JPWO2019135273A1 - Flight control system and flight plan creation method - Google Patents

Abstract

The flight control system receives an unmanned aerial vehicle having a battery, a power supply device for supplying power to the unmanned aerial vehicle, a vehicle information on the unmanned aerial vehicle, a battery information on the battery, and a power supply device information on the power supply device. A flight management device that manages the flight; and a flight plan creation device that creates a flight plan for an unmanned aerial vehicle based on the flying object information, battery information, and power supply device information from the flight management device. Creates a flight path from the starting point to the destination via the power supply device, sets a first charge amount smaller than the maximum charge amount of the battery, and sets the first charge amount in the power supply device. Create a flight plan for the unmanned aerial vehicle to resume flight.

Description

  The present invention relates to a flight control system and a flight plan creation method.

  Unmanned aerial vehicles such as multicopters (drones) are expected to be applied to various fields such as aerial photography, transportation, surveying, collection of geographic information, environmental measurement, and agriculture. An unmanned aerial vehicle uses a battery for generating thrust and the like (for example, see Patent Document 1). Patent Literature 2 describes a small flight system that accurately manages a small flying object in flight.

Japanese Patent No. 6156605 JP 2017-77879 A

  An unmanned aerial vehicle must fly safely and efficiently in consideration of a reduction in the time required from the departure point to the destination, a reduction in the power consumption of the battery, and a reduction in the heat generation of devices such as a motor. Patent Document 1 does not disclose creation of a flight plan for an unmanned aerial vehicle. When the small flight system of Patent Document 2 lands at a relay point on the way from the departure place to the destination, the small flight system determines the next relay point based on the remaining battery capacity and information on surrounding landing points. For this reason, in the small flight system of Patent Document 2, it is difficult to create an efficient flight plan in advance at the time of departure.

  An object of the present invention is to solve the above problems and to provide a flight control system and a flight plan creation method capable of creating an efficient flight plan.

  A flight control system according to one aspect of the present invention includes an unmanned aerial vehicle having a battery, a power supply device for supplying power to the unmanned aerial vehicle, flying vehicle information on the unmanned aerial vehicle, battery information on the battery, and power supply on the power supply device. A flight management device that receives device information and manages the flight of the unmanned aerial vehicle; and a flight plan of the unmanned aerial vehicle based on the flying vehicle information, the battery information, and the power supply device information from the flight management device. A flight plan creation device that creates a flight path from a departure place to a destination via the power supply device, and that is smaller than a maximum charge amount of the battery. A charge plan is set, and a flight plan is created in which the unmanned aerial vehicle resumes flight when the first charge amount is charged in the power supply device.

  According to this, the charge amount of the battery in the power supply device is regulated to the first charge amount smaller than the maximum charge amount, so that the charging time in the power supply device can be reduced. Therefore, the flight control system can reduce the time required from the departure place to the destination, and can create an efficient flight plan.

  As a desirable mode of the present invention, the first charge amount is a charge amount of the battery required for a flight from the power supply device to the destination. According to this, it is possible to fly the unmanned aerial vehicle from the power supply device to the destination while shortening the charging time. Therefore, the flight control system can create a safe and efficient flight plan.

  As a preferred embodiment of the present invention, a plurality of the power supply devices are provided, and the flight plan creation device selects the power supply device that can be reached with the first charge amount among the plurality of the power supply devices, and selects the flight plan To determine. According to this, the number of times of charging the battery of the unmanned aerial vehicle to the maximum charge amount can be reduced, and the life of the battery can be extended. As a result, it is possible to reduce maintenance such as battery performance deterioration and battery replacement during flight, and to create an efficient flight plan.

