JP7257780B2 - computer system and program - Google Patents

Description

One aspect of the present disclosure relates to computer systems and/or programs.

BACKGROUND Conventionally, techniques for controlling flying objects are known (see, for example, Patent Document 1).

JP 2018-81675 A

One aspect of the present disclosure aims to appropriately control a flying object.

A computer system according to one aspect of the present disclosure includes at least one processor, and the at least one processor is configured to generate dynamic information indicating a three-dimensional spatial network and dynamically changing conditions of the three-dimensional spatial network. , and restriction information indicating flight restrictions within the three-dimensional space network , the restriction information being the minimum distance between adjacent aircraft. and a safety distance, which is a distance to be guaranteed, said safety distance being updated according to the environment within said three-dimensional spatial network .

FIG. 4 is a diagram showing some examples of control; It is a figure which shows an example of utilization of the control system regarding embodiment. It is a figure showing an example of functional composition of a control system concerning an embodiment. It is a figure which shows an example of the hardware constitutions of the server which concerns on embodiment. FIG. 4 is a diagram showing some examples of region data; It is a flow chart which shows an example of operation of a control system concerning an embodiment. 4 is a flow chart showing another example of the operation of the control system according to the embodiment; It is a figure which shows an example of control. FIG. 11 is a diagram showing an example of area data corresponding to FIGS. 8 and 10; FIG. It is a figure which shows another example of control.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are denoted by the same reference numerals, and overlapping descriptions are omitted.

[System overview]
A control system 1 according to the embodiment is a computer system that controls the flight of an aircraft in a three-dimensional space network. A flying object is an artificial object that can move in the air. The type of flying object is not limited, and may be, for example, a manned aircraft or an unmanned aircraft (drone). A three-dimensional spatial network refers to at least a part of the area in which the flying object can move. The three-dimensional space network includes at least one of a ground network indicating areas on the ground through which a landing vehicle can pass, and an air network indicating areas in the air over which the aircraft can fly. Control refers to managing the current or future flight of an air vehicle in a three-dimensional spatial network and restricting that flight as necessary. Air traffic control is performed to realize flight safety, for example, to prevent undesirable situations such as near misses and air congestion. For example, control may include processing that permits or prohibits the entry of air vehicles into the three-dimensional spatial network. Alternatively, control may include permitting or disallowing flight schedules of air vehicles. Alternatively, control may include processing to cancel a once-approved flight schedule, or processing to temporarily evacuate an air vehicle that is flying in a certain three-dimensional spatial network for another priority flight.

FIG. 1 is a diagram showing an example of control. Example (a) of FIG. 1 shows control in a three-dimensional space network 200 represented by two adjacent nodes 201 and a link 202 connecting the nodes. A node is a position set to control the movement (for example, flight) of an aircraft. It means a position where you can A link is a virtual line that is set to indicate a movement path (for example, a flight path) of an aircraft, and connects adjacent nodes. Example (b) of FIG. 1 illustrates control over a three-dimensional spatial network 210 represented by a three-dimensional block 212 containing waypoints 211 . A waypoint (WP) is a position set to determine the flight path of an aircraft, and can also be called a position through which the aircraft should pass (that is, a passing point). A block is a closed space represented by a virtual boundary, and can also be called a mesh or a cell. The three-dimensional spatial network may be represented by any method other than the examples (a) and (b) of FIG. 1, and may be represented by two-dimensional blocks, for example.

In example (a), two flying objects 301 and 302 already exist in the three-dimensional spatial network 200, and another flying object 303 is about to enter the three-dimensional spatial network 200. FIG. The control system 1 determines whether or not the aircraft 303 can enter the three-dimensional space network 200, and controls the flight of the aircraft 303 according to the determination result. As in this example, the control system 1 may control flights in real time based on the current situation of the three-dimensional spatial network.

In example (b), the aircraft 304 is scheduled to fly over the three-dimensional spatial network 210 from 9:05 am to 9:25 am. Given this, assume that another vehicle 305 is scheduled to fly to the three-dimensional spatial network 210 after 9:15 am. The control system 1 determines whether or not the aircraft 305 can enter the three-dimensional space network 210 as scheduled, and controls the flight schedule of the aircraft 305 according to the determination result. As in this example, the control system 1 may control the flight schedule (flight plan) based on the future situation of the three-dimensional space network.

