JP7190325B2 - Information processing equipment - Google Patents

Description

The present invention relates to technology for assisting an operator's operation.

As a technique for assisting the operation of an operator, Patent Document 1 discloses a technology that learns a driving skill level based on driving information indicating a history of driving operations, and updates the driving support level based on the learned driving skill level. A technique for assisting driving at a certain level is disclosed.

JP 2009-48307 A

In the operation of a flying object such as a drone, an operator with insufficient operating skill may cause an unstable flight due to excessive operation and cause an accident (fall, collision, etc.). Also, when flying near the boundary of an airspace where flight is permitted, if the aircraft flies out of that airspace due to excessive maneuvering, the impact of an accident will be greater.
SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to reduce the occurrence of disadvantages due to excessive manipulation of a flying object.

In order to achieve the above object, the present invention provides an acquisition unit that acquires related information regarding an operation of an operator of a flying object, a determination unit that determines the skill of the operator based on the acquired related information, a suppressing unit that suppresses an operation amount of an operator in a specific flight, the suppressing unit suppressing the operation amount according to the determined skill, the specific flight being a landing flight; The suppression unit provides an information processing device that suppresses the operation amount according to the visibility of the landing position of the flying object from the operator .

Further, the present invention includes an acquisition unit that acquires related information regarding an operation of an operator of a flying vehicle, a determination unit that determines the skill of the operator based on the acquired related information, and an operator in a specific flight. and a wind speed acquisition unit configured to acquire wind speed information indicating the wind speed around the flying object. The specific flight is a landing flight, the suppressing unit suppresses an operation amount of an operation for moving the flying object vertically downward, and the wind speed acquiring unit acquires wind speed information indicating a wind speed below a threshold. Provided is an information processing device that cancels suppression of the amount of operation when an operation is performed.

Further, the present invention includes an acquisition unit that acquires related information regarding an operation of an operator of a flying vehicle, a determination unit that determines the skill of the operator based on the acquired related information, and an operator in a specific flight. a suppressing unit that suppresses the amount of operation of the flying object, the suppressing unit that suppresses the amount of operation according to the determined skill, the specific flight is a flight at the time of takeoff, and the flying object It has a function to keep the aircraft horizontal in the front-back direction and the left-right direction, the suppressing unit suppresses the amount of operation for moving the flying object in the horizontal direction, and the maintaining function maintains the level of the flying object. Provided is an information processing device that releases the suppression of the amount of operation when a drooping state occurs.

Further, the present invention includes an acquisition unit that acquires related information regarding an operation of an operator of a flying vehicle, a determination unit that determines the skill of the operator based on the acquired related information, and an operator in a specific flight. and a suppressing unit that suppresses the amount of operation according to the determined skill, the suppressing unit suppressing the amount of operation according to the size of the flying object.

Further, the present invention includes an acquisition unit that acquires related information regarding an operation of an operator of a flying vehicle, a determination unit that determines the skill of the operator based on the acquired related information, and an operator in a specific flight. in accordance with the determined skill, wherein when the flying object has an auxiliary function for assisting stable flight, the skill determined as the performance of the auxiliary function is higher and a suppressing unit that suppresses the amount of operation by reducing the weight of .

ADVANTAGE OF THE INVENTION According to this invention, generation|occurrence|production of the disadvantage by the excessive operation to a flying object can be reduced.

A diagram showing an example of the overall configuration of a safe flight support system according to an embodiment. A diagram showing an example of the hardware configuration of each device A diagram showing an example of the hardware configuration of a drone A diagram showing an example of the radio's hardware configuration. Diagram showing an example of the hardware configuration of a user terminal Diagram showing the functional configuration realized by each device A diagram showing an example of a skill table A diagram showing an example of a suppression table A diagram showing an example of flightable airspace A diagram showing an example of the ejection direction A diagram showing an example of the second suppression table A diagram showing an example of the operation procedure of each device in the determination process A diagram showing an example of the operation procedure of each device in the suppression process A diagram showing an example of a coefficient table A diagram showing an example of the third suppression table A diagram showing a functional configuration realized in a modified example A diagram showing an example of the fourth suppression table A diagram showing an example of the fifth suppression table A diagram showing an example of a performance table A diagram showing an example of the sixth suppression table

[1] Embodiment FIG. 1 shows an example of the overall configuration of a flight safety support system 1 according to an embodiment. The safe flight support system 1 is a system that supports safe flight of an aircraft operated by a user. The safe flight support system 1 supports safe flight of a drone, which is a flying object, in this embodiment.

The flight safety support system 1 includes a network 2 , a server device 10 , a drone 20 , a propo 30 and a user terminal 40 . A network 2 is a communication system including a mobile communication network, the Internet, etc., and relays data exchange between devices accessing the system. The network 2 is accessed by the server device 10 through wired communication (or wireless communication), and is accessed by the drone 20, propo 30, and user terminal 40 through wireless communication.

The drone 20 is a flying object that flies according to user's operation. A user who operates this drone 20 is an example of the "operator" of the present invention. The drone 20 is used for various purposes such as photographing, monitoring, inspection and transportation. In this embodiment, the drone 20 is a rotorcraft-type flying object that has one or more rotors and flies by rotating the rotors.

The propo 30 is a device that performs proportional control (proportional control). The propo 30 has, for example, two sticks (a stick that moves vertically and a stick that moves horizontally), and controls the drone 20 to perform actions according to the amount of movement of the sticks by the user (operator). Thus, the user operates the drone 20 by operating the propo 30 .

The server device 10 performs various processes for supporting safe flight of the drone 20 . The server device 10 is an example of the "information processing device" of the present invention. One of the causes of drone accidents is that the user moves the stick of the propo 30 too much and performs excessive operation. For example, when the drone 20 lands, excessive movement in the horizontal direction may cause an accident in which the drone 20 contacts the ground while being tilted and the rotor is damaged.

Also, even if the drone accident itself is force majeure, there are cases where the damage caused by the falling drone becomes greater. For example, when the drone 20 has a designated flightable airspace (airspace in which it is allowed to fly), if the drone 20 flies outside the flightable airspace and falls, it may cause damage to people, private property, or public property, resulting in large damage. Compensation will be sought. Therefore, in order to prevent such a situation, the server device 10 performs processing (restriction processing) for restricting the operation amount when operating the drone 20 depending on the situation.

The amount of operation is, for example, the amount of operation of the propo 30, and the amount and speed of movement of the stick. Further, regarding the amount of operation for the drone 20, for example, the amount of movement in the horizontal direction, the amount of elevation, the amount of descent, and the amount of rotation of the drone 20 may be used as the amount of operation. In this embodiment, the server apparatus 10 suppresses the amount of operation for the transmitter 30. FIG.

In this embodiment, the server device 10 performs the aforementioned suppression process when the drone 20 is about to land and take off. The server device 10 also performs the suppression process when the drone 20 is likely to leave the above-described flightable airspace (airspace in which flight is permitted). The user terminal 40 is a terminal used by the user who operates the drone 20, and performs processing for notifying the server device 10 of information indicating the flightable airspace.

FIG. 2 shows an example of the hardware configuration of the server device 10. As shown in FIG. The server device 10 may be physically configured as a computer device including a processor 11, a memory 12, a storage 13, a communication device 14, a bus 15, and the like. Note that in the following description, the term "apparatus" can be read as a circuit, device, unit, or the like.

Also, one or more of each device may be included, or some devices may not be included. The processor 11, for example, operates an operating system to control the entire computer. The processor 11 may be configured by a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic device, registers, and the like.

For example, the baseband signal processing section and the like may be implemented by the processor 11 . The processor 11 also reads programs (program codes), software modules, data, etc. from at least one of the storage 13 and the communication device 14 to the memory 12, and executes various processes according to these. As the program, a program that causes a computer to execute at least part of the operations described in the above embodiments is used.

Although it has been explained that the various processes described above are executed by one processor 11, they may be executed by two or more processors 11 simultaneously or sequentially. Processor 11 may be implemented by one or more chips. Note that the program may be transmitted from a network via an electric communication line. Memory 12 is a computer-readable recording medium.

The memory 12 may be composed of at least one of, for example, ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), RAM (Random Access Memory), and the like. The memory 12 may also be called a register, cache, main memory (main storage device), or the like. The memory 12 can store executable programs (program codes), software modules, etc. for implementing the wireless communication method according to an embodiment of the present disclosure.

The storage 13 is a computer-readable recording medium, for example, an optical disc such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disc, a magneto-optical disc (e.g., a compact disc, a digital versatile disc, a Blu-ray disk), smart card, flash memory (eg, card, stick, key drive), floppy disk, magnetic strip, and/or the like.

