JP7024815B2 - Unmanned projectile information gathering device, unmanned projectile information gathering method, and program - Google Patents

Description

Embodiments of the present invention relate to an unmanned flying object information collecting device, an unmanned flying object information collecting method, and a program.

Until now, unmanned aerial vehicles such as drones have often been used as hobbies. However, it is expected that the use of unmanned flying objects will expand from hobby use to commercial use, such as the start of test demonstrations for delivery services such as home delivery.
On the other hand, accidents resulting in injury or death or disasters have occurred due to the fall or crash of unmanned flying objects. The risk of such an accident cannot be reduced to zero with the utmost care.
Under these circumstances, it is expected that insurance products and the like will be developed for businesses that provide services using unmanned flying objects.
With respect to an unmanned aerial vehicle, there is known a technique in which an unmanned aerial vehicle transmits information on the flight state of the unmanned aerial vehicle to a communication destination (see, for example, Patent Document 1). This technique acquires position information including altitude information indicating the altitude of an unmanned aerial vehicle at a predetermined timing, and determines whether or not two consecutive changes in the acquired altitude information satisfy a predetermined condition. When it is determined that the predetermined condition is satisfied, the position information when the change of the altitude information satisfies the predetermined condition is transmitted to the predetermined communication destination.

Japanese Unexamined Patent Publication No. 2017-159753

Insurance products related to unmanned flying objects include personal insurance for personal injury, objective insurance for disasters and equipment damage, and aircraft insurance for equipment failure. When considering personal insurance, objective insurance, and equipment insurance, there is a part where the same concept as automobile insurance can be applied. However, it is preferable to calculate the risk by taking into account the unique characteristics of an unmanned projectile that flies in the air.
The risk calculation may use the product of the probability of occurrence and the severity of the occurrence (amount of damage). However, the parameters used to determine the probability of occurrence and the degree of severity when calculating the risk of an unmanned projectile falling or crashing have not been investigated so far.
The present invention has been made in view of the above-mentioned points, and an object thereof is an unmanned projectile information collecting device, an unmanned projectile information collecting device, which collects information that can be used for calculating a risk when an unmanned projectile crashes. To provide a method and a program.

One aspect of the present invention includes a collecting unit that collects crash probability information, which is information on the probability that an unmanned flying object will crash, and severity information, which is information indicating the severity when the unmanned flying object crashes. The crash probability information includes information indicating a flight path of the unmanned flying object and environmental information of the flight path, and the flight path of the unmanned flying object is a power equipment connection configuration indicating a connection configuration of a transmission line . It is set based on the environmental condition information in the vicinity of the power equipment from the flight route candidates calculated based on the information, the severity information includes information indicating the flight conditions, and the flight route is , The environmental information is the environmental status information in the vicinity of the electric power equipment installed in the vicinity of the position of the unmanned flying object acquired based on the horizontal position of the unmanned flying object. The flight condition is an unmanned flying object information collecting device including a flight altitude and a flight speed when flying from a starting point position in the vicinity of a power facility to a destination point position in the vicinity of another power facility. ..
In the unmanned flying object information collecting device of one aspect of the present invention, the crash probability information further includes charge / discharging history information of the storage battery included in the unmanned flying object and maintenance history information of the unmanned flying object, and the severity thereof. The information further includes information indicating the area of the flight path, and the collecting unit further collects information indicating the combined weight of the unmanned projectile and the load of the unmanned projectile.
In the unmanned flying object information collecting device of one aspect of the present invention, the collecting unit includes information indicating the cumulative flight distance of the unmanned flying object, information indicating the crash probability of a model similar to the unmanned flying object, and the unmanned vehicle. At least one of the information indicating the type of the load of the projectile and the information indicating the weight of the load is acquired.
In the unmanned projectile information collecting device of one aspect of the present invention, the collecting unit indicates information indicating whether or not the unmanned projectile is equipped with safety equipment and information indicating equipment for notifying the crash of the unmanned projectile. Acquire information on either one or both of the above.
In the unmanned flying object information collecting device of one aspect of the present invention, the collecting unit acquires one or both of the charging / discharging history information and the maintenance history information from the unmanned flying object.
The unmanned flying object information collecting device according to one aspect of the present invention includes a notification unit that notifies the notification destination of the information collected by the collecting unit.
One aspect of the present invention includes a step of collecting crash probability information, which is information on the probability that an unmanned flying object will crash, and severity information, which is information indicating the severity when the unmanned flying object crashes. The crash probability information includes information indicating a flight path of the unmanned flying object and environmental information of the flight path, and the flight path of the unmanned flying object is a power equipment connection configuration indicating a connection configuration of a transmission line . It is set based on the environmental condition information in the vicinity of the power equipment from the flight route candidates calculated based on the information, the severity information includes information indicating the flight conditions, and the flight route is , The environmental information is the environmental status information in the vicinity of the electric power equipment installed in the vicinity of the position of the unmanned flying object acquired based on the horizontal position of the unmanned flying object. Yes, the flight conditions are computer-executed unmanned projectile information gathering, including flight altitude and flight speed when flying from a starting point near a power facility to a destination near another power facility. The method.
One aspect of the present invention is a step of collecting a crash probability information, which is information on the probability that an unmanned flying object will crash, and a severity information, which is information indicating the severity when the unmanned flying object crashes, on a computer. The crash probability information includes information indicating the flight path of the unmanned projectile and environmental information of the flight path, and the flight path of the unmanned projectile is a power source indicating a connection configuration of a transmission line . It is set based on the environmental condition information in the vicinity of the power equipment from the flight route candidates calculated based on the equipment connection configuration information, and the severity information includes information indicating flight conditions and described above. The flight path is in the vicinity of the power equipment, and the environmental information is the environment in the vicinity of the power equipment installed in the vicinity of the position of the unmanned flying object acquired based on the horizontal position of the unmanned flying object. It is situational information, and the flight condition is a program including flight altitude and flight speed when flying from the position of a starting point in the vicinity of a power facility to the position of a destination point in the vicinity of another power facility.

According to an embodiment of the present invention, it is possible to provide an unmanned flying object information collecting device, an unmanned flying object information collecting method, and a program for collecting information that can be used for calculating a risk when an unmanned flying object crashes.

It is a figure which shows an example of the flight control system of the unmanned flying object which concerns on embodiment. It is a block diagram which shows an example of the management server which concerns on embodiment. It is a figure which shows an example of the electric power equipment connection composition information. It is a figure for demonstrating an example of flight permission condition information. It is a figure which shows an example of the electric power equipment. It is a figure which shows an example of the appearance schematic diagram of the unmanned flying object which concerns on embodiment. It is a block diagram which shows an example of the unmanned flying object which concerns on embodiment. It is a block diagram which shows an example of the control apparatus which concerns on embodiment. It is a figure which shows an example of the collision avoidance distance table. It is a figure which shows an example of the electromagnetic field influence avoidance distance table. It is a figure which shows the setting example of the flight path in the control device which concerns on embodiment. It is a block diagram which shows an example of the unmanned flying object information collecting apparatus which concerns on embodiment. It is a sequence chart which shows an example of the operation of the flight control system of an unmanned flying object which concerns on embodiment.

Next, the unmanned flying object information collecting device, the unmanned flying object information collecting method, and the program of the present embodiment will be described with reference to the drawings. The embodiments described below are merely examples, and the embodiments to which the present invention is applied are not limited to the following embodiments.
In all the drawings for explaining the embodiment, the same reference numerals are used for those having the same function, and the repeated description will be omitted.
Further, "based on XX" as used in the present application means "based on at least XX", and includes a case where it is based on another element in addition to XX. Further, "based on XX" is not limited to the case where XX is directly used, but also includes the case where it is based on a case where calculation or processing is performed on XX. "XX" is an arbitrary element (for example, arbitrary information).

(Embodiment)
FIG. 1 is a diagram showing an example of a flight control system for an unmanned flying object according to an embodiment. The flight control system includes an unmanned flying object 100, a control device 200, a management server 300, and an unmanned flying object information collecting device 400.
The control device 200, the management server 300, and the unmanned flying object information collecting device 400 communicate with each other via a communication network 50 such as a wireless LAN or the Internet. The unmanned projectile 100 and the control device 200 communicate with each other via a mobile phone communication network or the like. The unmanned projectile 100 and the unmanned projectile information collecting device 400 communicate with each other via a mobile phone communication network or the like.
The management server 300 stores the electric power equipment connection configuration information indicating the connection configuration of the electric power equipment and the flight permission condition information indicating the conditions under which the unmanned projectile is permitted to fly. The management server 300 transmits flight information including power equipment connection configuration information and flight permission condition information to the control device 200 in response to a request from the control device 200.
Further, the management server 300 receives a request from the control device 200 between the position of the starting point where the unmanned projectile 100 controlled by the control device 200 starts the flight and the position of the destination point where the flight ends. The environmental status information indicating the environmental status of the existing electric power equipment is acquired, and the acquired environmental status information is transmitted to the control device 200.
Hereinafter, the position of the starting point at which the flight starts is described as "the position of the starting point", and the position of the destination point at which the flight ends is described as "the position of the destination point". Here, the position of the starting point and the position of the destination point are represented by longitude, latitude, and altitude.

