JP7165278B2 - Management device, management method and program - Google Patents

Description

The present invention relates to a management device and management method for creating a flight route for a flight device that flies in the air.

Techniques are known for preventing contact with people when an unmanned aerial vehicle crashes or the like. For example, Patent Literature 1 describes a method of moving an unmanned flying object out of the area where the person is detected when the unmanned flying object detects a person in an area where the unmanned flying object may crash.

JP 2017-144986 A

In the method described in Patent Document 1, the unmanned flying object avoids the area even if there is only one person in the area. Therefore, even though the probability of coming into contact with a person due to a fall is sufficiently low, it may repeatedly avoid the area. As a result, there is a problem that a large detour is required to reach the destination.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a management device and management method capable of shortening the flight time while reducing the probability that the flight device will fall on an object to be avoided. and

A management device according to a first aspect of the present invention is a management device that creates a flight route for a flight device that flies in the air, and includes a storage unit that stores congestion locations or positions of obstacles, and a congestion location. Alternatively, a flight plan creating unit that creates a flight route so as to fly a route that is at least a predetermined distance from the location stored in the storage unit as the position of the obstacle, and the flight route created by the flight plan creating unit a transmitter for transmitting to the flight device.

The flight plan creation unit may create a new flight route when request information requesting another flight plan with a different flight route is obtained from the flight device.

The management device may further include a registration unit that acquires information indicating the congestion location from the flying device and stores the congestion location in the storage unit.

The flight plan creation unit determines a determination threshold for creating a flight route based on weather information or the presence or absence of other flight devices, and specifies a congestion degree within a predetermined area. A registration unit that stores the higher predetermined area as the crowded place in the storage unit may be further provided.

The management device may further include a registration unit that erases the information indicating the crowded place from the storage unit when a predetermined registration erasure period has passed.

The management device acquires a crowded place where congestion is expected to occur due to the holding of the event, a date when the congestion is expected to occur, and a time zone when the congestion is expected to occur, and the acquired crowded place and , and a registration unit that associates the date with the time period and stores them in the storage unit.

The management device may further include a registration unit that stores the congestion location in the storage unit based on the number of terminals simultaneously connected to the base station.

A management method according to a second aspect of the present invention is a computer-executed management method for creating a flight route for a flight device that flies in the air, and includes a memory for storing congestion locations or positions of obstacles. a step of creating a flight route so as to fly a route that is at least a predetermined distance away from a place stored as a crowded place or an obstacle position in the unit, and a step of transmitting the created flight route to the flying device; Prepare.

Advantageous Effects of Invention According to the present invention, it is possible to shorten the flight time while suppressing the probability that the flying device will fall on the object to be avoided.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the outline|summary of the flight system which concerns on embodiment. FIG. 4 is a schematic diagram showing a state in which the flight device is viewed from above during flight; It is a figure which shows the structure of a flight device. An example of a captured image captured by the camera 23 during flight of the flight device 200 is shown. FIG. 5 is a diagram for explaining how a flight control unit changes a flight plan; It is a figure which shows the structure of a flight management apparatus. It is a figure which shows the example of registration of a crowded place by a registration part. It is a figure which shows an example of a map image. 4 is a flow chart showing avoidance processing of a high-density area by the flight device; 4 is a flow chart showing avoidance processing of a high-density area by the flight device;

[Overview of flight system S]
1 and 2 are diagrams for explaining an outline of a flight system S according to this embodiment. FIG. 1 shows the configuration of a flight system S. As shown in FIG. 1, the flight system S includes a flight management device 100 and a flight device 200. As shown in FIG. Flight management device 100 is a server connected to flight device 200 via base station 300 and network N. FIG. Network N is, for example, a mobile phone network such as LTE.

Flight management device 100 creates a flight plan for flight of flight device 200 . A flight plan includes a flight route and a flight schedule. The flight route is information that designates the departure position where the flight device 200 starts flying, the arrival position where the flight ends, and the route from the departure position to the arrival position. The flight route may include information specifying flight altitudes on the flight route. The flight schedule is information specifying the date and time when the flight device 200 starts flying and the date and time when the flight ends. The flight management device 100 creates flight routes and flight schedules based on information input by the administrator of the flight device 200, for example.

The flying device 200 is a device capable of flying in the air, such as a drone. The flight device 200 acquires the flight plan from the flight management device 100 and flies along the flight route determined by the acquired flight plan. The flying device 200 captures an image of the forward and downward direction with respect to the flight position of the flying device 200 using the camera mounted on the flying device 200 . The imaging range of this camera is indicated by a dashed line. The flying device 200 identifies the density of objects to be avoided in the imaging range of the camera. The object to be avoided is, for example, a person.

FIG. 2 is a schematic diagram showing a state in which flying device 200 is viewed from above during flight. White circles in FIG. 2 indicate objects to be avoided. In FIG. 2, the flight route of the flight device 200 is indicated by solid arrows.

FIG. 2(a) shows the situation when the density of objects to be avoided directly under the flight route of the flight device 200 is lower than the predetermined density threshold. FIG. 2(b) shows the situation when the density of objects to be avoided directly under the flight route of the flight device 200 is higher than the predetermined density threshold. The density threshold is a density value that serves as a reference for determining whether to change the flight route. Details of the density threshold will be described later.

As shown in FIG. 2(a), the flight device 200 moves along the flight route when the density of objects to be avoided directly under the flight route is lower than a predetermined density threshold. On the other hand, as shown in FIG. 2B, when the density of objects to be avoided directly below the flight route of the flight device 200 is equal to or greater than a predetermined density threshold, the density of objects to be avoided is reduced to the density A range that is equal to or greater than the threshold is identified as a high density region. Then, the flight device 200 changes the flight plan so as not to fly over the object to be avoided, as indicated by the dashed arrow in FIG. 2(b). With such a configuration, the flying device 200 can reduce the risk of contacting an object to be avoided when it crashes or the risk of an object falling from the flying device 200 contacting an object to be avoided.

