JP7177742B2 - Disaster information collection system, disaster information collection method and disaster information collection program - Google Patents

Description

The present invention relates to a disaster information collection system, a disaster information collection method, and a disaster information collection program. In particular, the present invention relates to a disaster information collection system, a disaster information collection method, and a disaster information program for collecting information using an aircraft.

When a disaster such as an earthquake occurs, it is important to quickly and accurately collect disaster information, such as the scale of the disaster and the extent of damage, from the perspective of saving lives and preventing secondary disasters. In recent years, various techniques have been developed for quickly and accurately collecting disaster information.

In Patent Document 1, a flying object such as a drone flies in accordance with geographic information stored in a geographic information storage unit, shoots an object to be monitored from the sky, transmits the imaged video signal to a predetermined location, A technique for collecting disaster information is described by returning to The aircraft of Patent Document 1 flies along a predetermined flight route and collects disaster information when a disaster occurs.

JP 2018-181285 A

By the way, when a large-scale disaster such as a huge earthquake occurs, the range of influence is wide, so from the viewpoint of suppressing secondary disasters such as fires, it is necessary to efficiently collect disaster information. For example, it is conceivable to efficiently collect disaster information by flying aircraft in order from places where secondary disasters are likely to occur and collecting information.

However, in the technique of Patent Document 1, no consideration is given to the flight route for the aircraft to fly. Therefore, with the technique disclosed in Patent Document 1, there is a possibility that disaster information cannot be efficiently collected and secondary disasters cannot be effectively suppressed.

The present invention has been made in view of the circumstances described above, and an object thereof is to solve the problems described above. That is, one example of the problem of the present invention is to effectively suppress secondary disasters by quickly and efficiently collecting disaster information.

A disaster information collection system according to the present invention comprises a detection device installed in a fluid supply network that supplies fluid to consumers, and detecting occurrence of a disaster in an area having the fluid supply network; A cutoff device that is installed and stops the supply of the fluid based on the detection result of the detection device, a flying object that flies over the area and monitors the damage situation of the area, and the cutoff device that stops the supply of the fluid. and a management device that collects the situation and the damage situation acquired by the flying object, wherein the blocking device is composed of a plurality of the blocking devices installed at a plurality of points on the fluid supply network, The management device divides the plurality of cutoff devices into a first cutoff device whose supply of the fluid has not been stopped and a second cutoff device whose supply of the fluid has been stopped based on the collected supply stop conditions. and if one of the adjacent blocking devices is the first blocking device and the other is the second blocking device, the flying object prefers the installation point of the second blocking device to the first blocking device. A flight route of the aircraft is determined so as to fly through the installation point of the blocking device, and the aircraft is flown according to the determined flight route.

Preferably, in the disaster information collection system, the area is divided into a plurality of blocks based on the installation points of the blocking devices, and the management device divides the blocks into A first block to which only the second blocking device belongs is discriminated into a first block to which only the second blocking device belongs, and one of the adjacent blocks is the first block and the other is the second block. If so, the flight route is determined so that the flying object flies over the first block with priority over the second block.

Preferably, the disaster information collection system further includes a sensor installed for each consumer to detect the occurrence of the disaster, and the management device detects the occurrence of the disaster based on the detection result of the sensor and the installation position of the sensor. , to determine the flight route.

Preferably, in the disaster information collection system, the fluid is gas, the fluid supply network is a gas supply network provided with a governor for adjusting pressure of the gas, and the disaster is an earthquake. , the detector is a seismometer installed in the governor and capable of measuring the intensity of seismic motion; and the management device is a control device installed in a management center that manages the fluid supply network.

A disaster information collection system according to the present invention comprises a detection device installed in a fluid supply network that supplies fluid to consumers, and detecting occurrence of a disaster in an area having the fluid supply network; A cutoff device that is installed and stops the supply of the fluid based on the detection result of the detection device, a flying object that flies over the area and monitors the damage situation of the area, and the cutoff device that stops the supply of the fluid. a management device that collects the situation and the damage situation acquired by the flying object, wherein the area is divided into a plurality of blocks based on the installation points of the blocking devices, and the management device comprises , based on the collected supply stop status, the plurality of blocks are divided into a first block, which is the block to which the first shutoff device to which the fluid supply has not been stopped belongs, and a block to which the fluid supply has been stopped. The second block is the block to which only the second blocking device belongs, and if one of the adjacent blocks is the first block and the other is the second block, the flying object is the second block. A flight route of the flying object is determined so as to fly the first block with priority over the first block, and the flying object is flown according to the determined flight route.

A disaster information collection method according to the present invention includes: a detection device installed in a fluid supply network that supplies fluid to consumers and detecting occurrence of a disaster in an area having the fluid supply network; Using a system comprising a cutoff device that is installed and stops the supply of the fluid based on the detection result of the detection device, and a flying object that flies over the area and monitors the damage situation of the area, a disaster information collection method for collecting information on a disaster that has occurred in a first collecting step of collecting information on the supply stop status of the fluid in each of a plurality of the cutoff devices installed at a plurality of points in the fluid supply network; and discriminating the plurality of shutoff devices into a first shutoff device to which the supply of the fluid has not been stopped and a second shutoff device to which the supply of the fluid has been stopped, based on the collected supply stop conditions. a determining step, wherein one of the adjacent blocking devices is the first blocking device and the other is the second blocking device; a determining step of determining a flight route of the flying object so as to fly over the installation point of the blocking device; a flight step of flying the flying object according to the determined flight route; and a second collection step of collecting the damage status.

A disaster information collection method according to the present invention includes: a detection device installed in a fluid supply network that supplies fluid to consumers and detecting occurrence of a disaster in an area having the fluid supply network; A cutoff device that is installed and stops the supply of the fluid based on the detection result of the detection device, a flying object that flies over the area and monitors the damage situation of the area, and the cutoff device that stops the supply of the fluid. A disaster that occurred in the area divided into a plurality of blocks based on the installation point of the blocking device using a system comprising a management device that collects the situation and the damage situation acquired by the flying object. a first collection step of collecting information on the supply stoppage status of the fluid in the cutoff device; A block that distinguishes between a first block that is the block to which the first cutoff device to which the supply of fluid has not been stopped belongs and a second block that is the block to which only the second cutoff device to which the supply of the fluid has been stopped belongs. determining, when one of the adjacent blocks is the first block and the other is the second block, the flying object flies in the first block with priority over the second block; a determination step of determining a flight route of an aircraft; a flight step of flying the aircraft according to the determined flight route; and a second collection step of collecting the damage status acquired by the flying aircraft. And prepare.