The control device 200 controls the flight of the unmanned projectile 100.
The control device 200 requests flight information and environmental status information from the management server 300 when controlling the flight of the unmanned projectile 100. The control device 200 acquires flight information and environmental condition information transmitted by the management server 300, and based on the acquired flight information, a flight path for flying the unmanned projectile 100 from the position of the starting point to the position of the destination point. Candidates are derived.
The control device 200 narrows down the flight path candidates obtained by deriving the flight path based on the environmental condition information.
Further, the control device 200 selects one flight path based on the selection criteria set in advance from the result of narrowing down the flight path candidates, and sets the selected flight path. The control device 200 creates flight route information including the identification information of the unmanned flying object 100 and the information indicating the set flight route, and transmits the created flight route information to the management server 300.
The control device 200 creates flight control information, which is a command for flying the unmanned flying object 100, on the set flight path, and transmits the created flight control information to the unmanned flying object 100. The control device 200 acquires the positioning result transmitted by the unmanned flying object 100 flying in the set flight path, and transmits the acquired positioning result to the management server 300. Here, the positioning result includes the horizontal position (latitude and longitude) of the unmanned projectile 100, the vertical position (high and low), and the flight speed. The management server 300 acquires the positioning result transmitted by the control device 200 and stores the acquired positioning result.

Based on the horizontal position included in the acquired positioning result, the management server 300 can access the power equipment installed near the position, the access point attached to the power equipment such as a general ground building, and the like. Sends an environmental status information acquisition request to request environmental status information in the vicinity of electric power equipment, etc. The management server 300 acquires the environmental status information transmitted by the access point attached to the electric power facility or the like in response to the environmental status information acquisition request. The management server 300 acquires the environmental status information and stores the acquired environmental status information.
The unmanned projectile information collecting device 400 has information on the probability that the unmanned projectile 100 will crash (hereinafter referred to as "crash probability information") and information indicating the severity assumed when the unmanned projectile 100 crashes (hereinafter referred to as """Severityinformation") and is acquired. Here, the crash probability information includes cumulative flight distance information, crash probability information for each aircraft, load type information, load weight information, charge / discharge history information, maintenance history information, and flight route information. , Flight path environment information and included. Severity information includes information indicating the area of the flight path, flight condition information, load weight information, safety equipment information, and crash notification equipment information. Each information will be described later.
The unmanned flying object information collecting device 400 uses one or both of the acquired crash probability information and the severity information, and one or both of the crash probability information of an insurance company and the severity information. And notify the notification destination that provides the service.

(Management server)
FIG. 2 is a block diagram showing an example of the management server according to the embodiment.
The management server 300 includes a communication unit 302, a storage unit 304, and a control unit 306.
The communication unit 302 communicates between the control device 200 and the unmanned projectile information collection device 400 via the communication network 50.
Specifically, the communication unit 302 receives the flight information request transmitted by the control device 200, and outputs the received flight information request to the control unit 306. Here, the flight information request is a signal requesting that the control device 200 acquire the power equipment connection configuration information and the flight permission condition information of the flight path on which the unmanned flying object 100 is assumed to fly. The flight information request includes the identification information of the control device 200, the position information of the starting point, and the position information of the destination point.
Further, the communication unit 302 receives the flight route information transmitted by the control device 200, and outputs the received flight route information to the control unit 306.
Further, the communication unit 302 receives the positioning result transmitted by the control device 200, and outputs the received positioning result to the control unit 306.

Further, the communication unit 302 receives the flight path request, the flight path environment request, and the flight condition request transmitted by the unmanned flying object information collecting device 400, and receives the received flight path request, flight path environment request, and flight. The condition request is output to the control unit 306. Here, the flight route request is a signal requesting to acquire information indicating the route in which the unmanned projectile 100 flew. The flight path request includes identification information of the unmanned projectile 100 and information indicating that the flight path is to be acquired. The flight path environment request is a signal requesting to acquire information indicating the environment such as meteorological conditions and geographical conditions of the route on which the unmanned projectile 100 flew. The flight path environment request includes identification information of the unmanned projectile 100 and information indicating that information indicating the environment of the flight path is to be acquired. The flight condition request is a signal requesting to acquire information indicating conditions such as the altitude and speed at which the unmanned projectile 100 flew. The flight condition request includes identification information of the unmanned projectile 100 and information indicating that information indicating flight conditions is to be acquired.

In response to the flight information request, the communication unit 302 acquires the power equipment connection configuration information 3044 and the flight permission condition information 3046 output by the control unit 306, and obtains the acquired power equipment connection configuration information 3044 and the flight permission condition information 3046. The flight information including the flight information is transmitted to the control device 200.
Details of the power equipment connection configuration information 3044 and the flight permission condition information 3046 will be described later.
Further, the communication unit 302 receives the environmental status information request transmitted by the control device 200, and outputs the received environmental status information request to the control unit 306. Here, the environmental status information request is a request for the control device 200 to acquire environmental status information in a predetermined area including the position of the starting point and the position of the destination point. Details of the environmental status information will be described later.
The communication unit 302 acquires the environmental status information acquisition request output by the control unit 306, and transmits the acquired environmental status information acquisition request to the electric power equipment or the like. Here, in the environmental status information acquisition request, the management server 300 requests the access point attached to the electric power equipment near the position of the starting point and the position of the destination point, and the electric power equipment near the horizontal position of the unmanned projectile 100. This is a signal that requests information on the environmental conditions in the vicinity of the power equipment, etc., from the access point attached to the device.
The communication unit 302 acquires the power status information transmitted by the access point attached to the power equipment or the like in response to the environmental status information acquisition request, and outputs the acquired power status information to the control unit 306.

The communication unit 302 acquires the environmental status information output by the control unit 306 in response to the environmental status information request, and transmits the acquired environmental status information to the control device 200.
The communication unit 302 acquires the flight route information output by the control unit 306 in response to the flight route request, creates a flight route information response including the acquired flight route information, and uses the created flight route information response as an unmanned flying object. It is transmitted to the information collecting device 400.
The communication unit 302 acquires the flight path environment information output by the control unit 306 in response to the flight path environment request, creates a flight path environment information response including the acquired flight path environment information, and creates the created flight path environment information response. Is transmitted to the unmanned flying object information collecting device 400.
The communication unit 302 acquires the flight condition information output by the control unit 306 in response to the flight condition request, creates a flight condition information response including the acquired flight condition information, and uses the created flight condition information response as an unmanned flying object. It is transmitted to the information collecting device 400.
The storage unit 304 stores the program 3042, the power equipment connection configuration information 3044, the flight permission condition information 3046, the flight route information 3048, the flight route environment information 3050, and the flight condition information 3052. The program 3042 causes the control unit 306 to function as the acquisition unit 308 and the processing unit 309.

(Power equipment connection configuration information)
The power equipment connection configuration information 3044 shows the connection status of power equipment such as transmission lines and substations on a map with nodes and branches. A map showing the connection status of electric power equipment with nodes and branches is also called a node branch diagram.
FIG. 3 is a diagram showing an example of power equipment connection configuration information.
FIG. 3 shows, as an example, the power equipment connection configuration information of Saitama Prefecture. An example of power equipment connection configuration information is a power system diagram.
The power equipment connection configuration information 3044 of the storage unit 304 of the management server 300 stores the power equipment connection configuration information for each predetermined area such as a prefecture. In FIG. 3, “◯” is a substation (node) and “−” is a transmission line (branch).
In this example, a parking apron for parking the unmanned projectile 100 is installed in the substation. In other words, parking lots will be set up in Kita Kumagaya, Saitama, Ueo, Iwatsuki, Nishikoshigaya, Higashiyashio, Keihoku, Hatogaya, Sasame, Minamisayama, Shinsayama, Naka Tokyo, and Oku Chichibu. The unmanned projectile 100 flies in the vicinity of a power transmission line.

(Flight permission condition information)
The flight permission condition information 3046 is information indicating the conditions under which the unmanned projectile 100 is permitted to fly.
FIG. 4 is a diagram for explaining an example of flight permission condition information. FIG. 4 shows two transmission line towers ST, an overhead ground wire GW supported by the transmission line tower ST, and a transmission line WR.
Further, in FIG. 4, the steel tower sites (2) and (4) on which the transmission line tower ST is laid, and the subline sites (1), (3) and (5) between the overhead ground wire GW and the transmission line WR are shown. It is shown. For example, a land sales contract has been concluded for the tower land (2) and (4), and an easement setting contract or an overhead line contract for sky use has been concluded for the underline land (1), (3) and (5). It has been concluded.
Further, regarding the steel tower site and the land under the line, information such as position information at which the unmanned projectile 100 is permitted to fly, date and time information, and cargo information carried by the unmanned projectile 100 is set. Here, the position information includes one or both of the horizontal position information and the vertical position information.

The flight path information 3048 is information in which the identification information of the unmanned projectile 100 and the information indicating the flight path when the unmanned projectile 100 flies from the position of the starting point to the position of the destination point are associated with each other. ..
The flight path environment information 3050 includes identification information of the unmanned projectile 100 and an environment such as meteorological conditions and geographical conditions of the flight path when the unmanned projectile 100 flies from the position of the starting point to the position of the destination point. Information associated with information.
The flight condition information 3052 associates the identification information of the unmanned flying object 100 with the flight conditions such as the flight altitude and the flight speed when the unmanned flying object 100 flies from the position of the starting point to the position of the destination point. Information.

