JP7050809B2 - Information processing equipment - Google Patents

Description

The present invention relates to a technique for setting an airspace that limits the flight of an air vehicle.

As a technique for limiting the range of movement of a moving body, for example, in Patent Document 1, based on information on the position of the moving body and the existence or nonexistence of other moving bodies, an airspace in which the moving bodies often meet is specified, and the airspace thereof is specified. It is disclosed to generate a movement plan that avoids the above.

JP-A-2009-205652

The technique described in Patent Document 1 limits the range of movement of a moving body traveling on the ground. On the other hand, when limiting the airspace in which an air vehicle such as a drone flies, it is necessary to consider circumstances not assumed in Patent Document 1.

Therefore, an object of the present invention is to appropriately limit the flight airspace of an air vehicle.

In order to solve the above problems, the present invention presents the ground attributes in the airspace that is a candidate for the flight of the airspace, the acquisition unit that acquires the attributes of the airspace, the ground attribute conditions related to the acquired ground attributes, and the ground attribute conditions. Provided is an information processing apparatus including a setting unit for setting a flight restricted airspace of the airspace according to the acquired airspace attribute condition.

The ground attribute condition may be a condition relating to the number or density of the population on the ground.

The ground attribute condition may be a condition relating to the number, density or type of equipment or natural objects on the ground.

The airspace attribute condition may be a condition relating to the altitude of the airspace.

The airspace attribute condition may be a condition relating to the communication environment of the airspace in the airspace.

The airspace attribute condition may be a condition relating to the number or density of the flying objects in the airspace.

The setting unit may set the flight restricted airspace according to the flight restriction in the airspace different from the airspace subject to the flight restriction or the ground attribute condition.

The setting unit may divide or integrate the airspace subject to flight restriction to set the flight restricted airspace. Further, the setting unit may set the flight restricted airspace of the flying object for each type of flight restriction.

The acquisition unit acquires the attributes of the flight object, and the setting unit obtains the flight object attribute conditions related to the acquired attributes of the flight object in addition to the ground attribute conditions and the airspace attribute conditions. The flight restricted airspace of the aircraft may be set.

A weight value that fluctuates with respect to the ground attribute condition or the airspace attribute condition is assigned, and the setting unit may set the flight restricted airspace using the fluctuating weight value.

According to the present invention, the flight airspace of an air vehicle can be appropriately restricted.

It is a figure which shows an example of the structure of the flight control system 1. It is a figure which shows an example of the appearance of the flying object 10. It is a figure which shows the hardware composition of the flying object 10. It is a figure which shows the hardware composition of the server apparatus 20. It is a figure which shows an example of the functional structure of a server apparatus 20. It is a figure which shows an example of the condition used when determining a flight restricted airspace. It is a figure which shows an example of the restriction information. It is a sequence chart which shows an example of the operation of a flight control system 1.

Configuration FIG. 1 is a diagram showing an example of the configuration of the flight control system 1. The flight control system 1 is a system that controls the flight of the flying object 10. The flight control system 1 includes a plurality of flight objects 10 and a server device 20. The server device 20 is an information processing device that controls the flight of the flying object 10, and here, in particular, a flight-restricted airspace in which the flight of the flying object 10 is restricted is set. The flight restriction of the flight object 10 here assumes that the flight object 10 is prohibited from entering the flight restricted airspace, but in addition to this, for example, the speed or acceleration restriction of the flight object 10 in the flight restricted airspace, flight. Restrictions on changing the direction of travel of the aircraft 10 in the restricted airspace, restrictions on the ascent or descent of the aircraft 10 in the restricted airspace, restrictions on the length of stay of the aircraft 10 in the restricted airspace, restrictions on the length of stay of the aircraft 10 in the restricted airspace, Any restrictions on the flight of the flying object 10, such as weight restrictions, may be used.

FIG. 2 is a diagram showing an example of the appearance of the flying object 10. The flying object 10 is, for example, a drone, and includes a propeller 101, a driving device 102, and a battery 103.

The propeller 101 rotates about an axis. As the propeller 101 rotates, the flying object 10 flies. The drive device 102 gives power to the propeller 101 to rotate it. The drive device 102 includes, for example, a motor and a transmission mechanism that transmits the power of the motor to the propeller 101. The battery 103 supplies electric power to each part of the flying object 10 including the driving device 102.

FIG. 3 is a diagram showing a hardware configuration of the flying object 10. The flying object 10 is physically configured as a computer device including a processor 11, a memory 12, a storage 13, a communication device 14, a positioning device 15, an image pickup device 16, a beacon transmission / reception device 17, a bus 18, and the like. In the following description, the word "device" can be read as a circuit, a device, a unit, or the like.

The processor 11 operates, for example, an operating system to control the entire computer. The processor 11 may be composed of a central processing unit (CPU) including an interface with a peripheral device, a control device, an arithmetic unit, a register, and the like.