A disaster information collection program according to the present invention includes a detection device installed in a fluid supply network that supplies fluid to consumers and detecting occurrence of a disaster in an area having the fluid supply network; Using a system comprising a cutoff device that is installed and stops the supply of the fluid based on the detection result of the detection device, and a flying object that flies over the area and monitors the damage situation of the area, a disaster information collection program that causes a computer to collect information on disasters that have occurred in the fluid supply network, wherein the first collection collects the supply stop status of the fluid in each of the plurality of the cutoff devices installed at the plurality of points of the fluid supply network and, based on the collected supply interruption status, the plurality of interruption devices into a first interruption device in which the supply of the fluid has not been stopped and a second interruption device in which the supply of the fluid has been stopped. a determination step of determining, and if one of the adjacent blocking devices is the first blocking device and the other is the second blocking device, the flying object has priority over the installation point of the second blocking device; a determination step of determining a flight route of the flying object so as to fly over the installation point of the first blocking device; a flight step of flying the flying object according to the determined flight route; and a second collection step of collecting the acquired damage status.

A disaster information collection program according to the present invention includes a detection device installed in a fluid supply network that supplies fluid to consumers and detecting occurrence of a disaster in an area having the fluid supply network; A cutoff device that is installed and stops the supply of the fluid based on the detection result of the detection device, a flying object that flies over the area and monitors the damage situation of the area, and the cutoff device that stops the supply of the fluid. A disaster that occurred in the area divided into a plurality of blocks based on the installation point of the blocking device using a system comprising a management device that collects the situation and the damage situation acquired by the flying object. A disaster information collection program for causing a computer to collect the information of the above, wherein a first collection step of collecting the supply stop status of the fluid in the cutoff device; and based on the collected supply stop status, the plurality of blocks into the first block, which is the block to which the first shutoff device to which the supply of the fluid has not been stopped belongs, and the second block, which is the block to which only the second shutoff device to which the supply of the fluid has been stopped belongs. a block discrimination step for discriminating, and when one of the adjacent blocks is the first block and the other is the second block, the flying object flies the first block with priority over the second block. a determining step of determining a flight route of the flying object; a flying step of flying the flying object according to the determined flight route; and collecting the damage status obtained by the flying flying object. 2 collection steps.

ADVANTAGE OF THE INVENTION According to this invention, disaster information can be collected rapidly and efficiently, and a secondary disaster can be suppressed effectively.

1 is a diagram schematically showing an area where a disaster information collection system according to Embodiment 1 is introduced; FIG. FIG. 2 is a diagram schematically showing a fluid supply network within one block shown in FIG. 1; 1 is a diagram showing the configuration of a disaster information collection system according to Embodiment 1; FIG. 4 is a diagram showing the flow of disaster information collection processing according to the first embodiment; FIG. 4 is a diagram showing the flow of flight route determination processing according to Embodiment 1. FIG. FIG. 6 is a diagram for explaining a flight route determined by the processing shown in FIG. 5; FIG. FIG. 10 is a diagram showing the flow of flight route determination processing according to the second embodiment; FIG. 8 is a diagram for explaining a flight route determined by the processing shown in FIG. 7; FIG. FIG. 11 is a diagram for explaining a flight route determined by flight route determination processing according to the third embodiment;

[Embodiment 1: Configuration of disaster information collection system]
FIG. 1 is a diagram schematically showing an area A in which a disaster information collection system 1 according to Embodiment 1 is introduced. FIG. 2 is a diagram schematically showing a fluid supply network within one block B shown in FIG.

Area A where the disaster information collection system 1 is introduced is a fluid supply area having a fluid supply network that supplies fluid to consumers. The fluid is gas, tap water, or the like. The fluid supply network is, for example, a gas supply network in which gas pipes are laid, or a tap water supply network in which tap water pipes are laid. In this embodiment, as an area A where the disaster information collection system 1 is introduced, a gas supply area having a gas supply network for supplying city gas will be described as an example.

FIG. 1 shows a gas supply area of city gas. The gas supply network of area A shown in FIG. 1 is a pipeline network of medium-low pressure gas obtained by depressurizing and adjusting high pressure gas produced at a gas production base. In the gas supply network of area A shown in FIG. 1, a governor G is installed to adjust the pressure of medium-pressure gas and supply low-pressure gas. This governor G is also called a district governor.

Area A shown in FIG. Each of the plurality of blocks B includes a gas pipe P extending inside each block B and a plurality of governors G installed in the gas pipe P, as shown in FIG. Adjacent blocks B are partitioned by a governor G. That is, the area A is divided into a plurality of blocks B based on the location where the governor G is installed. Note that FIG. 1 shows an example in which a plurality of blocks B(1) to B(14) exist within area A. In FIG. FIG. 2 shows an example in which one block B has a plurality of governors G(1) to G(7).

In area A, as shown in FIG. 1, there are installed a management center C that centrally manages the entire gas supply network of area A, and a remote base D that is located away from the management center C. . The management center C monitors the governor G, the gas pipe P, and their peripheral facilities with a camera or the like, and remotely controls the governor G or the like when an unforeseen situation occurs. Further, the management center C performs remote control of the aircraft 5 installed at the remote base D, and the like.

FIG. 3 is a diagram showing the configuration of the disaster information collection system 1 according to the first embodiment.

The disaster information collection system 1 is a system that collects disaster information such as the scale of the disaster and the state of damage when a disaster occurs in Area A. When the disaster information collection system 1 is applied to a system for collecting disaster information when an earthquake occurs, the disaster information collection system 1 is a system incorporated in a super-high-density real-time earthquake disaster prevention system (SUPREME: registered trademark). good.

The disaster information collection system 1 includes a detection device 2, a blocking device 3, an aircraft 5, and a management device 10, as shown in FIG.

The detection device 2 is a device that is installed at a plurality of points in the gas supply network and detects the occurrence of a disaster in the area A. When the disaster information collection system 1 is applied to a system that collects disaster information when an earthquake occurs, the detection device 2 is installed in the governor G that constitutes the gas supply network, and measures the strength of the earthquake motion or the scale of the earthquake. It may be a seismometer capable. In this case, the detection device 2 is preferably a seismometer that includes an SI (Spectral Intensity) sensor and obtains an SI value as measurement data.