[Configuration of flight device 200]
FIG. 3 is a diagram showing the configuration of the flight device 200. As shown in FIG. The flight device 200 includes a communication section 21 , a position sensor 22 , a camera 23 , a flight mechanism 24 , a detection section 25 , a storage section 26 and a control section 27 . The communication unit 21 is a wireless communication module for communicating with the flight management device 100 via the base station 300 and the network N. Position sensor 22 acquires the flight position of flight device 200 . For example, position sensor 22 includes a GPS receiver that acquires GPS signals. Position sensors 22 may further include altitude sensors to obtain the position of flight device 200 during flight, including flight altitude.

The camera 23 captures an image of a first area in front of and below the position of the flight device 200 at regular intervals during the flight along the flight route defined in the flight plan. The predetermined period is a period of time determined by the administrator of the flight device 200 in order to prevent the avoidance target from being overlooked, and is, for example, 0.1 second. The first area is an area corresponding to the entire imaging range of the camera 23 .

The flight mechanism 24 includes a propeller, a motor for rotating the propeller, a rudder, and the like. The flight mechanism 24 operates these mechanisms based on the control of the controller 27 . The detection unit 25 detects obstacles on the flight route. Obstacles are, for example, trees extending on the flight route. For example, the detection unit 25 is a laser radar that detects obstacles by receiving scattered light of laser light.

The storage unit 26 is a storage medium including ROM (Read Only Memory), RAM (Random Access Memory), and the like. The storage unit 26 stores programs executed by the control unit 27 . Also, the storage unit 26 is used as a work memory for the control unit 27 . The control unit 27 is, for example, a CPU (Central Processing Unit), and functions as an acquisition unit 271 , an identification unit 272 and a flight control unit 273 by executing programs stored in the storage unit 26 .

The storage unit 26 also stores density thresholds. The storage unit 26 stores, for example, different density threshold values in association with various conditions related to the flight state of the flight device 200 and the surrounding environment. The various conditions are, for example, the size or weight of the flight device 200, the altitude at which the flight device 200 is flying, or the flight environment such as the area around the flight device 200, the time of day, and/or the weather.

The acquisition unit 271 acquires a flight plan including a flight route and a flight schedule from the flight management device 100 via the communication unit 21 . The acquisition unit 271 may acquire a flight plan including multiple flight routes. The obtaining unit 271 notifies the identifying unit 272 of the obtained flight plan. Also, the acquisition unit 271 acquires the flight position of the flight device 200 using the position sensor 22 . This flight position is used for flight control to fly along the flight plan.

Furthermore, the acquisition unit 271 may acquire flight environment information including at least one of area, time period, and weather. The acquisition unit 271 transmits the flight position acquired by the position sensor 22 to, for example, an external device (not shown) that provides weather information, and acquires the area or weather corresponding to this flight position from the external device as flight environment information. . Further, the acquisition unit 271 may acquire the time zone indicated by the clock mounted on the flight device 200 as the flight environment information.

[Identification of the density of objects to be avoided]
The specifying unit 272 specifies the density of objects to be avoided within the first area forward and below the position of the flight device 200 during flight along the flight route defined in the flight plan. FIG. 4 is a diagram for explaining a density identification method by the identification unit 272. As shown in FIG.

FIG. 4 shows an example of a captured image captured by the camera 23 while the flight device 200 is in flight. The identifying unit 272 recognizes an object to be avoided within the first region H corresponding to the entire captured image, which is the imaging range of the camera 23 . The object to be avoided recognized by the identifying unit 272 is indicated by a solid frame line.

The specifying unit 272 obtains the distance to the ground using a distance sensor (not shown). Since the direction of the camera 23 is determined in advance, the identifying unit 272 can obtain the ground area corresponding to an arbitrary range within the first region H based on the obtained distance.

The identifying unit 272 divides the first area H into a plurality of blocks and divides the number of objects to be avoided included in each block by the area of each of the blocks, thereby identifying the density of each block. The specifying unit 272 may detect objects to be avoided, select one of the detected objects to be avoided, and count the number of other objects to be avoided within a predetermined distance from the selected object to be avoided. The predetermined distance corresponds to the area required to identify the density distribution of avoidance objects. By doing so, the specifying unit 272 can specify the density around the object to be avoided with high accuracy while suppressing the amount of calculation.

Returning to the description of FIG. The flight control unit 273 controls the direction, height, speed, etc. of the flight device 200 by controlling the flight mechanism 24 . Flight control unit 273 sequentially transmits captured images captured by camera 23 , position information indicating the flight position, and the remaining battery level to flight management device 100 via communication unit 21 during flight.

[Method for Avoiding High Density Area R]
The flight control unit 273 determines whether or not to change the flight route by comparing the density of the objects to be avoided within the first region H specified by the specifying unit 272 with, for example, a density threshold stored in advance in the storage unit 26. is determined, and the flight direction is controlled based on the determined result. Specifically, the flight control unit 273 causes the flight device 200 to fly by changing the flight plan so as to avoid the high-density area R having the density of objects to be avoided that is equal to or greater than the read density threshold.

The flight control unit 273 determines whether or not the flight route determined in the flight plan acquired by the acquisition unit 271 passes over the high-density area R. When the flight control unit 273 determines that the flight route defined in the flight plan passes over the high density region R, the flight control unit 273 changes the flight plan so as to avoid the high density region R. The flight device 200 is flown. On the other hand, when the flight control unit 273 determines that the flight route determined in the flight plan does not pass over the high-density region R, the flight device 200 flies along this flight route.

FIG. 5 is a diagram for explaining how the flight control unit 273 changes the flight plan. An arrow A indicates the flight route determined in the flight plan acquired by the acquisition unit 271 . The flight route determined in the flight plan acquired by the acquiring unit 271 passes over the high-density area R specified by the specifying unit 272 .

The flight control unit 273 changes the flight route so as to avoid the high density area R when the flight route passes over the high density area R. Arrows B1 and B2 indicate the flight route after the change by the flight control unit 273 . The flight route after the change by the flight control unit 273 is a route that avoids over the high-density area R, and passes over the low-density area whose density is less than the density threshold specified by the specifying unit 272 . After avoiding the high-density area R, the flight control unit 273 returns to the flight route before the change. Note that the flight control unit 273 may notify pedestrians that the aircraft is flying by emitting sound from a speaker during flight so that there are no people under the flight route.