The storage 13 may also be called an auxiliary storage device. The aforementioned storage medium may be, for example, a database, server or other suitable medium including at least one of memory 12 and storage 13 . The communication device 14 is hardware (transmitting/receiving device) for communicating between computers via at least one of a wired network and a wireless network.

The communication device 14 is also called a network device, a network controller, a network card, a communication module, or the like, for example. The communication device 14 includes a high-frequency switch, a duplexer, a filter, a frequency synthesizer, etc., for realizing at least one of frequency division duplex (FDD) and time division duplex (TDD). may consist of

For example, the above-described transmitting/receiving antenna, amplifier section, transmitting/receiving section, transmission line interface, etc. may be implemented by the communication device 14 . The transceiver may be physically or logically separate implementations for the transmitter and receiver. Each device such as the processor 11 and the memory 12 is connected by a bus 15 for communicating information. The bus 15 may be configured using a single bus, or may be configured using different buses between devices.

FIG. 3 shows an example of the hardware configuration of the drone 20. As shown in FIG. The drone 20 is physically a computer including a processor 21, a memory 22, a storage 23, a communication device 24, a flight device 25, a sensor device 26, a battery 27, a camera 28, a bus 29, and the like. It may be configured as a device. Of these, the hardware with the same name shown in FIG. 2 is hardware of the same type, although there are differences in performance, specifications, and the like.

The communication device 24 has a function of communicating with the propo 30 in addition to communicating with the network 2 (for example, a wireless communication function using radio waves in the 2.4 GHz band). The flight device 25 is a device that includes a motor, a rotor, and the like, and allows the aircraft to fly. The flying device 25 can move itself in all directions in the air and can make itself stationary (hovering).

The sensor device 26 is a device having a group of sensors that acquire information necessary for flight control. The sensor device 26 includes, for example, a position sensor that measures the position (latitude and longitude) of the drone and the direction in which the drone is facing (the front direction of the drone is determined, and the front direction is and an altitude sensor for measuring the altitude of the aircraft.

The sensor device 26 also includes a velocity sensor that measures the velocity of the machine itself, and an inertial measurement sensor (IMU (Inertial Measurement Unit)) that measures angular velocities in three axes and accelerations in three directions. The sensor device 26 also includes a rotation speed sensor that measures the rotation speed of the motor of the flight device 25 . The battery 27 is a device that accumulates power and supplies power to each part of the drone 20 . The camera 28 includes an image sensor, optical system parts, and the like, and photographs an object in the direction in which the lens is directed.

FIG. 4 shows an example of the hardware configuration of the propo 30. As shown in FIG. The propo 30 may be physically configured as a computer device including a processor 31, a memory 32, a storage 33, a communication device 34, an input device 35, an output device 36, a bus 37, and the like. Of these, the hardware with the same name shown in FIG. 2 is hardware of the same type, although there are differences in performance, specifications, and the like.

The input device 35 is an input device (eg, switch, button, sensor, etc.) that receives input from the outside. In particular, the input device 35 includes a left stick 351 and a right stick 352, and receives operations on these sticks as operations to move the drone 20 in the front-back direction, up-down direction, left-right direction, and rotation direction. The output device 36 is an output device (for example, a monitor 361, a speaker, an LED (Light Emitting Diode) lamp, etc.) that outputs to the outside. Note that the input device 35 and the output device 36 may be integrated (for example, the monitor 361 may be a touch screen).

FIG. 5 shows an example of the hardware configuration of the user terminal 40. As shown in FIG. The user terminal 40 may be configured as a computer device physically including a processor 41, a memory 42, a storage 43, a communication device 44, an input device 45, an output device 46, a bus 47, and the like. . Of these, hardware with the same name shown in FIG. 2 or 4 is hardware of the same type, although there are differences in performance, specifications, and the like. Note that the input device 45 may be, for example, a keyboard, a mouse, a microphone, etc., in addition to the above input devices.

Each of the above devices includes hardware such as microprocessors, digital signal processors (DSPs), ASICs (Application Specific Integrated Circuits), PLDs (Programmable Logic Devices), and FPGAs (Field Programmable Gate Arrays). may consist of Also, each of the above devices may be realized by the hardware in part or all of each functional block. For example, processor 11 may be implemented using at least one of these pieces of hardware.

Each function of each device provided in the flight safety support system 1 is performed by the processor by loading predetermined software (program) on hardware such as each processor and memory, and communication by each communication device is performed. and/or control reading and/or writing of data in memory and storage.

FIG. 6 shows the functional configuration realized by each device. The server device 10 includes a related information storage unit 101 , a skill determination unit 102 , a flight situation acquisition unit 103 , an operation amount suppression unit 104 and a flight information acquisition unit 105 . The drone 20 includes an operation control section 201 , a sensor measurement section 202 and a flight status notification section 203 . The transmitter 30 includes an operation reception unit 301 , an operation instruction unit 302 , an operation history notification unit 303 and a suppression reflection unit 304 . The user terminal 40 has a flight information notification section 401 .

The operation reception unit 301 of the radio 30 receives operations performed on the drone 20 by the operator. An operation performed on the drone 20 is, for example, an operation of moving (tilting) each of the left stick 351 and the right stick 352 . The operations of moving each stick are associated with the basic movement operations of ascending, descending, advancing, retreating, moving right, moving left, turning right, and turning left.

The operation reception unit 301 also receives operations such as automatic takeoff, automatic return, and automatic tracking that cause the drone 20 to automatically perform a predetermined flight, and operations for photographing using the camera 28 . The operation reception unit 301 supplies operation data indicating the content of the received operation to the operation instruction unit 302 and the operation history notification unit 303 . Operation details include the type of operated operator (stick or button, etc.), the amount of operation (the amount of stick movement, etc.), the speed of operation (speed of stick movement, etc.), and the direction of operation (direction of stick movement). etc.).

The operation instruction unit 302 instructs the drone 20 to perform an operation according to the operation content indicated by the supplied operation data. The operation instruction unit 302 includes an operation instruction corresponding to the operation content, a user ID (Identification) for identifying the user who is the operator, and a destination (IP (Internet Protocol) address, etc.) for transmitting data to the device itself. and operation instruction data indicating the transmitter destination information indicating the . The action instruction unit 302 sends the generated action instruction data to the drone 20 to instruct an action corresponding to the operation content.

It is assumed that this user ID is stored in the propo 30 in advance by the user's input using the input device 35 of the propo 30 or input from an external device. Upon receiving the transmitted operation instruction data, the operation control unit 201 of the drone 20 controls each unit of the drone 20 to perform the operation indicated by the operation instruction data. The operation control unit 201 requests the sensor measurement unit 202 for the sensor measurement results in order to control each unit.

The sensor measurement unit 202 performs measurement using each sensor (position sensor, direction sensor, altitude sensor, speed sensor, inertial measurement sensor) included in the sensor device 26 shown in FIG. The sensor measurement unit 202 repeatedly measures the position, direction, altitude, speed, angular velocity, and acceleration of the aircraft itself at predetermined time intervals using each sensor, and supplies the measurement results to the operation control unit 201 . The operation control unit 201 controls each part of the aircraft based on the supplied measurement results to cause the aircraft to fly.

The operation history notification unit 303 of the transmitter 30 receives the operation content indicated by the operation data supplied from the operation reception unit 301, the operation time (for example, the current time) when the operation was performed, and the user ID of the user who performs the operation. Generate operation history data indicating The operation history notification unit 303 notifies the server device 10 of the operation history (operation content and operation time) by transmitting the generated operation history data to the server device 10 .

The related information storage unit 101 of the server device 10 acquires and stores related information related to the operation of the aircraft operator. The related information accumulation unit 101 is an example of the "acquisition unit" of the present invention. In this embodiment, the related information accumulation unit 101 stores the operation history indicated by the transmitted operation history data (operation history of the aircraft by the operator; specifically, operation details, operation time, and user ID) as related information. to get as

The skill determination unit 102 of the server device 10 determines the skill of the operator of the drone 20 based on the related information acquired by the related information storage unit 101 . The skill determination unit 102 is an example of the "determination unit" of the present invention. The skill of the operator here means the skill to operate and fly the drone, and it means that the higher the skill, the more the drone can be flown as intended by the operator.

For example, the skill determination unit 102 periodically reads operation histories having a common user ID from the operation histories accumulated in the related information accumulation unit 101, and determines the skill of the user indicated by the user ID based on the read operation histories. judge. In this embodiment, the skill determination unit 102 determines the skill based on the amount of operation of the left stick 351 and the right stick 352, the operation speed, and the number of switching operations.