A detection device 2 configured by an SI sensor detects the occurrence of an earthquake based on the SI value acquired as measurement data. For example, if the acquired SI value is equal to or greater than a predetermined threshold value, the detection device 2 detects that an earthquake having a predetermined seismic intensity or greater has occurred. Then, the detection device 2 transmits to the blocking device 3 a detection result indicating that an earthquake with a predetermined seismic intensity or more has occurred. Furthermore, the detection device 2 transmits the SI value acquired as measurement data to the management device 10 . Note that the detection device 2 may transmit the SI value to the blocking device 3 .

The shutoff devices 3 are installed at multiple points in the gas supply network, and are devices that stop the gas supply based on the detection result of the detection device 2 . Specifically, the shutoff device 3 is installed in the governor G that constitutes the gas supply network, and is composed of a shutoff valve that stops the supply of gas to the governor G based on the measurement data of the detection device 2 . The shutoff device 3 includes an automatic shutoff unit 4 that automatically stops the gas supply based on the measurement data of the detection device 2 without receiving a command from the management center C. When the disaster information collection system 1 is applied to a system that collects disaster information when an earthquake occurs, the automatic shutoff unit 4 will detect if the SI value obtained as the measurement data of the detection device 2 is equal to or greater than a predetermined threshold. The supply of gas to the governor G is stopped on the assumption that an earthquake greater than the seismic intensity has occurred. In addition, the cutoff device 3 transmits the gas supply stop status to the management device 10 in real time. The gas supply stop status is information indicating whether the gas supply has been stopped.

The flying object 5 is a flying object that flies over the area A and monitors the damage situation of the area A. The flying object 5 is composed of an unmanned flying object such as a drone or a manned flying object such as a helicopter. The flying object 5 is installed in the remote base D, and conducts a surveillance flight of the area A based on the command from the control center C. The flying object 5 has a camera 6 composed of an optical camera and an infrared camera. Air vehicle 5 monitors area A by acquiring optical and infrared images with camera 6 . The optical and infrared images acquired by the camera 6 when a disaster occurs can show the extent of damage in Area A. The flying object 5 transmits the acquired optical images and infrared images to the management device 10 in real time.

The management device 10 is installed in a management center C that manages the gas supply network, and is a control device that controls each component of the disaster information collection system 1 in an integrated manner. The management device 10 includes a processor, a storage device, and a control unit including a program implementing the functions of the disaster information collection system 1 .

Specifically, the management device 10 collects various types of information about the area A, including disaster information, and a blocking device control unit 11 that remotely controls the blocking device 3, a flying object control unit 12 that remotely controls the flying object 5. An information collection unit 13 and an information analysis unit 14 for analyzing the information collected by the information collection unit 13 are provided.

The information collecting unit 13 collects measurement data of the detection device 2 , gas supply stop status in the cutoff device 3 , and optical images and infrared images acquired by the camera 6 . When the disaster information collection system 1 is applied to a system for collecting disaster information when an earthquake occurs, the information analysis unit 14 detects an earthquake with a predetermined seismic intensity or more if the SI value acquired as measurement data is a predetermined threshold or more. has occurred, and the distribution of earthquake magnitudes in the entire area A will be clarified. Furthermore, based on the acquired optical images and infrared images, the information analysis unit 14 analyzes the presence or absence of equipment abnormalities such as gas leaks and the occurrence of secondary disasters such as fires. Clarify the distribution of damage.

In addition, the management device 10 classifies the multiple shutoff devices 3 existing in the area A as the “first shutoff device” and the “second A blocking device discriminating unit 15 for discriminating as a blocking device is provided. The first shut-off device is the shut-off device 3 for which the supply of gas has not been stopped. The second shutoff device is the shutoff device 3 to which the gas supply has been stopped. The blocking device discriminating unit 15 clarifies the distribution of the first blocking devices and the second blocking devices in the entire area A. FIG.

Furthermore, the management device 10 divides the plurality of blocks B into which the area A is divided based on the determination result of the first blocking device and the second blocking device by the blocking device determination unit 15, into the "first block" and the "second block." ” is provided. A first block is a block B in which a plurality of blocking devices 3 belonging to the block B includes a first blocking device. A second block is a block B in which the first blocking device is not included among the plurality of blocking devices 3 belonging to the block B. FIG. That is, the first block is block B to which the first blocking device belongs, and the second block is block B to which only the second blocking device belongs. The block discriminator 16 clarifies the distribution of the first blocks and the second blocks in the entire area A. FIG.

Furthermore, the management device 10 includes a flight route determination unit 17 that determines the flight route R of the aircraft 5 based on the determination results of the first and second isolation devices by the isolation device determination unit 15 . If one of the adjacent blocking devices 3 is the first blocking device and the other is the second blocking device, the flight route determination unit 17 determines that the aircraft 5 preferentially performs the first blocking over the installation point of the second blocking device. A flight route R is determined so as to fly the installation point of the device. Determining the flight route will be described later with reference to FIGS. 5 and 6. FIG. The management device 10 uses the aircraft control unit 12 to fly the aircraft 5 according to the flight route R determined by the flight route determination unit 17 .

[Embodiment 1: Disaster information collection processing]
FIG. 4 is a diagram showing the flow of disaster information collection processing according to the first embodiment.

The management device 10 executes a “disaster information collection process” for collecting disaster information when a disaster occurs. In this embodiment, the method of collecting disaster information by the disaster information collection process is also called a "disaster information collection method", and the program for causing a computer to execute the disaster information collection process is also called a "disaster information collection program".

In step 401 , the management device 10 collects measurement data of the detection device 2 .

In step 402 , the management device 10 collects the gas supply stop status in the cutoff device 3 .

In step 403, the management device 10 divides the plurality of shutoff devices 3 existing in the area A into the first shutoff device and the second shutoff device based on the gas supply stop status of the shutoff devices 3 collected in step 402. discriminate.

At step 404 , the management device 10 distinguishes the plurality of blocks B into first blocks and second blocks based on the result of the discrimination of the first blocking device and the second blocking device at step 403 .

In step 405 , the management device 10 executes flight route determination processing for determining the flight route R of the aircraft 5 based on the determination result of the first blocking device and the second blocking device in step 403 . Details of the flight route determination process will be described later with reference to FIGS. 5 and 6. FIG.

At step 406 , the management device 10 flies the aircraft 5 along the flight route R determined at step 405 .