Further, the processor 11 reads a program (program code), a software module, and data from the storage 13 and / or the communication device 14 into the memory 12, and executes various processes according to these. As the program, a program that causes a computer to execute at least a part of the operation of the flying object 10 is used. Various processes executed in the aircraft 10 may be executed by one processor 11 or may be executed simultaneously or sequentially by two or more processors 11. The processor 11 may be mounted on one or more chips. The program may be transmitted from the network via a telecommunication line.

The memory 12 is a computer-readable recording medium, and is composed of at least one such as a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), and a RAM (Random Access Memory). May be done. The memory 12 may be referred to as a register, a cache, a main memory (main storage device), or the like. The memory 12 can store a program (program code), a software module, or the like that can be executed to implement the flight control method according to the embodiment of the present invention.

The storage 13 is a computer-readable recording medium, and is, for example, an optical disk such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, an optical magnetic disk (for example, a compact disk, a digital versatile disk, or a Blu-ray). It may consist of at least one (registered trademark) disk), smart card, flash memory (eg, card, stick, key drive), floppy (registered trademark) disk, magnetic strip, and the like. The storage 13 may be referred to as an auxiliary storage device.

The communication device 14 is hardware (transmission / reception device) for communicating between computers via a wired and / or wireless network, and is also referred to as, for example, a network device, a network controller, a network card, a communication module, or the like.

The positioning device 15 measures the three-dimensional position of the flying object 10. The positioning device 15 is, for example, a GPS (Global Positioning System) receiver, and measures the current position of the flying object 10 based on GPS signals received from a plurality of satellites.

The image pickup apparatus 16 captures an image around the flying object 10. The image pickup device 16 is, for example, a camera, and takes an image by forming an image on the image pickup element using an optical system. The image pickup apparatus 16 captures an image in a predetermined range in front of the flying object 10, for example. However, the photographing direction of the image pickup apparatus 16 is not limited to the front of the flying object 10, and may be above, below, or behind the flying object 10. Further, for example, the shooting direction may be changed by rotating the pedestal that supports the image pickup device 16.

The beacon transmission / reception device 17 transmits a beacon signal having a predetermined frequency, and also receives a beacon signal transmitted from another flying object 10. The reach of this beacon signal is a predetermined distance such as 100 m. The beacon signal includes aircraft identification information that identifies the aircraft 10 that transmits the beacon signal.

Each device such as the processor 11 and the memory 12 described above is connected by a bus 18 for communicating information. The bus 18 may be composed of a single bus or may be composed of different buses between the devices.

FIG. 4 is a diagram showing a hardware configuration of the server device 20. The server device 20 is physically configured as a computer device including a processor 21, a memory 22, a storage 23, a communication device 24, a bus 25, and the like. Since the processor 21, the memory 22, the storage 23, the communication device 24, and the bus 25 are the same as the processor 11, the memory 12, the storage 13, the communication device 14, and the bus 18 described above, the description thereof will be omitted.

FIG. 5 is a diagram showing an example of the functional configuration of the server device 20. For each function in the server device 20, the processor 21 performs calculations by loading predetermined software (program) on hardware such as the processor 21 and the memory 22, and communication by the communication device 24 and the memory 22 and the storage 23 are performed. It is realized by controlling the reading and / or writing of the data in.

In FIG. 5, the tracking unit 200 records the flight object identification information of the flight object 10 under the control of the server device 20 and the flight status thereof. The flight status includes the position where the flying object 10 is flying and the date and time at that position. The tracking unit 200 records the position information and the date and time information notified from the aircraft body 10. Further, the tracking unit 200 determines whether or not the position information and the date and time information are within the flight plan planned in advance, and records the determination result.

The acquisition unit 201 acquires the attributes of the ground (that is, the ground directly below the airspace) in the airspace that is the candidate for the flight of the airspace 10, the attributes of the airspace, and the attributes of the airspace 10. These attributes are acquired by the acquisition unit 201 from each of the flying objects 10 or from the map information storage unit 2011 stored in the acquisition unit 201. In the map information storage unit 2011, the population distribution on the ground, the position, number, density and type of equipment or natural objects on the ground, and the position (latitude / longitude / altitude) of each airspace where the flight object 10 is a candidate for flight are displayed. , Information on the communication environment of the aircraft 10 in each airspace is stored. These pieces of information are specified or measured in advance and stored in the map information storage unit 2011.

The setting unit 202 uses the ground attribute condition regarding the ground attribute acquired by the acquisition unit 201, the airspace attribute condition regarding the airspace attribute, or the flight object attribute condition regarding the attribute of the airspace 10, and the flight restriction of the flight body 10. Set the airspace. More specifically, the setting unit 202 sets the flight restricted airspace according to the ground attribute condition and the airspace attribute condition, or sets the flight restricted airspace according to the ground attribute condition and the airspace attribute condition. In this embodiment, an example in which the setting unit 202 sets the flight restricted airspace using all of the ground attribute condition, the airspace attribute condition, and the airspace attribute condition will be described. These conditions are stored in the condition storage unit 2021 of the setting unit 202. The restricted information regarding the flight restricted airspace set according to this condition is stored in the restricted information storage unit 2022 of the setting unit 202.