The operation amount is the amount by which each stick is moved, and is represented, for example, by the angle at which each stick is moved. The operation speed is the speed at which each stick is moved, and is represented by, for example, a value obtained by dividing the angle at which each stick is moved by the time it is moved. The number of switching operations is the number of operations for reversing the direction in which each stick is moved. The higher the skill of the operator, the smaller the amount of operation, the speed of operation, and the number of switching operations.

However, the longer the flight time, the greater the amount of operation and the number of turning operations, so it is desirable to calculate the values per unit time before comparing them. Therefore, the skill determination unit 102 determines that the larger the average value of the operation amount (the amount of operation per unit time), the average value of the operation speed, and the average value of the number of times of switching operations (the number of times of switching operations per unit time), the higher the skill. judged to be low.

The skill determination unit 102 performs determination using a skill table that associates these pieces of information with skill points (the higher the value, the higher the skill).
FIG. 7 shows an example of the skill table. In FIG. 7A, skill points of "3,""2," and "1" are associated with the average values of the manipulated variables "less than Th11,""Th11 or more and less than Th12," and "Th12 or more," respectively. ing.

In FIG. 7B, skill points "3", "2" and "1" are associated with the average values of operation speeds "less than Th21", "Th21 or more and less than Th22" and "Th22 or more", respectively. ing. In FIG. 7(c), skill points of "3", "2" and "1" are associated with the average values of the number of switching operations "less than Th31", "Th31 or more and less than Th32" and "Th32 or more", respectively. It is

The skill determination unit 102 calculates the average value of the operation amount, the average value of the operation speed, and the average value of the number of switching operations from the user's operation history, and totals the skill points associated with each calculated value. The skill determination unit 102 determines that the greater the total skill points (values from 3 to 9 in the example of FIG. 7), the higher the skill. The skill determination unit 102 stores the calculated skill points in association with the user ID.

When the operation indicated by the operation instruction data is started, the operation control unit 201 of the drone 20 supplies the user ID and the prop destination information indicated by the operation instruction data to the flight status notification unit 203 . The sensor measurement unit 202 also supplies the measurement result of each sensor to the flight status notification unit 203 . The flight status notification unit 203 notifies the server device 10 of the flight status of the drone 20 operated by the user.

The flight status is information indicating the position, altitude, direction, speed, etc. of the drone 20 flying. The flight status notification unit 203 extracts the flight status from the supplied measurement results, generates data indicating the information, the user ID and the prop destination information as status data, and sends it to the server device 10. Send. The flight status acquisition unit 103 of the server device 10 receives the transmitted status data and acquires the flight status, user ID, and prop destination information of the drone 20 indicated by the status data.

The flight status acquisition unit 103 supplies the acquired flight status, user ID, and radio destination information to the operation amount suppression unit 104 . The operation amount suppression unit 104 suppresses the operation amount of the operator of the drone 20 in a specific flight. The operation amount suppressing unit 104 is an example of the "suppressing unit" of the present invention. The operation amount suppression unit 104 determines, for example, whether the drone 20 is flying in a specific manner based on the flight conditions acquired by the flight condition acquisition unit 103 .

In this embodiment, the operation amount suppression unit 104 controls the drone 20 to perform a takeoff flight, a landing flight, and a flight near the boundary of the flightable airspace (flight within a predetermined range from the boundary). If so, it is determined that you are doing a particular flight. For example, if the acquired flight conditions indicate that the altitude is zero and the number of revolutions of the motor changes from a value less than the threshold value to a value greater than or equal to the threshold value, the operation amount suppression unit 104 controls the take-off Decide that the flight will take place.

The operation amount suppression unit 104 suppresses the operation amount of the operation for moving the drone 20 in the horizontal direction when it is determined that the takeoff flight will be performed. The operation to move the drone 20 in the horizontal direction is, for example, an operation to move the drone 20 back and forth or left and right, and is performed by moving the left stick 351 or the right stick 352 of the radio 30 back and forth or left and right (which stick moves in which direction). depending on the setting).

The operation amount suppression unit 104 suppresses the operation amount to a greater extent as the skill determined by the skill determination unit 102 is lower. The operation amount suppression unit 104 determines the operation amount to be suppressed using a suppression table that associates the skill points with the ratio of the operation amount to be suppressed.
FIG. 8 shows an example of a suppression table. In the example of FIG. 8, the skill points of "3", "4", ... "8", "9" and the restraints of "60", "50", ..., "10", "0" The ratio of the manipulated variable (the unit is "%") is associated with each other.

The operation amount suppression unit 104 requests the skill determination unit 102 for skill points stored in association with the user ID supplied from the flight situation acquisition unit 103 (the user ID of the user whose operation amount is to be suppressed). to get. The operation amount suppression unit 104 determines a ratio associated with the acquired skill point in the suppression table as a suppression ratio (a ratio of suppressing the operation amount of the drone 20), and suppresses the operation amount by the determined suppression ratio. Generate instruction data to instruct.

The operation amount suppression unit 104 transmits the generated instruction data to the destination indicated by the supplied radio destination information (that is, the radio 30). The suppression reflecting unit 304 of the radio 30 reflects suppression of the manipulated variable indicated by the received instruction data. For example, the suppression reflection unit 304 provides the operation instruction unit 302 with the operation content representing the movement in the horizontal direction (moving the corresponding stick in the corresponding direction) among the operation contents indicated by the operation data supplied from the operation receiving unit 301 . The amount of movement (expressed, for example, in the direction and angle at which the stick is tilted) is instructed to be reduced by the indicated percentage.

If the operation instruction unit 302 follows this instruction and reduces the operation amount of the stick by the instructed ratio (for example, if the operation amount by the user is 40° and the reduction ratio is 50%, the operation amount is set to 20°). ) to instruct the drone 20 to perform an operation according to the operation content. Note that the suppression reflection unit 304 may directly instruct the operation reception unit 301 to reduce the operation content.

In this case, the operation receiving unit 301 supplies the operation instruction unit 302 with operation data indicating operation details after the reduction. Further, the operation amount suppressing unit 104 may instruct the amount itself (for example, the angle) to reduce the operation amount instead of instructing the ratio of reducing the operation amount. In either case, the amount of movement of the drone 20 in the horizontal direction is reduced in flight during takeoff, compared to the case where no instruction to suppress the operation amount is given, by performing the operation control with the suppressed operation amount. .

If the drone 20 is carelessly moved in the horizontal direction during takeoff, the drone 20 is tilted more than necessary, and an accident is likely to occur in which the lift force is insufficient to take off and the drone falls. In this embodiment, as described above, the amount of horizontal movement during takeoff is reduced, so that such an accident can be prevented. Further, by increasing the ratio of the amount of operation to be suppressed as the user's skill level decreases, it is possible to suppress the occurrence of the above-described accident during takeoff by a user with low skill level.

Also, for a user with high skill, it is possible to reduce the ratio of the amount of operation to be suppressed so that the user can fly at his/her intended longitude (for example, a route that ascends diagonally and takes off). In addition, for example, when the flight speed is less than the speed threshold and the altitude is less than the altitude threshold, the operation amount suppression unit 104 determines that a landing flight is about to start.

The operation amount suppression unit 104 suppresses the operation amount of the operation for moving the drone 20 in the horizontal direction even when it is determined that the flight at the time of landing is performed, as in the case at the time of takeoff, and the skill determination unit 102 determines The lower the skill level, the greater the amount of operation is suppressed. The operation amount suppression unit 104 may use the suppression table shown in FIG. 8 even when a flight at the time of landing is performed, or may use another suppression table in which the ratio of the operation amount to be suppressed is changed.

Then, the suppression reflecting unit 304 reflects the suppression of the operation amount by the operation amount suppressing unit 104 transmitting the instruction data in the same manner as in the case of the landing flight. When the suppression of the operation amount is reflected in this way, the amount of horizontal movement of the drone 20 becomes smaller even in flight during landing, compared to the case where no instruction to suppress the operation amount is given. If the drone 20 is carelessly moved in the horizontal direction at the time of landing, the drone 20 is tilted more than necessary, and accidents such as crashing the rotors and chassis to the ground and damaging them are likely to occur.

In this embodiment, as described above, the amount of movement in the horizontal direction is reduced even during landing, so that such an accident can be prevented. In addition, by increasing the ratio of the amount of operation to be suppressed as the user's skill is lower, the above-described accident during landing by a user with low skill is suppressed, while the ratio of the amount of operation to be suppressed for a user with high skill is increased. It can be made smaller so that it can land along its intended path (e.g. while moving diagonally).