In step 407, the management device 10 analyzes the optical image and the infrared image acquired by the aircraft 5 flying in step 406, and collects the damage status of the area A.

At step 408, the management device 10 executes necessary security measures based on the various information collected at steps 401-404 and 407. FIG. For example, the management device 10 remotely controls the cutoff device 3 for which the gas supply has not been stopped based on the gas supply cutoff status of the cutoff device 3 and the damage status acquired by the aircraft 5. implement security measures to stop After step 408, the management device 10 terminates this process.

FIG. 5 is a diagram showing the flow of flight route determination processing according to the first embodiment. FIG. 6 is a diagram for explaining the flight route R determined by the processing shown in FIG.

The flight route determination process is a process for determining the flight route R of the aircraft 5 in the entire area A. However, in the explanation using FIG. 6, in order to facilitate understanding of the flight route determination process, an example of how the flight route R is determined within one block B included in the area A will be described. .

In FIG. 6, there are a plurality of governors G(1) to G(7) in one block B, and one cutoff device 3 is installed in each of the plurality of governors G(1) to G(7). An example is shown. In FIG. 6, the governor G indicated as "open" indicates that the shutoff device 3 installed in this governor G corresponds to the first shutoff device without stopping the gas supply. In FIG. 6, the governor G indicated as "closed" indicates that the shutoff device 3 installed in this governor G has stopped the gas supply and corresponds to the second shutoff device.

In step 501, the management device 10 determines whether or not the first blocking device exists as a result of the discrimination between the first blocking device and the second blocking device in step 403 of FIG. The management device 10 proceeds to step 513 when the first blocking device does not exist. On the other hand, the management device 10 proceeds to step 502 when the first blocking device exists.

In the example of FIG. 6, the breaker 3 installed in the governors G(1) to G(3) exists as the first breaker.

At step 502 , the management device 10 determines the first interceptor closest to the remote base D on which the vehicle 5 is installed as the first waypoint on the flight route R of the vehicle 5 . In the present embodiment, the point through which the flying object 5 departed from the remote base D will be referred to as the "xth waypoint". x is an argument that takes a natural number value. The lower limit of x is 1, and the upper limit of x is the total number of blocking devices 3 existing in area A. That is, the first waypoint is the point through which the flying object 5 departing from the remote base D first goes through.

In the example of FIG. 6, the cutoff device 3 installed in the governor G(1) corresponds to the first cutoff device closest to the remote base D. Therefore, the management device 10 determines the blocking device 3 installed in the governor G(1) as the first waypoint.

In step 503, the management device 10 determines whether or not the first blocking device exists among the blocking devices 3 adjacent to the m-th waypoint. This m-th waypoint is the waypoint determined immediately before step 503 is executed. m is an argument that takes the value of a natural number. The management device 10 proceeds to step 505 when the first blocking device does not exist among the blocking devices 3 adjacent to the m-th waypoint. On the other hand, if the first blocking device exists among the blocking devices 3 adjacent to the m-th waypoint, the management device 10 proceeds to step 504 .

In step 504, the management device 10 determines the first blocking device adjacent to the mth waypoint as the (m+1)th waypoint. The (m+1)-th waypoint is a point that the flying object 5 passes through after the m-th waypoint. When there are a plurality of first blocking devices adjacent to the m-th way point, the first blocking device closest to the m-th way point among the plurality of first blocking devices adjacent to the m-th way point is (m+1) Determine the waypoint. After step 504 , the management device 10 proceeds to step 506 .

In the example of FIG. 6, the cutoff device 3 installed in the governor G(1) is the first waypoint, but the cutoff device 3 installed in the governor G(2) is the first waypoint adjacent to the first waypoint. 1 interrupter. Therefore, the management device 10 determines the blocking device 3 installed in the governor G(2) as the second waypoint. Similarly, since the cutoff device 3 installed in the governor G(3) corresponds to the first cutoff device adjacent to the second waypoint, the management device 10 sets the cutoff device 3 installed in the governor G(3) to , is determined as the third waypoint.

In step 505, the management device 10 determines the second blocking device adjacent to the mth waypoint as the (m+1)th waypoint. If there are multiple second blocking devices adjacent to the m-th way point, the route to the first blocking device closest to the m-th way point among the plurality of second blocking devices adjacent to the m-th way point A second blocking device existing nearby is determined as the (m+1)-th waypoint. After step 505 , the management device 10 proceeds to step 506 .

In step 506, the management device 10 determines whether or not all the first blocking devices included in the result of discrimination of the first blocking devices have been determined as waypoints. The management device 10 proceeds to step 503 when all the first blocking devices have not been determined as waypoints. On the other hand, the management device 10 proceeds to step 507 when all the first blocking devices are determined as waypoints. When the process proceeds from step 506 to step 503, if neither the first blocking device nor the second blocking device exists among the blocking devices 3 adjacent to the m-th way point, The closest first blocking device may be determined as the (m+1)-th waypoint.

In the example of FIG. 6, when the blocking device 3 installed in the governor G(3) is determined as the third waypoint, all the first blocking devices are determined as the waypoint.

In step 507, the management device 10 determines whether or not there is a second blocking device added to the flight route R among the second blocking devices deviated from the route passing through the waypoints determined in steps 502-506. do. The management device 10 detects the presence of second breakers outside the route that passes through the determined waypoints, such as second breakers that exist around facilities important for security or that exist on soft ground, for example. These secondary blocking devices can be added to the flight route R if there is. If there is no second blocking device to be added to the flight route R among the second blocking devices deviating from the route passing through the determined waypoint, the management device 10 proceeds to step 512 . On the other hand, if there is a second blocking device to be added to the flight route R among the second blocking devices deviated from the route passing through the determined waypoint, the management device 10 proceeds to step 508 .

In step 508, the management device 10 selects a second blocking device to be added to the flight route R from among the second blocking devices deviating from the route passing through the waypoints determined in steps 502-506.

In the example of FIG. 6, the second shutoff device that is off the route passing through the governors G(1) to G(3) is the shutoff device 3 installed in the governors G(4) to G(7). Among the isolation devices 3 installed in governors G(4) to G(7), the second isolation device to be added to flight route R is the isolation device 3 installed in governors G(5) and G(7). , the management device 10 selects the blocking devices 3 installed in the governors G(5) and G(7).