Ground attribute conditions include conditions relating to the density of the population on the ground in the airspace in which the airspace 10 is a candidate to fly, and conditions relating to the number, density or type of equipment or natural objects on the ground. Population includes cases that fluctuate over time. Equipment includes, for example, buildings (including the presence or absence of a roof), roads, fields, drone landing equipment, vehicles, etc., including those that are fixed on the ground and those that move on the ground. Equipment may fluctuate over time. Natural objects include mountains, rivers, seas, lakes and marshes.

Airspace attribute conditions are conditions related to the altitude of the airspace, conditions related to the communication environment of the airspace 10, conditions related to the number or density of the airspace 10, or airspace exclusively for a specific airspace 10. It includes a condition regarding whether it is assigned to be assigned to be used or to be shared with a plurality of airspaces 10.

The flight body attribute condition includes a condition regarding the flight type of the flight body 10, a condition regarding the function of the flight body 10, or a condition regarding the transported object carried by the flight body 10. The "flight type" means that the parameters used for determining the flight airspace are different, and here, three types, the first type, the second type, and the third type, are assumed. The first type is a type in which a destination is a parameter, and refers to, for example, a flight when the flying object 10 transports a transported object from one point to another. The second type is a type in which a range in space is used as a parameter, and refers to, for example, a flight when the flying object 10 makes an image while traveling in a horizontal direction in a certain space. The third type is a type in which a position in space is a parameter, and refers to a flight when, for example, an image is taken while the flying object 10 moves up and down in the vertical direction from a position on the ground. The "parameters" are, for example, the starting point, destination, waypoint of the flying object 10, the range and altitude of the airspace in which the flying object 10 flies, the latitude, longitude, and altitude of the flight position of the flying object 10. The "conditions relating to the function" include, for example, the presence / absence and performance of an autonomous avoidance function, a small turning function (whether the flying object 10 is a fixed wing type or a multicopter type), a stable flight function, an emergency landing function, and the like provided in the flying object 10. The "conditions relating to the transported object" include, for example, the weight or importance of the transported object carried by the flying object 10.

The flight restricted airspace is set in three dimensions (horizontal and vertical) according to these conditions. Flight restriction The flight restriction in the airspace is canceled by the setting unit 202 when a predetermined time has elapsed from the setting time or when the setting unit 202 determines that the above conditions are not satisfied.

The instruction unit 203 instructs the aircraft body 10 to perform a flight in consideration of the flight restricted airspace set by the setting unit 202. This instruction includes, for example, a flight plan such as flight date, flight path, flight speed, and the like.

Here, FIG. 6 is a diagram showing an example of the conditions stored in the condition storage unit 2021. In FIG. 6, the "condition regarding the number or density of the population" is a condition that is satisfied when, for example, the number or density of the population on the ground in the airspace is equal to or higher than the threshold value, and when this condition is satisfied, the airspace is satisfied. Works in a direction that limits flight in. "Conditions regarding the number, density or type of equipment" means that, for example, the number or density of equipment on the ground in the airspace is equal to or higher than the threshold value, or the type of equipment is of a specific type (for example, safety of public facilities, schools, etc.). It is a condition that is satisfied when the equipment is strictly required to have sex), and if this condition is satisfied, it works in the direction of restricting flight in the airspace.

The "condition regarding the altitude of the airspace" is, for example, a condition that is satisfied when the altitude of the airspace is equal to or higher than the threshold value, and when this condition is satisfied, the flight in the airspace is restricted. The "condition regarding the communication environment in the airspace" is, for example, a condition that is satisfied when the communication environment in the airspace is below a certain level (that is, communication failure), and if this condition is satisfied, the flight in the airspace is performed. Work in a restricted direction. The "condition regarding the number or density of airspaces" is, for example, a condition that is satisfied when the number or density of airspaces is equal to or greater than the threshold, and if this condition is satisfied, the flight in that airspace. Works in the direction of being restricted. The "condition for occupying the airspace" is, for example, a condition satisfied when the airspace is assigned to occupy a specific airspace 10. When this condition is satisfied, the flight of the specific aircraft 10 is completely restricted, while the flight of the specific aircraft 10 does not work in the restricted direction. On the other hand, if the "condition for occupying the airspace" is not satisfied, that is, if the airspace is shared in space and time by a plurality of airspaces 10, the possibility of collision with other airspaces increases. It works in a direction that limits flight in that airspace.