FIG. 2 is a diagram showing an example of utilization of the control system 1. As shown in FIG. In this example, the control system 1 can access the database 20 and can communicate with multiple control systems 30 . Control system 30 is a computer system that directly controls one or more air vehicles 40 or manages the operation of one or more air vehicles 40 .

A database 20 is a device that stores region data 21 . The implementation method of the database 20 is not limited. For example, database 20 may be at least part of a map database that stores map data. Here, the map data is data that expresses a real flightable space using elements such as nodes, links, and blocks. Alternatively, the map database may function as database 20 . Alternatively, database 20 may be constructed independently of the map database.

The area data 21 is data representing a three-dimensional space network and dynamically changing conditions of the three-dimensional space network. The area data 21 is electronic data that can be read by a computer, and is control data that includes digital information necessary for controlling the aircraft 40 . More specifically, the area data 21 is data in which specific information that uniquely identifies a three-dimensional spatial network is directly associated with dynamic information that indicates dynamically changing conditions of the three-dimensional spatial network. Data items used as specific information are not limited, and may be, for example, a region ID that is an identifier of a three-dimensional space network, or position information indicating the position of a three-dimensional space network (for example, a position including one or more coordinates). information). A "dynamically changing situation" refers to a situation that changes over time. The length of time required for the change of circumstances is not limited, and can be any number such as 1 second, 10 seconds, 30 seconds, 1 minute, 10 minutes, 30 minutes, 1 hour, 2 hours, 3 hours, 12 hours, 1 day, etc. can be the value of The area data 21 may be part of the map data, in other words, the map data may function as the area data 21 . Alternatively, the area data 21 may be prepared independently of the map data. If the dynamic information is associated with other data items such as specific information, the dynamic information and the other data items may be held separately.

Region data 21 may include other information in addition to specific and dynamic information. For example, the region data 21 may further include restriction information indicating flight restrictions within the three-dimensional spatial network. Flight restrictions are conditions set to ensure flight safety within a three-dimensional spatial network. Examples of flight restrictions include conditions such as the maximum number of flying objects 40 that can exist simultaneously in the three-dimensional space network, the minimum distance between adjacent flying objects 40, and the allowable maximum dimensions of flying objects 40. However, flight limits are not limited to these and may be defined by any one or more conditions.

Each control system 30 performs processing for directly controlling the flight of one or more flying objects (drone) 40 or managing the operation of one or more flying objects 40. For that processing, the control system 1 and Work together. When the control system 30 determines the flight schedule of each aircraft 40, it requests the control system 1 to approve the schedule. In response to the request, the control system 1 determines whether the flight schedule is permitted or not, and transmits instruction data based on the determination result to the control system 30 as a response. As with the area data 21 , the instruction data is electronic data that can be read by a computer, and is control data that includes digital information necessary for controlling the aircraft 40 . Control system 30 controls or manages vehicle 40 based on the instruction data. For example, the control system 30 causes the aircraft 40 to fly as scheduled when the control system 1 permits the flight schedule, and changes or cancels the flight schedule when the control system 1 prohibits (denies) the flight schedule. . Flight schedule changes include, for example, changes in flight path or time.

By processing requests from a plurality of control systems 30, the control system 1 can integrally manage the flight of the aircraft 40 in each three-dimensional space network.

As described above, FIG. 2 is an example of use of the control system 1, and the method of using the control system 1 is not limited at all. The control system 1 may cooperate with a type of control system other than the control system 30 . Each of the one or more control systems directly controls or manages the aircraft 40, and the control system 1 integrally manages the controls by the individual control systems. For example, control system 1 permits or prohibits flight schedules established by the control system, and each control system maintains, modifies, or cancels the flight schedule as determined by control system 1 .

[System configuration]
FIG. 3 is a diagram showing an example of the functional configuration of the control system 1. As shown in FIG. In one example, the control system 1 includes a server 10, which is a computer that controls flight of aircraft in a three-dimensional spatial network. Server 10 is in communicative connection with database 20 and also in communicative connection with one or more control systems 30 . The specific configuration of the communication network is not limited for both the connection between server 10 and database 20 and the connection between server 10 and control system 30 . For example, the communication network may comprise at least one of the Internet and an intranet. Also, the communication network may comprise at least one of a wired network and a wireless network.