When the flight control unit 273 determines that the density of all regions in the first region H is equal to or higher than the density threshold, the flight control unit 273 determines that the density of avoidance objects in the second region different from the first region H is less than the density threshold. Determining whether a low density region exists. The second area is an area adjacent to the right or left side of the first area H, for example. The flight control section 273 instructs the specifying section 272 to specify the density of the second region. That is, the specifying unit 272 specifies the density of avoidance objects in the second area when the density of all areas in the first area H is equal to or higher than the density threshold. Based on the density specified based on the image of the second area captured by the specifying unit 272 by changing the orientation of the camera, it is determined whether or not the low-density area exists in the second area.

When the flight control unit 273 determines that a low-density area exists within the second area, the flight control unit 273 changes the flight route so as to pass over the low-density area. With such a configuration, the flight control unit 273 reduces the risk of the flight device 200 or the like coming into contact with the object to be avoided in the event of a crash, even if all areas within the first area H are high-density areas. can be made

When the flight control unit 273 determines that there is no low-density area in which the density of avoidance targets is less than the density threshold in the second area, the flight control unit 273 avoids the object in the third area different from the first area H and the second area. It may be determined whether there is a low density region where the density of the object is less than the density threshold. When the flight control unit 273 determines that there is a low-density area in which the density of objects to be avoided is less than the density threshold in the third area, the flight control unit 273 changes the flight route so as to pass over the low-density area.

By the way, the object to be avoided may move. In this case, because the flying device 200 avoids the high-density region R in the same direction as the object to be avoided in the high-density region R moves, the flying device 200 cannot avoid the sky above the high-density region R. Sometimes. Therefore, the flying device 200 may avoid the high-density area R in the direction opposite to the movement direction of the avoidance target.

Specifically, the flight control unit 273 identifies the movement direction of a predetermined number or more of avoidance objects in the high-density region in the first region H, and moves the objects in the direction opposite to the identified movement direction. A second area may be set so as to be located. For example, if five or more of the objects to be avoided within the high-density area in the first area H are moving to the right, the second area is set to be positioned to the left of the first area H. You may Further, the flight control unit 273 may specify, as the moving direction, a direction in which a predetermined percentage or more of the avoidance objects in the high-density region in the first region H move. The predetermined percentage is, for example, half of the objects to be avoided in the high-density area. The flight control unit 273 determines whether or not a low-density area exists within the set second area.

[Method for Determining Density Threshold by Flight Device]
The flight control unit 273 acquires the density threshold determined by the flight management device 100 via the communication unit 11 . The flight control unit 273 receives position information indicating the flight position, flight device information (remaining battery level, speed, etc.) and weather information (wind speed, rainfall, temperature) as information for determining the density threshold. Send to A method of generating the density threshold by the flight management device 100 will be described later. The flight control unit 273 updates the density threshold value stored in the storage unit 26 with the obtained density threshold value.

Further, the storage unit 26 may store a plurality of density thresholds in association with various conditions, and the flight control unit 273 stores a plurality of density thresholds in association with various conditions in the storage unit 26 according to the status of the flight device 200. A density threshold to be used may be selected from a plurality of stored density thresholds. For example, when the size or weight of the flying device 200 is greater than or equal to the reference value, the density threshold is set smaller than when the size or weight of the flying device 200 is less than the reference value. The reference value is a value predetermined by the administrator of the flight device 200 according to the degree of damage expected when the flight device 200 or the like comes into contact with an object to be avoided at the time of crash. The flight control unit 273 reads the size or weight of the flight device 200 from the storage unit 26 and selects a density threshold corresponding to the read size or weight. The flight control unit 273 may measure the load weight with a weight sensor (not shown), and calculate the total weight by summing the load weight and the weight of the flight device 200 itself.

As an example, the flight controller 273 sets the density threshold to 9 people per 10 square meters if the size is 50 cm square or the overall weight is 1 kilogram. The flight control unit 273 sets the density threshold to 3 people per 10 square meters if its size is 1 meter square or its overall weight is 30 kilograms. With such a configuration, the flight control unit 273 can suppress the occurrence of serious damage due to contact of the relatively large flying device 200 or the relatively heavy flying device 200 with the object to be avoided. can.

Flight controller 273 may determine the density threshold based on the flight altitude of flight device 200 . In this case, the flight control unit 273 acquires the flight altitude of the flight device 200 using an altitude sensor mounted as part of the position sensor 22 . The flight control unit 273 determines whether or not the obtained flight altitude is equal to or higher than the reference value.

The flight control unit 273 makes the density threshold smaller when the flight altitude of the flight device 200 is equal to or higher than the reference value compared to when the flight altitude is less than the reference value. The standard value is determined by those skilled in the art according to the degree of damage expected when the flying device 200 comes into contact with the object to be avoided when crashing. With such a configuration, the flight control unit 273 can suppress the occurrence of serious damage caused by the crashing flight device 200 or the like coming into contact with the object to be avoided from a relatively high flight position.

The flight control unit 273 may determine the density threshold based on at least one of the area, time period, and weather included in the flight environment information acquired by the acquisition unit 271 . The flight control unit 273 reads, for example, the density threshold stored in the storage unit 26 in association with the flight environment information.

The density of objects to be avoided varies depending on the region, time of day, and weather during flight of the flight device 200 . For example, in an urban area where there are relatively few avoidable route options, the density of objects to be avoided tends to be always high. be. Therefore, the flight control unit 273 can prevent the high-density area R to be avoided from becoming too wide by using density thresholds corresponding to the region, time period, and weather during flight. Therefore, the flight control unit 273 can prevent the situation where the sky above the high-density region R becomes unavoidable.

In addition, the flight control unit 273 can prevent the high-density area R to be avoided from becoming too narrow by using density thresholds corresponding to the region, time period, and weather during flight. Therefore, the flight control unit 273 prevents the reduction in the effect of reducing the risk of the flight device 200 or the like coming into contact with the object to be avoided in the event of a crash due to the reduction in the frequency of avoidance of the high-density area R. can be done.

The flight controller 273 may determine the density threshold based on subscription information indicating whether the flight device 200 has life or casualty insurance. For example, the flight control unit 273 sets the density threshold when the flying device 200 does not have life insurance or non-life insurance to be lower than the density threshold when the flying device 200 has life insurance or non-life insurance. . The flight control unit 273 determines the density threshold based on the subscription information that the acquisition unit 271 acquires from the flight management device 100 or the storage unit 26, for example.