The "condition regarding the flight type of the flying object" is a condition satisfied when, for example, the flight type of the flying object 10 flying in the airspace is a specific flight type (for example, a second type considered to have a high risk). If this condition is met, it works in a direction that limits the flight of the airspace in the airspace. The "condition regarding the function of the airspace" is, for example, a condition satisfied when the function of the airspace 10 flying in the airspace is below a certain level (that is, insufficient function), and when this condition is satisfied. Acts in a direction that limits flight in the airspace of the aircraft. The "condition for the transported object to be conveyed by the flying object" is, for example, that the weight of the conveyed object transported by the flying object 10 flying in the airspace is equal to or more than the threshold value, or the importance of the conveyed object is equal to or higher than a certain level. It is a condition that is satisfied in some cases, and if this condition is satisfied, it works in a direction that restricts the flight of the airspace in the airspace. When a plurality of flying objects 10 are flying in the airspace, what kind of attributes of the flying objects 10 are most common (for example, the absolute number of the flying objects 10 in the airspace). Is equal to or greater than the threshold, or the proportion of the entire flying object 10 in the airspace is equal to or greater than the threshold), and the specified attribute may be used as the attribute of the flying object 10 (flying object group) in the airspace. ..

Each of these conditions is given a weight value corresponding to its importance when setting a flight limit. For example, a weight value of 20 is given to "conditions related to the number or density of population", and a weight value of 15 is given to "conditions related to the number, density or type of equipment", and "conditions related to the altitude of the airspace". A weight value of 20 is given to the "condition", a weight value of 10 is given to the "condition regarding the communication environment in the airspace", and a weight value of 20 is given to the "condition regarding the number or density of flying objects in the airspace". A weight value is given, a weight value of 20 is given to "conditions related to the function of the flying object", and a weight value of 15 is given to "conditions related to the transported object carried by the flying object". ..

The setting unit 202 sums the weight values given to the conditions matching the ground attribute, the airspace attribute, and the airspace attribute acquired by the acquisition unit 201 for a certain airspace, and when the total value exceeds the threshold value, the airspace. To the flight restricted airspace. Therefore, in the example of FIG. 6, for example, the weight value 20 of "conditions relating to the number or density of the population"> the weight value 15 of the "conditions relating to the number, density or type of equipment", so that "the number of populations or the number of populations or the conditions relating to a certain airspace". When the "conditions regarding density" are met, it can be said that the airspace is more likely to be set as a flight-restricted airspace than when the "conditions regarding the number, density or type of equipment" are met.

FIG. 7 is a diagram showing an example of restriction information. Each airspace identified by the airspace ID is an airspace previously divided in a three-dimensional space, and its position is defined by position information consisting of latitude, longitude, and altitude. Here, the threshold value used when determining the flight restriction may be set to a value according to the content of the flight restriction. For example, the threshold value is set to 20 for prohibition of entry of the flying object 10 into the flight restricted airspace, the threshold value is set to 15 for the limitation of the speed or acceleration of the flying object 10 in the flight restricted airspace, and the traveling direction of the flying object 10 in the flight restricted airspace is changed. The threshold is set to 15 for the limit, the threshold is set to 15 for the limit of ascending or descending the flying object 10 in the flight restricted airspace, the threshold is set to 13 for the limitation of the staying period of the flying object 10 in the flight restricted airspace, and the flight restricted airspace. Regarding the weight limit of the flying object 10 flying in, the threshold value is set to 12. For example, in the airspace of the airspace ID "A01", when the total of the weight values calculated as described above is 15, the weight value> the threshold value is the limitation of the staying period of the flight object 10 in the flight restricted airspace ( Since the total value 15> threshold 13) and the weight limit of the flying object 10 flying in the flight restricted airspace (total value 15> threshold 12), the setting unit 202 turns on the flight limit flag of the stay period limit and the weight limit. Set to and set the other flight restriction flags to off. On the other hand, for example, in the airspace of the airspace ID "A02", when the total weight value is 25, all the flight restriction flags are set to ON. In this way, the setting unit 202 sets the flight restricted airspace of the flight body 10 for each type of flight restriction.

Operation Next, the operation of this embodiment will be described. In the following description, when the flying object 10 is described as the main body of processing, specifically, by loading predetermined software (program) on hardware such as the processor 11 and the memory 12, the processor 11 Means that the process is executed by performing the calculation and controlling the communication by the communication device 14 and the reading and / or writing of the data in the memory 12 and the storage 13. The same applies to the server device 20.

FIG. 8 is a sequence chart showing an example of the operation of the flight control system 1. In step S10, each flying object 10 capable of communicating with the server device 20 has a beacon signal received from another flying object 10 by its own beacon transmission / reception device 17, an image captured by the image pickup device 16, and a self-propelled body. The flight object information including the flight object identification information and the position information is transmitted to the server device 20. The acquisition unit 201 of the server device 20 collects information on these aircraft from each aircraft 10.