  A flight control system according to one embodiment of the present invention includes an unmanned aerial vehicle having a battery, a plurality of power supply devices for supplying power to the unmanned aerial vehicle, flying object information on the unmanned aerial vehicle, battery information on the battery, and the power supply device A flight management device that receives power supply device information about the unmanned aerial vehicle, and manages the flight of the unmanned aerial vehicle, based on the flying object information from the flight management device, the battery information, and the power supply device information, A flight plan creation device for creating a flight plan, wherein the flight plan creation device creates a plurality of different flight paths from at least one of the plurality of power supply devices via the power supply device to a destination. And a total time of a flight time and a charging time for each of the plurality of flight paths based on the flying object information and the power supply device information. Calculated to produce the flight plan on the basis of the total time is shorter the flight path.

  According to this, the required time including the flight time and the charging time from the departure point to the destination can be reduced, and an efficient flight plan can be created.

  A flight control system according to one embodiment of the present invention includes an unmanned aerial vehicle having a motor drive circuit for controlling operation of a motor, a battery, a power supply device for supplying power to the unmanned aerial vehicle, and flying object information related to the unmanned aerial vehicle. A flight management device that receives battery information related to the battery and power supply device information related to the power supply device, and manages the flight of the unmanned aerial vehicle; and the flying object information, the battery information, and the power supply device from the flight management device. A flight plan creation device for creating a flight plan of the unmanned aerial vehicle based on the information, wherein the flight plan creation device creates a flight route from a departure place to a destination via the power supply device. The power supply time in the power supply device is reduced from when the motor stops until the temperature of the motor drive circuit drops below a predetermined temperature. If shorter than, the unmanned air vehicle until the cooling time has elapsed, creating a flight plan to wait to the power supply device.

  According to this, the flight control system creates a flight plan in which the unmanned aerial vehicle waits until the temperature of the motor drive circuit decreases to an appropriate temperature even when charging is completed in the power supply device. Therefore, it is possible to suppress a decrease in the flight performance of the unmanned aerial vehicle and the occurrence of a failure, and as a result, to create an efficient flight plan.

  As a desirable mode of the present invention, the flying object information includes information on the motor drive circuit, and the flight plan creation device is configured based on information on the motor drive circuit and information on flight conditions up to the power supply device. The cooling time is calculated. According to this, at the time of departure from the departure place, the standby time (charging time and cooling time) of the unmanned aerial vehicle at the power supply device can be predicted in advance. Therefore, it is possible to suppress a change in the flight route and a change in the arrival time during the flight.

  As a desirable mode of the present invention, the unmanned aerial vehicle has a power receiving coil for receiving power by non-contact power feeding, and the power feeding device has a power feeding coil for sending power to the power receiving coil. According to this, in the power supply device, the battery of the unmanned aerial vehicle is charged by non-contact power supply. Therefore, the power supply device does not require connection of an electric power cable or the like to the unmanned aerial vehicle. Therefore, the flying object can autonomously fly from the departure point to the destination according to the flight plan.

  A flight plan creation method according to one aspect of the present invention relates to an unmanned aerial vehicle having a battery, a power supply device for supplying power to the unmanned aerial vehicle, flying vehicle information on the unmanned aerial vehicle, battery information on the battery, and the power supply device. A flight management device that receives the power supply device information and manages the flight of the unmanned aerial vehicle; and the flight of the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device. A flight plan creation method for a flight control system, comprising: a flight plan creation device for creating a plan, wherein the flight plan creation device creates a flight route from a starting point to a destination via the power supply device. And setting a first charge amount that is smaller than a maximum charge amount of the battery, wherein the first charge amount is charged in the power supply device. Having the steps of the unmanned air vehicle to create a resume flight plan flight when the.

  According to this, since the charge amount of the battery in the power supply device is regulated to the first charge amount smaller than the maximum charge amount, the charging time can be reduced. Therefore, according to the flight plan creation method of the flight control system, the time required from the departure point to the destination can be reduced, and an efficient flight plan can be created.

