JP7104071B2 - Information processing equipment - Google Patents

Description

The present invention relates to a technique for suppressing danger caused by an air vehicle.

For example, with the spread of unmanned aerial vehicles such as drones, the establishment of technology for ensuring their safety is required. For example, Patent Document 1 discloses that when an air vehicle is in flight and any of the output voltage, output current, and output power of the battery falls below a predetermined threshold value, the air vehicle is controlled to prohibit climbing. ing.

JP-A-2016-210404

The technique described in Patent Document 1 focuses only on the so-called dead battery in the flying object, but factors other than the dead battery can be considered as the cause of the flying object becoming incapable of flying. Further, the technique described in Patent Document 1 estimates whether or not it is abnormal based on the output voltage, output current, and output power, but whether or not these values correspond to abnormalities is determined by the flying object. It depends on the condition.

Therefore, an object of the present invention is to provide a mechanism capable of more appropriately performing an operation for ensuring safety before the flying object becomes incapable of flying.

In order to solve the above problems, the present invention has an anomaly degree specifying unit that specifies an anomaly degree according to a detected value detected in the air vehicle, and a possibility that the air vehicle cannot fly at the specified anomaly degree. Flight control that controls the operation of the flying object according to the parameter specifying unit that specifies the derivation parameter for deriving the flight impossibility level indicating Provided is an information processing apparatus characterized by including a unit.

The flight control unit may control the operation of the flying object when the non-flight level falls below a fluctuating safety standard.

The flight control unit may use the safety standard that varies depending on the attributes of the transported object carried by the flying object.

The flight control unit may use the safety standard that varies according to the attributes of the ground corresponding to the airspace in which the flying object flies.

The flight control unit may use the safety standard that varies depending on the attributes of the airspace in which the flying object flies.

The control by the flight control unit may include the control of the operation related to the altitude reduction of the flying object.

The control of the motion by the flight control unit may include the control of the motion related to the change of course of the flying object.

The control by the flight control unit may include control of the movement related to the landing of the flying object.

The control by the flight control unit may include the control of the operation related to the switching of the flying object to the alternative aircraft.

According to the present invention, it is possible to more appropriately perform an operation for ensuring safety before the flying object becomes incapable of flying.

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 aircraft body 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 the server apparatus 20. It is a figure explaining the relationship between the factor of inability to fly and flight control. It is a figure explaining the variation example of a safety standard. It is a flowchart which shows an example of the operation of the server apparatus 20.

1: Flight control system, 10: Aircraft, 20: Server device, 21: Processor, 22: Memory, 23: Storage, 24: Communication device, 25: Bus, 200: Tracking unit, 201: Acquisition unit, 202: Abnormality Degree identification unit, 203: Parameter identification unit, 204: Flight control unit.

[Constitution]
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 flying 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 body 10 referred to here typically assumes that the flight body 10 is prohibited from entering the flight restricted airspace. However, in addition to this, for example, restrictions on the speed or acceleration of the flying object 10 in the flight restricted airspace, restrictions on changing the direction of travel of the flying object 10 in the flight restricted airspace, restrictions on the ascent or descent of the flying object 10 in the flight restricted airspace, etc. Any restrictions on the flight of the flying object 10, such as a limitation on the length of stay of the flying object 10 in the flight restricted airspace and a weight limitation on the flying object 10 flying in the flight restricted airspace, may be used.

FIG. 2 is a diagram showing an example of the appearance of the flying object 10. The aircraft body 10, for example, is called a drone, and includes a propeller 101, a drive 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 applies 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 air vehicle 10. The aircraft body 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 device 17, a bus 18, and the like. In the following description, the word "device" can be read as a circuit, device, 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 peripheral devices, 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 body 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 carry out 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 performing communication 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 of the surroundings of 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 device 17 transmits a beacon signal having a predetermined frequency, and also receives a beacon signal transmitted from another aircraft 10. The reachable range 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.

The sensor unit 19 detects signs of component failure of the flying object 10, abnormal noise in the flying object 10, and detected values such as the remaining battery level of the battery. Signs of component failure of the flying object 10 can be grasped by, for example, monitoring the operating state of each component such as voltage value and current value. These detected values are provided to the server device 20.

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. As a result, the difference between the flight plan and the actual result of the flight body 10 is specified as the detection value detected in the flight body 10.