In step S11, the acquisition unit 201 of the server device 20 recognizes the flying object 10 flying in each airspace based on the collected flying object information. The acquisition unit 201 recognizes the flying object 10 that has transmitted the flying object information as an flying object that flies in the airspace corresponding to the position information included in the flying object information received from the flying object 10. Next, the acquisition unit 201 analyzes the beacon signal included in the received flight object information, recognizes the flight objects that are not under the control system of the server device 20, and converts those flight objects into the received flight object information. Recognize as an air vehicle flying in the airspace corresponding to the contained position information. Further, since there may be a flying object that does not transmit the beacon signal, the acquisition unit 201 analyzes the image included in the received flying object information, and the number of flying objects is larger than the number estimated from the beacon signal. If it is imaged, those flying objects are also recognized as flying objects in the same airspace as the flying objects that have transmitted the beacon signal. Thereby, for each airspace whose position is stored in the map information storage unit 2011, the number and density of the flying objects flying in the airspace can be obtained. Further, the acquisition unit 201 uses the flight object identification information included in the flight object information as a key to obtain information on the flight type, function, and transported object of the flight object 10 in association with the flight object identification information (the flight object identification information). The stored database) is searched to obtain information on the flight type, function, and carrier of the flight body 10 corresponding to these flight body identification information. As a result, it is specified what kind of attribute the flying object 10 has as the flying object attribute of the flying object 10 flying in each airspace, and the specified attribute is used as the attribute of the flying object 10 (flying object group) in the airspace. Obtainable. Further, the acquisition unit 201 uses an airspace ID as a key to store an airspace database (a database that stores whether the airspace is occupied by a specific airspace 10 or shared by a plurality of airspaces 10 in association with the airspace ID). Search to get attributes for exclusive or shared airspace.

Next, the acquisition unit 201 of the server device 20 is a candidate for flight from the map information storage unit 2011, the population distribution on the ground corresponding to each airspace, the position, number, density and type of equipment or natural objects on the ground, and the flying object 10. Information on the position (latitude, longitude, altitude) of each airspace, the communication environment of the aircraft 10 in each airspace, and the like is acquired.

Next, in step S12, the setting unit 202 of the server device 20 sets a flight restricted airspace in which flight by the flight object 10 is restricted. More specifically, the setting unit 202 compares the ground attributes, airspace attributes, and airspace attributes acquired by the acquisition unit 201 for a certain airspace with each condition stored in the condition storage unit 2021, and the former When the weight value given to the condition matching the attribute group is specified and the total value of the weight value exceeds the threshold for each type of flight restriction, the airspace is set to the flight restriction airspace corresponding to the type of flight restriction. Therefore, the flight restriction flag in the restriction information storage unit 2022 is set from off to on.

Next, in step S13, the instruction unit 203 instructs the in-flight aircraft body 10 to fly in consideration of the flight restricted airspace set by the setting unit 202. This instruction includes the position of the airspace in which the flight restriction is set and the type of flight restriction in which the flight restriction is set, and instructs to change the flight plan such as the flight date and time, the flight path, the flight speed, etc. according to the flight restriction. It is a thing. In step S14, each flying object 10 flies according to this instruction by changing the flight plan as necessary. Further, in step S15, a flight permission inquiry is transmitted to the server device 20 from the pre-flight aircraft 10 that has not yet flown at this point, together with the flight plan. In response to this inquiry in step S16, the instruction unit 203 instructs the pre-flight aircraft body 10 to fly in consideration of the flight restricted airspace set by the setting unit 202. This instruction includes the position of the airspace in which the flight restriction is set and the type of flight restriction in which the flight restriction is set, and instructs to change the flight plan such as the flight date and time, the flight path, the flight speed, etc. according to the flight restriction. It is a thing. In step S17, the pre-flight flight object 10 follows this instruction, changes the flight plan as necessary, and then starts the flight. Then, when the flight restriction release condition is satisfied, the setting unit 202 sets the flight restriction flag from on to off. The instruction unit 203 notifies the in-flight aircraft 10 that the flight restriction has been released in response to the release of the flight restricted airspace. This notice includes the location of the airspace where the flight restrictions have been lifted and the type of flight restrictions lifted.

According to the embodiment described above, the flight restricted airspace of the flying object 10 can be appropriately determined.

Modifications The present invention is not limited to the above-described embodiment. The above-described embodiment may be modified as follows. Further, the following two or more modified examples may be combined and carried out.
Modification 1
In the embodiment, the setting unit 202 sets the flight restricted airspace using all of the ground attribute condition, the airspace attribute condition, and the airspace attribute condition, but the setting unit 202 sets the flight restricted airspace at least according to the ground attribute condition and the airspace attribute condition. The flight restricted airspace may be set, and the acquisition unit 201 additionally acquires the attributes of the flying object 10, and the setting unit 202 relates to the acquired attributes of the flying object 10 in addition to the ground attribute conditions and the airspace attribute conditions. The flight restricted airspace of the flight body 10 may be set according to the flight body attribute conditions.