  A flight plan creation method according to one aspect of the present invention includes an unmanned aerial vehicle having a battery, a plurality of power supply devices for supplying power to the unmanned aerial vehicle, flying vehicle information on the unmanned aerial vehicle, battery information on the battery, and the power supply. A flight management device that receives power supply device information about the device and manages the flight of the unmanned aerial vehicle; and the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device. A flight plan creation method for a flight control system, comprising: a flight plan creation device that creates a flight plan of the flight control system, wherein the flight plan creation device includes at least one of the plurality of power supply devices from a departure point to a destination. Creating a plurality of different flight paths via a power supply device, and based on the flying object information and the power supply device information For each of the plurality of the flight path, it calculates the total time of the flight time and the charging time, and a step of creating the flight plan on the basis of the total time is shorter the flight path.

  According to this, the required time including the flight time and the charging time from the departure point to the destination can be reduced, and an efficient flight plan can be created.

  A flight plan creation method according to one aspect of the present invention provides an unmanned aerial vehicle having a motor drive circuit that controls the operation of a motor, a battery, a power supply device that supplies power to the unmanned aerial vehicle, and a flying vehicle related to the unmanned aerial vehicle. Information, battery information on the battery, and power supply device information on the power supply device, and a flight management device for managing the flight of the unmanned aerial vehicle; and the flight vehicle information, the battery information, and the power supply from the flight management device. A flight plan creation device for creating a flight plan of the unmanned aerial vehicle based on device information, the flight plan creation method of a flight control system, wherein the flight plan creation device sends the power supply device from a departure place. Creating a flight route to the destination via the power supply device, the power supply time, after the motor is stopped, the Creating a flight plan in which the unmanned aerial vehicle waits in the power supply device until the cooling time elapses, when the cooling time until the temperature of the motor drive circuit decreases to a predetermined temperature or less, Having.

  According to this, the flight plan creation method of the flight control system uses a flight plan in which the unmanned aerial vehicle waits until the temperature of the motor drive circuit decreases to an appropriate temperature even when charging is completed in the power supply device. create. Therefore, it is possible to suppress a decrease in the flight performance of the unmanned aerial vehicle and the occurrence of a failure, and as a result, to create an efficient flight plan.

  According to the flight control system and the flight plan creation method of the present invention, it is possible to create an efficient flight plan.

FIG. 1 is a block diagram illustrating a configuration of the flight control system according to the first embodiment. FIG. 2 is a perspective view of the flying object according to the first embodiment. FIG. 3 is a block diagram illustrating a configuration of the flying object according to the first embodiment. FIG. 4 is a block diagram illustrating a configuration of the power supply device according to the first embodiment. FIG. 5 is a block diagram illustrating a configuration of the flight management device according to the first embodiment. FIG. 6 is a block diagram illustrating a configuration of the flight plan creation device according to the first embodiment. FIG. 7 is a block diagram illustrating a configuration of an information acquisition unit included in the flight plan creation device according to the first embodiment. FIG. 8 is a flowchart of the flight plan creation method according to the first embodiment. FIG. 9 is an explanatory diagram for explaining a flight plan according to the first embodiment. FIG. 10 is a flowchart of a flight plan creation method according to the second embodiment. FIG. 11 is an explanatory diagram for describing a flight plan according to the second embodiment. FIG. 12 is an explanatory diagram for describing another example of the flight plan according to the second embodiment. FIG. 13 is a flowchart of a flight plan creation method according to the third embodiment. FIG. 14 is an explanatory diagram for explaining a flight plan according to the third embodiment. FIG. 15 is a flowchart of the flight plan creation method according to the fourth embodiment. FIG. 16 is an explanatory diagram for explaining a flight plan according to the fourth embodiment.

  Hereinafter, embodiments of a flight control system and a flight plan creation method according to the present invention will be described in detail with reference to the drawings. The present invention is not limited by the following embodiments. In addition, the components of the embodiment include those that can be replaced while being obvious while maintaining the sameness of the invention. In addition, the methods, apparatuses, and modifications described in the embodiments can be arbitrarily combined within a range obvious to those skilled in the art.

(1st Embodiment)
FIG. 1 is a block diagram illustrating a configuration of the flight control system according to the first embodiment. As shown in FIG. 1, the flight control system 1 includes a flying object 2, a power supply device 3, a flight management device 4, and a flight plan creation device 5.