The configuration of the control system 1 is not limited to the example of FIG. 3 . The database 20 may be part of the control system 1 or managed by a computer system separate from the control system 1 . Alternatively, server 10 may comprise database 20 .

The server 10 includes an acquisition unit 11, a determination unit 12, an instruction generation unit 13, a communication unit 14, and an update unit 15 as functional modules. The acquisition unit 11 is a functional module that acquires a control request from the control system 30 . The determination unit 12 is a functional module that refers to the area data 21 and executes the requested control. The instruction generation unit 13 is a functional module that generates instruction data based on the determination result of the determination unit 12 . The communication unit 14 is a functional module that outputs the instruction data toward the control system 30 . The update unit 15 is a functional module that updates the dynamic information of the area data 21 based on information acquired from the control system 30 .

FIG. 4 shows an example of the hardware configuration of the server 10. As shown in FIG. For example, server 10 has control circuitry 100 . In one example, control circuitry 100 includes one or more processors 101 , memory 102 , storage 103 , communication ports 104 and input/output ports 105 . Processor 101 executes an operating system and application programs. The storage 103 is configured by a storage medium such as a hard disk, nonvolatile semiconductor memory, or removable media (for example, magnetic disk, optical disk, etc.), and stores an operating system and application programs. The memory 102 temporarily stores programs loaded from the storage 103 or computation results by the processor 101 . In one example, the processor 101 functions as each of the functional modules described above by executing a program in cooperation with the memory 102 . Communication port 104 performs data communication with other devices via communication network NW according to instructions from processor 101 . The input/output port 105 performs input/output of electrical signals with input/output devices (user interfaces) such as a keyboard, mouse, and monitor according to instructions from the processor 101 .

Server 10 may be configured by one or more computers. When a plurality of computers are used, one server 10 is logically configured by connecting these computers to each other via a communication network.

A computer functioning as the server 10 is not limited. For example, the server 10 may be configured by a large computer such as a business server, or may be configured by a small computer such as a personal computer or a mobile terminal (for example, smart phone, tablet terminal, etc.).

[Data structure of area data]
The area data 21 is data representing a three-dimensional space network and dynamically changing conditions of the three-dimensional space network. A real space in which the flying object 40 can fly may be represented by a plurality of three-dimensional space networks, and in this case, region data 21 are prepared for each three-dimensional space network. Each region data includes identification information that uniquely identifies the three-dimensional spatial network and dynamic information that indicates dynamically changing conditions of the three-dimensional spatial network. Specific information and dynamic information are directly associated in the area data 21 . For example, one record of the region data 21 includes specific information and dynamic information, so that these two types of information are directly associated. Therefore, by simply referring to the area data 21 of a certain three-dimensional spatial network, it is possible to obtain the dynamically changing situation of that three-dimensional spatial network.

Region data 21 may further include restriction information. In this case, in the area data 21, the specific information, the dynamic information and the restriction information are directly associated. For example, one record of the area data 21 includes specific information, dynamic information, and restriction information, so that these three types of information are directly associated. Therefore, by simply referring to the region data 21 of a certain three-dimensional spatial network, it is possible to obtain flight limits and dynamically changing conditions for that three-dimensional spatial network.

FIG. 5 is a diagram showing some examples of the data structure of the area data 21. As shown in FIG. In either example, region data 21 includes specific information, restriction information, and dynamic information.

Example (a) of FIG. 5 shows area data 21 corresponding to one link. In this example, the specific information is a link ID that is an identifier that uniquely identifies a link, and this link ID is a type of area ID. The limit information includes the allowable number, which is the maximum number of vehicles that can be in the link at the same time. The dynamic information includes one or more pairs of time zones and aircraft IDs. The aircraft ID is an identifier for uniquely identifying the aircraft 40 . Each set represents an aircraft 40 scheduled to fly in the three-dimensional spatial network (link) during that time period. If the actual time is within the time zone, the set can be said to represent current flight conditions. If the actual time has passed the time period, the set can be said to show flight performance.