If the flight device 200 does not have life insurance or non-life insurance, there is a risk that the user of the flight device 200 will have an excessive burden of compensating for the damage if the flight device 200 or the like contacts an object to be avoided in the event of a crash. There is Therefore, the flight control unit 273 can reduce the risk of the user paying a large amount of reimbursement by reducing the density threshold when the flight device 200 is not covered by life insurance or non-life insurance.

[Wait by hovering]
Even when it is determined that the flight route passes over the high density region R in the first region H, the flight control unit 273 determines that the high density region R may disappear from the flight route. In some cases, you may hover and wait without changing the flight route.

The flight control unit 273, for example, determines whether or not the object to be avoided within the high density region R of the first region H is moving, and determines whether the object to be avoided within the high density region R of the first region H is moving. If it is determined that it is in a hovering state, it stops. The flight control unit 273 refers to the flight schedule and determines that it is possible to arrive at the destination by a predetermined time even if the object to be avoided is stopped for the time expected to leave the flight route. As a condition, it may be determined to stop in a hovering state. Note that the flight control unit 273 may not completely stop the flight device 200 in the hovering state, and may reduce the flight speed in the hovering state compared to before hovering.

When the object to be avoided is a person, a vehicle, or the like, the propeller sound of the flying device 200 can be clearly heard by the object to be avoided. sometimes move away from Therefore, the flight control unit 273 determines whether or not the density of objects to be avoided within the first region H specified by the specifying unit 272 has changed below the density threshold while the hovering state is stopped. good.

When the density of objects to be avoided in the first region H changes below the density threshold while the flight control unit 273 is stopped in the hovering state, the flight control unit 273 performs the first The flying device 200 is caused to fly over the area H. When the high-density region R immediately below the flight route changes to a low-density region, even if the flight device 200 flies along the flight route, there is no possibility that the flight device 200 or the like will come into contact with the object to be avoided when crashing. low. Therefore, the flight control section 273 can cause the flight device 200 to fly along the flight route.

If the flight control unit 273 determines that the density of the objects to be avoided immediately below the flight route has not changed and remains equal to or greater than the density threshold even after a predetermined period of time has passed since the hovering state stopped, the specifying unit 273 The flight plan may be altered to avoid the high density areas identified by 272 . The predetermined time is, for example, a time that allows time to arrive at the destination.

When the flight control unit 273 determines that the low-density area does not exist in the second area, the flight control unit 273 may stop in the hovering state until it determines that the low-density area exists in the first area H or the second area. good. After the flight control unit 273 stops in the hovering state, when the specifying unit 272 determines that a low-density area exists in the first area H or the second area, the flight control unit 273 adjusts the flight route so as to pass through this low-density area. change.

[Other Flight Plan Requests]
If the flight control unit 273 changes the flight plan to avoid the high-density area specified by the specifying unit 272 more than a specified number of times within a specified period, the flight management device 100 that manages the flight plan , may request other flight plans with different flight routes. The predetermined period and the predetermined number of times are determined by those skilled in the art as values that are expected to cause problems in the flight of the flight device 200 when the flight plan is changed at the same frequency. As an example, the predetermined period and the predetermined number of times may indicate that the flight device 200 runs out of battery power or that the flight device 200 reaches the destination at a specified time when the flight plan is changed at the same frequency. is a value that is expected to become unreachable.

For example, if the flight control unit 273 repeatedly changes the flight plan, there is a possibility that the flying device 200 is flying over a crowded place where many high-density areas are concentrated. The crowded place is, for example, around a venue for a fireworks display or around an outdoor baseball field. The flight control unit 273 transmits request information to the flight management device 100 requesting another flight plan with a different flight route to the flight management device 100 in order to bypass the congested place.

The flight control unit 273 acquires another flight plan with a different flight route from the flight management device 100 as response information in response to the request information transmitted to the flight management device 100 . The flight control unit 273 causes the flight device 200 to fly along the flight route determined by the acquired flight plan.

Note that when the acquisition unit 271 acquires a flight plan including a plurality of flight routes, the flight control unit 273 flies along the first flight route with the highest priority determined in the flight plan. When the flight control unit 273 determines that the first flight route passes over the high-density region R, it avoids the high-density region R among the plurality of flight routes determined in the flight plan, and The flight route may be changed to fly along a second flight route that passes over the low density region.

Further, when the detection unit 25 detects an obstacle on the flight route, the flight control unit 273 changes the flight route determined by the flight plan acquired by the acquisition unit 271 so as to avoid the obstacle. good too. Even in this case, the flight control unit 273 is a flight management device that manages the flight plan when the flight route is changed to avoid the obstacles detected by the detection unit 25 more than a predetermined number of times within a predetermined period. Other flight plans with different flight routes may be requested for 100 .

Note that the flight control unit 273 measures the position of the high-density area R or the like when avoiding the high-density area R or the obstacle. For example, the flight control unit 273 measures the position of the high-density region R, etc., based on the detection results of the position sensor 22, direction sensor (not shown), distance sensor, and detection unit 25 mounted on the flight device 200. good too. In this case, the flight control unit 273 transmits information indicating the measured positions of the high-density area R to the flight management device 100 .

[Configuration of Flight Management Device 100]
FIG. 6 is a diagram showing the configuration of the flight management device 100. As shown in FIG. The flight management device 100 includes a communication section 11 , a storage section 12 and a control section 13 . The communication unit 11 is an interface for communicating with the flight device 200 via the network N and base station 300 . The storage unit 12 is a storage medium including ROM, RAM, and the like. The storage unit 12 stores programs executed by the control unit 13 . Also, the storage unit 12 is used as a work memory for the control unit 13 . The control unit 13 is, for example, a CPU, and functions as a registration unit 131 , a flight plan creation unit 132 and a display control unit 133 by executing programs stored in the storage unit 12 .

The registration unit 131 registers the congestion place set by the administrator in the storage unit 12 . Further, the registration unit 131 predicts a crowded place based on event information such as New Year's first shrine visit, and registers the predicted crowded place, date and time zone in the storage unit 12 . The registration unit 131 acquires event information from an external device. Alternatively, the administrator may enter the event information.