In order to determine whether the operation amount suppression unit 104 is flying near the boundary of the flightable airspace, the operation amount suppression unit 104 also provides information (hereinafter referred to as “flight information”) regarding the flightable airspace of the drone 20 to be flown by the user, which is the target for suppressing the operation amount. ) to the flight information acquisition unit 105 . The flight information acquisition unit 105 acquires the above-described flight information (information on flightable airspace). The flight information acquisition unit 105 stores an acquisition destination of flight information for each user registered as a drone operator.

In this embodiment, the access destination (IP address, etc.) to the user terminal 40 is stored as the acquisition destination. The flight information acquisition unit 105 transmits request data for requesting flight information to this acquisition destination. The flight information notification unit 401 of the user terminal 40 notifies the requester of the flight information requested by the request data. It is assumed that the flight information notification unit 401 stores flight information input by the user or flight information supplied from an external device.

The flight information is, for example, a set of latitudes and longitudes indicating the boundaries of the flightable airspace. Upon receiving the request data, the flight information notification unit 401 reads out the stored flight information and transmits it to the server device 10 which is the transmission source of the request data. The flight information acquisition unit 105 acquires the transmitted flight information and supplies it to the operation amount suppression unit 104 . The operation amount suppression unit 104 determines that a specific flight is being performed when the distance between the boundary of the flightable airspace indicated by the supplied flight information and the drone 20 is less than the distance threshold.

FIG. 9 shows an example of a flightable airspace. In FIG. 9, when viewed vertically from above, the flightable airspace A1 has a rectangular shape with short sides along the north-south direction and long sides along the east-west direction, and the distance from the boundary of the flightable airspace A1 is the distance threshold. The above airspace B1 and airspaces B2 and B3 whose distance from the boundary of the flightable airspace A1 is less than the distance threshold are shown. The airspace B2 is an airspace whose distance from one of the short and long sides is less than the distance threshold, and the airspace B3 is an airspace whose distance from both the short and long sides is less than the distance threshold.

For example, when the drone 20 flies in the airspace B1 in the drawing, the operation amount suppression unit 104 determines that the drone 20 is not flying in a specific manner because the distance from the boundary of the flightable airspace A1 is greater than or equal to the distance threshold. Further, when the drone 20 is flying in the airspace B2 or B3, the operation amount suppression unit 104 determines that the drone 20 is flying in a specific manner because the distance from the boundary of the flightable airspace A1 is less than the distance threshold. The operation amount suppressing unit 104 suppresses the operation amount of the operation for moving the drone 20 in a direction to fly out of the flightable airspace A1 (hereinafter referred to as a "flying direction").

FIG. 10 shows an example of launch directions. FIG. 10(a) shows the departure direction when the drone 20 flies in the airspace B3. When viewed from the drone 20, there are portions on the north and west sides of the boundary of the flightable airspace A1 where the distance from the drone is less than the distance threshold. , northward, northwestward, westward, and southwestward) are the ejection directions.

FIG. 10(b) shows the departure direction when the drone 20 flies in the airspace B2. From the perspective of this drone 20, the portion of the boundary of the flightable airspace A1 where the distance from the drone is less than the distance threshold exists only on the north side, so directions including northward components (for example, northeast, north, northwest) direction) is the ejection direction. The operation amount suppression unit 104 determines the operation amount to be suppressed using a second suppression table that associates the launch direction and the rate of suppression of the operation amount, in addition to the suppression table shown in FIG.

FIG. 11 shows an example of the second suppression table. In FIG. 11, "0.6", "0.8", "1.0", "0.6", "0.8", "1.0", "0. 8” and “0.6” correction coefficients are associated. As shown in FIG. 10, there is a width in the launch direction. For example, in the example of FIG. 10(a), the projection direction is from east to north to south across west (not including east and south).

"Center" and so on represent the range in terms of width. For example, "left end" is the range from south to southwest, "left" is the range from southwest to west, and "center" is the range from west to north. , "right side" indicates the range from north to northeast, and "right end" indicates the range from northeast to east. The suppression ratio is the ratio of suppressing the operation amount determined by the suppression table shown in FIG.

For example, it is assumed that the suppression rate is determined to be 50% based on the skill points of the user. In that case, assuming that the flight direction of the drone 20 located in the airspace B3 is included in the “left side” range, the operation amount suppression unit 104 multiplies 50% by the correction coefficient of 0.8, resulting in 40% Control the amount of operation. Further, when the flight direction of the drone 20 is included in the "right end" range, the operation amount suppression unit 104 suppresses the operation amount by 30% obtained by multiplying 50% by the correction coefficient of 0.6.

In the example of FIG. 10B, the projection direction is from the east to the west across the north (not including the east and west). In this case, for example, "left end" represents the range from west to northwest, "center" represents the range from northwest to northeast, and "right end" represents the range from northeast to east. (There is no "left-leaning" or "right-leaning"). The operation amount suppression unit 104 corrects the suppression ratio using only the “left end”, “center”, and “right end” of the second suppression table to suppress the operation amount.

In FIG. 10, the length of the arrow indicates the magnitude of the flight speed due to the suppressed operation amount when moving in each launch direction. It should be noted that the altitude is usually restricted in the airspace that can be flown. Therefore, even when the distance from the upper limit of the altitude of the flightable airspace A1 is less than the distance threshold, the operation amount suppression unit 104 determines that the flight is in a specific direction, The amount of operation for moving the drone 20 in the direction having the component is suppressed.

The operation amount suppressing unit 104 cancels the suppression of the operation amount when, for example, a predetermined time has elapsed when a takeoff flight is being performed. Specifically, when the time elapses, the operation amount suppression unit 104 transmits to the transmitter 30 instruction data instructing to cancel the suppression of the operation amount. Upon receiving this instruction data, the suppression reflection unit 304 of the transmitter 30 terminates the operation of reflecting the suppression.

Further, when the flight at the time of landing is being performed, the operation amount suppression unit 104 cancels the suppression of the operation amount when the landing is completed, and the flight is performed near the boundary of the flightable airspace. In this case, when the drone 20 leaves the boundary (when the distance between the drone 20 and the boundary becomes equal to or greater than the distance threshold), the suppression of the operation amount is released.

Each device included in the safe flight support system 1 performs determination processing for determining the skill of the operator of the drone 20 and suppression processing for suppressing the amount of operation of the drone 20 based on the above configuration.
FIG. 12 shows an example of the operation procedure of each device in the determination process. This operation procedure is started when the user starts operating the drone 20 .

First, the propo 30 (operation reception unit 301) receives an operation performed by the operator on the drone 20 (step S11). Next, the propo 30 (action instruction unit 302) generates action instruction data according to the details of the accepted operation (step S12), and transmits the generated operation instruction data to the drone 20 (step S13). The drone 20 (operation control unit 201) controls the operations of its own units so as to perform the operations indicated by the received operation instruction data (step S14).

Next, the propo 30 (operation history notification unit 303) generates operation history data indicating the operation content, operation time, and user ID of the user (step S21), and transmits the generated operation history data to the server device 10 ( step S22). The propo 30 may perform the operations of steps S21 and S22 in parallel with steps S12 and S13. The server device 10 (related information accumulation unit 101) acquires and accumulates the information indicated by the received operation history data as the information related to the operation of the aircraft operator (step S23).

Then, the server device 10 (skill determination unit 102) determines the skill of the operator of the drone 20 based on the accumulated relevant information (step S24). The above is the operation procedure in the determination process. The determination process is performed periodically as described above, and the determination result of each user's skill is updated. Note that the determination process may be performed each time the user operates the drone 20 .

FIG. 13 shows an example of the operation procedure of each device in the suppression process. This operation procedure is started when the drone 20 starts flying. First, the drone 20 (flight status notification unit 203) generates status data indicating its own flight status (step S31), and transmits the generated status data to the server device 10 (step S32). The server device 10 (flight status acquisition unit 103) acquires the flight status indicated by the transmitted status data (step S33).

Next, the server device 10 (flight information acquisition unit 105) requests flight information (information on flightable airspace and landing points) from an acquisition destination (user terminal 40 in this embodiment) corresponding to the operator of the drone 20. (Step S41). The user terminal 40 (flight information notification unit 401) notifies the requested flight information to the server device 10 (step S42). The server device 10 (flight information acquisition unit 105) acquires the notified flight information (step S43).