The control unit 306 is realized by an arithmetic unit such as a CPU (Central Processing Unit). The control unit 306 functions as the acquisition unit 308 and the processing unit 309 by executing the program 3042 stored in the storage unit 304.
The acquisition unit 308 acquires the flight information request output by the communication unit 302. The acquisition unit 308 has a power equipment connection configuration including the starting point position information and the destination point position information from the storage unit 304 based on the starting point position information and the destination point position information included in the flight information request. Information 3044 and flight permission condition information 3046 are acquired, and the acquired power equipment connection configuration information 3044 and flight permission condition information 3046 are output to the communication unit 302.
Further, the acquisition unit 308 acquires the environmental status information request output by the communication unit 302. The acquisition unit 308 is an access attached to an electric power facility or the like included in a predetermined range including the starting point and the destination point based on the position information of the starting point and the position information of the destination point included in the environmental status information request. An environmental status information acquisition request for requesting acquisition of environmental status information is created at the point, and the created environmental status information acquisition request is output to the communication unit 302. The acquisition unit 308 acquires the environmental status information output by the communication unit 302 in response to the environmental status information acquisition request, and outputs the acquired environmental status information to the communication unit 302. Environmental status information includes meteorological conditions such as wind direction, wind speed, weather, and temperature, geographical conditions, visibility, and power supply information. The power supply information includes information indicating the energizing current.

The acquisition unit 308 acquires the flight path request output by the communication unit 302. The acquisition unit 308 acquires flight path information associated with the unmanned flight object 100 from the flight path information 3048 of the storage unit 304 based on the identification information of the unmanned flight object 100 included in the flight path request, and acquires the flight. The route information is output to the communication unit 302.
The acquisition unit 308 acquires the flight path environment request output by the communication unit 302. The acquisition unit 308 acquires the flight path environment information associated with the unmanned projectile 100 from the flight path environment information 3050 of the storage unit 304 based on the identification information of the unmanned projectile 100 included in the flight path environment request. The acquired flight path environment information is output to the communication unit 302.
The acquisition unit 308 acquires the flight condition request output by the communication unit 302. The acquisition unit 308 acquires flight condition information associated with the unmanned flight object 100 from the flight condition information 3052 of the storage unit 304 based on the identification information of the unmanned flight object 100 included in the flight condition request, and acquires the flight. The condition information is output to the communication unit 302.
The processing unit 309 acquires the positioning result output by the communication unit 302, associates the identification information of the unmanned flying object 100 included in the acquired positioning result with the horizontal position (latitude and longitude), and stores the storage unit 304. It is stored in the flight path information 3048, and is stored in the flight condition information 3052 of the storage unit 304 in association with the identification information of the unmanned projectile 100, the flight speed, and the position (high / low) in the vertical direction.
Further, the processing unit 309 is an access point attached to an electric power facility or the like installed in the vicinity of the horizontal position (latitude and longitude) of the unmanned projectile 100 included in the acquired positioning result. To create an environmental status information acquisition request for requesting environmental status information in the vicinity of the power equipment, etc. The processing unit 309 outputs the created environment status information acquisition request to the communication unit 302.
The processing unit 309 acquires the environmental condition information transmitted by the access point in response to the environmental condition information acquisition request, and the weather conditions, geographical conditions, and identification information of the unmanned projectile 100 included in the acquired environmental condition information. Is stored in the flight path environment information 3050 of the storage unit 304 in association with.

(Electric power equipment)
FIG. 5 is a diagram showing an example of electric power equipment and the like.
The unmanned projectile 100 according to the embodiment may fly in the vicinity of an electric power facility or the like, such as over an electric power facility or the like. An example of electric power equipment is power transmission equipment.
As described above, the transmission equipment includes the transmission line tower ST, the overhead ground wire GW supported by the transmission line tower ST, and the transmission line WR. In the example shown in FIG. 5, two transmission line towers ST, an overhead ground wire GW supported by the transmission line tower ST, and a transmission line WR are shown.
Further, an image pickup device 10 such as a camera, a wind direction / wind speed sensor 20, a rain gauge 30, and an access point 40 are attached to the power transmission facility.
The image pickup apparatus 10 takes an image of a landscape in the vicinity and transmits the image information obtained by taking the image to the management server 300 via the access point 40.
The wind direction / wind speed sensor 20 measures the wind direction and the wind speed in the vicinity of the transmission line tower ST, and manages the information indicating the wind direction and the information indicating the wind speed obtained by the measurement via the access point 40. Send to server 300.
The rain gauge 30 measures the amount of rainfall in the vicinity of the transmission line tower ST, and transmits information indicating the amount of rainfall obtained by the measurement to the management server 300 via the access point 40.
The access point 40 receives image information transmitted by the image pickup apparatus 10, information indicating the wind direction and wind speed transmitted by the wind direction / wind speed sensor 20, information indicating the amount of rain transmitted by the rain gauge 30, information on power supply to the power equipment, and the like. , Send to the management server 300.
Further, the image pickup device 10, the wind direction / wind speed sensor 20, the rain gauge 30, and the access point 40 are attached to a general ground building or the like. In this case, the access point 40 attached to a general ground building or the like transmits the image information transmitted by the image pickup apparatus 10, the wind direction / wind speed sensor 20, the wind direction information and the wind speed information, and the rain gauge 30. Information indicating the amount of rainfall, power supply information of electric power equipment, and the like are transmitted to the management server 300.

(Unmanned projectile)
FIG. 6 is a diagram showing an example of an external schematic diagram of the unmanned flying object according to the embodiment. The unmanned projectile 100 flies above the overhead ground wire GW and in the vicinity of the distribution line WR.
The unmanned projectile 100 includes a motor 102a, a motor 102b, a motor 102c, a motor 102d, a rotor 104a, a rotor 104b, a rotor 104c, and a rotor 104d.
The motor 102a, the motor 102b, the motor 102c, and the motor 102d give lift and propulsion to the unmanned projectile 100 by rotating the corresponding rotors 104a, 104b, 104c, and 104d, respectively.
Further, by controlling the drive current supplied to each of the motor 102a, the motor 102b, the motor 102c, and the motor 102d, the flight altitude, direction, and traveling direction of the unmanned projectile 100 can be controlled.

The unmanned projectile 100 includes an image pickup unit 108 such as a camera. The image pickup unit 108 images the scenery around the unmanned projectile 100. In the unmanned projectile 100 according to the embodiment, the imaging direction of the image pickup unit 108 and the heading HDG of the unmanned projectile 100 coincide with each other. In this case, the image pickup unit 108 images the landscape in front of the unmanned projectile 100.
Further, a fixing tool for fixing the cargo is attached to the unmanned projectile 100. When carrying the cargo to the unmanned projectile 100, the load is fixed to the fixative, and the flight control information is transmitted from the control device 200 to the unmanned projectile 100.
Hereinafter, any motor among the motor 102a, the motor 102b, the motor 102c, and the motor 102d will be referred to as a motor 102.
Further, any rotor among the rotor 104a, the rotor 104b, the rotor 104c, and the rotor 104d is referred to as the rotor 104.

(Unmanned projectile)
FIG. 7 is a block diagram showing an example of an unmanned flying object according to the embodiment.
The unmanned projectile 100 according to the embodiment includes a motor 102, a communication unit 103, a rotor 104, a positioning unit 105, a speedometer 106, an image pickup unit 108, a storage unit 109, a power supply unit 112, and a control unit 114.
In this example, the motor 102, the communication unit 103, the rotor 104, the positioning unit 105, the speedometer 106, the image pickup unit 108, the storage unit 109, and the power supply unit 112 are realized by dedicated hardware.
The storage unit 109 is realized by, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), a flash memory, or a hybrid storage device in which a plurality of these are combined. The storage unit 109 stores the program 110 executed by the control unit 114. Further, the storage unit 109 stores charge / discharge history information 111, maintenance history information 113, and cumulative flight distance information 115.
The charge / discharge history information 111 is information in which the identification information of the battery (storage battery) mounted on the unmanned projectile 100 is associated with the date and time when the battery is charged and the charge amount.
The maintenance history information 113 is information in which the date and time when the unmanned flying object 100 is maintained and the maintenance contents are associated with each other.
The cumulative flight distance information 115 is information indicating the cumulative value of the flight distance of the unmanned projectile 100.
The control unit 114 is composed of a CPU (Central Processing Unit), and the CPU executes the program 110 stored in the storage unit 109 to realize the functions of the flight control unit 116 and the processing unit 117. do.