Modification 2
The setting unit 202 may set the flight restriction for the airspace A1 according to the flight restriction in the airspace A2 different from the airspace A1 subject to the flight restriction or the ground attribute condition in the airspace A2. Specifically, when the airspace A2 adjacent to a certain airspace A1 is a flight-restricted airspace, the setting unit 202 sets the airspace A1 as a flight-restricted airspace using a condition that makes it easy to determine the airspace A1 as a flight-restricted airspace. Decide whether to do it or not. Further, when the setting unit 202 meets the condition that the ground attribute in the airspace A2 adjacent to a certain airspace A1 is easily determined as the flight restricted area, the condition that the airspace A1 is easily determined as the flight restricted area. To determine whether to set the flight restricted airspace using.

Modification 3
For example, in areas with high population density such as central Tokyo, the required safety level on the ground is considered to be high on average. In this case, if the sizes of the airspaces (for example, the area of each airspace in the horizontal plane) are all the same, flight restrictions such as no entry will be imposed on most of the airspaces above the above area, and in some cases, the airspace will be restricted. The desired flight plan may not be made. In response to such a situation, the airspace may be divided into smaller ones, and flight restrictions may be set individually for each divided airspace. On the other hand, in areas with low population density, the required safety level on the ground is considered to be low on average, so contrary to the above, the airspace will be integrated into a larger one and flight restrictions will be set for the integrated airspace. You may do so. That is, the setting unit 202 may divide or integrate the airspace subject to the flight restriction to set the flight restricted airspace. Specifically, the setting unit 202 integrates a plurality of adjacent airspaces according to, for example, a time zone, ground attributes, and flight restrictions, and regards these airspaces as one airspace under the above-mentioned conditions. Based on this, it is determined whether or not the airspace is restricted. For example, the setting unit 202 integrates a plurality of adjacent airspaces at a certain time zone, integrates a plurality of adjacent airspaces having the same ground attribute as a mountainous area, or limits the speed of the flight object 10. This is an example of integrating multiple adjacent airspaces only for the content of flight restrictions. Further, the setting unit 202 divides one airspace three-dimensionally according to, for example, the time zone, the ground attribute, and the content of the flight restriction, and regards each of these individual airspaces as one airspace as described above. Determine whether or not the flight is restricted airspace based on the conditions.

Modification 4
The weight values given to the ground attribute condition, the airspace attribute condition, and the airspace attribute condition may change. For example, the setting unit 202 uses a weight value that fluctuates according to a time zone and maneuvering accuracy. Specifically, the weight value may fluctuate between daytime and nighttime, and if the maneuvering accuracy (operator's skill) of the flying object 10 flying in each airspace can be acquired, the flight with high maneuvering accuracy. The weight value is varied between the airspace where many bodies 10 are flying and the airspace where many airspaces 10 with low maneuvering accuracy are flying.

Modification 5
The value of the weight value given to each condition disclosed in the embodiment is an example. Further, it is not necessary to use the weight value. Further, the ground attribute condition, the airspace attribute condition, and the airspace attribute condition may include the and condition or the or condition in the same type condition, respectively. The and condition is, for example, a case where the flight in the airspace is restricted when both the "condition regarding the altitude of the airspace" and the "condition regarding the communication environment in the airspace" are satisfied in the airspace attribute condition. Further, the or condition is a case where flight in the airspace is restricted when at least one of the "condition regarding the altitude of the airspace" and the "condition regarding the communication environment in the airspace" is satisfied.

Modification 6
In the embodiment, the acquisition unit 201 recognizes the flight object 10 flying in each airspace based on the collected flight object information, and specifies the flight pattern and the function thereof. However, the acquisition unit 201 has the flight object 201. The flight pattern and function of the flight object 10 included in the image may be estimated by analyzing the captured image transmitted from the image 10.

Modification 7
In the embodiment, the example of prohibiting the entry of the flight object 10 into the flight-restricted airspace has been described as the flight restriction of the flight object 10, but the speed or acceleration limitation of the flight object 10 in the flight-restricted airspace and the flight object 10 in the flight-restricted airspace have been described. Flight restrictions such as restrictions on changing the direction of travel, restrictions on the ascent or descent of the aircraft 10 in the restricted airspace, restrictions on the length of stay of the aircraft 10 in the restricted airspace, and restrictions on the weight of the aircraft 10 flying in the restricted airspace. Some restrictions on the flight of body 10 may be imposed on the flight restricted airspace.

Modification 8
In the embodiment, the setting unit 202 sets the flight restricted airspace according to the attribute of the flying object 10 flying in the airspace at the timing of setting the flight restricted airspace, but the flight plan of the flight object 10 can be acquired. In that case, the flight restricted airspace may be set according to the attributes of the aircraft 10 scheduled to enter each airspace in the future. Specifically, since the setting unit 202 can grasp the attributes of the flying objects 10 flying in each airspace on the future time axis by referring to the flight plan, the setting unit 202 implements using the attributes of these flying objects 10. The flight restricted airspace is set on the future time axis by the same method as the form.