Example (b) of FIG. 5 shows the area data 21 corresponding to one link. In this example as well, the specific information is defined by the link ID. The restriction information includes a safety distance, which is the minimum distance that should be ensured between two adjacent flying objects 40 . In this example, the safety distance is defined in each of the front-rear direction, the left-right direction, and the up-down direction, but the safety distance may be defined by other methods, such as the radius of a virtual sphere. The dynamic information includes one or more pairs of time zones and vehicle IDs.

Example (c) in FIG. 5 shows area data 21 corresponding to one block. In this example, the identification information is a block ID that is an identifier that uniquely identifies a block, and this block ID is a type of area ID. The limit information includes the allowable number, which is the maximum number of air vehicles that can exist in the block at the same time. The dynamic information includes one or more pairs of time zones and vehicle IDs.

A specific data structure of the area data 21 is not limited to the example in FIG. 5, and can take various configurations and formats. For example, the restriction information may include the maximum size of the air vehicle 40 that can pass through, or may include restrictions associated with passage of a particular air vehicle such as a manned helicopter. The limit information may be a fixed value or may vary depending on the given circumstances. As an example, the above safety distance may be updated according to the environment in the three-dimensional spatial network, for example, the safety distance is set to a first value when the wind speed is above the threshold, and the wind speed is equal to or above the threshold. If less than the threshold, it may be set to a second value that is less than the first value. The restriction information may include a combination of multiple restriction items, for example, a combination of safe distance and allowable number. The region data 21 may not contain restriction information.

The area data 21 are stored in the database 20 in advance for processing by the control system 1 . Restriction information is preset and stored. As noted above, the restriction information may be updated as needed. For example, the updating unit 15 may update the restriction information based on data input by the user of the control system 1, or update the restriction information based on data received from any external system such as a weather forecast system. You may Dynamic information is updated in response to any changes in the 3D spatial network. The updating unit 15 may update dynamic information based on data received from the control system 30 . Alternatively, the updating unit 15 may update the dynamic information based on data input by the user of the control system 1, or may update the dynamic information based on data received from an external system other than the control system 30. may be updated.

[System processing procedure]
The operation of the control system 1 will be described and the control method according to the present embodiment will be described with reference to FIGS. 6 and 7. FIG. 6 and 7 are both flowcharts showing an example of the operation of the control system 1. FIG. More specifically, FIG. 6 shows the processing S1 for controlling entry of the aircraft 40 into the three-dimensional space network, and FIG. 7 shows the processing S2 for changing the flight schedule associated with priority flight. Both of the processes S1 and S2 are executed in response to obtaining a request from one control system 30 . Each time the control system 1 acquires a request, it executes either of the processes S1 and S2 depending on the content of the request.

First, processing S1 will be described. In step S11, the acquisition unit 11 acquires from the control system 30 a request for causing the aircraft (second aircraft) 40 to fly within the three-dimensional space network. In one example, the request includes information identifying the three-dimensional space network (eg, area ID, location), information for identifying the aircraft 40 (eg, aircraft ID), and information for identifying the aircraft 40 to the three-dimensional space network. entry schedule (e.g., scheduled entry time, required time to pass, etc.).

In step S<b>12 , the determination unit 12 acquires the area data 21 of the three-dimensional spatial network corresponding to the request from the database 20 . For example, the determination unit 12 searches the database 20 using the specific information of the three-dimensional spatial network as a search key, thereby reading the area data 21 corresponding to the three-dimensional spatial network.

In step S13, the determination unit 12 determines whether or not to allow the aircraft 40 to enter the three-dimensional space network based on the restriction information and dynamic information of the region data. For example, the determination unit 12 determines whether or not the flying object 40 can enter the three-dimensional space network by comparing the restriction information and the dynamic information.

For example, the link L004 shown in the example (a) of FIG. 5 is the three-dimensional space network to be processed, and the acquisition unit 11 causes the flying object (second flying object) 40 to enter the link at 9:20. Suppose you get a request. There is one flying object (first flying object) 40 scheduled to fly on link L004 in the time slot "9:15 to 9:30" corresponding to the scheduled approach time, and the allowable number is two. Another aircraft 40 can fly within the link L004 during the time period. Therefore, the determination unit 12 determines that the entry indicated by the request is permitted. On the other hand, it is assumed that the acquiring unit 11 acquires a request for the flying object (second flying object) 40 to enter the link L004 at 9:35. In this case, two flying objects (first flying objects) 40 are scheduled to fly on link L004 during the time slot "9:30 to 9:45" corresponding to the scheduled approach time, and the allowable number is two. Therefore, it is not possible to fly another aircraft 40 during that time period. Therefore, the determination unit 12 determines to prohibit (reject) the entry indicated by the request.