In step 509, the management device 10 selects the second breaking device closest to the n-th waypoint, which is the last waypoint of the first breaking device, from among the second breaking devices selected in step 508. ) determines the waypoint. n is an argument that takes the value of a natural number. The (n+1)th waypoint is the point through which the flying object 5 passes after the nth waypoint.

In the example of FIG. 6, the last waypoint of the first cutoff device is the cutoff device 3 installed in the governor G(3) determined as the third waypoint. The breaker 3 installed in the governor G(5) corresponds to the second breaker closest to the last waypoint of the first breaker among the selected second breakers. Therefore, the management device 10 determines the blocking device 3 installed in the governor G(5) as the fourth waypoint.

In step 510, the management device 10 determines the second blocking device closest to the pth waypoint among the second blocking devices selected in step 508 as the (p+1)th waypoint. This p-th waypoint is the waypoint determined immediately before step 510 is executed. p is an argument that takes a natural number value. The (p+1)-th waypoint is the point through which the flying object 5 passes after the p-th waypoint. If there is no second blocking device to be determined at the (p+1)-th waypoint among the second blocking devices selected in step 508, the management device 10 omits step 510 and proceeds to step 511. .

In the example of FIG. 6, the breaker 3 installed in the governor G(5) is the fourth waypoint, but the breaker 3 installed in the governor G(7) is the selected second breaker. Among them, it corresponds to the second cutoff device closest to the fourth waypoint. Therefore, the management device 10 determines the blocking device 3 installed in the governor G(7) as the fifth waypoint.

In step 511, the management device 10 determines whether or not all the second blocking devices selected in step 508 have been determined as waypoints. The management device 10 proceeds to step 510 when all the selected second blocking devices have not been determined as waypoints. On the other hand, the management device 10 proceeds to step 512 when all the selected second blocking devices are determined as waypoints.

In the example of FIG. 6, when the cutoff device 3 installed in the governor G(7) is determined as the fifth waypoint, all the selected second cutoff devices are determined as the waypoint.

In step 512, the management device 10 determines, as the flight route R of the aircraft 5, the route passing through the first to xth waypoints in the order of determination of the first to xth waypoints determined in steps 502 to 511. . After step 512, the management device 10 terminates this process.

In the example of FIG. 6, the breaker 3 installed in each of the governors G(1), G(2), G(3), G(5) and G(7) is be. The management device 10 determines the flight route of the flying object 5 through the blocking devices 3 installed in the governors G(1), G(2), G(3), G(5) and G(7) in that order. Decide on R.

At step 513 , the management device 10 determines the predetermined route as the flight route R of the aircraft 5 . After step 513, the management device 10 terminates this process.

[Embodiment 1: Effects]
As described above, the management device 10 according to the first embodiment determines the flight route R of the aircraft 5 by the procedure shown in FIG. Therefore, if one of the adjacent cutoff devices 3 is the first cutoff device and the other is the second cutoff device, the management device 10 determines that the installation point of the first cutoff device that has not stopped the gas supply has been stopped. can be made to fly to the aircraft 5 with priority over the installation point of the second blocking device. As a result, the disaster information collection system 1 according to the first embodiment can preferentially collect disaster information at the location where the first blocking device is installed, where secondary disasters are likely to occur. In addition, in the disaster information collection system 1 according to the first embodiment, the installation points of the second blocking devices other than the second blocking device etc. existing around the facilities important for security are regarded as relatively safe points, The collection of disaster information at the installation point of this second blocking device can be separated. Therefore, the disaster information collection system 1 according to Embodiment 1 can collect disaster information quickly and efficiently, and can effectively suppress secondary disasters.

In general, points with good ground such as firm ground are relatively hard to shake even if an earthquake occurs, and even if a large earthquake with a seismic intensity of 6 lower or more occurs, there is a possibility that the gas supply will not be stopped depending on the shutoff device 3. . In this case, if a fire breaks out in area A while gas is leaking, the leaked gas may ignite and cause a secondary disaster. The disaster information collection system 1 according to the first embodiment can collect disaster information preferentially from the installation point of the first cutoff device where the gas supply has not been stopped. The first shut-off device can be remotely controlled to immediately stop the supply of gas. Therefore, the disaster information collection system 1 according to Embodiment 1 can effectively suppress the occurrence of secondary disasters.

[Other embodiments]
A disaster information collection system 1 according to Embodiments 2 and 3 will be described. In the description of the disaster information collection system 1 according to Embodiments 2 and 3, the description of the configuration and operation similar to those of the disaster information collection system 1 according to Embodiment 1 will be redundant and will be omitted.

As shown in step 405 of FIG. 4 and FIG. 5, the management device 10 according to the first embodiment determines the flight route R of the aircraft 5 based on the determination result of the first blocking device and the second blocking device in step 403. to decide.

On the other hand, the management device 10 according to the second embodiment determines the flight route R of the aircraft 5 based on the determination result of the first block and the second block in step 404 . In other words, the management device 10 according to the second embodiment determines the flight route R of the aircraft 5 in block B units.

FIG. 7 is a diagram showing the flow of flight route determination processing according to the second embodiment. FIG. 8 is a diagram for explaining the flight route R determined by the processing shown in FIG.

FIG. 8 shows an example in which a plurality of blocks B(1) to B(14) exist within area A. In FIG. In FIG. 8, a hatched block B indicates that it corresponds to the first block, which includes the first breaking device among the plurality of breaking devices 3 belonging to this block B. FIG. In FIG. 8, a block B that is not hatched indicates that it corresponds to a second block that does not include a first blocking device among the plurality of blocking devices 3 belonging to this block B. FIG.

In step 701, the management device 10 determines whether or not the first block exists in area A as a result of the discrimination between the first block and the second block in step 404 of FIG. The management device 10 proceeds to step 713 when the first block does not exist. On the other hand, if the first block exists, the management device 10 proceeds to step 702 .

In the example of FIG. 8, blocks B(2), B(6), B(11), B(12) and B(14) exist as the first blocks.

At step 702 , the management device 10 determines the first block closest to the remote base D on which the vehicle 5 is installed as the first transit area on the flight route R of the vehicle 5 . In this embodiment, the x-th transit area of the aircraft 5 departing from the remote base D is also referred to as the "x-th transit area". x is an argument that takes a natural number value. The lower limit of x is 1, and the upper limit of x is the total number of blocks B existing in area A. That is, the first transit area is the area through which the aircraft 5 departing from the remote base D first transits.