The registration unit 131 registers the congestion location in the storage unit 12 based on history information indicating the history of the number of terminals simultaneously connected to the base station 300 . For example, when the registration unit 131 acquires history information indicating that the number of terminals simultaneously connected to the base station 300 exceeds a threshold from an external device (not shown), the registration unit 131 sets the range indicating the congestion place to the base station 300. Cells may be registered. At this time, the registration unit 131 registers the date and time period when the number of simultaneously connected terminals exceeds the threshold as the date and time period of the crowded place.

When a plurality of flight devices 200 change their flight plans to avoid a high-density area more than a predetermined number of times within a predetermined period of time, the registration unit 131 registers this high-density area as a crowded place. The registration unit 131 acquires high-density area information indicating the position of the high-density area R from the flying apparatus 200 when the flying apparatus 200 avoids the high-density area R. When the registration unit 131 acquires high-density area information indicating positions within a predetermined range as the positions of the high-density areas R more than a predetermined number of times within a predetermined period of time from a plurality of flying devices 200, the high-density areas R are distributed. Register the range as a busy place. The predetermined range is defined by one skilled in the art as a value indicative of the same or related high density regions R. The predetermined time and the predetermined number of times are, for example, values indicating that the frequency of obtaining high-density area information is statistically significant.

FIG. 7 is a diagram showing an example of registration of a crowded place by the registration unit 131. As shown in FIG. The registration unit 131 obtains range information indicating the range to be registered as a crowded place, the date and time period when the high-density area information corresponding to the crowded place was acquired from the flying device 200, and the crowded place captured by the camera 23 of the flying device 200. stored in association with the image.

In the example of FIG. 7, the registration unit 131 registers the range “XX” of the crowded place, January 1, 2018, which is the date when the high-density area information corresponding to this crowded place was acquired, and "all day", which is the time zone in which the high-density area information was acquired, and the captured image A that captures the crowded place are registered in the storage unit 26 in association with each other. The range “xx” is, for example, information indicating the range of latitude and longitude. The time period “all day” indicates that the registration unit 131 has acquired the high-density area information corresponding to this congested place from the flying device 200 all day. In the captured image A, for example, the face of the captured person is mosaiced for privacy protection.

In addition, the registration unit 131 registers the range “ΔΔ” of the crowded place, December 24, 2017, which is the date when the high-density area information corresponding to this crowded place was acquired, and the high-density area corresponding to this crowded place. The time zone “16:00 to 23:00” in which the information was acquired is associated with the captured image B of the crowded place and registered in the storage unit 26 . “ΔΔ” is, for example, information indicating the range of latitude and longitude. The time period “16:00 to 23:00” indicates that the registration unit 131 acquired high-density area information corresponding to this crowded place from 16:00 to 23:00. In the captured image B, as in the captured image A, the face of the captured person is mosaiced.

The registration unit 131 may delete the information registered as the crowded place from the storage unit 26 when a predetermined registration deletion period has passed. The registration deletion period is the time expected to be required for the congestion to be resolved, for example, one day. If the registration unit 131 acquires the high-density area information indicating the position within the range registered as the crowded place more than a predetermined number of times within a predetermined period of time from the plurality of flying devices 200 before the registration deletion period elapses. , the information registered as the crowded place may be registered indefinitely without being erased from the storage unit 26 . The predetermined number of times within a predetermined period of time is, for example, a value indicating that the frequency of obtaining information indicating the position of the high-density area R is statistically significant.

The flight plan creating unit 132 creates a flight plan for the flight of the flight device 200 . The flight plan creating unit 132 creates flight routes and flight schedules included in the flight plan. The flight plan creation unit 132 creates a flight route for the flight device 200 so as to pass through locations not registered in the storage unit 26 as congestion locations. For example, the flight plan creation unit 132 creates a flight route so as to fly a route that is at least a predetermined distance away from the range registered in the storage unit 26 as the congested area. The predetermined distance is a value larger than the GPS measurement error when the position sensor 22 of the flight device 200 is a GPS receiver. With such a configuration, the flight plan creation unit 132 can create a flight route so that the flight device 200 does not pass through crowded places.

Information indicating the positions of obstacles is registered in the storage unit 26, and the flight plan creation unit 132 causes the flight device 200 to fly through locations not registered in the storage unit 26 as obstacle positions. Create a flight route. The flight plan creation unit 132 may create a flight plan including multiple flight routes.

The flight plan creating unit 132 creates a new flight route when request information requesting another flight plan with a different flight route is obtained from the flight device 200 . The flight plan creation unit 132 acquires from the flight device 200 information indicating the positions of high-density areas or obstacles that the flight device 200 has avoided. The flight plan creation unit 132 creates a flight route so as not to pass through the obtained high-density area or obstacle positions and the congestion locations and obstacle positions registered in the storage unit 26 . The flight plan creation unit 132 transmits the flight plan including the created flight route to the flight device 200 that requested the flight plan. If the flight route of the flight device 200 passes over the objects to be avoided, the flight plan creation unit 132 notifies a predetermined contact in advance of this regardless of the density of the objects to be avoided. The predetermined contact is, for example, an administrative agency that has jurisdiction over the flight of flight device 200 .

[Method for Determining Density Threshold by Flight Management Device]
The flight plan creation unit 132 determines a density threshold that serves as a criterion for determining whether to change the flight route. As information for determining the density threshold, the flight plan creation unit 132 uses position information indicating the flight position, flight device information (remaining battery level, speed, etc.), and weather information (wind speed, rainfall, temperature). 200.

The flight plan creation unit 132 determines (1) the flight distance from the departure point to the destination, (2) the area through which the flight route passes, (3) the time period, (4) the weather information acquired from the flight device 200, and (5) ) specifications such as the size, weight, maximum speed, and maximum wind resistance of the flight device 200; (6) whether or not the flight device 200 has life insurance or non-life insurance; Depending on all or a combination of (8) the presence or absence of the device, (8) the possibility of running out of battery power during the flight, and (9) the estimated time of arrival at the destination, the flight may take into account the degree of crash risk, etc., as follows. Calculate adequacy. The flight suitability is a parameter for determining a flight threshold value by combining a plurality of conditions.