Subsequently, the server device 10 (operation amount suppression unit 104) determines whether the drone 20 is performing a specific flight based on the acquired flight status and the acquired flight information (step S51). Next, when it is determined that the server device 10 (operation amount suppression unit 104) is performing a specific flight, the server device 10 (the operation amount suppression unit 104) determines a suppression ratio (a ratio of suppressing the operation amount for the drone 20) according to the determined skill. (step S52).

Subsequently, the server device 10 (operation amount suppression unit 104) generates instruction data instructing to suppress the operation amount by the determined suppression ratio (step S53), and transmits the generated instruction data to the transmitter 30 (step S54). After that, it is assumed that the propo 30 (operation reception unit 301) receives an operation performed by the operator on the drone 20 (step S61). Then, the propo 30 (suppression reflection unit 304) reflects the suppression ratio indicated by the instruction data received in step S54 (step S62).

Then, the propo 30 (action instruction unit 302) generates action instruction data corresponding to the content of the operation that reflects the suppression (step S63), and transmits the generated operation instruction data to the drone 20 (step S64). The drone 20 (the motion control unit 201) controls the motion of each part of the drone 20 so as to perform the motion indicated by the received motion instruction data (the motion by the operation whose operation amount is suppressed) (step S65).

If the amount of operation in the operation of the drone 20 is too large, it may cause an accident as described above. In particular, when an operator with low skill operates, the amount of operation tends to be large. In the present embodiment, in a situation where excessive operation is likely to lead to an accident as described above, the amount of operation is suppressed according to the skill of the operator. It is possible to reduce the occurrence of disadvantages due to excessive operation to.

Accident-prone situations are, for example, flights during take-off and flights during landing. In addition, although it is not always easy to lead to an accident, in this embodiment, even in a situation where the impact of an accident is large, such as when the operator jumps out of the flightable airspace, the size of the The amount of operation is suppressed by . Even with this suppression, it is possible to reduce the occurrence of disadvantages (compensation in the unlikely event of an accident, etc.) due to excessive operation of the drone 20 compared to the case where the operation amount is not suppressed.

[2] Modifications The embodiment described above is merely an example of implementation of the present invention, and may be modified as follows. Moreover, the embodiment and each modification may be combined as necessary. In that case, each modification may be implemented with an order of priority (by prioritizing which one should be prioritized when a competing event occurs when implementing each modification).

Further, as a specific combination method, for example, modifications using different parameters to obtain a common value (for example, user's skill) may be combined to obtain a common value by using these parameters together. In addition, one value or the like may be obtained by summing the values or the like obtained individually according to some rule. Also, in these cases, different weighting may be applied to each parameter used.

[2-1] Method of suppressing operation amount In the embodiment, suppression of the operation amount is reflected by changing the value indicating the operation content of the radio transmitter 30 (the angle indicating the operation amount of the stick). The reflection method is not limited to this. For example, the content of the operation may be left as it is, and the instruction content of the action to be performed according to the content of the operation (for example, the number of rotations of the rotor) may be changed. This change in instruction content may be performed by the propo 30 or by the drone 20 .

Alternatively, the weight (resistance) when moving the stick of the propo 30 may be made variable so that the greater the amount of operation to be suppressed, the greater the resistance, thereby making it easier for the amount of operation to decrease. In either method, the lower the skill of the operator, the greater the amount of operation to be suppressed.

[2-2] Related Information In the embodiment, the skill determination unit 102 uses the operation history as related information to determine the skill, but the related information used for skill determination is not limited to this. The skill determination unit 102 may use, for example, the flight history of the drone 20 as related information. For example, a user with high skill flies the drone 20 more linearly to a destination point than a user with low skill.

Therefore, the skill determination unit 102 may determine that the skill is lower as the proportion of curved portions (portions having a curvature greater than or equal to a threshold value) included in the flight path increases. Further, when the information indicating the flight route of the flight schedule is acquired as the flight information of the drone 20, the skill determination unit 102 determines that the larger the spatial difference of the flight route of the flight history with respect to the flight route, the higher the skill. can be judged to be low. Note that if the flight time is also determined, the skill determination unit 102 may determine that the skill is lower as the time difference is larger.

Also, drones are getting licensed. Therefore, for example, when information indicating the license rank of the user is acquired as the flight information, the skill determination unit 102 may determine that the higher the license rank, the higher the skill. In short, any information may be used as the related information as long as it represents the level of skill of the user to operate and fly the drone.

[2-3] Past operation history The skill of operating and flying a drone improves as experience is gained, but the skill gradually declines as time passes after experiencing the operation. Therefore, the skill determination unit 102 may determine the skill in consideration of this decline.

In this modified example, the skill determination unit 102 determines the skill of the operator by assigning weight to the operation history acquired by the related information accumulation unit 101 as the operation history is newer. The skill determination unit 102 makes this determination using a coefficient table that associates operation timings with weighting coefficients.
FIG. 14 shows an example of a coefficient table. In the example of FIG. 14, the weights of "2.0", "1.5" and "1.0" are given to the operation times of "within six months", "within one year from half a year ago" and "one year or more ago". coefficients are associated.

When calculating the average value of the operation amount, the average value of the operation speed, and the average value of the number of times of turning operations from the operation history read as described above, the skill determination unit 102 determines the amount of operation, the operation speed, and the number of times of turning operations. Calculation is performed by multiplying the weighting factor associated with the factor table at the calculated time. For example, when calculating an average value like the operation speed, the skill determination unit 102 calculates the average value assuming that the number has increased by the same rate as the weighting factor.

For example, when the weight coefficients of the operation speeds E1, E2, and E3 are "2.0", "1.5", and "1.0" respectively, the weight coefficient of the operation speed E1 is 2.0 times the operation speed E3. , the weighting factor of the operation speed E2 is 1.5 times the operation speed E3. In this case, the skill determination unit 102 calculates (E1+E1+E1+E1+E2+E2+E2+E3+E3)/9 as an average value (E1 is double the E3, and E2 is 1.5 times the E3). Using this calculation method, a value closer to a value with a larger weighting factor is calculated as the average value.

In addition, the average value of the operation amount and the average value of the number of switching operations are calculated by increasing the number of operation amounts and the number of switching operations in each unit period by the same ratio as the weighting factor, as in the above average value. can be done as In this modified example, by weighting as described above, it is possible to determine a more appropriate skill based on the fact that the skills acquired in the past will decline compared to when this weighting is not performed. In the above example, the larger the weighting factor, the larger the number. Conversely, the smaller the weighting factor, the smaller the number, and the average value may be calculated.

[2-4] Horizontal Maintenance Function The motion control unit 201 of the drone 20 may function as a horizontal maintenance function to keep the longitudinal direction and the horizontal direction of the drone 20 horizontal. In that case, the operation control unit 201 starts control to maintain the horizontal level immediately after takeoff, and after a while after takeoff, the horizontal state is stabilized (the longitudinal direction and the horizontal direction of the aircraft are state) will be maintained.

In this modification, the operation control unit 201 notifies the flight status notification unit 203 when the horizontal state is maintained. The flight status notification unit 203 generates data indicating that the horizontal state has been maintained as status data, and transmits the data to the server device 10 . Upon receiving this status data, the flight status acquisition unit 103 acquires the flight status indicating that the drone 20 has come to maintain a horizontal state.

When the operation amount suppression unit 104 suppresses the operation amount in a flight at takeoff, when a flight situation indicating maintenance of a horizontal state is acquired, that is, a state in which the drone 20 is kept horizontal by the operation control unit 201 When it becomes , the suppression of the manipulated variable is released. Until the horizontal state is maintained, the control by the horizontal maintenance function is not stable yet, so there is a danger of falling due to excessive operation.

However, once the horizontal state is maintained, even if the amount of operation is somewhat large, the horizontal state can be maintained by the horizontal maintenance function if the stick is released, thereby reducing the risk of falling. In this modification, the amount of operation is suppressed until the horizontal state is maintained to reduce the risk of falling, and after the horizontal state is maintained, the suppression of the amount of operation is released. This allows the operator to fly the drone 20 freely.

[2-5] Visibility of Landing Position When landing the drone 20, it may be difficult for the operator to see the landing position. For example, if the landing position is far away, if there is fog, or if the visibility is obstructed by an obstacle such as a tree, the visibility of the landing position is deteriorated. Therefore, in the present modification, when the operation amount suppressing unit 104 suppresses the operation amount in the flight at the time of landing, the lower the visibility from the operator of the landing position of the drone 20, the higher the degree of suppressing the operation amount. do.