As another example, link L012 shown in example (b) of FIG. Suppose you get a request to enter the . There is one flying object (first flying object) 40 scheduled to fly over link L012 in the time slot "9:00 to 9:15" corresponding to the scheduled approach time. For example, based on the speed of the flying object (second flying object) 40 indicated by the request, the speed of the flying object (first flying object) DN001 indicated by the dynamic information, and the safe distance, It is estimated whether or not the two flying objects 40 can fly while ensuring the safe distance from beginning to end during the time period “9:00 to 9:15”. If the two flying objects 40 can keep the safe distance from start to finish, the decision unit 12 decides to permit the approach indicated by the request. On the other hand, if the two flying objects 40 cannot keep a safe distance from beginning to end, the determination unit 12 determines to prohibit (reject) the entry indicated by the request.

In step S<b>14 , the instruction generation unit 13 generates instruction data based on the determination result of the determination unit 12 . For example, the instruction generation unit 13 generates instruction data indicating entry permission when the request is permitted, and generates instruction data indicating entry prohibition when entry is prohibited. The data structure of the instruction data is not limited at all.

In step S15, the communication unit 14 transmits the instruction data to the control system 30, which is the source of the request. Control system 30 can control the flight of vehicle 40 based on the instruction data. For example, the control system 30 causes the aircraft 40 to fly as planned based on the instruction data indicating the entry permission. Alternatively, control system 30 modifies or cancels the flight schedule based on the no-entry instruction data.

In step S16, the process is divided depending on whether the determination unit 12 permits the entry of the flying object 40 into the three-dimensional space network. If the entry is permitted (YES in step S16), the process proceeds to step S17. In step S17, the update unit 15 updates the dynamic information of the area data acquired in step S12 by writing the flight schedule indicated by the request. For example, the determination unit 12 adds the aircraft ID of the aircraft 40 permitted to enter to the group corresponding to the approach time. By updating the dynamic information, the database 20 can continue to hold the area data 21 indicating the latest situation. On the other hand, if entry is prohibited (NO in step S16), step S17 is not executed because updating of dynamic information is unnecessary.

Next, processing S2 will be described. In step S21, the acquisition unit 11 acquires a request for causing the flying object (second flying object) 40 to fly preferentially within the three-dimensional space network. Priority flight means to fly a specific flying object (second flying object) 40 with priority over other flying objects (first flying object) 40 . More specifically, priority flight means smooth flight of the specific aircraft 40 by applying an initially unplanned change to the flight of the other aircraft 40. . An example of priority flight is to fly a particular vehicle 40 to its destination as soon as possible for emergency purposes. "Other aircraft" refers to aircraft other than the aircraft to be preferentially flown. In the process S2, the request acquired by the acquisition unit 11 includes information specifying the three-dimensional space network, information for specifying the flying object 40, and the schedule of entry of the flying object 40 into the three-dimensional space network. include. Hereinafter, the flying object to be given priority flight is also referred to as "priority flying object".

At step S<b>22 , the determination unit 12 acquires the region data 21 of the three-dimensional spatial network corresponding to the request from the database 20 . This process is the same as step S12 described above.

In step S23, based on at least the dynamic information of the area data, the determination unit 12 determines the position of another flying object 40 (this is the flying object 40 indicated by the dynamic information) corresponding to the three-dimensional space network. Decide on control. For example, the determination unit 12 compares a predetermined rule (priority rule) regarding the priority flight with the dynamic information of the area data, so that the same three flights as the priority aircraft (second aircraft) in a certain period of time. It determines the control of another flying object (first flying object) 40 that will exist in the dimensional space network. The content of the priority rule is not limited. For example, the priority rule may include temporarily withdrawing other flying objects 40 from the three-dimensional space network, or canceling entry of other flying objects 40 into the three-dimensional space network once permitted. may contain. The priority rule may be pre-stored in the server 10 or the database 20 as data separate from the area data 21 . Alternatively, the priority rule may be stored as at least part of the restriction information of the area data 21. In this case, the determination unit 12 simply refers to the area data 21 to compare the priority rule and the dynamic information. be able to.