[(1) Flight distance]
When the flight distance from the departure point to the destination is long, the risk of crashing the flight device 200 or the risk of falling objects from the flight device 200 is relatively higher than when the flight distance is short. The flight plan creation unit 132 subtracts the score from the flight adequacy stored in the storage unit 12 when the flight distance is equal to or greater than a predetermined value. The predetermined value is, for example, half the maximum cruising range of the flight device 200 . On the other hand, the flight plan creation unit 132 does not subtract the flight suitability from the flight suitability stored in the storage unit 12 when the flight distance is less than the predetermined value.

[(2) Regions where the flight route passes]
In densely populated areas, avoidance objects are likely to be concentrated. If the flight plan creation unit 132 sets a low value as the density threshold in such an area, it may be difficult to set the flight route. Therefore, the flight plan creating unit 132 adds a score to the flight adequacy stored in the storage unit 12 when the population density of the area where the flight device 200 flies is equal to or higher than the reference value. The reference value is, for example, a statistic of population density in urban areas of a plurality of ordinance-designated cities. On the other hand, if the population density of the region where the flight device 200 flies is less than the reference value, the flight plan creation unit 132 does not add the score to the flight adequacy stored in the storage unit 12 .

[(3) Time period]
Also, even in the same area, the probability of occurrence of a state in which objects to be avoided are concentrated differs depending on the time zone. For example, in business districts, objects to be avoided are likely to be concentrated during commuting hours. The storage unit 12 stores regions in association with congestion time zones in which objects to be avoided are likely to be concentrated. If the congestion time period stored in the storage unit 12 in association with the area in which the flight device 200 flies and the time period in which the flight device 200 flies match, the flight plan creation unit 132 stores the congestion time zone in the storage unit 12. Adds the score to the flight suitability that is present. On the other hand, the flight plan creation unit 132 does not add the score to the flight adequacy stored in the storage unit 12 when the busy time period and the time period in which the flight device 200 flies do not match.

[(4) Weather information]
When the weather is bad while the flight device 200 is flying, the risk of the flight device 200 crashing or falling objects from the flight device 200 is higher than when the weather is fine. The flight plan creation unit 132 stores in the storage unit 12 when the wind speed or amount of rainfall indicated by the weather information acquired from the flight device 200 is equal to or higher than the reference value, or when the temperature indicated by the weather information is equal to or lower than the reference temperature. Subtract the score from the flight suitability that is in place. The reference value of wind speed or amount of rainfall is, for example, half of the upper limit value of wind speed or amount of rainfall defined by the standard of the flight device 200 . The reference temperature is a value higher than the lower limit of the operating temperature defined by the standards of the flight device 200, for example, 0 degrees Celsius.

[(5) Specifications of flight device 200]
The flight plan creation unit 132 subtracts the score from the flight adequacy stored in the storage unit 12 when the size or weight of the flight device 200 included in the specifications of the flight device 200 is greater than or equal to a reference value. The reference value is a value predetermined by the administrator of the flight device 200 according to the degree of damage expected when the flight device 200 or the like comes into contact with an object to be avoided at the time of crash. On the other hand, when the size or weight of the flight device 200 is less than the reference value, the score is not subtracted from the flight suitability stored in the storage unit 12 .

If the maximum wind resistance or maximum battery capacity included in the specifications of the flight device 200 is large, the flight stability of the flight device 200 will be high, and the risk of the flight device 200 crashing or falling objects from the flight device 200 will occur. The risks can be said to be relatively small. If the maximum wind pressure resistance or maximum battery capacity included in the specifications of the flight device 200 is equal to or greater than a reference value, the flight plan creation unit 132 adds the flight adequacy stored in the storage unit 12 .

The reference value of the maximum wind pressure resistance is, for example, a value that allows flight under wind pressure that normally occurs in the region where the flight device 200 flies. The reference value for the maximum battery capacity is, for example, a value that allows the flight device 200 to fly twice or more as far as the flight distance. If the maximum wind pressure resistance or the maximum battery capacity included in the specifications of the flight device 200 is less than the reference value, the flight plan creation unit 132 does not add the flight suitability stored in the storage unit 12 .

[(6) Life insurance or non-life insurance]
As described above, if the flight device 200 does not have life insurance or non-life insurance, the user of the flight device 200 bears the burden of compensating for the damage if the flight device 200 or the like comes into contact with the object to be avoided in the event of a crash. It may become too large. The flight plan creation unit 132 subtracts the score from the flight adequacy stored in the storage unit 12 when the flight device 200 is not covered by life insurance or non-life insurance. On the other hand, if the flight device 200 is covered by life insurance or non-life insurance, the flight plan creation unit 132 does not subtract the score from the flight adequacy stored in the storage unit 12 .

[(7) Presence or absence of other flight devices]
If another flight device 200 is scheduled to fly while one flight device 200 is in flight, there is a risk that the flight devices 200 will collide with each other. Therefore, when the storage unit 12 stores a flight plan indicating that another flight device 200 is scheduled to fly during the flight of the flight device 200, the flight plan creation unit 132 causes the storage unit 12 to Subtract the score from the memorized flight suitability. On the other hand, if the storage unit 12 does not store a flight plan indicating that another flight device 200 is scheduled to fly while the flight device 200 is in flight, the flight plan creation unit 132 causes the storage unit 12 to store the flight plan. No score is subtracted from the flight suitability for flying.

[(8) Remaining battery level]
If the flight device 200 does not have enough remaining battery power, there is a possibility that the remaining battery power will run short due to an increase in flight distance caused by avoiding high-density areas. Therefore, based on the remaining battery level included in the flight device information acquired from the flight device 200, the flight plan creating unit 132 determines that the remaining battery level is equal to or less than a predetermined value when the flight device 200 flies along the flight route. Determine whether or not The flight plan creation unit 132 adds a score to the flight adequacy stored in the storage unit 12 when the remaining battery level is equal to or less than a predetermined value when the flight device 200 flies according to the flight route. The predetermined value is, for example, one third of the maximum battery capacity of the flight device 200 . On the other hand, the flight plan creating unit 132 does not add a score to the flight adequacy stored in the storage unit 12 when the remaining battery level is greater than the predetermined value when the flight device 200 flies according to the flight route.