The operation amount suppression unit 104 determines the visibility of the landing position based on flight information, for example. In this modification, the user inputs the operating position of the operator in the flightable airspace and the planned landing position to the user terminal 40 as flight information. The flight information acquisition unit 105 acquires flight information indicating this operation position and landing position. The operation amount suppression unit 104 calculates the distance between the operation position and the landing position (distance to the landing position) from the acquired flight information.

The operation amount suppression unit 104 determines the suppression rate using a third suppression table that associates the distance to the landing position and the suppression rate correction coefficient.
FIG. 15 shows an example of the third suppression table. In the example of FIG. 15, the distances to the landing position of "Th1 or more", "Th1 less than Th2 or more", and "Less than Th2" have suppression ratios of "1.4", "1.2", and "1.0". are associated with the correction coefficients.

The operation amount suppression unit 104 multiplies the suppression ratio by the correction coefficient associated with the calculated distance to the landing position in the third suppression table, and suppresses the operation amount using the suppression ratio. By using the third suppression table shown in FIG. 15, the lower the visibility of the landing position of the drone 20 from the operator, the higher the suppression ratio and the degree of suppression of the operation amount. In this modified example, the risk of landing failure of the drone 20 in a state of poor visibility can be reduced compared to the case where this suppression is not performed.

Note that there are other methods for determining the visibility of the landing position from the operator. The operation amount suppressing unit 104 may acquire weather information in, for example, an area in which flight is possible, and determine that visibility is poor when a dense fog advisory is issued. Further, when flight information indicating obstacles (trees, buildings, etc.) existing in the flightable airspace is acquired in addition to the operation position and the landing position, the operation amount suppressing unit 104 sets the It may be determined that visibility is poor when an obstacle exists. In either case, the risk of landing failure of the drone 20 in poor visibility can be reduced.

[2-6] Suppression of operation amount during landing The operation amount suppression unit 104 suppresses the operation amount for moving the drone 20 in the horizontal direction in the embodiment when the drone 20 flies during landing. However, it is not limited to this. If the drone descends too fast, it can get caught in the downward wind it generates and lose lift rapidly (a phenomenon called settling with power).

In order to prevent this phenomenon from occurring, the operation amount suppression unit 104 may suppress the operation amount of the operation for moving the drone 20 vertically downward. However, this suppression increases the time required for landing. So, for example, if the wind is blowing strongly and you want to land quickly when the wind subsides, this suppression may not be desirable. Therefore, the operation amount suppression unit 104 may suppress the operation amount according to the situation as follows.

FIG. 16 shows the functional configuration realized in this modified example. FIG. 16 illustrates a server device 10a including a wind speed information acquisition unit 106 in addition to the units illustrated in FIG. The wind speed information acquisition unit 106 acquires wind speed information indicating the wind speed around the drone 20 . The wind speed information acquisition unit 106 is an example of the "wind speed acquisition unit" of the present invention. The wind speed information acquisition unit 106 acquires, for example, weather information in a flightable airspace area, and wind speed information included in the weather information.

Further, when wind speed information indicating the local wind speed measured by the operator of the drone 20 using an anemometer is transmitted to the server device 10a, the wind speed information acquisition unit 106 may acquire the wind speed information. The wind speed information acquisition unit 106 supplies the acquired wind speed information to the operation amount suppression unit 104 . When wind speed information indicating a wind speed less than the wind speed threshold is acquired by the wind speed information acquisition unit 106, the operation amount suppression unit 104 cancels suppression of the operation amount of the above-described vertical downward movement operation.

As the wind speed threshold value in this case, for example, a wind speed value that allows the aircraft to land without difficulty is used. Therefore, the operation amount suppressing unit 104 may use a larger wind speed threshold as the user's determined skill is higher. When wind speed information indicating a wind speed less than the wind speed threshold value is acquired, the operation amount suppression unit 104 transmits instruction data to the transmitter 30 to instruct release of suppression of the operation amount as described in the embodiment. , release the suppression of the manipulated variable. According to this modified example, even if the amount of operation for lowering the drone 20 is suppressed in the flight at the time of landing, the drone can be landed without missing the timing when the wind becomes weak.

[2-7] Suppression According to Wind Speed The operation amount suppression unit 104 may change the degree of suppression of the operation amount according to the wind speed described above. Specifically, the operation amount suppression unit 104 increases the degree of suppression of the operation amount as the wind speed indicated by the wind speed information acquired by the wind speed information acquisition unit 106 increases. The operation amount suppression unit 104 determines the degree of suppression of the operation amount using, for example, a fourth suppression table in which the wind speed and the correction coefficient of the suppression ratio are associated with each other.

FIG. 17 shows an example of the fourth suppression table. In the example of FIG. 17, the wind speeds of "Th11 or more", "Th11 or less than Th12 or more", and "Less than Th12" have suppression rate correction coefficients of "1.4", "1.2", and "1.0". are mapped. For example, it is assumed that the suppression rate is determined to be 50% based on the skill points of the user. The operation amount suppression unit 104 multiplies 50% of the wind speed indicated by the acquired wind speed information by a correction coefficient associated in the fourth suppression table.

For example, if the wind speed is less than Th11 and equal to or greater than Th12, the operation amount suppressing unit 104 suppresses the correction amount by 50%×1.2=60%. Further, the operation amount suppressing unit 104 suppresses the correction amount by 50%×1.4=70% if the wind speed is Th11 or higher. The higher the wind speed, the more difficult it is to operate the drone 20 . This is especially true in certain flight situations that are inherently accident-prone.

In this modified example, as described above, the higher the wind speed, the greater the amount of operation is suppressed. Therefore, compared to the case where this suppression is not performed, it is possible to reduce the risk of falling in strong wind conditions. Also, even if the amount of operation for moving the drone 20 in the flight direction is suppressed, the degree of suppression increases as the risk of crashing increases (situation where the wind speed is high), making it more difficult to fly out of the flightable airspace. . As a result, it is possible to reduce the occurrence of disadvantages (such as compensation in the unlikely event of an accident) due to flight outside the flightable airspace.

[2-8] Drone size In general, the larger the size of the drone, the more expensive the parts, and the heavier the weight, the greater the impact when it falls. The amount of damage caused is greater. Therefore, the operation amount suppression unit 104 may increase the degree of suppression of the operation amount as the size of the drone 20 increases.

In this modification, for example, information indicating the size of the drone 20 is acquired as flight information. The operation amount suppression unit 104 determines the degree of suppression of the operation amount using a fifth suppression table that associates the size of the drone with the correction coefficient of the suppression ratio.
FIG. 18 shows an example of the fifth suppression table. In the example of FIG. 18, the drone sizes of “large”, “medium” and “small” are associated with suppression rate correction coefficients of “1.4”, “1.2” and “1.0”. ing.

For example, it is assumed that the suppression rate is determined to be 50% based on the skill points of the user. The operation amount suppression unit 104 multiplies 50% of the size of the drone 20 indicated by the acquired flight information by a correction coefficient associated in the fifth suppression table. For example, if the size of the drone is medium, the operation amount suppression unit 104 suppresses the correction amount by 50%×1.2=60%. Further, if the size of the drone is large, the operation amount suppression unit 104 suppresses the correction amount by 50%×1.4=70%.

As mentioned above, the larger the size of the drone, the greater the amount of damage when it falls. In this modified example, as the size of the drone increases, the amount of operation is greatly suppressed so that the drone can fly safely, instead of reducing the degree of freedom of operation. Therefore, compared to the case where this suppression is not performed, it is possible to reduce the risk of falling of the drone (risk of falling, risk of high damage due to damage).

[2-9] Functions of Drones In addition to the horizontal maintenance function described above, some drones have auxiliary functions for assisting stable flight. The auxiliary function is, for example, a function that maintains the same position without any operation while measuring the position of the own machine using a GPS (Global Positioning System). Auxiliary functions also include a function of grasping and maintaining the position of the robot using ultrasonic waves, laser beams, captured images, etc., and a function of detecting objects using sensors to avoid collisions with obstacles.

Note that the auxiliary functions referred to in this modified example do not include functions that perform the same flight regardless of the user's skill (for example, a function that automatically flies to a set landing point and lands when a button is pressed). shall be When the drone 20 has the auxiliary function referred to in this modified example, it can fly stably even when excessive operations are performed, compared to the case where the drone 20 does not have the auxiliary function.

Therefore, in this modification, when the drone 20 has an auxiliary function, the operation amount suppression unit 104 reduces the weight of the skill determined by the skill determination unit 102 as the performance of the auxiliary function is higher, thereby reducing the operation amount. Suppress. The level of performance of the auxiliary function is determined, for example, by the drone manufacturer, model (high-end models have higher performance), and year models (newer drones have higher performance).