The communication unit 103 communicates between the control device 200 that controls the unmanned projectile 100 and the unmanned projectile information collection device 400. For example, the communication unit 103 communicates with a base station of a mobile phone network of a communication method such as LTE (Long Term Evolution), and communicates with the control device 200 and unmanned projectile information via the backbone network line of the mobile phone network. Communicates with the collector 400. The communication unit 103 receives the flight control information transmitted by the control device 200, and outputs the received flight control information to the control unit 114.
The communication unit 103 transmits the positioning result output by the control unit 114 to the control device 200.
Further, the communication unit 103 receives the cumulative flight distance request, the charge / discharge history request, and the maintenance history request transmitted by the unmanned flying object information collecting device 400, and receives the cumulative flight distance request and the charge / discharge history request. , The maintenance history request is output to the control unit 114. Here, the cumulative flight distance request is a signal requesting acquisition of information indicating the cumulative value of the flight distance of the unmanned projectile 100. The cumulative flight distance request includes identification information of the unmanned projectile 100 and information indicating that the cumulative value of the flight distance is to be acquired.

The charge / discharge history request is a signal requesting acquisition of information indicating the charge / discharge history of the battery mounted on the unmanned projectile 100. The charge / discharge history request includes identification information of the battery mounted on the unmanned projectile 100 and information indicating that information indicating the charge / discharge history is to be acquired.
The maintenance history request is a signal requesting that the unmanned projectile 100 acquire information indicating the maintenance history. The maintenance history request includes identification information of the unmanned projectile 100 and information indicating that information indicating the maintenance history is to be acquired.
Further, the communication unit 103 has a horizontal position (latitude and longitude) obtained by positioning by the positioning unit 105, a vertical position (high and low), and a flight speed obtained by measurement by the speedometer 106. The positioning result including the above is transmitted to the control device 200.
The positioning unit 105 is equipped with a global navigation satellite system (Global Navigation Satellite System (s): GNSS) such as GPS (Global Positioning System) and quasi-zenith satellites (QZS), and has a horizontal position. do.
The positioning unit 105 is provided with an altimeter, and the position in the vertical direction is determined by the altimeter.
The positioning unit 105 performs positioning of the unmanned flying object 100 according to a positioning command, and outputs the positioning result to the control unit 114. The positioning result includes a horizontal position (latitude and longitude) and a vertical position (altitude).

The speedometer 106 measures the flight speed of the unmanned projectile 100 and outputs the measurement result of the flight speed to the control unit 114.
The power supply unit 112 includes a battery that is a power source for the unmanned projectile 100, and a power supply monitoring unit that monitors the remaining charge of the battery. When the battery is charged, the power supply unit 112 outputs the battery identification information, the information indicating the date and time when the battery was charged, and the information indicating the charge amount to the control unit 114. The control unit 114 acquires the battery identification information output by the power supply unit 112, the information indicating the date and time when the battery was charged, and the information indicating the charge amount, and the acquired battery identification information and the information indicating the date and time when the battery was charged. Is associated with the information indicating the charge amount, and is output to the charge / discharge history information 111 of the storage unit 109.
The flight control unit 116 controls the flight of the unmanned projectile 100 by controlling the drive current supplied to the motor 102. When the flight control unit 116 acquires the flight control information transmitted by the control device 200 from the communication unit 103, the flight control unit 116 controls the flight of the unmanned projectile 100 based on the acquired flight control information. The flight control unit 116 derives the flight distance during flight. When the flight is completed, the flight control unit 116 acquires the cumulative value of the flight distance stored in the cumulative flight distance information 115 of the storage unit 109, and adds the derived flight distance to the accumulated value of the acquired flight distance. By doing so, the cumulative value of the flight distance is derived. The flight control unit 116 stores the derived cumulative value of the flight distance in the cumulative flight distance information 115 of the storage unit 109.
Further, when the unmanned flying object 100 is maintained, the control unit 114 stores the maintenance history information 113 of the storage unit 109 in association with the maintenance date and time and the maintenance content.
The processing unit 117 outputs a positioning command to the positioning unit 105 during the flight of the unmanned projectile 100, and the horizontal position (latitude and longitude), the vertical position (high / low), and the speedometer output by the positioning unit 105. The flight speed output by 106 is acquired, a positioning result including the acquired horizontal position (latitude and longitude), vertical position (high / low) and flight speed is created, and the created positioning result is used in the communication unit. Output to 103.

(Control device)
FIG. 8 is a block diagram showing an example of the control device according to the embodiment.
An example of the control device 200 is a terminal device, which includes a communication unit 202, a communication unit 203, a storage unit 204, and a control unit 206.
The communication unit 202 communicates with the management server 300 via the communication network 50. Specifically, the communication unit 202 transmits a flight information request to the management server 300, and receives the flight information transmitted by the management server 300 in response to the transmitted flight information request. The communication unit 202 outputs the received flight information to the control unit 206.
Further, the communication unit 202 transmits an environmental status information request to the management server 300, and receives the environmental status information transmitted by the management server 300 in response to the transmitted environmental status information request. The communication unit 202 outputs the received environmental status information to the control unit 206.
Further, the communication unit 202 transmits the positioning result output by the control unit 206 to the management server 300.
The communication unit 203 communicates with the unmanned projectile 100. For example, the communication unit 203 communicates with a base station of a mobile phone network of a communication method such as LTE, and communicates with an unmanned projectile 100 via a backbone network line of the mobile phone network. The communication unit 203 transmits flight control information to the unmanned projectile 100.
Further, the communication unit 203 receives the positioning result transmitted by the unmanned projectile 100, and outputs the received positioning result to the control unit 206.

The storage unit 204 stores the program 2042, the collision avoidance distance table 2044, and the electromagnetic field influence avoidance distance table 2046.
(Collision avoidance distance table)
The collision avoidance separation distance table 2044 is a table to be referred to when obtaining the separation distance (collision avoidance separation distance) from the transmission line in order to prevent the unmanned projectile 100 from colliding with the transmission line.
FIG. 9 is a diagram showing an example of a collision avoidance distance table.
The collision avoidance separation distance table 2044 stores wind speed information, temperature information, lateral vibration angle information, and collision avoidance separation distance information in association with each other.
Here, the lateral runout angle information is information indicating the central angle of the arc drawn by the locus of the electric wire with the length between the electric wire support point and the electric wire as the radius. The lateral runout angle information is obtained with the lowest point of the curve formed by the electric wire support point and the electric wire as 0 degree.
The collision avoidance separation distance refers to the distance that the unmanned projectile 100 separates to avoid colliding with a power transmission line.
In the example shown in FIG. 9, the wind speed information "aa" [m / s], the temperature information "xy" [° C], the lateral shake angle information "αβ" [°], and the collision avoidance distance information "kl" [m] Is associated with.

(Electromagnetic field influence avoidance distance table)
The electromagnetic field influence avoidance distance table 2046 is a separation distance between the unmanned projectile 100 and the transmission line (electromagnetic field influence avoidance) in order to avoid the influence of the electrostatic induction action caused by the transmission line being energized. It is a table to be referred to when calculating the separation distance).
FIG. 10 is a diagram showing an example of an electromagnetic field influence avoidance distance table.
The electromagnetic field influence avoidance distance table 2046 stores the energization current information and the electromagnetic field influence avoidance distance distance information in association with each other. Here, the energization current information is information indicating the current flowing through the transmission line. The electromagnetic field influence avoidance separation distance means the distance to be separated so that the influence of the electrostatic induction action caused by the energization of the transmission line is equal to or less than a predetermined value.
In the example shown in FIG. 10, the energization current information “ca” [A] and the electromagnetic field influence avoidance separation distance “lk” [m] are associated with each other.

The strength of the magnetic field generated from electric power equipment such as power transmission lines is obtained by Biot-Savart's law shown in equation (1).

H = (I / 2π) (1 / r) (1)

In equation (1), H is the strength of the magnetic field [A / m], I is the current [A], and r is the distance [m]. According to the equation (1), the generated magnetic field becomes stronger as the current increases and as the distance decreases, but it can be seen that the voltage does not matter.

The control unit 206 is realized by an arithmetic unit such as a CPU. The control unit 206 functions as an acquisition unit 208, a calculation unit 210, a setting unit 212, and a creation unit 214 by executing the program 2042 stored in the storage unit 204.
The acquisition unit 208 creates a flight information request and outputs the created flight information request to the communication unit 202. As described above, the flight information request includes the identification information of the control device 200, the position information of the starting point, and the position information of the destination point.
The acquisition unit 208 acquires the flight information transmitted by the management server 300 from the communication unit 202 in response to the flight information request. The acquisition unit 208 outputs the acquired flight information to the calculation unit 210.
Further, the acquisition unit 208 creates an environmental status information request and outputs the created environmental status information request to the communication unit 202. As described above, the environmental status information request includes the identification information of the control device 200, the position information of the starting point, and the position information of the destination point.
The acquisition unit 208 acquires the environment status information transmitted by the management server 300 from the communication unit 202 in response to the environment status information request. The acquisition unit 208 outputs the acquired environmental status information to the setting unit 212.