In step S<b>24 , the instruction generation unit 13 generates instruction data based on the determination by the determination unit 12 . For example, the instruction generation unit 13 may generate instruction data for evacuating another flying object (first flying object) 40, or may give permission to enter another flying object (first flying object) 40. Instruction data for canceling may be generated. As in step S14, the data structure of the instruction data is not limited at all. When a plurality of flying objects 40 are targeted, there may be a plurality of control systems 30 corresponding to the plurality of flying objects 40 . In this case, the instruction generator 13 generates instruction data individually for each control system 30 . The instruction generation unit 13 further generates instruction data indicating permission for priority flight, which is to be transmitted to the control system 30, which is the source of the request.

In step S25, the communication unit 14 transmits instruction data to each of at least one control system 30 that manages another flying object (first flying object) 40 that needs to be controlled. Each control system 30 can control the flight of its vehicle 40 based on its instruction data. For example, control system 30 may temporarily retract vehicle 40 or modify a flight schedule for which authorization has been revoked. The communication unit 14 further transmits instruction data indicating permission for priority flight to the control system 30 that is the source of the request (that is, the control system 30 corresponding to the priority aircraft).

In step S<b>26 , the updating unit 15 updates the dynamic information in the area data 21 based on the determination by the determining unit 12 . For example, the determination unit 12 adds the flying object ID of the priority flying object to the dynamic information corresponding to the passage time of the priority flying object, and adds the flying object ID of the other flying object 40 whose permission has been canceled to the dynamic information. delete from By updating the dynamic information, the database 20 can continue to hold the area data 21 indicating the latest situation.

An example of the process S1 will be described with reference to FIGS. 8 and 9. FIG. FIG. 8 is a diagram showing an example of control over flight network 220 including seven links with link IDs “L001” to “L007”. FIG. 9 is a diagram showing an example of area data 21 of six links L002 to L007 directly related to the control. In the examples of FIGS. 8 and 9, flight schedules are made for three aircraft whose IDs are 'DN001' to 'DN003'. The aircraft D001 is scheduled to pass links L002, L004 and L006 in this order, and the aircraft D002 is scheduled to pass links L005, L004 and L003 in this order. Aircraft DN003 is scheduled to pass link L007.

Based on this assumption, assume that the acquisition unit 11 receives a request from the control system 30 that manages the aircraft DN003 to cause the aircraft DN003 to enter the link L004 at 9:35. Referring to the area data 21 of link L004, the allowable number is 2, and the dynamic information indicates that two aircraft will pass between 9:30 and 9:45. Since no more flying objects can fly during this time period, the determination unit 12 determines that the request is prohibited. As a result, the control system 30 needs to change the flight schedule of the aircraft DN003. It is necessary to

An example of the process S2 will be described with reference to FIGS. 9 and 10. FIG. FIG. 10 is a diagram showing another example of control over flight network 220. In FIG. The flight schedules of the flying objects DN001 and DN002 are the same as in FIGS. In this example, it becomes necessary for the priority flying object DN101 to pass through the links L003 and L006 in this order urgently. Suppose we receive a request to enter the .

Referring to the area data 21 of the link L003, the dynamic information indicates that the aircraft DN002 will pass between 10:30 and 11:00. Therefore, the determination unit 12 determines to cancel the flight schedule of the aircraft DN002 on the link L003. As a result, the control system 30 of the flying object DN002 needs to change the flight schedule of the flying object DN002. You have to change your route.

Aircraft DN001 is scheduled to leave link L006 by 10:00. Therefore, the determination unit 12 does not change the flight schedule of the aircraft DN001 on the link L006 in response to the request regarding the priority aircraft DN101. As a result, the flying object DN001 can fly as planned.

[program]
A program for causing the computer to function as the server 10 includes program codes for causing the computer to function as the acquisition unit 11 , the determination unit 12 , the instruction generation unit 13 , the communication unit 14 and the update unit 15 . This program may be provided after being fixedly recorded in a tangible recording medium such as a CD-ROM, DVD-ROM, or semiconductor memory. Alternatively, the program may be provided over a communications network as a data signal superimposed on a carrier wave. The provided program is stored in the storage 103, and the processor 101 cooperates with the memory 102 to execute the program, thereby realizing each of the functional modules described above.