In the example of FIG. 8, block B(2) corresponds to the first block closest to remote station D; Therefore, the management device 10 determines block B(2) as the first transit area.

At step 703, the management device 10 determines whether or not the first block exists in the block B adjacent to the m-th transit area. This m-th transit area is the transit area determined immediately before step 703 is executed. m is an argument that takes the value of a natural number. If the first block does not exist in block B adjacent to the m-th transit area, the management device 10 proceeds to step 705 . On the other hand, if the first block exists in the block B adjacent to the m-th transit area, the management device 10 proceeds to step 704 .

In step 704, the management device 10 determines the first block adjacent to the m-th transit area as the (m+1)th transit area. The (m+1)-th transit area is an area through which the aircraft 5 transits after the m-th transit area. When there are multiple first blocks adjacent to the m-th transit area, the first block closest to the m-th transit area among the multiple first blocks adjacent to the m-th transit area is the (m+1)th Decide on transit area. After step 704 , the management device 10 proceeds to step 706 .

In the example of FIG. 8, block B(2) is the first transit area, while block B(6) corresponds to the first block adjacent to the first transit area. Therefore, the management device 10 determines block B(6) as the second transit area. Similarly, since block B(11) corresponds to the first block adjacent to the second transit area, the management device 10 determines block B(11) as the third transit area. Similarly, since block B(14) corresponds to the first block adjacent to the third transit area, the management device 10 determines block B(14) as the fourth transit area.

In step 705, the management device 10 determines the second block adjacent to the m-th transit area as the (m+1)th transit area. When there are a plurality of second blocks adjacent to the m-th transit area, among the plurality of second blocks adjacent to the m-th transit area, the route to the first block closest to the m-th transit area is present. The second block to be routed is determined as the (m+1)th transit area. After step 705 , the management device 10 proceeds to step 706 .

In the example of FIG. 8, block B (14) is the fourth transit area, and block B (13) is the second block closest to the fourth transit area among the plurality of second blocks adjacent to the fourth transit area. It corresponds to the second block that exists near the route to the closer first block (that is, block B(12)). Therefore, the management device 10 determines block B(13) as the fifth transit area.

In step 706, the management device 10 determines whether or not all the first blocks included in the results of the determination of the first blocks have been determined as transit areas. The management device 10 proceeds to step 703 if all the first blocks have not been determined as transit areas. On the other hand, the management device 10 proceeds to step 707 when all the first blocks are determined as transit areas. If neither the first block nor the second block exists among the blocks adjacent to the m-th transit area when the process moves from step 706 to step 703, the first block closest to the m-th transit area is selected. A block may be determined as the (m+1)-th transit area.

In the example of FIG. 8, block B(12) corresponds to the first block adjacent to the fifth transit area, so the management device 10 determines block B(12) as the sixth transit area. In the example of FIG. 8, when block B(12) is determined as the sixth transit area, all the first blocks are determined as transit areas.

At step 707, the management device 10 determines whether or not there is a second block to be added to the flight route R among the second blocks outside the route passing through the transit areas determined at steps 702-706. The management device 10, for example, when there is a second block in which facilities important for security exist or exist in soft ground among the second blocks outside the route passing through the determined transit area, These second blocks can be added to the flight route R. If there is no second block to be added to the flight route R among the second blocks outside the route passing through the determined transit area, the management device 10 proceeds to step 712 . On the other hand, the management device 10 proceeds to step 708 when there is a second block to be added to the flight route R among the second blocks outside the route passing through the determined transit area.

At step 708, the management device 10 selects a second block to be added to the flight route R from among the second blocks outside the route passing through the transit areas determined at steps 702-706.

In the example of FIG. 8, the second block off the route via blocks B(2), B(6), B(11), B(14), B(13) and B(12) is block B (1), B(3)-B(5) and B(7)-B(10). Among blocks B(1), B(3) to B(5) and B(7) to B(10), the second block to be added to the flight route R is blocks B(1) and B(4) , the management device 10 selects blocks B(1) and B(4).

In step 709, the management device 10 selects the second block closest to the n-th transit area, which is the last transit area of the first block, from among the second blocks selected in step 708 as the (n+1)th transit area. to decide. n is an argument that takes the value of a natural number. The (n+1)-th transit area is an area through which the aircraft 5 transits after the n-th transit area.

In the example of FIG. 8, the last transit area of the first block is block B (12) determined as the sixth transit area. Block B(4) corresponds to the second block closest to the last transit area of the first block among the selected second blocks. Therefore, the management device 10 determines block B(4) as the seventh transit area.

In step 710, the management device 10 determines the second block closest to the pth transit area among the second blocks selected in step 708 as the (p+1)th transit area. This p-th transit area is the transit area determined immediately before step 710 is executed. p is an argument that takes a natural number value. The (p+1)-th transit area is an area through which the aircraft 5 transits after the p-th transit area. If there is no second block to be determined in the (p+1)th transit area among the second blocks selected in step 708, the management device 10 omits step 710 and proceeds to step 711.

In the example of FIG. 8, block B(4) is the 7th transit area, but block B(1) is the second block closest to the 7th transit area among the selected second blocks. do. Therefore, the management device 10 determines block B(1) as the eighth transit area.

In step 711, the management device 10 determines whether or not all the second blocks selected in step 708 have been determined as transit areas. The management device 10 proceeds to step 710 when all the selected second blocks have not been determined as transit areas. On the other hand, the management device 10 proceeds to step 712 when all the selected second blocks are determined as transit areas.

In the example of FIG. 8, when block B(1) is determined as the eighth transit area, all the selected second blocks are determined as transit areas.

In step 712, the management device 10 determines, as the flight route R of the aircraft 5, a route that passes through the first to x-th transit areas in the order of determination of the first to x-th transit areas determined in steps 702 to 711. . After step 712, the management device 10 terminates this process.

In the example of FIG. 8, blocks B(2), B(6), B(11), B(14), B(13), B(12), B(4) and B(1) are the first ~ 8th transit area. The management device 10 provides a route through blocks B(2), B(6), B(11), B(14), B(13), B(12), B(4) and B(1) in this order. is determined as the flight route R of the aircraft 5 .

At step 713 , the management device 10 determines the predetermined route as the flight route R of the aircraft 5 . After step 713, the management device 10 terminates this process.