The calculation unit 210 derives a flight path based on the flight information output by the acquisition unit 208. The calculation unit 210 sets the position of the starting point and the position of the destination point in the power equipment connection configuration information, and sets one or a plurality of flight route candidates from the set position of the starting point to the position of the destination point.
Candidates for each flight path include latitude information, longitude information, and altitude information of a predetermined point included in the flight path. In addition, candidates for each flight route are represented on a route map (route map). Further, each flight path candidate includes date and time information on which the unmanned projectile 100 flies.
The calculation unit 210 excludes routes that cannot be flown from the flight route candidates based on the flight permission condition information. Specifically, when the flight route candidate includes position information other than the position information included in the flight permission condition information, the calculation unit 210 excludes the flight route candidate.
Further, when the flight route candidate includes date and time information other than the date and time information included in the flight permission condition information, the calculation unit 210 excludes the flight route candidate.
Further, when the luggage represented by the luggage information other than the luggage information included in the flight permission condition information is to be carried by the flight route candidate, the calculation unit 210 excludes the flight route candidate.
The calculation unit 210 outputs information indicating candidates for the remaining flight routes excluding the routes that cannot be flown to the setting unit 212. Here, the calculation unit 210 may execute a predetermined error process when there is no candidate for the remaining flight route excluding the route that cannot be flown.

The setting unit 212 excludes the flight path from the information indicating the flight path candidate output by the calculation unit 210 based on the environmental condition information. Specifically, the setting unit 212 acquires the wind speed information and the temperature information included in the environmental condition information, and obtains the wind speed information and the temperature information from the collision avoidance separation distance table 2044 stored in the storage unit 204. Acquires collision avoidance separation distance information associated with the combination.
Further, the setting unit 212 acquires the energization current information included in the environmental status information, and avoids the electromagnetic field influence associated with the acquired energization current information from the electromagnetic field influence avoidance separation distance table 2046 stored in the storage unit 204. Acquires separation distance information.
The setting unit 212 sets the flight path so as to satisfy both the collision avoidance distance and the electromagnetic field influence avoidance distance based on the acquired collision avoidance distance and the electromagnetic field effect avoidance distance. Specifically, the setting unit 212 sets the flight path so as to be away from the transmission line by the larger separation distance of the collision avoidance separation distance and the electromagnetic field influence avoidance separation distance.

Further, the setting unit 212 excludes the flight route (route) based on the wind direction information and the wind speed information included in the environmental condition information. Specifically, the setting unit 212 has a plurality of flight path candidates, and one of the plurality of flight path candidates has a headwind path and a tailwind path, and the wind speed is a strong wind equal to or higher than the threshold value. If so, exclude that flight path.
For each of the plurality of flight path candidates, the setting unit 212 flies each of the plurality of flight paths by combining the distance between the position of the starting point and the position of the destination point, the wind speed, and the wind direction. Predict the amount of battery consumed for this purpose. For each of the plurality of flight path candidates, the setting unit 212 preferentially selects the flight path that minimizes the battery consumption based on the predicted battery consumption.
Specifically, the setting unit 212 has a flight path A with a headwind of 1 meter and a distance of 500 meters and a flight path B with a tailwind of 2 meters and a distance of 3 kilometers as flight path candidates. From the viewpoint of, it may be better to give priority to the flight route A. That is, the setting unit 212 considers each of the plurality of flight paths from the candidates of the flight path whose wind speed is less than the threshold among the candidates of the plurality of flight paths in consideration of the three factors of the flight distance, the wind speed, and the wind direction. Select the flight path that consumes the least amount of battery to fly. With such a configuration, it is possible to reduce the risk of the unmanned projectile 100 crash landing due to the battery running out.
Further, when there are a plurality of flight paths, the setting unit 212 may estimate the amount of battery consumed for flying each flight path and the required time. Then, the setting unit 212 selects one flight path from a plurality of flight paths based on the preset flight path selection criteria, and sets information indicating the selected flight path. Examples of flight path selection criteria are a flight path that takes the shortest time and a flight path that consumes the least amount of battery.
The setting unit 212 outputs information indicating the set flight path to the creating unit 214.

FIG. 11 is a diagram showing an example of setting a flight path in the control device according to the embodiment.
In the example shown in FIG. 11, an example in which information indicating four flight paths (flight path A, flight path B, flight path C, flight path D) is output from the calculation unit 210 to the setting unit 212. show.
In FIG. 11, Kita Kumagaya is the position of the starting point, Hatogaya is the position of the destination point, and (a), (b), (c), (d), (e), and (f) are the starting points. Indicates a predetermined point between the position of and the position of the destination point.
The four flight paths are shown below.
Flight route A: Kita Kumagaya (starting point) → Saitama → Ageo → Hatogaya (destination point)
Flight route B: Kita Kumagaya (starting point) → Shin-Sakado → Hatogaya (destination point)
Flight route C: Kita Kumagaya (starting point) → Shin-Sakado → Sasame → Hatogaya (destination point)
Flight route D: Kita Kumagaya (starting point) → Saitama → Shin-Sakado → Hatogaya (destination point)
The setting unit 212 excludes the flight path based on the environmental condition information. Specifically, the setting unit 212 acquires wind speed information and weather information included in the environmental condition information.
Based on the acquired wind speed information and weather information, the setting unit 212 sets the flight path A because strong winds and lightning strikes are observed between the points (a) and the points (f). exclude.

Further, the setting unit 212 acquires the wind direction information and the wind speed information included in the environmental condition information. The setting unit 212 excludes the flight path B because the flight path B becomes a headwind between the starting point and the point (b) based on the acquired wind direction information and wind speed information.
In addition, the wind direction information and the wind speed information included in the environmental condition information are acquired. Based on the acquired wind direction information and wind speed information, the setting unit 212 flies because the flight path C becomes a headwind between the starting point and the point (b) and the flight distance becomes long because it passes through the sasame. Exclude route C.
Further, the setting unit 212 acquires the wind direction information and the wind speed information included in the environmental condition information. Based on the acquired wind direction information and wind speed information, the setting unit 212 sets the flight path D because the flight path D is a headwind between the points (a) and the points (c), but is weak.

The creating unit 214 acquires the information indicating the flight route output by the setting unit 212, and creates flight control information including the information indicating the acquired flight route. The creation unit 214 outputs the created flight control information to the communication unit 203.
The communication unit 203 transmits the flight control information output by the creation unit 214 to the unmanned projectile 100.
Further, the control unit 206 outputs the positioning result output by the communication unit 203 to the communication unit 202.

(Unmanned flying object information gathering device)
FIG. 12 is a block diagram showing an example of an unmanned flying object information collecting device according to an embodiment.
An example of the unmanned flying object information collecting device 400 is a terminal device, which includes a communication unit 402, a communication unit 403, a storage unit 404, a control unit 406, an operation unit 411, and a display unit 413.
The communication unit 402 communicates with the management server 300 via the communication network 50. Specifically, the communication unit 402 transmits a flight route request, which is information requesting a flight route, to the management server 300, and receives a flight route information response transmitted by the management server 300 in response to the transmitted flight route request. .. The communication unit 402 outputs the received flight path information response to the control unit 406.
Further, the communication unit 402 transmits a flight path environment request, which is information requesting the flight path environment, to the management server 300, and sends a flight path environment information response transmitted by the management server 300 in response to the transmitted flight path environment request. Receive. The communication unit 402 outputs the received flight path environment information response to the control unit 406.
Further, the communication unit 402 transmits a flight condition request, which is information requesting flight conditions, to the management server 300, and receives a flight condition request response transmitted by the management server 300 in response to the transmitted flight condition request. The communication unit 402 outputs the received flight condition request response to the control unit 406.
The communication unit 402 transmits the notification information output by the control unit 406 (hereinafter referred to as "unmanned flying object information") to the notification destination.

The communication unit 403 communicates with the unmanned projectile 100. For example, the communication unit 403 communicates with a base station of a mobile phone network of a communication method such as LTE, and communicates with an unmanned projectile 100 via a backbone network line of the mobile phone network. Specifically, the communication unit 403 transmits a cumulative flight distance request, which is information requesting a cumulative flight distance to the unmanned projectile 100, and the cumulative flight transmitted by the unmanned projectile 100 in response to the transmitted cumulative flight distance request. Receive a distance information response. The communication unit 402 outputs the received cumulative flight distance information response to the control unit 406.
Further, the communication unit 403 transmits a charge / discharge history request, which is information requesting the charge / discharge history to the unmanned projectile 100, and responds to the charge / discharge history information response transmitted by the unmanned projectile 100 in response to the transmitted charge / discharge history request. To receive. The communication unit 402 outputs the received charge / discharge history information response to the control unit 406.
Further, the communication unit 403 transmits a maintenance history request, which is information requesting maintenance history to the unmanned projectile 100, and receives a maintenance history information response transmitted by the unmanned projectile 100 in response to the transmitted maintenance history request. The communication unit 402 outputs the received maintenance history information response to the control unit 406.

The storage unit 404 indicates the area of the flight route such as the program 4042, the crash probability information 4044 for each aircraft, the flight route, the information indicating the population density in the time zone, and the information indicating the land use status (the existence probability of people and things). Memorize information.
The crash probability information 4044 for each aircraft is information in which the model number of the unmanned projectile is associated with the probability that the unmanned projectile has crashed.
The information indicating the area of the flight route is information in which the information indicating the flight route, the information indicating the population density in the time zone, and the information indicating the land use status are associated with each other.
The operation unit 411 is configured by, for example, a touch panel, detects a touch operation on the input screen of the load loaded on the unmanned projectile 100 displayed on the display unit 413, and outputs the detection result of the touch operation to the control unit 406. ..
The display unit 413 displays an input screen for the load to be loaded on the unmanned projectile 100.