[effect]
As described above, the computer system according to one aspect of the present disclosure includes at least one processor, and the at least one processor processes a three-dimensional spatial network and dynamically changing conditions of the three-dimensional spatial network. The flight of the aircraft in the three-dimensional spatial network is controlled based on the area data containing the dynamic information indicated.

A program according to one aspect of the present disclosure, based on region data including dynamic information indicating a three-dimensional space network and a dynamically changing situation of the three-dimensional space network, an aircraft in the three-dimensional space network causes the computer to perform steps to control the flight of

In this aspect, since the area data includes the three-dimensional spatial network and dynamic information, it is possible to acquire the situation of the three-dimensional spatial network simply by referring to the area data. Therefore, control processing can be executed quickly. Also, since the association between the three-dimensional spatial network and the dynamic information is expressed with a small amount of data, the storage capacity of the area data can be saved.

In a computer system according to another aspect, the region data may be data in which dynamic information is directly associated with specific information that uniquely identifies a three-dimensional spatial network. By directly linking the three-dimensional spatial network and its dynamic information, the dynamic information can be referenced efficiently and at high speed. Therefore, control processing can be executed quickly and the size of area data can be reduced.

In a computer system according to another aspect, at least one processor controls flight of an aircraft in a three-dimensional space network based on restriction information indicating flight restrictions in the three-dimensional space network and dynamic information. good. Control can be appropriately executed by considering dynamically changing conditions and flight restrictions.

In a computer system according to another aspect, the region data may be data in which the restriction information and the dynamic information are directly associated with the specific information that uniquely identifies the three-dimensional spatial network. By directly linking the three-dimensional spatial network with its dynamic information and restriction information, both dynamic information and restriction information can be referenced efficiently and at high speed. Therefore, control processing can be executed quickly and the size of area data can be reduced.

A computer system according to another aspect, wherein the dynamic information indicates one or more first air vehicles flying or scheduled to fly in a three-dimensional spatial network, and at least one processor directs the second air vehicle to three-dimensional space. It determines whether or not it is possible to enter the network based on the restriction information and the dynamic information, and if it is determined that the second flying object can enter the three-dimensional space network, the second flying object enters the three-dimensional space network. If the entry is permitted, and it is determined that the second flying object cannot enter the three-dimensional space network, the second flying object may be prohibited from entering the three-dimensional space network. Information about the first flying object currently flying or scheduled to fly in the three-dimensional space network can be obtained only by referring to the area data, so the entry of the second flying object into the three-dimensional space network can be obtained. It is possible to quickly decide whether to accept or not.

In a computer system according to another aspect, the at least one processor may update the dynamic information such that the dynamic information further indicates the second vehicle that has been admitted into the three-dimensional spatial network. This update process keeps the dynamic information up-to-date, so that the next control process can be executed appropriately.

A computer system according to another aspect, wherein the dynamic information indicates one or more first air vehicles flying or scheduled to fly in a three-dimensional spatial network, wherein at least one processor is configured to: The flight of each of the one or more first vehicles may be controlled to allow the second vehicle to fly over the three-dimensional spatial network with priority over the second vehicle. Information about the first aircraft currently flying or scheduled to fly in the three-dimensional space network can be obtained only by referring to the area data. processing can be executed quickly.

In the computer system according to another aspect, control of flight of each of the one or more first flying objects includes processing for evacuating the first flying object flying in the three-dimensional space network; and/or canceling the flight schedule of the aircraft. In this case, evacuation of the first flying object or cancellation of the flight schedule of the first flying object can be quickly executed.

[Modification]
The present disclosure has been described in detail above based on its embodiments. However, the present disclosure is not limited to the above embodiments. Various modifications can be made to the present disclosure without departing from the gist thereof.

The control system 1 may perform control based on information on objects other than the flying object 40 . For example, the control system 1 acquires information about a bird or a flock of birds, identifies a flying object 40 existing in a three-dimensional space network in which the bird or the flock exists, and sends the flying object 40 to the control system 30 to manage the flying object 40. Instruction data of arbitrary content (for example, instruction data relating to alerting or control of the flying object 40) may be transmitted.