The operation amount suppression unit 104 stores, for example, a performance table that associates the manufacturer name, model name, model year of the drone with the level of performance of the auxiliary function.
FIG. 19 shows an example of a performance table. In the example of FIG. 19, the performance of the auxiliary function is represented by three levels of "high", "middle", and "low". In this modified example, it is assumed that information indicating the manufacturer name, model name, and model year of the drone is acquired as the flight information.

The operation amount suppression unit 104 identifies the performance associated with the information indicated by the acquired flight information in the performance table as the performance level of the auxiliary function of the drone 20 . The operation amount suppression unit 104 determines the operation amount to be suppressed using a sixth suppression table that associates skill points with suppression ratios (ratios of operation amounts to be suppressed) for each level of performance of the auxiliary function.
FIG. 20 shows an example of the sixth suppression table.

In the example of FIG. 20, when the performance of the auxiliary function is "low", the same correspondence relationship between skill points and suppression ratios as in the suppression table shown in FIG. 8 is represented. In addition, when the performance of the auxiliary function is "medium", compared to when the performance of the auxiliary function is "low", the lower the skill point, the smaller the suppression ratio ("60" if the skill point is "3"). % is now "45"%, and if the skill point is "4", it is "37.5"%, if it is "50"%.On the other hand, if the skill point is "9", it is "0"%. unchanged).

In addition, when the performance of the auxiliary function is "high", compared to when the performance of the auxiliary function is "medium", the lower the skill point, the smaller the suppression rate (if the skill point is "3", it is "45 ''% became ``30''%, and if the skill point was ``4'', it was ``37.5''% and became ``25''%.On the other hand, if the skill point was ``9'', it was ``0''%. remains unchanged). The operation amount suppression unit 104 determines the operation amount to be suppressed using the correspondence relationship between the skill points associated with the performance of the auxiliary function of the drone 20 and the suppression ratio.

As described above, the higher the performance of the auxiliary function, the more the user's skill is compensated for, and the flight can be stably performed even when excessive operations are performed. In this modified example, by using the sixth suppression table shown in FIG. 20, the higher the performance of the assist function, the smaller the difference in the suppression ratio between low and high skill. Therefore, compared to the case where this suppression is not performed, even if the user has low skill, if the skill is covered by the auxiliary function, the room for free flight can be increased.

[2-10] Suppression of Operation Amount In the embodiment, the operation amount suppression unit 104 suppresses the operation amount of the user with the skill point of "3" more than the user with the skill point of "4". may share the same amount of operation to be suppressed. However, even in this case, the operation amount suppression unit 104 suppresses the operation amount of a user with skill points of "4" or "3" more than that of a user with skill points of "5", for example.

That is, as a basic process, the operation amount suppression unit 104 suppresses the operation amount more as the skill determined by the skill determination unit 102 is lower. On the other hand, as exception processing, only the same amount of operation is suppressed. In this case, the operation amount suppression unit 104 suppresses the operation amount according to the skill determined by the skill determination unit 102 .

For example, when the user's skill is determined in seven stages (skill points from "3" to "9") as in the embodiment, the operation amount to be suppressed may be divided into seven stages as in the embodiment. , may be divided into fewer stages. In short, when the user's skill is judged in N stages (N is a natural number equal to or greater than 2), the operation amount to be suppressed should be set in M stages (M is a natural number equal to or greater than 2 and equal to or less than N). In either case, the operation amount suppressing unit 104 suppresses the operation amount (the operation amount at the stage determined according to the skill, out of the operation amount at the M stage) according to the skill determined by the skill determination unit 102. will do.

Similarly, when using the visibility of the landing position, the operation amount suppression unit 104 performs basic processing such that the lower the visibility of the landing position of the drone 20 from the operator, the greater the degree of suppression of the operation amount. However, in the case of visibility that does not particularly require changing the amount of operation to be suppressed (for example, when the distance to the landing position shown in FIG. 15 is "Th1 or more" and "Th2 or more less than Th1"), as an exception process, Only the same manipulated variable may be suppressed. In this case, the operation amount suppression unit 104 suppresses the operation amount according to the visibility of the landing position of the drone 20 from the operator.

Similarly, when using the wind speed around the drone 20, the operation amount suppression unit 104 suppresses the operation amount as the wind speed indicated by the wind speed information acquired by the wind speed information acquisition unit 106 increases. Although the degree is increased, in the case of a wind speed that does not particularly require changing the operation amount to be suppressed (for example, when the wind speed shown in FIG. 17 is “less than Th11 or more than Th12” and “less than Th12”), the same operation You can limit it by just the amount.

Moreover, when the wind speed increases, the drone 20 must be operated to fly upwind, otherwise it will be swept away by the wind. Depending on the situation, the disadvantage of being swept away by the wind may be greater than the disadvantage of excessive operation. In this case, the operation amount suppressing unit 104 may perform, as the second exceptional process, a process of decreasing the degree of suppressing the operation amount as the wind speed indicated by the acquired wind speed information increases.

Further, the operation amount suppressing unit 104 may perform the above-described basic processing when the wind speed is equal to or greater than the threshold, and may perform the second exceptional processing when the wind speed is less than the threshold. In either case, the operation amount suppression unit 104 suppresses the operation amount according to the wind speed indicated by the wind speed information acquired by the wind speed information acquisition unit 106 .

Similarly, when the size of the drone is used, the operation amount suppression unit 104 increases the degree of suppression of the operation amount as the size of the drone increases as a basic process. 18 (for example, when the sizes shown in FIG. 18 are "medium" and "small"), the same operation amount may be suppressed as exception processing. Also, the smaller the size of the drone, the lower the inertia, which may result in faster response to manipulation.

In that case, the smaller the size of the drone, the greater the risk of crash due to excessive manipulation. Therefore, the operation amount suppression unit 104 may perform a process of increasing the degree of suppression of the operation amount as the size of the drone becomes smaller as the second exception processing. Further, the operation amount suppression unit 104 may perform the above-described basic processing when the drone is larger than a certain size, and perform the second exception processing when the drone is smaller than that size. In either case, the operation amount suppression unit 104 suppresses the operation amount according to the size of the drone 20 .

[2-11] Aircraft In the embodiment, a rotorcraft-type aircraft is used as the aircraft that performs autonomous flight, but the invention is not limited to this. For example, it may be an airplane-type flying object or a helicopter-type flying object. In short, any flying object may be used as long as it flies according to instructions given by the user.

[2-12] Apparatus for realizing each function The apparatus for realizing each function shown in FIG. 6 and the like is not limited to the above-described apparatus. For example, the functions realized by the server device 10 and the user terminal 40 may be realized by one device. In that case, the one device is an example of the "information processing device" of the present invention. Also, the functions realized by the propo 30 may be realized by a device such as a personal computer or a smartphone. In short, the safety flight support system 1 as a whole only needs to implement the functions shown in FIG. 6 and the like.

[2-13] Operation Using Table In each of the above examples, the operation using the table shown in FIG. 7 etc. has been described, but the present invention is not limited to this. For example, a table different from the table shown in FIG. 7 (having different numbers of rows, having different values in each row, etc.) may be used. Also, some algorithm may be used instead of a table. For example, in the example of FIG. 7, a function that calculates the skill points from the average value of the amount of operation or the like may be used. In this way, any method may be used as long as another value (skill points, etc.) is derived according to some value (average value of the amount of operation, etc.).

[2-14] Category of the Invention It can also be regarded as an information processing system equipped with a device. In addition, the present invention can be regarded as an information processing method for realizing the processing performed by those devices (including the drone 20), and also as a program for causing a computer that controls the device to function. This program may be provided in the form of a recording medium such as an optical disk storing it, or may be provided in a form such as downloading it to a computer via a network such as the Internet, installing it, and making it available. may be

[2-15] Functional Blocks The block diagrams used in the description of the above embodiments show blocks in functional units. These functional blocks (components) are realized by any combination of at least one of hardware and software. Also, the method of implementing each functional block is not particularly limited.

That is, each functional block may be implemented using one device that is physically or logically coupled, or directly or indirectly using two or more devices that are physically or logically separated (e.g. , wired, wireless, etc.) and may be implemented using these multiple devices. A functional block may be implemented by combining software in the one device or the plurality of devices.

Functions include judging, determining, determining, calculating, calculating, processing, deriving, investigating, searching, checking, receiving, transmitting, outputting, accessing, resolving, selecting, choosing, establishing, comparing, assuming, expecting, assuming, Broadcasting, notifying, communicating, forwarding, configuring, reconfiguring, allocating, mapping, assigning, etc. can't For example, a functional block (component) that makes transmission work is called a transmitting unit or a transmitter. In either case, as described above, the implementation method is not particularly limited.