[(9) Time limit for arrival at destination]
If the flight device 200 has a relatively short time until the arrival deadline at the destination, there is a possibility that the flight device 200 will not reach the destination by the arrival deadline due to an increase in flight time due to avoidance of high-density areas. . Therefore, based on the position information acquired from the flight device 200, the flight plan creation unit 132 determines whether or not the flight device 200 will arrive at the destination at least a predetermined time before the arrival deadline if the flight device 200 flies according to the flight route. judge. The predetermined time is, for example, 10 minutes. If the flight plan creation unit 132 determines that the flight device 200 does not arrive at the destination within a predetermined time before the arrival deadline when the flight device 200 flies according to the flight route, Subtract the score. On the other hand, if the flight plan generation unit 132 determines that the flight device 200 will arrive at the destination more than the predetermined time before the arrival deadline if the flight device 200 flies according to the flight route, the flight appropriateness stored in the storage unit 12 Do not subtract score from

The flight plan creation unit 132 determines the density threshold value based on the flight adequacy after addition or subtraction in all or a combination of steps (1) to (9) above. At this time, the flight plan creation unit 132 determines the density threshold such that the higher the flight adequacy, the higher the density threshold. In addition, the flight plan creation unit 132 determines, among steps (1) to (9), (1) flight distance, (4) weather information, (7) presence or absence of other flight devices, and (5) flight device By adding or subtracting the score to or from the flight suitability for the maximum wind resistance or maximum battery capacity among the specifications, the flight suitability can be calculated in consideration of the risk of crashing of the flight device 200 and the like. By omitting these steps, the flight plan creating unit 132 may calculate the flight adequacy without considering the risk of crashing of the flight device 200 or the like.

In addition, the flight plan creation unit 132 determines (1) flight distance, (4) weather information, (7) presence or absence of other flight devices, and (5) maximum wind pressure resistance or maximum battery capacity among flight device specifications. Based on one or more of the above, the risk of crash of the flying device 200 is calculated comprehensively, and if it is determined that the risk of crash of the flying device 200 is higher than a predetermined value, the density threshold is made smaller. You can change it. The predetermined value is, for example, a statistic of crash risk during flight of a plurality of other flight devices. The flight plan generator 132 transmits the determined density threshold to the flight device 200 .

[Priority determination]
When the flight plan creating unit 132 creates a flight plan including a plurality of flight routes, the flight plan creating unit 132 calculates flight suitability for each of the plurality of flight routes included in the flight plan when the flight device 200 flies the flight routes. can be calculated. The flight plan creation unit 132 may prioritize the flight routes included in the flight plan based on the calculated flight adequacy. For example, the flight plan creation unit 132 assigns high priority to flight routes calculated in descending order of flight adequacy.

[Display of crowded places]
The display control unit 133 reads out the crowded places registered in the storage unit 26 and generates a map image in which circle images indicating the positions of the read out crowded places are superimposed. The display control unit 133 causes the display unit to display the generated map image via the communication unit 11 . The display unit is, for example, a display connected to the flight management device 100, but may be a display of another terminal.

FIG. 8 is a diagram showing an example of a map image. For example, it is displayed on the display of the flight management device 100 when an administrator of the flight device 200 who uses the flight management device 100 activates application software for creating a flight route. The display control unit 133 superimposes and displays a plurality of circle images C indicating a plurality of crowded places on the map image. The flight route created by the flight plan creating unit 132 is indicated by an arrow. In the map image of FIG. 8, the display control unit 133 may color-code, for example, red, the area of the flight route that passes over the object to be avoided. Further, the display control unit 133 may display the flight position of the flying device 200 on the flight route in different colors, such as red, while passing over the object to be avoided.

The storage unit 26 associates and stores a crowded place and a captured image of the crowded place. The display control unit 133 reads out the captured image associated with the selected crowded place from the storage unit 26 when it is selected on the display displaying the circle image C corresponding to one of the crowded places. The display control unit 133 displays the read captured image on the display. The captured image is, for example, an image of a crowded place captured within the most recent predetermined period.

Further, the display control unit 133 may cause the display to display an image indicating the degree of congestion of the crowded place instead of the captured image of the crowded place. With such a configuration, the user of the flying device 200 can easily grasp the degree of congestion in the crowded place by checking the captured image of the crowded place or the image indicating the degree of congestion.

[Processing Procedure of Flight Device 200]
9 and 10 are flowcharts showing avoidance processing of the high-density region R by the flight device 200. FIG. This processing procedure starts when the camera 23 captures an image of the first area H forward and below the position of the flight device 200 during flight.

First, the flight control unit 273 identifies a high-density area R having a density of avoidance objects equal to or higher than a predetermined density threshold within the first area H (S101). The flight control unit 273 determines whether or not the flight route determined in the flight plan acquired by the acquisition unit 271 passes through the high-density area R (S102). When the flight control unit 273 determines that the flight route passes through the high density region R (YES in S102), it determines whether or not the object to be avoided in the high density region R is moving (S103). When the flight control unit 273 determines that the object to be avoided in the high-density area R is moving (YES in S103), it stops in a hovering state (S104).

The flight control unit 273 determines whether or not the high-density area R immediately below the flight route acquired by the acquisition unit 271 has changed to a low-density area while the aircraft is stopped in the hovering state (S105). If the high-density region R immediately below the flight route acquired by the acquisition unit 271 remains after the hovering state is stopped (NO in S105), the flight control unit 273 selects all regions within the first region H. is the high density region R (S106).

When the flight control unit 273 determines that all the regions in the first region H are high-density regions R (YES in S106), the flight control unit 273 controls the camera to capture an image of a second region different from the first region H. Change the orientation of 23. The flight control unit 273 determines whether or not there is a low-density area in which the density of avoidance targets is less than a predetermined density threshold within the second area (S107). When the flight control unit 273 determines that there is no low-density region within the second region (NO in S107), it increases the flight altitude (S201), The orientation of the camera 23 is changed so as to image three areas. The flight control unit 273 determines whether or not there is a low-density area in which the density of avoidance targets is less than a predetermined density threshold within the third area (S202). When the flight control unit 273 determines that a low-density area exists within the third area (YES in S202), it changes the flight route so as to pass through this low-density area (S203), and ends the process. .

When the flight control unit 273 determines in S102 that the flight route does not pass through the high-density area R (NO in S102), the flight control unit 273 moves on the flight route without changing the flight route (S204). When the flight control unit 273 determines in the determination of S103 that the object to be avoided in the high-density area has not moved (NO in S103), the process proceeds to the determination of S105.