The control unit 406 is realized by an arithmetic unit such as a CPU. The control unit 406 functions as a collection unit 408 and a notification unit 410 by executing the program 4042 stored in the storage unit 404.
The collecting unit 408 creates a flight route request and outputs the created flight route request to the communication unit 402. The flight path request includes the identification information of the unmanned projectile 100 and the information requesting the flight path.
The collecting unit 408 acquires the flight route information response transmitted by the management server 300 from the communication unit 402 in response to the flight route request. The collecting unit 408 outputs the acquired flight path information response to the notification unit 410.
Further, the collecting unit 408 creates a flight path environment request and outputs the created flight path environment request to the communication unit 402. The flight path environment request includes identification information of the unmanned projectile 100 and information requesting the flight path environment.
The collection unit 408 acquires the flight path environment information response transmitted by the management server 300 from the communication unit 402 in response to the flight path environment request. The collection unit 408 outputs the acquired flight path environment information response to the notification unit 410.
Further, the collecting unit 408 creates a flight condition request and outputs the created flight condition request to the communication unit 402. The flight condition request includes identification information of the unmanned projectile 100 and information requesting flight conditions.

The collecting unit 408 acquires the flight condition information response transmitted by the management server 300 from the communication unit 402 in response to the flight condition request. The collecting unit 408 outputs the acquired flight condition information response to the notification unit 410.
Further, the collecting unit 408 creates a cumulative flight distance request, and outputs the created cumulative flight distance request to the communication unit 403. The cumulative flight distance request includes identification information of the unmanned projectile 100 and information requesting the cumulative flight distance.
The collecting unit 408 acquires the cumulative flight distance information response transmitted by the unmanned projectile 100 from the communication unit 403 in response to the cumulative flight distance request. The collecting unit 408 outputs the acquired cumulative flight distance information response to the notification unit 410.
Further, the collection unit 408 creates a charge / discharge history request, and outputs the created charge / discharge history request to the communication unit 403. The charge / discharge history request includes identification information of the battery mounted on the unmanned projectile 100 and information for requesting the charge / discharge history.
The collection unit 408 acquires the charge / discharge history information response transmitted by the unmanned projectile 100 from the communication unit 403 in response to the charge / discharge history request. The collection unit 408 outputs the acquired charge / discharge history information response to the notification unit 410.
Further, the collection unit 408 creates a maintenance history request and outputs the created maintenance history request to the communication unit 403. The maintenance history request includes identification information of the unmanned projectile 100 and information for requesting maintenance history.

The collection unit 408 acquires the maintenance history information response transmitted by the unmanned projectile 100 from the communication unit 403 in response to the maintenance history request. The collection unit 408 outputs the acquired maintenance history information response to the notification unit 410.
The notification unit 410 accumulates flight route information included in the flight route information response output by the collection unit 408, flight route environment information included in the flight route environment information response, and flight condition information included in the flight condition information response. Notification information including the cumulative flight distance information included in the flight distance information response, the charge / discharge history information included in the charge / discharge history information response, and the maintenance history information included in the maintenance history information response, and the notification information addressed to the notification destination ( Hereinafter referred to as "unmanned flying object information") is created, and the created unmanned flying object information is output to the communication unit 402. Here, the notification destination provides the service by using the unmanned projectile information such as the address of the insurance company.

(Operation of flight control system)
FIG. 13 is a sequence chart showing an example of the operation of the flight control system of the unmanned flying object according to the embodiment.
(Step S11)
The collecting unit 408 of the unmanned flying object information collecting device 400 creates a cumulative flight distance request, and outputs the created cumulative flight distance request to the communication unit 403. The communication unit 403 of the unmanned flying object information collecting device 400 acquires the cumulative flight distance request output by the collecting unit 408, and transmits the acquired cumulative flight distance request to the unmanned flying object 100.
(Step S12)
The communication unit 103 of the unmanned flying object 100 receives the cumulative flight distance request response transmitted by the unmanned flying object information collecting device 400, and outputs the received cumulative flight distance request response to the control unit 114. The processing unit 117 of the control unit 114 acquires the cumulative flight distance request response output by the communication unit 103, and acquires the cumulative flight distance information 115 stored in the storage unit 109 based on the acquired cumulative flight distance request response. do. The processing unit 117 creates a cumulative flight distance information response including the acquired cumulative flight distance information 115, and outputs the created cumulative flight distance information response to the communication unit 103. The communication unit 103 acquires the cumulative flight distance information response output by the processing unit 117, and transmits the acquired cumulative flight distance information response to the unmanned flying object information collecting device 400.
The communication unit 403 of the unmanned flying object information collecting device 400 receives the cumulative flight distance information response transmitted by the unmanned flying object 100, and outputs the received cumulative flight distance information response to the control unit 406. The collection unit 408 of the control unit 406 acquires the cumulative flight distance information response output by the communication unit 403, and outputs the acquired cumulative flight distance information response to the notification unit 410.

(Step S13)
The collecting unit 408 of the unmanned flying object information collecting device 400 creates a charge / discharge history request, and outputs the created charge / discharge history request to the communication unit 403. The communication unit 403 of the unmanned projectile information collecting device 400 acquires the charge / discharge history request output by the collection unit 408, and transmits the acquired charge / discharge history request to the unmanned projectile 100.
(Step S14)
The communication unit 103 of the unmanned projectile 100 receives the charge / discharge history request transmitted by the unmanned projectile information collecting device 400, and outputs the received charge / discharge history request to the control unit 114. The processing unit 117 of the control unit 114 acquires the charge / discharge history request output by the communication unit 103, and acquires the charge / discharge history information 111 stored in the storage unit 109 based on the acquired charge / discharge history request. The processing unit 117 creates a charge / discharge history information response including the acquired charge / discharge history information 111, and outputs the created charge / discharge history information response to the communication unit 103. The communication unit 103 acquires the charge / discharge history information response output by the processing unit 117, and transmits the acquired charge / discharge history information response to the unmanned flying object information collecting device 400.
The communication unit 403 of the unmanned projectile information collecting device 400 receives the charge / discharge history information response transmitted by the unmanned projectile 100, and outputs the received charge / discharge history information response to the control unit 406. The collection unit 408 of the control unit 406 acquires the charge / discharge history information response output by the communication unit 403, and outputs the acquired charge / discharge history information response to the notification unit 410.

(Step S15)
The collection unit 408 of the unmanned flying object information collecting device 400 creates a maintenance history request, and outputs the created maintenance history request to the communication unit 403. The communication unit 403 of the unmanned flying object information collecting device 400 acquires the maintenance history request output by the collecting unit 408, and transmits the acquired maintenance history request to the unmanned flying object 100.
(Step S16)
The communication unit 103 of the unmanned flying object 100 receives the maintenance history request transmitted by the unmanned flying object information collecting device 400, and outputs the received maintenance history request to the control unit 114. The processing unit 117 of the control unit 114 acquires the maintenance history request output by the communication unit 103, and acquires the maintenance history information 113 stored in the storage unit 109 based on the acquired maintenance history request. The processing unit 117 creates a maintenance history information response including the acquired maintenance history information 113, and outputs the created maintenance history information response to the communication unit 103. The communication unit 103 acquires the maintenance history information response output by the processing unit 117, and transmits the acquired maintenance history information response to the unmanned flying object information collecting device 400.
The communication unit 403 of the unmanned flying object information collecting device 400 receives the maintenance history information response transmitted by the unmanned flying object 100, and outputs the received maintenance history information response to the control unit 406. The collection unit 408 of the control unit 406 acquires the maintenance history information response output by the communication unit 403, and outputs the acquired maintenance history information response to the notification unit 410.
(Step S17)
The collecting unit 408 of the unmanned projectile information collecting device 400 acquires the type information of the load loaded on the unmanned projectile 100 and the weight information of the load, and the acquired type information of the load and the load thereof. The weight information of the above is output to the notification unit 410.

(Step S18)
The collecting unit 408 of the unmanned flying object information collecting device 400 creates a flight route request, and outputs the created flight route request to the communication unit 402. The communication unit 402 of the unmanned flying object information collecting device 400 acquires the flight route request output by the collecting unit 408, and transmits the acquired flight route request to the management server 300.
(Step S19)
The communication unit 302 of the management server 300 receives the flight route request transmitted by the unmanned flying object information collecting device 400, and outputs the received flight route request to the control unit 306. The processing unit 309 of the control unit 306 acquires the flight path request output by the communication unit 103, and based on the identification information of the unmanned projectile 100 included in the acquired flight path request, the flight path information 3048 of the unmanned projectile 100. The flight path information of the unmanned projectile 100 included in the above is acquired. The processing unit 309 creates a flight route information response including the acquired flight route information, and outputs the created flight route information response to the communication unit 302. The communication unit 302 acquires the flight path information response output by the processing unit 309, and transmits the acquired flight path information response to the unmanned projectile information collecting device 400.
The communication unit 402 of the unmanned flying object information collecting device 400 receives the flight route information response transmitted by the management server 300, and outputs the received flight route information response to the control unit 406. The collection unit 408 of the control unit 406 acquires the flight path information response output by the communication unit 402, and outputs the acquired flight route information response to the notification unit 410.