[2-16] Input/output direction Information, etc. (*see the item “Information, Signal”) can be output from an upper layer (or a lower layer) to a lower layer (or an upper layer). It may be input and output via multiple network nodes.

[2-17] Handling of input/output information, etc. Input/output information, etc. may be stored in a specific location (for example, memory), or may be managed using a management table. Input/output information and the like can be overwritten, updated, or appended. The output information and the like may be deleted. The entered information and the like may be transmitted to another device.

[2-18] Judgment method Judgment may be made by a value represented by 1 bit (0 or 1), by a boolean value (Boolean: true or false), or by a numerical value. may be performed by a comparison of (eg, a comparison with a predetermined value).

[2-19] Information Notification and Signaling Information notification is not limited to the aspects/embodiments described in the present disclosure, and may be performed using other methods. For example, notification of information includes physical layer signaling (e.g., DCI (Downlink Control Information), UCI (Uplink Control Information)), higher layer signaling (e.g., RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling, It may be implemented by broadcast information (MIB (Master Information Block), SIB (System Information Block)), other signals, or a combination thereof. RRC signaling may also be called an RRC message, and may be, for example, an RRC connection setup message, an RRC connection reconfiguration message, or the like.

[2-20] Processing Procedures, etc. The processing procedures, sequences, flowcharts, etc. of each aspect/embodiment described in the present disclosure may be rearranged in order as long as there is no contradiction. For example, the methods described in this disclosure present elements of the various steps using a sample order, and are not limited to the specific order presented.

[2-21] Handling of input/output information, etc. Input/output information, etc. may be stored in a specific location (for example, memory), or may be managed in a management table. Input/output information and the like can be overwritten, updated, or appended. The output information and the like may be deleted. The entered information and the like may be transmitted to another device.

[2-22] Software Software, whether called software, firmware, middleware, microcode, hardware description language or otherwise, means instructions, instruction sets, code, code segments, program code, programs , subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, and the like.

Software, instructions, information, etc. may also be sent and received over a transmission medium. For example, the software uses wired technology (coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), etc.) and/or wireless technology (infrared, microwave, etc.) to create websites, Wired and/or wireless technologies are included within the definition of transmission medium when sent from a server or other remote source.

[2-23] Information, Signals Information, signals, etc. described in this disclosure may be represented using any of a variety of different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description may refer to voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any of these. may be represented by a combination of

The terms explained in this disclosure and the terms necessary for understanding the present disclosure may be replaced with terms having the same or similar meanings. For example, the channel and/or symbols may be signaling. A signal may also be a message. A component carrier (CC) may also be called a carrier frequency, a cell, a frequency carrier, or the like.

[2-24] System, Network The terms "system" and "network" used in this disclosure are used interchangeably.

[2-25] Parameters, Channel Names In addition, the information, parameters, etc. described in this disclosure may be expressed using absolute values, or may be expressed using relative values from a predetermined value. and may be represented using other corresponding information. For example, radio resources may be indexed.

The names used for the parameters described above are not limiting names in any way. Further, the formulas, etc., using these parameters may differ from those expressly disclosed in this disclosure. Since the various channels (e.g., PUCCH, PDCCH, etc.) and information elements can be identified by any suitable name, the various names assigned to these various channels and information elements are in no way restrictive names. is not.

[2-26] "judgment", "decision"
As used in this disclosure, the terms "determining" and "determining" may encompass a wide variety of actions. "Judgement", "determining" are, for example, judging, calculating, computing, processing, deriving, investigating, looking up, searching, inquiring (eg, lookup in a table, database, or other data structure), ascertaining as "judged" or "determined", and the like.

Also, "judgment" and "determination" are used for receiving (e.g., receiving information), transmitting (e.g., transmitting information), input, output, access (accessing) (for example, accessing data in memory) may include deeming that a "judgment" or "decision" has been made. In addition, "judgment" and "decision" are considered to be "judgment" and "decision" by resolving, selecting, choosing, establishing, comparing, etc. can contain. In other words, "judgment" and "decision" may include considering that some action is "judgment" and "decision". Also, "judgment (decision)" may be read as "assuming", "expecting", "considering", or the like.

[2-27] Meaning of "Based on" As used in this disclosure, the phrase "based on" does not mean "based only on," unless expressly stated otherwise. In other words, the phrase "based on" means both "based only on" and "based at least on."

[2-28] "Different"
In the present disclosure, the term "A and B are different" may mean "A and B are different from each other." The term may also mean that "A and B are different from C". Terms such as "separate,""coupled," etc. may also be interpreted in the same manner as "different."

[2-29] "and", "or"
In the present disclosure, regarding configurations that can be implemented with either “A and B” or “A or B,” the configuration described in one expression may be used as the configuration described in the other expression. For example, when "A and B" are described, they may be used as "A or B" as long as they are not inconsistent with other descriptions and practicable.

[2-30] Variations of Aspects, etc. Each aspect/embodiment described in the present disclosure may be used alone, may be used in combination, or may be used by switching according to execution. In addition, the notification of predetermined information (for example, notification of “being X”) is not limited to being performed explicitly, but may be performed implicitly (for example, not notifying the predetermined information). good too.

Although the present disclosure has been described in detail above, it should be apparent to those skilled in the art that the present disclosure is not limited to the embodiments described in this disclosure. The present disclosure can be practiced with modifications and variations without departing from the spirit and scope of the present disclosure as defined by the claims. Accordingly, the description of the present disclosure is for illustrative purposes and is not meant to be limiting in any way.

DESCRIPTION OF SYMBOLS 1... Safe flight support system 10... Server apparatus 20... Drone 30... Propo 40... User terminal 101... Related information accumulation part 102... Skill determination part 103... Flight situation acquisition part 104... Manipulation amount suppression Unit 105 Flight information acquisition unit 106 Wind speed information acquisition unit 201 Operation control unit 202 Sensor measurement unit 203 Flight status notification unit 301 Operation reception unit 302 Operation instruction unit 303 Operation history notification unit, 304... restraint reflection unit, 401... flight information notification unit.

Claims (5)

an acquisition unit that acquires relevant information regarding the operation of the aircraft operator;
a determination unit that determines the skill of the operator based on the acquired related information;
A suppressing unit that suppresses an operation amount of an operator in a specific flight, the suppressing unit suppressing the operation amount according to the determined skill ,
the particular flight is a landing flight;
The suppressing unit is an information processing device that suppresses the operation amount according to the visibility of the landing position of the flying object from the operator . an acquisition unit that acquires relevant information regarding the operation of the aircraft operator;
a determination unit that determines the skill of the operator based on the acquired related information;
a suppression unit that suppresses an operation amount of an operator in a specific flight, the suppression unit that suppresses the operation amount according to the determined skill;
a wind speed acquisition unit that acquires wind speed information indicating the wind speed around the flying object,
the particular flight is a landing flight;
The suppression unit suppresses an operation amount of an operation for moving the flying object vertically downward, and information for canceling suppression of the operation amount when wind speed information indicating a wind speed less than a threshold value is acquired by the wind speed acquisition unit. processing equipment. an acquisition unit that acquires relevant information regarding the operation of the aircraft operator;
a determination unit that determines the skill of the operator based on the acquired related information;
a suppressing unit that suppresses an operation amount of an operator in a specific flight, the suppressing unit that suppresses the operation amount according to the determined skill;
the particular flight is a takeoff flight;
The flying object has a maintenance function to keep the longitudinal direction and the lateral direction of the aircraft horizontal,
The suppression unit suppresses an operation amount of an operation for moving the flying object in a horizontal direction, and information for canceling the suppression of the operation amount when the level of the flying object is maintained by the maintaining function. processing equipment. an acquisition unit that acquires relevant information regarding the operation of the aircraft operator;
a determination unit that determines the skill of the operator based on the acquired related information;
a suppression unit that suppresses the operation amount of an operator in a specific flight according to the determined skill, the suppression unit suppressing the operation amount according to the size of the aircraft;
Information processing device. an acquisition unit that acquires relevant information regarding the operation of the aircraft operator;
a determination unit that determines the skill of the operator based on the acquired related information;
A suppressing unit that suppresses an operation amount of an operator in a specific flight according to the determined skill, and if the flying object has an assist function for assisting stable flight, the performance of the assist function is high. a suppression unit that reduces the weight of the skill determined as much as
Information processing device.

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