After stopping in the hovering state, the flight control unit 273 changes the flight route if the high-density region R immediately below the flight route acquired by the acquisition unit 271 changes to a low-density region (YES in S105). Instead, it moves on the flight route (S204). When the flight control unit 273 determines in S106 that a low-density region exists within the first region H (NO in S106), it changes the flight route so as to pass through this low-density region (S203), End the process.

If the flight control unit 273 determines in S107 that a low-density area exists within the second area (YES in S107), the flight control unit 273 changes the flight route so as to pass through this low-density area (S203). exit. When the flight control unit 273 determines in the determination of S202 that the low-density area does not exist in the third area (NO in S202), the process returns to S104.

In order to reduce the risk of the flying device 200 coming into contact with an object to be avoided when crashing or the risk of an object falling from the flying device 200 coming into contact with an object to be avoided, it is recommended to fly so as not to fly over the object to be avoided. Conceivable. However, when the number of objects to be avoided is relatively large, it may be difficult to fly so as to avoid flying over the objects to be avoided. According to the present embodiment, the flight control unit 273 causes the flight device 200 to fly by changing the flight plan so as to avoid high-density areas where the density of objects to be avoided is greater than or equal to the density threshold. Therefore, even if the number of objects to be avoided is relatively large, the flight control unit 273 can reduce the risk of contacting the objects to be avoided when the flight device 200 crashes. Further, the flight control unit 273 increases the flight altitude when it determines that the low-density area does not exist in the second area, so that the low-density area can be found with high accuracy.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist thereof. be. For example, specific embodiments of device distribution/integration are not limited to the above-described embodiments. can be done. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

11 communication unit 12 storage unit 13 control unit 21 communication unit 22 position sensor 23 camera 24 flight mechanism 25 detection unit 26 storage unit 27 control unit 100 flight management device 131 registration unit 132 flight plan creation unit 133 display control unit 200 flight device 271 acquisition Part 272 Identification part 273 Flight control part 300 Base station

Claims (10)

A management device that creates a flight route for a flight device that flies in the air,
A registration unit that acquires information indicating a crowded place from the flight device and stores the crowded place in a storage unit,
The storage unit stores the crowded place ,
A flight plan creation unit that creates a flight route so as to fly a route that is at least a predetermined distance from the location stored in the storage unit as the congestion location ;
a transmission unit that transmits the flight route created by the flight plan creation unit to the flight device ;
A management device further comprising: A management device that creates a flight route for a flight device that flies in the air,
a specifying unit that specifies the degree of congestion in a predetermined area;
a determination unit that determines a determination threshold for creating the flight route based on weather information or the presence or absence of other flight devices;
a registration unit that stores the predetermined area in which the degree of congestion is higher than the determination threshold as a crowded place in a storage unit ;
The storage unit stores the crowded place,
a flight plan creation unit that creates the flight route so as to fly a route that is at least a predetermined distance away from the location stored in the storage unit as the congestion location;
a transmission unit that transmits the flight route created by the flight plan creation unit to the flight device;
A management device, further comprising: A management device that creates a flight route for a flight device that flies in the air,
a storage unit that stores congestion locations;
a registration unit that erases from the storage unit information indicating the crowded place for which a predetermined registration erasure period has passed;
a flight plan creation unit that creates a flight route so as to fly a route that is a predetermined distance or more away from a place that is stored in the storage unit as the crowded place and the registration deletion period has not passed;
a transmission unit that transmits the flight route created by the flight plan creation unit to the flight device;
A management device comprising : A management device that creates a flight route for a flight device that flies in the air,
Acquisition of the crowded place where congestion is expected to occur due to the holding of the event, the date when the congestion is expected to occur, and the time period when the congestion is expected to occur, and the acquired crowded place, the date, a registration unit that associates the time zone and stores it in the storage unit ,
The storage unit associates and stores the crowded place, the date, and the time period,
A flight plan creation unit that creates a flight route so as to fly a route that is at least a predetermined distance from the location stored in the storage unit as the congestion location;
a transmission unit that transmits the flight route created by the flight plan creation unit to the flight device;
A management device , further comprising: A management device that creates a flight route for a flight device that flies in the air,
A registration unit for storing congestion locations in a storage unit based on the number of terminals simultaneously connected to the base station ,
The storage unit stores the crowded place,
A flight plan creation unit that creates a flight route so as to fly a route that is at least a predetermined distance from the location stored in the storage unit as the congestion location;
a transmission unit that transmits the flight route created by the flight plan creation unit to the flight device;
A management device , further comprising: The flight plan creation unit creates a new flight route when request information requesting another flight plan with a different flight route is obtained from the flight device.
The management device according to any one of claims 1 to 5 . the computer runs
A management method for creating a flight route for a flight device flying in the air, comprising:
a step of acquiring information indicating a crowded place from the flying device and storing the crowded place in a storage unit;
a step of creating a flight route so as to fly a route that is at least a predetermined distance from the place stored as the crowded place in the storage unit ;
transmitting the created flight route to the flight device;
management method with the computer runs
A management method for creating a flight route for a flight device flying in the air, comprising:
a step of erasing information indicating a crowded place for which a predetermined registration erasure period has elapsed from a storage unit that stores a plurality of crowded places;
a step of creating a flight route so as to fly a route that is at least a predetermined distance away from a place that is stored as the crowded place in the storage unit and for which the registration deletion period has not passed ;
transmitting the created flight route to the flight device;
management method with to the computer,
a step of acquiring information indicating a crowded place from a flight device flying in the air and storing the crowded place in a storage unit;
a step of creating a flight route so as to fly a route that is at least a predetermined distance from the place stored as the crowded place in the storage unit;
transmitting the created flight route to the flight device;
program to run the to the computer,
a step of erasing information indicating a crowded place for which a predetermined registration erasure period has elapsed from a storage unit that stores a plurality of crowded places;
A flight route is created for a flying device that flies in the air so as to fly a route that is at least a predetermined distance away from a place that is stored as the crowded place in the storage unit and for which the registration deletion period has not passed. and
transmitting the created flight route to the flight device;
program to run the

Images