As described above, the management device 10 according to the second embodiment determines the flight route R of the aircraft 5 by the procedure shown in FIG. Therefore, if one of the adjacent blocks B is the first block and the other is the second block, the management device 10 determines that the first block to which the first shutoff device that has not stopped the gas supply belongs belongs. The flying object 5 can be flown preferentially over the second block to which only a certain second blocking device belongs. As a result, the disaster information collection system 1 according to the second embodiment can preferentially collect disaster information in the first block to which the first cutoff device, in which secondary disasters are likely to occur, belongs. In addition, in the disaster information collection system 1 according to the second embodiment, the second blocks other than the second blocks on soft ground are regarded as relatively safe areas, and disaster information is collected in these second blocks. can be separated. Therefore, the disaster information collection system 1 according to Embodiment 2 can collect disaster information quickly and efficiently, and can effectively suppress secondary disasters.

FIG. 9 is a diagram for explaining the flight route R determined by the flight route determination process according to the third embodiment.

In the disaster information collection system 1 according to the first embodiment, the detailed flight route Rf when flying from the s-th waypoint to the (s+1)th waypoint is not determined by the management device 10, but is autonomously controlled by the flying object 5. You can leave it to a smooth flight. For example, in the disaster information collection system 1 according to the first embodiment, the detailed flight route Rf when flying from the sth waypoint to the (s+1)th waypoint is shown by the dashed arrow in FIG. It may be a route from the s waypoint to the (s+1)th waypoint with the shortest distance.

On the other hand, in the disaster information collection system 1 according to the third embodiment, the management device 10 can also determine the detailed flight route Rf when flying from the s-th waypoint to the (s+1)th way-point.

If there is a consumer between the sth waypoint and the (s+1)th waypoint, there is a gas meter installed for each consumer between the sth waypoint and the (s+1)th waypoint. . The gas meter includes a sensor 7 such as a pressure sensor, a flow meter, and a seismoscope, and can transmit detection results of the sensor 7 and identification information of the gas meter to the management device 10 . The management device 10 can specify the installation position of the gas meter, that is, the installation position of the sensor 7, based on the identification information transmitted by the gas meter. The management device 10 can determine whether a disaster has occurred locally near the installation position of the sensor 7 based on the detection result of the sensor 7 transmitted by the gas meter.

Therefore, the management device 10 according to the third embodiment provides a detailed flight route for flying from the s-th way point to the (s+1)-th way point based on the detection result of the sensor 7 provided in the gas meter and the installation position. Determine Rf. For example, as shown in FIG. 9, sensors 7 that have detected the occurrence of a disaster and sensors 7 that have not detected the occurrence of a disaster are unevenly distributed between the sth waypoint and the (s+1)th waypoint. It is conceivable that the The black circles in FIG. 9 indicate the installation positions of the sensors 7 that have detected the occurrence of a disaster, and the white circles in FIG. 9 indicate the installation positions of the sensors 7 that have not detected the occurrence of a disaster. In this case, the management device 10 according to the third embodiment sets the flight route Rf as indicated by the solid-line arrow in FIG. Decide on a route that flies 5. As a result, the disaster information collection system 1 according to the third embodiment can collect detailed disaster information on points where secondary disasters are likely to occur, so secondary disasters can be suppressed more effectively. .

[others]
In the above-described embodiment, the disaster information collection system 1 corresponds to an example of the "disaster information collection system" described in the claims. Area A corresponds to an example of "area" described in the claims. The detection device 2 corresponds to an example of the "detection device" described in the claims. The blocking device 3 corresponds to an example of the "blocking device" described in the claims. The flying object 5 corresponds to an example of the "flying object" described in the claims. The management device 10 corresponds to an example of the "management device" described in the claims. The sensor 7 corresponds to an example of the "sensor" described in the claims. Step 402 corresponds to an example of the "first collection step" and the "first collection step" described in the claims. Step 403 corresponds to an example of the "discrimination process" and the "discrimination step" described in the claims. Step 404 corresponds to an example of a "block discrimination step" and a "block discrimination step" described in the claims. Step 405 corresponds to an example of "determining process" and "determining step" described in the claims. Step 406 corresponds to an example of "flight process" and "flight step" described in the claims. Step 407 corresponds to an example of the "second collection step" and the "second collection step" described in the claims.

The above-described embodiments can apply each other's techniques to each other including the modified examples. The above-described embodiments do not limit the content of the present invention, and modifications can be made without departing from the scope of the claims.

The terms used in the above-described embodiments and claims should be interpreted as non-limiting terms. For example, the term "including" should be interpreted as "not limited to what is stated to include." The term "containing" should be interpreted as "not limited to what is stated to contain." The term "comprising" should be interpreted as "not limited to what is described as comprising". The term "having" should be interpreted as "not limited to what is described as having".

1 disaster information collection system 2 detection device 3 blocking device 4 automatic blocking unit 5 flying object 6 camera 7 sensor 10 management device 11 blocking device control unit 12 flying object control unit 13 information collecting unit 14 information analysis unit 15 blocking device determination unit 16 blocks Discrimination unit 17 Flight route determination unit A Area B Block C Control center D Remote base G Governor P Gas pipe R Flight route Rf Flight route

Claims (9)