The acquisition unit 201 includes the attributes of the ground (that is, the ground directly below the airspace) in the airspace where the airspace 10 is a candidate to fly, the attributes of the airspace, the attributes of the transported object carried by the airspace 10, and the sensors of the airspace 10. The detected value detected by the unit 19 is acquired. These attributes are information indicating the characteristics of the ground and the airspace, and are acquired by the acquisition unit 201 from each air vehicle 10 or from the database stored in the acquisition unit 201. In this database, the population distribution on the ground and the position, number, density and type of equipment or natural objects on the ground are stored as attributes on the ground, and each airspace as a candidate for flight of the airspace 10 as an attribute of the airspace. Information on the position (latitude, longitude, altitude), the number and attributes of the airspaces scheduled to fly in the airspace, the communication environment of the airspaces 10 in each airspace, the weather in each airspace, and the like is stored. This information is pre-specified or measured and stored in this database.

The anomaly degree specifying unit 202 identifies the anomaly degree according to the detected value detected in the flying object 10. How much the flight object 10 deviates from the normal level from the detected values such as the difference between the flight plan and the flight record, the sign of the component failure of the flight object 10, the abnormal noise in the flight object 10, and the remaining battery level of the battery. (That is, how much anomaly is) can be obtained according to a predetermined algorithm. The degree of abnormality means that, for example, 0 is a normal level and 10 is the maximum abnormal level, and the larger the value, the more deviated from the normal level (that is, abnormal).

The parameter specifying unit 203 specifies a parameter (hereinafter, referred to as a derived parameter) for deriving an incapacity level indicating the possibility that the flying object 10 becomes incapable of flying at the anomaly degree specified by the abnormality degree specifying unit 202. .. Here, the derivation parameter includes, for example, the manufacturing time of the flying object 10, the elapsed period from the start time of use or the previous maintenance time, the weather at the time of flight, and the like. For example, when the degree of abnormality is "7" based on the abnormal noise in the flying object 10, whether or not the flying object 10 is actually incapable of flying depends on the manufacturing time, the start time of use, or the previous maintenance time of the flying object 10. It depends on the elapsed time from and the weather at the time of flight. For example, when the degree of abnormality is "7" and the elapsed period from the manufacturing time, the start time of use, or the previous maintenance time of the flying object 10 is equal to or greater than the threshold value, the possibility of being unable to fly is X1%. If the period of is less than the threshold, the possibility of being unable to fly is X2% (X2 <X1). When the elapsed period from the start of use is small (the initial failure occurrence period in the so-called bathtub curve, the failure rate curve), the possibility of flight failure may be increased. In other words, in this period, it is often an abnormality due to initial failure rather than an abnormality due to wear or deterioration over time, so even if the degree of abnormality is the same, the probability of being unable to fly is the probability of being unable to fly after this period. Is higher than the possibility of becoming. Also, for example, when the degree of abnormality is "7" and the weather is "sunny and the wind speed is 1 m or less", the possibility of being unable to fly is Y1%, but when the weather is "rain, wind speed 10 m or more". In addition, the possibility of being unable to fly is Y2% (Y1 <Y2). In this way, the parameter specifying unit 203 stores the derivation parameters for deriving the incapacity level (for example, X1, X2, Y1, Y2%) from each abnormality degree, and is specified by the abnormality degree specifying unit 202. Identify the derivation parameters that correspond to the anomalies that have been made.

The flight control unit 204 obtains the non-flying level based on the abnormal degree specified by the abnormal degree specifying unit 202 and the derived parameter specified by the parameter specifying unit 203, and operates the flying object 10 according to the non-flying level. Control. Specifically, the flight control unit 204 calculates a non-flight level such as X1, X2, Y1, Y2% by performing a predetermined calculation using the anomaly degree and the derivation parameter, and the non-flight level is safe. When the level falls below the standard, the flying object 10 is controlled so as to perform an operation according to a factor that the level of inflightability falls below the safety standard. This safety standard is based on the attributes of the goods carried by the aircraft (called the goods attributes), the attributes of the ground corresponding to the airspace in which the aircraft flies (called the ground attributes), or the attributes of the airspace in which the aircraft flies (airspace). It fluctuates according to the attribute).

Ground attributes relate, for example, to the density of the population on the ground in the airspace in which the airspace 10 is a candidate to fly, and 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 with or without roofs), roads, fields, drone landing equipment or vehicles, including those that are fixed on the ground and those that move on the ground. Equipment includes cases that fluctuate over time. Natural objects include mountains, rivers, seas, lakes and marshes.

Airspace attributes are assigned, for example, to the altitude of the airspace, the communication environment of the airspace 10 to the airspace, the number or density of the airspace 10 to the airspace, or to allow the airspace to spatiotemporally occupy a particular airspace. It relates to whether it is assigned to be shared by a plurality of airspaces 10.