Updating of dynamic information may be performed by a computer system separate from the control system 1 . That is, the control system 1 does not have to include the updating unit 15 .

The procedure for controlling the flying object executed by at least one processor is not limited to the examples in the above embodiments. For example, some of the steps (processes) described above may be omitted, or the steps may be performed in a different order. Also, any two or more of the steps described above may be combined, and some of the steps may be modified or deleted. Alternatively, other steps may be performed in addition to the above steps.

Aspects described in all or part of the above embodiments are appropriate control of flying objects, improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of functions using data, or provision of appropriate functions. Appropriate data, programs, recording media, devices and/or systems such as provision of other functional improvements or appropriate functions, reduction of data and/or program capacity, downsizing of devices and/or systems, and data , reduction of production/manufacturing costs of programs, devices or systems, facilitation of production/manufacturing, optimization of production/manufacturing of data, programs, recording media, devices and/or systems such as shortening of production/manufacturing time or solve one problem.

REFERENCE SIGNS LIST 1 control system 10 server 11 acquisition unit 12 determination unit 13 instruction generation unit 14 communication unit 15 update unit 20 database 21 region data 30 control system 40 , 301 to 305 ... flying object, 200 ... three-dimensional spatial network, 201 ... node, 202 ... link, 210 ... three-dimensional spatial network, 211 ... waypoint, 212 ... three-dimensional block.

Claims (9)

comprising at least one processor,
A region in which the at least one processor includes dynamic information indicative of a three-dimensional spatial network, dynamically changing conditions of the three-dimensional spatial network , and restriction information indicative of flight restrictions within the three-dimensional spatial network. Based on the data, control the flight of the aircraft in the three -dimensional space network,
The restriction information includes a safety distance, which is the minimum distance that should be ensured between adjacent flying objects,
the safe distance is updated according to the environment within the three-dimensional spatial network;
computer system. The safety distance is set to a first value if the wind speed is greater than or equal to a threshold, and set to a second value that is less than the first value if the wind speed is less than the threshold. Ru
2. The computer system of claim 1. The limit information further includes a maximum number of flying objects that can exist simultaneously in the three-dimensional spatial network and a maximum allowable size of the flying objects.
3. A computer system according to claim 1 or 2. The region data is data in which the restriction information and the dynamic information are directly associated with specific information that uniquely identifies a three-dimensional spatial network.
4. A computer system according to any one of claims 1-3 . the dynamic information indicates one or more first air vehicles in flight or scheduled to fly in the three-dimensional spatial network;
the at least one processor
determining whether or not a second flying object can enter the three-dimensional space network based on the restriction information and the dynamic information;
if it is determined that the second flying object can enter the three-dimensional space network, permitting the second flying object to enter the three-dimensional space network;
when it is determined that the second flying object cannot enter the three-dimensional space network, prohibiting the second flying object from entering the three-dimensional space network;
A computer system according to any one of claims 1 to 4 . The at least one processor updates the dynamic information such that the dynamic information further indicates the second vehicle that has been granted entry into the three-dimensional spatial network;
6. A computer system according to claim 5. the dynamic information indicates one or more first air vehicles in flight or scheduled to fly in the three-dimensional spatial network;
The at least one processor controls the flight of each of the one or more first air vehicles to cause a second air vehicle to fly over the three-dimensional spatial network in preference to the one or more first air vehicles. do,
A computer system according to any one of claims 1 to 4 . Control of the flight of each of the one or more first flying objects includes a process of evacuating the first flying object flying over the three-dimensional space network, and a flight of the first flying object within the three-dimensional space network. including at least one of canceling an appointment,
8. Computer system according to claim 7. Based on region data including a three-dimensional space network, dynamic information indicating a dynamically changing situation of the three-dimensional space network, and restriction information indicating flight restrictions within the three-dimensional space network , the three A program that causes a computer to execute a step of controlling the flight of an aircraft in a dimensional space network,
The restriction information includes a safety distance, which is the minimum distance that should be ensured between two adjacent flying objects,
the safe distance is updated according to the environment within the three-dimensional spatial network;
program .

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