Modification 9
The setting unit 202 may set the flight restricted airspace in consideration of the danger level of the flying object. Regarding the degree of danger of the air vehicle, for example, the setting unit 202 may determine that the degree of danger is high when the flight speed of the air vehicle is high, or the degree of danger is high when the traveling direction of the air vehicle is frequently changed. You may judge that. Further, for example, for a fixed-wing type flying object that flies at high speed and is inferior in turning function, the risk may be controlled to be high in the airspace on the ellipse located in the forward direction. In short, the setting unit 202 increases the risk of the flying object when the possibility of collision is high from the viewpoint of other flying objects or when it is presumed that the damage to the other flying objects at the time of collision is large. In this case, the position, size or shape of the flight restricted airspace is determined according to the flight conditions of the high-risk aircraft and its type or function.
Then, when the number of flying objects is, for example, "4" in a certain airspace and the danger level of any of the flying objects is high, the setting unit 202 determines the number of flying objects having a high risk level. It is weighted X times that of other aircraft (for example, the number of high-risk aircraft is tripled and counted) and compared with the threshold for determining whether to set the flight restricted airspace. You may do so.
Further, the setting unit 202 may change the weight value according to the accuracy when identifying a flying object having a high degree of danger. Specifically, when the high-risk vehicle is identified by the captured image, the setting unit 202 has a lower identification accuracy than when the high-risk vehicle is identified by the beacon signal. Increase the weight value, including the high-risk aircraft identified by the image. In other words, such an airspace is likely to be determined as a flight restricted airspace.

Modification 10
In each of the above-described embodiments, the method of measuring the position of the flying object 10 is not limited to the method using GPS. The position of the flying object 10 may be measured by a method that does not use GPS.

Other Modifications The block diagram used in the description of the above embodiment shows a block of functional units. These functional blocks (components) are realized by any combination of hardware and / or software. Further, the means for realizing each functional block is not particularly limited. That is, each functional block may be realized by one physically and / or logically coupled device, or directly and / or indirectly by two or more physically and / or logically separated devices. (For example, wired and / or wireless) may be connected and realized by these plurality of devices.
Further, at least a part of the functions of the server device 20 may be mounted on the flying object 10. Similarly, at least some of the functions of the flying object 10 may be implemented in the server device 20.

Each aspect / embodiment described herein includes LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G, 5G, FRA (Future Radio Access), W-CDMA. (Registered Trademarks), GSM (Registered Trademarks), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, UWB (Ultra-WideBand), It may be applied to Bluetooth®, other systems that utilize suitable systems and / or next-generation systems that are extended based on them.

The processing procedures, sequences, flowcharts, and the like of each aspect / embodiment described in the present specification may be rearranged in order as long as there is no contradiction. For example, the methods described herein present elements of various steps in an exemplary order and are not limited to the particular order presented.
Each aspect / embodiment described in the present specification may be used alone, in combination, or may be switched and used according to the execution. Further, the notification of predetermined information (for example, the notification of "being X") is not limited to the explicit one, but is performed implicitly (for example, the notification of the predetermined information is not performed). May be good.

The terms "system" and "network" used herein are used interchangeably.

The information or parameters described herein may be represented by an absolute value, a relative value from a predetermined value, or another corresponding information. For example, the radio resource may be indexed.

The names used for the parameters mentioned above are not limited in any way. Further, mathematical formulas and the like using these parameters may differ from those expressly disclosed herein. Since the various channels (eg, PUCCH, PDCCH, etc.) and information elements (eg, TPC, etc.) can be identified by any suitable name, the various names assigned to these various channels and information elements are in any respect. However, it is not limited.

As used herein, the terms "determining" and "determining" may include a wide variety of actions. "Judgment" and "decision" are, for example, judgment, calculation, computing, processing, deriving, investigating, looking up (for example, table). , Searching in a database or another data structure), ascertaining can be regarded as "judgment" or "decision". Further, "judgment" and "decision" are receiving (for example, receiving information), transmitting (for example, transmitting information), input (input), output (output), and access. (Accessing) (for example, accessing data in a memory) may be regarded as "determination" or "decision". In addition, "judgment" and "decision" are considered to be "judgment" and "decision" when they are resolved, selected, selected, established, and compared. Can include. That is, the "judgment" and "decision" may include the fact that some operation is regarded as "judgment" and "decision".

The present invention may be provided as a flight control method or an information processing method including steps of processing performed in the flight control system 1 or the server device 20. Further, the present invention may be provided as a program executed by the flying object 10 or the server device 20. Such a program may be provided in the form of being recorded on a recording medium such as an optical disk, or may be provided in the form of being downloaded to a computer via a network such as the Internet and installed and made available. It is possible.

Software, instructions, etc. may be transmitted and received via a transmission medium. For example, the software may use wired technology such as coaxial cable, fiber optic cable, twisted pair and digital subscriber line (DSL) and / or wireless technology such as infrared, wireless and microwave to website, server, or other. When transmitted from a remote source, these wired and / or wireless technologies are included within the definition of transmission medium.