The transported object attribute is information indicating the characteristics of the transported object transported by the flying object 10, and includes, for example, its weight, fragility, and importance.

FIG. 6 is a diagram illustrating an example of variation in safety standards. As an attribute of the transported object, for example, when the transported object is a fragile object, the safety standard is Th1, and when the transported object is not a fragile object, the safety standard is Th2. However, Th1> Th2. That is, when the transported object is a fragile object, it is more likely that the safety of the flying object 10 needs to be ensured. If the ground attribute is a large population (for example, the population density is above the threshold), the safety standard is Th3, and if the population is small (for example, the population density is below the threshold), the safety standard is Th4. .. However, Th3> Th4. That is, the larger the population, the easier it is to ensure the safety of the flying object 10. When the airspace attribute is high altitude (when the altitude is above the threshold value), the safety standard is Th5, and when the altitude is low (for example, when the altitude is below the threshold value), the safety standard is Th6. However, Th5> Th6. That is, the higher the altitude of the flying object 10, the more likely it is that the safety of the flying object 10 needs to be ensured.

FIG. 7 is a diagram for explaining the relationship between the inability to fly factor and flight control. The control by the flight control unit 204 includes instructions such as the flight date and time, flight path, and flight speed of the flight body 10. As shown in FIG. 7, when the factor below the safety standard is a factor related to the failure of the flying object, the control by the flight control unit 204 includes the control of the operation related to the altitude reduction of the flying object. Factors related to the failure of the flight body include the difference between the flight plan and the actual result, the sign of the failure of the parts of the flight body 10, and the abnormal noise in the flight body 10. When the factor below the safety standard is a factor related to the collision of the flying object, the control of the motion by the flight control unit 204 includes the control of the motion related to the course change of the flying object. Factors related to the collision of flying objects, such as the number / attributes of other flying objects and communication status, are detected. If the factor below the safety standard is a factor related to the power shortage of the aircraft, the control by the flight control unit 204 includes the control of the operation related to the landing of the aircraft. Factors related to the power shortage of the flying object include the remaining battery level of the flying object 10 or the weather.

As described above, the reason why the control of the flying object 10 is different depending on the factor that the incapacity level is lower than the safety standard is as follows. For example, even if there is a factor related to the failure of the flying object as a factor below the safety standard, if the flying object 10 can continue to fly, it becomes impossible to fly compared with the factor related to the power shortage (that is, the flying object 10). Is not likely to crash). Therefore, in such a case, instead of landing the flying object 10, priority is given to lowering the altitude of the flying object 10 to reduce the risk of a crash, for example, and to accomplish the flight purpose of the flying object 10. Let me. As described above, it is considered that the appropriate motion control for the flying object 10 differs depending on the factors below the safety standard. Regarding factors related to the power shortage of the aircraft, multiple levels of safety standards are set, and when the safety level falls below the first safety standard, which has a higher degree of safety, operation control related to the altitude drop of the aircraft 10 is performed. The movement of the flying object 10 may be controlled stepwise, such as controlling the movement of the flying object 10 regarding the landing when the safety level falls below the second safety standard.

[motion]
Next, the operation of this embodiment will be described. In the following description, when the server device 20 is described as the main body of processing, specifically, the processor 21 is loaded with predetermined software (program) on hardware such as the processor 21 and the memory 22. Means that the process is executed by performing the calculation and controlling the communication by the communication device 24 and the reading and / or writing of the data in the memory 22 and the storage 23.

FIG. 8 is a flowchart showing an example of the operation of the server device 20. In the server device 20, the acquisition unit 201 acquires each attribute such as a transported object attribute, a ground attribute, and an airspace attribute for a certain flying object 10, and detects for identifying a plurality of factors that make the flying object incapable of flying. Each data such as value (difference between flight plan and actual result, sign of component failure of flight body 10, abnormal noise in flight body 10, number / attribute of other flight body, remaining battery level of flight body 10, weather, etc.) Acquire (step S11).

The abnormality degree specifying unit 202 identifies the abnormality degree of the flying object 10 based on the detected value for identifying each factor (step S12).

The parameter specifying unit 203 specifies a derivation parameter for deriving the grounded level at the specified anomaly degree (step S13).

The flight control unit 204 determines the non-flight level based on the identified anomaly and the derived parameters, and compares the non-flight level with the safety standard (step S14). Here, the safety standard to be compared with the non-flying level is determined for each of the cargo attribute, the ground attribute, and the airspace attribute. For example, as an attribute of the transported object, for example, when the transported object is a fragile object, the safety standard is Th1, and when the transported object is not a fragile object, the safety standard is Th2. If the ground attribute is a large population (for example, the population density is above the threshold), the safety standard is Th3, and if the population is small (for example, the population density is below the threshold), the safety standard is Th4. .. When the airspace attribute is high altitude (when the altitude is above the threshold value), the safety standard is Th5, and when the altitude is low (for example, when the altitude is below the threshold value), the safety standard is Th6.