a detection device that is installed in a fluid supply network that supplies fluid to a consumer and that detects the occurrence of a disaster in an area having the fluid supply network;
a shutoff device installed in the fluid supply network and configured to stop the supply of the fluid based on the detection result of the detection device;
a flying object that flies over the area and monitors the damage status of the area;
a management device that collects the supply stop status of the fluid in the cutoff device and the damage status acquired by the flying object;
with
The blocking device is composed of a plurality of blocking devices installed at a plurality of points in the fluid supply network,
The management device
discriminating the plurality of shutoff devices into a first shutoff device to which the supply of the fluid has not been stopped and a second shutoff device to which the supply of the fluid has been stopped based on the collected supply stop status;
When one of the adjacent blocking devices is the first blocking device and the other is the second blocking device, the flying object installs the first blocking device prior to the installation point of the second blocking device. determining a flight route of the flying object so as to determine the point as a waypoint and fly;
flying the aircraft according to the determined flight route;
Disaster information collection system. The area is divided into a plurality of blocks based on the installation point of the blocking device,
The management device
determining the plurality of blocks into a first block to which the first blocking device belongs and a second block to which only the second blocking device belongs;
When one of the adjacent blocks is the first block and the other is the second block, the flying object preferentially determines the first block as a transit area over the second block and flies. , determining said flight route;
The disaster information collection system according to claim 1. Further comprising a sensor installed for each consumer to detect the occurrence of the disaster,
The management device
determining the flight route based on the detection result of the sensor and the installation position of the sensor;
A disaster information collection system according to claim 1 or 2. the fluid is a gas;
The fluid supply network is a gas supply network provided with a governor that adjusts the pressure of the gas,
the disaster is an earthquake;
The detection device is a seismometer installed in the governor and capable of measuring the strength of seismic motion,
The shutoff device is a shutoff valve that is installed in the governor and stops the supply of the gas in the governor based on the measurement data of the detection device,
The management device is a control device installed in a management center that manages the fluid supply network.
A disaster information collection system according to any one of claims 1 to 3. a detection device that is installed in a fluid supply network that supplies fluid to a consumer and that detects the occurrence of a disaster in an area having the fluid supply network;
a shutoff device installed in the fluid supply network and configured to stop the supply of the fluid based on the detection result of the detection device;
a flying object that flies over the area and monitors the damage status of the area;
a management device that collects the supply stop status of the fluid in the cutoff device and the damage status acquired by the flying object;
with
The area is divided into a plurality of blocks based on the installation point of the blocking device,
The management device
Based on the collected supply stop conditions, the plurality of blocks are divided into a first block that is the block to which the first shutoff device to which the supply of the fluid has not been stopped belongs, and a second block to which the supply of the fluid has been stopped. 2 discriminate with the second block which is the block to which only the blocking device belongs,
When one of the adjacent blocks is the first block and the other is the second block, the flying object preferentially determines the first block as a transit area over the second block and flies. , determining the flight route of the vehicle;
flying the aircraft according to the determined flight route;
Disaster information collection system. a detection device that is installed in a fluid supply network that supplies fluid to a consumer and that detects the occurrence of a disaster in an area having the fluid supply network;
a shutoff device installed in the fluid supply network and configured to stop the supply of the fluid based on the detection result of the detection device;
a flying object that flies over the area and monitors the damage status of the area;
A disaster information collection method for collecting information on a disaster that has occurred in the area using a system comprising
a first collection step of collecting information on the supply stop status of the fluid in each of the plurality of cutoff devices installed at a plurality of points of the fluid supply network;
Discrimination for discriminating the plurality of shutoff devices into a first shutoff device to which the supply of the fluid has not been stopped and a second shutoff device to which the supply of the fluid has been stopped based on the collected supply stop status process and
When one of the adjacent blocking devices is the first blocking device and the other is the second blocking device, the flying object installs the first blocking device prior to the installation point of the second blocking device. a determination step of determining a flight route of the flying object so as to determine the point as a waypoint and fly;
a flight step of flying the aircraft according to the determined flight route;
a second collection step of collecting the damage status acquired by the flying aircraft;
comprising
Disaster information gathering method. a detection device that is installed in a fluid supply network that supplies fluid to a consumer and that detects the occurrence of a disaster in an area having the fluid supply network;
a shutoff device installed in the fluid supply network and configured to stop the supply of the fluid based on the detection result of the detection device;
a flying object that flies over the area and monitors the damage status of the area;
a management device that collects the supply stop status of the fluid in the cutoff device and the damage status acquired by the flying object;
A disaster information collection method for collecting information on a disaster that has occurred in the area divided into a plurality of blocks based on the installation point of the blocking device, using a system comprising
a first collection step of collecting the supply stop status of the fluid in the cutoff device;
Based on the collected supply stop conditions, the plurality of blocks are divided into a first block that is the block to which the first shutoff device to which the supply of the fluid has not been stopped belongs, and a second block to which the supply of the fluid has been stopped. 2 a block discrimination step of discriminating into a second block which is the block to which only the blocking device belongs;
When one of the adjacent blocks is the first block and the other is the second block, the flying object preferentially determines the first block as a transit area over the second block and flies. , a determination step of determining a flight route of the air vehicle;
a flight step of flying the aircraft according to the determined flight route;
a second collection step of collecting the damage status acquired by the flying aircraft;
comprising
Disaster information gathering method. a detection device that is installed in a fluid supply network that supplies fluid to a consumer and that detects the occurrence of a disaster in an area having the fluid supply network;
a shutoff device installed in the fluid supply network and configured to stop the supply of the fluid based on the detection result of the detection device;
a flying object that flies over the area and monitors the damage status of the area;
A disaster information collection program that causes a computer to collect information on disasters that have occurred in the area using a system comprising
a first collection step of collecting information on the supply stop status of the fluid in each of a plurality of the cutoff devices installed at a plurality of points in the fluid supply network;
Discrimination for discriminating the plurality of shutoff devices into a first shutoff device to which the supply of the fluid has not been stopped and a second shutoff device to which the supply of the fluid has been stopped based on the collected supply stop status a step;
When one of the adjacent blocking devices is the first blocking device and the other is the second blocking device, the flying object installs the first blocking device prior to the installation point of the second blocking device. a determination step of determining a flight route of the aircraft so as to determine the point as a waypoint and fly;
a flight step of flying the aircraft according to the determined flight route;
a second collection step of collecting the damage status acquired by the flying vehicle;
comprising
Disaster information collection program. a detection device that is installed in a fluid supply network that supplies fluid to a consumer and that detects the occurrence of a disaster in an area having the fluid supply network;
a shutoff device installed in the fluid supply network and configured to stop the supply of the fluid based on the detection result of the detection device;
a flying object that flies over the area and monitors the damage status of the area;
a management device that collects the supply stop status of the fluid in the cutoff device and the damage status acquired by the flying object;
A disaster information collection program that causes a computer to collect information on disasters that have occurred in the areas divided into a plurality of blocks based on the installation points of the blocking devices, using a system comprising:
a first collection step of collecting the supply stop status of the fluid in the cutoff device;
Based on the collected supply stop conditions, the plurality of blocks are divided into a first block that is the block to which the first shutoff device to which the supply of the fluid has not been stopped belongs, and a second block to which the supply of the fluid has been stopped. 2 a block discrimination step of discriminating into a second block which is the block to which only the blocking device belongs;
When one of the adjacent blocks is the first block and the other is the second block, the flying object preferentially determines the first block as a transit area over the second block and flies. , a determination step of determining a flight route of the vehicle;
a flight step of flying the aircraft according to the determined flight route;
a second collection step of collecting the damage status acquired by the flying vehicle;
comprising
Disaster information collection program.

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