The information, signals, etc. described herein may be represented using any of a variety of different techniques. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description are voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any of these. It may be represented by a combination of.

The terms described herein and / or the terms necessary for understanding the present specification may be replaced with terms having the same or similar meanings. For example, the channel and / or symbol may be a signal. Also, the signal may be a message. Further, the component carrier (CC) may be referred to as a carrier frequency, a cell, or the like.

Any reference to elements using designations such as "first", "second", etc. as used herein does not generally limit the quantity or order of those elements. These designations can be used herein as a convenient way to distinguish between two or more elements. Thus, references to the first and second elements do not mean that only two elements can be adopted there, or that the first element must somehow precede the second element.

The "means" in the configuration of each of the above devices may be replaced with a "part", a "circuit", a "device" and the like.

As long as "inclusion", "comprising", and variations thereof are used herein or within the scope of the claims, these terms are as comprehensive as the term "comprising". Intended to be targeted. Furthermore, the term "or" as used herein or in the claims is intended to be non-exclusive.

Throughout this disclosure, if articles are added by translation, for example, a, an, and the in English, these articles are not explicitly indicated by the context to be otherwise. It shall include more than one.

Although the present invention has been described in detail above, it is clear to those skilled in the art that the present invention is not limited to the embodiments described in the present specification. The present invention can be implemented as modifications and modifications without departing from the spirit and scope of the present invention as determined by the description of the scope of claims. Therefore, the description of the present specification is for the purpose of exemplary explanation and does not have any limiting meaning to the present invention.

1: Flight control system, 10: Flying object, 20: Server device, 21: Processor, 22: Memory, 23: Storage, 24: Communication device, 25: Bus, 200: Tracking unit, 201: Acquisition unit, 2011: Map Information storage unit, 202: setting unit, 2021: condition storage unit, 2022: restricted information storage unit, 203: instruction unit.

Claims (13)

An acquisition unit that acquires the attributes of the ground in the airspace that is a candidate for the aircraft to fly, and the attributes of the airspace.
When the sum of the weight value given to the acquired ground attribute condition matching the ground attribute and the weight value given to the acquired airspace attribute condition matching the airspace attribute exceeds the threshold value, An information processing apparatus including a setting unit for setting the airspace to the flight restricted airspace of the flying object. The information processing apparatus according to claim 1, wherein the ground attribute condition is a condition relating to the number or density of the population on the ground. The information processing apparatus according to claim 1 or 2, wherein the ground attribute condition is a condition relating to the number, density, or type of equipment or natural objects on the ground. The information processing apparatus according to any one of claims 1 to 3, wherein the airspace attribute condition is a condition relating to the altitude of the airspace. The information processing apparatus according to any one of claims 1 to 4, wherein the airspace attribute condition is a condition relating to the communication environment of the flying object in the airspace. The information processing apparatus according to claim 1, wherein the airspace attribute condition is a condition relating to the number or density of the flying objects in the airspace. The setting unit is any one of claims 1 to 6, wherein the setting unit sets the flight restricted airspace according to the flight restriction in the airspace different from the airspace subject to the flight restriction or the ground attribute condition. The information processing device described in. Claims 1 to 7 are characterized in that the setting unit changes the size of the airspace subject to flight restriction according to the density of the population indicated by the attribute of the ground, and sets the flight restricted airspace. The information processing apparatus according to any one of the above items. The acquisition unit acquires the attributes of the flying object and obtains them.
The setting unit added the weight value given to the acquired flight object attribute condition related to the attribute of the aircraft to the weight value given to the ground attribute condition and the weight value given to the airspace attribute condition. Let the value be the total
The information processing apparatus according to any one of claims 1 to 8. The thresholds are set for each of the plurality of flight restrictions, including no entry, speed or acceleration restrictions, ascent or descent restrictions, length of stay restrictions, and weight restrictions.
The setting unit imposes the at least one flight restriction on the airspace when the total exceeds the threshold set for at least one of the plurality of flight restrictions. The information processing apparatus according to any one of claims 1 to 9, wherein the information processing apparatus is set in an airspace. The weight value varies depending on the time zone or the skill of the operator of the flying object.
The information processing apparatus according to any one of claims 1 to 10. The acquisition unit further acquires the flight type of the flying object and obtains the flight type.
In addition to the ground attribute condition and the airspace attribute condition, the setting unit sets the flight restricted airspace of the airspace according to the acquired flight object attribute condition for the flight type.
The flight types are the first type, which transports the transported object from one point to another, and the second type, which captures images while traveling horizontally in space, and rises and falls vertically from a position on the ground. Includes a third type that captures images while doing
The information processing apparatus according to any one of claims 1 to 11. The acquisition unit further acquires the weight of the transported object carried by the flying object, and obtains the weight.
In addition to the ground attribute condition and the airspace attribute condition, the setting unit sets the flight restricted airspace of the airspace according to the flight object attribute condition regarding the acquired weight of the transported object.
The information processing apparatus according to any one of claims 1 to 12.

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