(Step S20)
The collecting unit 408 of the unmanned flying object information collecting device 400 creates a flight path environment request, and outputs the created flight path environment request to the communication unit 402. The communication unit 402 of the unmanned flying object information collecting device 400 acquires the flight path environment request output by the collecting unit 408, and transmits the acquired flight path environment request to the management server 300.
(Step S21)
The communication unit 302 of the management server 300 receives the flight path environment request transmitted by the unmanned flying object information collecting device 400, and outputs the received flight path environment request to the control unit 306. The processing unit 309 of the control unit 306 acquires the flight path environment request output by the communication unit 103, and based on the identification information of the unmanned projectile 100 included in the acquired flight path environment request, the flight path of the unmanned projectile 100. The flight path environment information of the unmanned projectile 100 included in the information 3048 is acquired. The processing unit 309 creates a flight path environment information response including the acquired flight path environment information, and outputs the created flight path environment information response to the communication unit 302. The communication unit 302 acquires the flight path environment information response output by the processing unit 309, and transmits the acquired flight path environment information response to the unmanned flying object information collecting device 400.
The communication unit 402 of the unmanned flying object information collecting device 400 receives the flight path environment information response transmitted by the management server 300, and outputs the received flight route environment information response to the control unit 406. The collection unit 408 of the control unit 406 acquires the flight path environment information response output by the communication unit 402, and outputs the acquired flight path environment information response to the notification unit 410.

(Step S22)
The collecting unit 408 of the unmanned flying object information collecting device 400 creates a flight condition request, and outputs the created flight condition request to the communication unit 402. The communication unit 402 of the unmanned flying object information collecting device 400 acquires the flight condition request output by the collecting unit 408, and transmits the acquired flight condition request to the management server 300.
(Step S23)
The communication unit 302 of the management server 300 receives the flight condition request transmitted by the unmanned flying object information collecting device 400, and outputs the received flight condition request to the control unit 306. The processing unit 309 of the control unit 306 acquires the flight condition request output by the communication unit 103, and based on the identification information of the unmanned projectile 100 included in the acquired flight condition request, the flight path information 3048 of the unmanned projectile 100. The flight condition information of the unmanned projectile 100 included in the above is acquired. The processing unit 309 creates a flight condition information response including the acquired flight condition information, and outputs the created flight condition information response to the communication unit 302. The communication unit 302 acquires the flight condition information response output by the processing unit 309, and transmits the acquired flight condition information response to the unmanned projectile information collecting device 400.
The communication unit 402 of the unmanned flying object information collecting device 400 receives the flight condition information response transmitted by the management server 300, and outputs the received flight condition information response to the control unit 406. The collection unit 408 of the control unit 406 acquires the flight condition information response output by the communication unit 402, and outputs the acquired flight condition information response to the notification unit 410.

(Step S24)
The collecting unit 408 of the unmanned flying object information collecting device 400 acquires information indicating the safety equipment mounted on the unmanned flying object 100, and outputs the information indicating the acquired safety equipment to the notification unit 410. Specifically, the collecting unit 408 displays a screen prompting the input of information indicating the safety equipment on the display unit 413. The operation unit 411 acquires information indicating the safety equipment input by the user who has seen the screen, and outputs the information indicating the acquired safety equipment to the collection unit 408. The collection unit 408 acquires the information indicating the safety equipment output by the operation unit 411, and outputs the information indicating the acquired safety equipment to the notification unit 410.
(Step S25)
The collecting unit 408 of the unmanned flying object information collecting device 400 acquires information indicating the crash notification equipment mounted on the unmanned flying object 100, and outputs the acquired information indicating the crash notification equipment to the notification unit 410. Specifically, the collection unit 408 displays a screen prompting the display unit 413 to input information indicating the crash notification equipment. The operation unit 411 acquires information indicating the crash notification equipment input by the user who has seen the screen, and outputs the acquired information indicating the crash notification equipment to the collection unit 408. The collecting unit 408 acquires the information indicating the crash notification equipment output by the operation unit 411, and outputs the acquired information indicating the crash notification equipment to the notification unit 410.
(Step S26)
The notification unit 410 of the unmanned flying object information collecting device 400 has the cumulative flight distance information included in the cumulative flight distance information response output by the collecting unit 408, the charge / discharge history information included in the charge / discharge history information response, and maintenance history information. Acquire the maintenance history information included in the response. Further, the notification unit 410 acquires the information indicating the type of the load output by the collection unit 408 and the information indicating the weight of the load. Further, the notification unit 410 obtains flight path information included in the flight path information response output by the collection unit 408, flight path environment information included in the flight path environment response, and flight condition information included in the flight condition information response. get. Further, the notification unit 410 acquires the information indicating the safety equipment output by the collection unit 408 and the information indicating the crash notification equipment. Further, the notification unit 410 acquires information indicating the probability that the unmanned flying object associated with the model number of the unmanned flying object 100 has crashed from the aircraft-specific crash probability information 4044 stored in the storage unit 404. Further, the notification unit 410 includes information indicating the population density of the time zone stored in association with the flight path and information indicating the land use status from the information indicating the area of the flight path stored in the storage unit 404. To get. The notification unit 410 creates unmanned projectile information including the acquired information and is addressed to the notification destination, and transmits the created unmanned projectile information to the notification destination.

In the above-described embodiment, the case where the control device 200 requests the management server 300 for flight information and environmental status information separately has been described, but the present invention is not limited to this example. For example, flight information and environmental status information may be requested at the same time.
In the above-described embodiment, the case where the position of the starting point and the position of the destination point are represented by longitude, latitude, and altitude has been described, but the present invention is not limited to this example. For example, the starting point and the destination point may be represented by the name of the parking apron where the unmanned projectile 100 is parked.
In the above-described embodiment, the power transmission facility has been described as an example of the electric power facility, but the present invention is not limited to this example. For example, electric power equipment includes power plants, substations, distribution equipment, and the like.
In the above-described embodiment, the case where communication is performed between the unmanned projectile 100 and the control device via the mobile phone network has been described, but the present invention is not limited to this example. For example, communication may be performed between the unmanned projectile 100 and the control device via a wireless LAN, the Internet, or the like.

In the above-described embodiment, a case where a flight path candidate is calculated based on the flight information and one flight path is selected based on the environmental condition information from the calculation result of the flight path candidate has been described. That is, in the above-described embodiment, two processes are performed, that is, a process of calculating a flight path candidate and a process of selecting one flight path from the flight path candidates based on the flight information. Not limited to this example, for example, one flight path may be calculated at one time based on flight information and environmental condition information.
In the above-described embodiment, the case where the control device 200 sets the flight path of the unmanned projectile 100 based on the current environmental condition information has been described, but the present invention is not limited to this example. For example, the control device 200 may predict the future environmental condition based on the current environmental condition information. Then, the control device 200 may set the flight path based on the prediction result of the future environmental condition.
In the above-described embodiment, the control device 200 has image information transmitted by the image pickup device 10, information indicating the wind direction and wind speed transmitted by the wind direction / wind speed sensor 20, information indicating the wind speed, information indicating the amount of rain transmitted by the rain gauge 30, and electric power. The case of acquiring the power supply information of the equipment has been described, but the present invention is not limited to this example. For example, the control device 200 may acquire information indicating whether or not a lightning strike has occurred.
In the above-described embodiment, the unmanned flying object information collecting device 400 uses the cumulative flight distance information, charge / discharge history information, maintenance history information, load type information, weight information, flight path information, and flight path environment. We have described the case of acquiring information, flight condition information, safety equipment information, crash notification equipment information, information indicating the population density of the time zone, and information indicating the land use status, but the case is not limited to this example. .. For example, the unmanned flying object information collecting device 400 has cumulative flight distance information, charge / discharge history information, maintenance history information, load type information, weight information, flight route information, flight route environment information, and flight. Condition information, safety equipment information, crash notification equipment information, information indicating the population density of the time zone, and information indicating the land use status may be acquired.
In the above-described embodiment, the case where the unmanned projectile 100 flies in the vicinity of the transmission line according to the flight path set by the control device 200 has been described, but the present invention is not limited to this example. For example, it can be adapted when the unmanned projectile 100 flies in the vicinity of a distribution line or when it flies autonomously.

According to the flight control system of the unmanned flying object according to the embodiment, the unmanned flying object information collecting device 400 includes cumulative flight distance information, charge / discharge history information, maintenance history information, load type information, and weight information. , Flight route information, flight route environment information, flight condition information, safety equipment information, and crash notification equipment information can be requested to be acquired. Then, the unmanned flying object information collecting device 400 can notify the acquired information to the notification destination. Therefore, if the notification destination is an insurance company, the risk can be calculated according to the actual operation of the unmanned projectile 100. Therefore, the insurance company can design an appropriate insurance product.

Although the embodiments have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other embodiments, and various omissions, replacements, changes, and combinations can be made without departing from the gist of the invention. These embodiments and variations thereof are included in the scope and gist of the invention, and at the same time, are included in the scope of the invention described in the claims and the equivalent scope thereof.

