination unit 13 finally determines the candidate points C1, C4, C8, C10, C11, and C13 as waypoints WP1 to WP6. The locus 303 of the working range 301 traces the target area 200 without overlapping the prohibited area 220.

The system configuration for determining waypoints is not limited. For example, the server 10 may include a map database 20. Alternatively, the flying object 30 may have the function of the server 10. When the vehicle body 30 has a waypoint determination function, the vehicle body 30 reads out the map data by accessing the map database 20 via the communication network. Alternatively, the air vehicle 30 may have the functions of both the server 10 and the map database 20, in which case the air vehicle 30 provides waypoints without relying on other information processing devices, as if it were a stand-alone machine. Can be decided.

The procedure for determining waypoints performed by the processor is not limited to the example in the above embodiment. For example, some of the steps (processes) described above may be omitted, or the steps may be executed in a different order. Further, any two or more steps among the above-mentioned steps may be combined, or a part of the steps may be modified or deleted. Alternatively, other steps may be performed in addition to each of the above steps.

The embodiments described in all or part of the above embodiments include determining an appropriate waypoint for an air vehicle, improving processing speed, improving processing accuracy, improving usability, improving functions using data, or Providing Appropriate Functions Appropriate data, programs, recording media, equipment and / or systems such as other enhancements or provision of appropriate functions, reduction of data and / or program capacity, miniaturization of equipment and / or systems. Providing data, programs, equipment or systems, reducing production / manufacturing costs, facilitating production / manufacturing, shortening production / manufacturing time, etc. To solve any one of the issues of appropriateness.

1 ... Waypoint (WP) determination system, 10 ... Server, 20 ... Map database, 30 ... Aircraft, 11 ... WP candidate setting unit, 12 ... Action range identification unit, 13 ... WP determination unit, 14 ... Communication unit, 301 , 311 ... working range, 302, 302A, 303, 312 ... working range locus, 200, 210 ... target area, C1 to C13 ... candidate points, WP1 to WP6 ... waypoints, 321 to 324,331 ... linear loci.

Claims (2)

A computer system that performs the process of determining waypoints for an aircraft to fly a target area.
A setting unit for setting a plurality of candidate point data for a plurality of candidate points that are candidates for the waypoint, and a setting unit.
From the plurality of candidate points, a candidate point corresponding to the start point of the target area is determined as a waypoint, and the said along a virtual straight line connecting the waypoint to the candidate point in front of the flight direction of the vehicle. A decision unit that determines the candidate point located in front of the flight direction of the air vehicle as the next way point among the candidate points satisfying the condition that the locus of the action range of the air vehicle covers the target area.
A computer system equipped with. A program that causes a computer system equipped with a processor to determine waypoints for an aircraft to fly a target area.
An acquisition step for acquiring a plurality of candidate point data relating to a plurality of candidate points that are candidates for the waypoint, and
From the plurality of candidate points, a candidate point corresponding to the start point of the target area is determined as a waypoint, and the said along a virtual straight line connecting the waypoint to the candidate point in front of the flight direction of the vehicle. With the determination step of determining the candidate point located in front of the flight direction of the air vehicle as the next waypoint among the candidate points satisfying the condition that the locus of the action range of the air vehicle covers the target area.
A program that causes the computer system to execute.

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