The flight control unit 204 compares the specified non-flight level and the safety standard for each of the transported object attribute, the ground attribute, and the airspace attribute of the aircraft 10, and if there is a non-flight level below the safety standard, the flight control unit 204 compares the specified non-flight level and the safety standard. (Step S14: YES), as described with reference to FIG. 7, the flight control determined for the factor corresponding to the incapacity level below the safety standard is performed (step S15). That is, when the factor below the safety standard is a factor related to the failure of the flying object, the control by the flight control unit 204 includes the control of the operation related to the altitude reduction of the flying object. Further, when the factor below the safety standard is a factor related to the collision of the flying object, the operation control by the flight control unit 204 includes the control of the motion related to the change of course of the flying object. Further, when the factor below the safety standard is a factor related to the power shortage of the flying object, the control by the flight control unit 204 includes the control of the operation related to the landing of the flying object.

According to the embodiment described above, the operation for ensuring safety can be performed more appropriately before the flying object 10 becomes incapable of flying.

[Modification example]
The present invention is not limited to the embodiments described above. The above-described embodiment may be modified as follows. Further, the following two or more modified examples may be combined and carried out.

The control by the flight control unit 204 may include the control of the operation related to the switching of the flight body 10 to the alternative aircraft. Specifically, the flight control unit 204 instructs the first flying object 10 in flight to land at the landing base, and the second flying object 10 waiting at the base is instructed to land on the landing base. Instruct to fly as an alternative to 1 aircraft 10.

In the embodiment, the server device 20 uses all of the transported object attribute, the ground attribute, and the airspace attribute, but at least one of the attributes may be used. Further, the position of the flying object 10 may be measured by a method that does not use GPS.

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 a 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.
In short, in the information processing system according to the present invention, a step of specifying an anomaly degree according to a detected value detected in an air vehicle and a flight indicating a possibility that the air vehicle cannot fly at the specified anomaly degree. If the step of specifying the derivation parameter for deriving the impossible level and the step of controlling the operation of the flying object according to the specified degree of anomaly and the inflightable level based on the derived parameter are executed. good.

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 systems utilizing Bluetooth®, other suitable systems and / or next-generation systems extended based on them.

The order of the processing procedures, sequences, flowcharts, etc. of each aspect / embodiment described in the present specification may be changed 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 switched with 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" as used herein are used interchangeably.

The information or parameters described in the present specification 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 above parameters 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.

The terms "determining" and "determining" as used herein 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". In addition, "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 memory) may be regarded as "determined" or "determined". In addition, "judgment" and "decision" mean that "resolving", "selecting", "choosing", "establishing", "comparing", etc. are regarded as "judgment" and "decision". Can include. That is, "judgment" and "decision" may include that some action is regarded as "judgment" and "decision".

The present invention may be provided as a flight control method or an information processing method including processing steps 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 a form recorded on a recording medium such as an optical disk, or may be provided in a form such as being downloaded to a computer via a network such as the Internet and being installed and made available. It is possible.

Software, instructions, etc. may be transmitted and received via a transmission medium. For example, the software uses wired technology such as coaxial cables, fiber optic cables, twisted pairs and digital subscriber lines (DSL) and / or wireless technologies such as infrared, wireless and microwave to websites, servers, 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" 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 in 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 not to be an exclusive OR.

Throughout this disclosure, if articles are added by translation, for example a, an, and the in English, unless the context clearly indicates that these articles are not. 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 herein. The present invention can be implemented as modifications and modifications without departing from the spirit and scope of the present invention, which is determined by the description of the claims. Therefore, the description of the present specification is for the purpose of exemplification and does not have any limiting meaning to the present invention.

Claims (1)

Anomalous degree identification part that identifies the anomaly degree according to the detected value detected in the aircraft, and
A parameter specifying unit that specifies a derivation parameter for deriving a grounded level indicating the possibility that the vehicle cannot fly at the specified anomaly degree, and a parameter specifying unit.
It is provided with a flight control unit that controls the operation of the flying object according to the specified degree of abnormality and the grounded level based on the derived parameters.
The flight control unit controls the movement of the aircraft so as to lower the altitude, change the course, or land when the non-flight level is below the safety standard.
The information processing device is characterized in that the safety standard varies depending on the attributes of the transported object carried by the flying object.

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