The unmanned projectile 100, the control device 200, the management server 300, and the unmanned projectile information collection device 400 described above may be realized by a computer. In that case, a program for realizing the function of each block is recorded on a computer-readable recording medium. It may be realized by having a computer system read a program recorded on this recording medium and executing it by a CPU. The term "computer system" as used herein includes hardware such as an OS (Operating System) and peripheral devices.
Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM. Further, the "computer-readable recording medium" includes a storage device such as a hard disk built in a computer system.

Further, the "computer-readable recording medium" may include a medium that dynamically holds the program for a short period of time. What dynamically holds the program for a short period of time is, for example, a communication line when the program is transmitted via a network such as the Internet or a communication line such as a telephone line.
Further, the "computer-readable recording medium" may include a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system serving as a server or a client.
Further, the above program may be for realizing a part of the above-mentioned functions. Further, the above-mentioned program may be realized by combining the above-mentioned functions with a program already recorded in the computer system.
Further, the above program may be realized by using a programmable logic device. The programmable logic device is, for example, an FPGA (Field Programmable Gate Array).

The above-mentioned unmanned projectile 100, the control device 200, the management server 300, and the unmanned projectile information collection device 400 have a computer inside. The process of each process of the management server, the control device, and the unmanned projectile described above is stored in a computer-readable recording medium in the form of a program, and the computer reads and executes the program to perform the above-mentioned process. Processing is done.
Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Further, the computer program may be distributed to the computer via a communication line, and the computer receiving the distribution may execute the program.
Further, the above program may be for realizing a part of the above-mentioned functions.
Further, a so-called difference file (difference program) may be used, which can realize the above-mentioned function in combination with a program already recorded in the computer system.

Further, the following additional notes will be disclosed with respect to the above embodiments.
(1) At least one of the charge / discharge history information of the storage battery included in the unmanned flying object, the maintenance history information of the unmanned flying object, the information indicating the flight path of the unmanned flying object, and the environmental information of the flight path. Collect one or both of the crash probability information including one information, the information indicating the area of the flight route, and the severity information including at least one of the information indicating the flight conditions. An unmanned flying object information collecting device equipped with a collecting unit.
(2) The unmanned projectile information collecting device according to (1), wherein the collecting unit collects information indicating the total weight of the unmanned projectile and the load of the unmanned projectile.
(3) The collecting unit includes information indicating the cumulative flight distance of the unmanned flying object, information indicating the crash probability of a model similar to the unmanned flying object, and information indicating the type of the load of the unmanned flying object. The unmanned projectile information collecting device according to (1) or (2), which acquires at least one piece of information indicating the weight of the load.
(4) The collecting unit has information on one or both of information indicating whether or not the unmanned projectile is equipped with safety equipment and information indicating equipment for notifying the crash of the unmanned projectile. The unmanned flying object information collecting device according to any one of (1) to (3).
(5) The item according to any one of (1) to (4), wherein the collecting unit acquires one or both of the charge / discharge history information and the maintenance history information from the unmanned flying object. Unmanned flying object information gathering device.
(6) The unmanned flying object information collecting device according to any one of (1) to (5), comprising a notification unit for notifying the notification destination of the information collected by the collecting unit.
(7) At least one of the charge / discharge history information of the storage battery included in the unmanned flying object, the maintenance history information of the unmanned flying object, the information indicating the flight path of the unmanned flying object, and the environmental information of the flight path. Collect one or both of the crash probability information including one information, the information indicating the area of the flight route, and the severity information including at least one of the information indicating the flight conditions. An unmanned flying object information gathering method performed by a computer that has steps to do.
(8) Of the charge / discharge history information of the storage battery included in the unmanned flying object, the maintenance history information of the unmanned flying object, the information indicating the flight path of the unmanned flying object, and the environmental information of the flight path. , One or both of the crash probability information including at least one piece of information, the information indicating the area of the flight route, and the severity information including at least one piece of information indicating flight conditions. A program that takes steps to collect information.

50 ... communication network, 100 ... unmanned flying object, 102, 102a, 102b, 102c, 102d ... motor, 104, 104a, 104b, 104c, 104d ... rotor, 103 ... communication unit, 105 ... positioning unit, 106 ... speed meter, 108 ... Imaging unit, 109 ... Storage unit, 110, 2042, 3042, 4042 ... Program, 111 ... Charge / discharge history information, 112 ... Power supply unit, 113 ... Maintenance history information, 114 ... Control unit, 115 ... Cumulative flight distance information, 116 ... Flight control unit, 117 ... Processing unit, 200 ... Control device, 202, 203 ... Communication unit, 204 ... Storage unit, 206 ... Control unit, 208 ... Acquisition unit, 210 ... Calculation unit, 212 ... Setting unit, 214 ... Creation unit, 300 ... Management server, 302 ... Communication unit, 304 ... Storage unit, 306 ... Control unit, 308 ... Acquisition unit, 309 ... Processing unit, 400 ... Unmanned projectile information collection device, 402 ... Communication unit, 403 ... Communication Unit, 404 ... Storage unit, 406 ... Control unit, 408 ... Collection unit, 410 ... Notification unit, 411 ... Operation unit, 413 ... Display unit, 2044 ... Collision avoidance distance table, 2046 ... Electromagnetic field effect avoidance distance table, 3044 ... Power equipment connection configuration information, 3046 ... Flight permission condition information, 3048 ... Flight route information, 3050 ... Flight route environment information, 3052 ... Flight condition information, 4044 ... Crash probability information by aircraft

Claims (8)

It is equipped with a collection unit that collects crash probability information, which is information on the probability that an unmanned projectile will crash, and severity information, which is information indicating the severity when the unmanned projectile crashes.
The crash probability information includes information indicating the flight path of the unmanned projectile and environmental information of the flight path.
The flight path of the unmanned projectile is set based on the environmental condition information in the vicinity of the electric power facility from the flight route candidates calculated based on the electric power equipment connection configuration information indicating the connection configuration of the transmission line . And
The severity information includes information indicating flight conditions.
The flight path is in the vicinity of the power equipment and
The environmental information is environmental status information in the vicinity of the electric power equipment installed in the vicinity of the position of the unmanned flying object acquired based on the horizontal position of the unmanned flying object.
The flight condition is an unmanned flying object information collecting device including a flight altitude and a flight speed when flying from the position of a starting point in the vicinity of an electric power facility to the position of a destination point in the vicinity of another electric power facility. The crash probability information further includes charge / discharge history information of the storage battery included in the unmanned flying object and maintenance history information of the unmanned flying object.
The severity information further includes information indicating the area of the flight path.
The unmanned projectile information collecting device according to claim 1, wherein the collecting unit further collects information indicating the total weight of the unmanned projectile and the load of the unmanned projectile. The collecting unit includes information indicating the cumulative flight distance of the unmanned projectile, information indicating the crash probability of a model similar to the unmanned projectile, information indicating the type of load of the unmanned projectile, and the load. The unmanned flying object information collecting device according to claim 1 or 2, wherein at least one piece of information indicating the weight of the vehicle is acquired. The collecting unit acquires information on one or both of information indicating whether or not the unmanned projectile is equipped with safety equipment and information indicating equipment for notifying the crash of the unmanned projectile. , The unmanned flying object information collecting device according to any one of claims 1 to 3. The unmanned flying object information collecting device according to claim 2, wherein the collecting unit acquires one or both of the charging / discharging history information and the maintenance history information from the unmanned flying object. The unmanned flying object information collecting device according to any one of claims 1 to 5, further comprising a notification unit for notifying the notification destination of the information collected by the collecting unit. It has a step of collecting crash probability information, which is information on the probability of an unmanned projectile crashing, and severity information, which is information indicating the severity level when the unmanned projectile crashes.
The crash probability information includes information indicating the flight path of the unmanned projectile and environmental information of the flight path.
The flight path of the unmanned projectile is set based on the environmental condition information in the vicinity of the electric power facility from the flight route candidates calculated based on the electric power equipment connection configuration information indicating the connection configuration of the transmission line . And
The severity information includes information indicating flight conditions.
The flight path is in the vicinity of the power equipment and
The environmental information is environmental status information in the vicinity of the electric power facility installed in the vicinity of the position of the unmanned flying object acquired based on the horizontal position of the unmanned flying object.
The flight conditions are a computer-executed method of collecting unmanned projectile information, including flight altitude and flight speed when flying from the position of a starting point in the vicinity of an electric power facility to the position of a destination point in the vicinity of another electric power facility. On the computer
The step of collecting the crash probability information, which is information on the probability that the unmanned projectile will crash, and the severity information, which is the information indicating the severity when the unmanned projectile crashes, is executed.
The crash probability information includes information indicating the flight path of the unmanned projectile and environmental information of the flight path.
The flight path of the unmanned projectile is set based on the environmental condition information in the vicinity of the electric power facility from the flight route candidates calculated based on the electric power equipment connection configuration information indicating the connection configuration of the transmission line . And
The severity information includes information indicating flight conditions.
The flight path is in the vicinity of the power equipment and
The environmental information is environmental status information in the vicinity of the electric power equipment installed in the vicinity of the position of the unmanned flying object acquired based on the horizontal position of the unmanned flying object.
The flight conditions include a flight altitude and a flight speed when flying from the position of a starting point in the vicinity of a power facility to the position of a destination point in the vicinity of another power facility.

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