  As shown in FIG. 1, the flying object 2 is an unmanned flying object that autonomously flies unmanned according to the flight command Sh transmitted from the flight management device 4. The flying object 2 is, for example, a multi-copter, a helicopter, an airplane, a flying robot, or the like. The flying object 2 is used for various purposes such as carrying luggage and aerial photography. The flying object 2 transmits the flying object information Sa, which is information on the flying object 2, to the flight management device 4. Further, the flying object 2 has a battery 251 (see FIGS. 2 and 3) for generating thrust and the like. The flying object 2 transmits the battery information Sb, which is information on the battery 251, to the flight management device 4. Further, the flying object 2 can also transmit the flying object information Sa and the battery information Sb during the flight to the flight plan creation device 5. As shown in FIG. 1, the flight control system 1 has a plurality of flying objects 2-1,..., 2-m. , 2-m transmit the flying object information Sa and the battery information Sb to the flight management device 4, respectively. In the following description, when there is no need to separately describe the plurality of flying objects 2-1,..., 2-m, they are simply referred to as flying objects 2.

  The power supply device 3 supplies power to the flying object 2 by non-contact power supply. The non-contact power supply system of the power supply device 3 is, for example, a magnetic field resonance system (AC resonance system or DC resonance system). The present invention is not limited to this, and the power supply device 3 can be realized by another non-contact power supply method such as an electromagnetic induction method or a microwave method. As shown in FIG. 1, a plurality of power supply devices 3-1,..., 3-n are provided. The plurality of power supply devices 3-1,..., 3-n each transmit power supply device information Sc, which is information on the power supply device 3, to the flight management device 4. Also, the plurality of power supply devices 3-1,..., 3-n can transmit the power supply device information Sc to the flight plan creation device 5 while the flying object 2 is flying or charging. In the following description, when it is not necessary to separately describe the plurality of power supply devices 3-1,..., 3-n, they are simply referred to as power supply devices 3.

  The flight management device 4 transmits a flight command Sh to each of the plurality of flying objects 2-1,..., 2-m, and manages the flight of the flying objects 2-1,. The flight management device 4 is, for example, a PC (personal computer). The flight management device 4 transmits the flying object information Sa, the battery information Sb, and the power supply device information Sc to the flight plan creation device 5. Further, the flight management device 4 transmits to the flight plan creation device 5 the flight result information Sd that is information on the past flight results of each flying object 2.

  The flight plan creation device 5 creates a flight plan of the flying object 2 based on the flying object information Sa, the battery information Sb, the power supply device information Sc, the flight result information Sd, and the like from the flight management device 4. Further, the flight plan creation device 5 receives the weather observation information Se from the weather observation device 7. Further, the flight plan creation device 5 receives the weather forecast information Sf from the weather forecast system 71. The flight plan creation device 5 can also create a flight plan based on the weather observation information Se and the weather forecast information Sf. The weather observation device 7 and the weather forecasting system 71 may be included in the flight control system 1 or may use an external weather information providing service. The flight plan creation device 5 transmits the flight plan information Sg, which is information on the flight plan, to the flight management device 4. The flight management device 4 generates a flight command Sh based on the flight plan information Sg, and transmits the command to the flying object 2.

  Next, detailed configurations of the flying object 2, the power supply device 3, the flight management device 4, and the flight plan creation device 5 will be described. FIG. 2 is a perspective view of the flying object according to the first embodiment. FIG. 3 is a block diagram illustrating a configuration of the flying object according to the first embodiment.

  As shown in FIG. 2, the flying object 2 includes a pedestal portion 21, an arm 22, a leg portion 23, a flight control device 24, a power receiving device 25, a motor 26, a propeller 27, a sensor group 28, including. The pedestal portion 21 is a plate-shaped member, and a plurality of pedestals 21 are provided in the up-down direction (z direction). The four arms 22 are provided on the pedestal 21 and extend radially when viewed from the z direction.

  The leg 23 has a leg support 231 and a horizontal leg 232. The leg posts 231 extend downward from the pedestal portion 21 while opening the legs in the ± x directions. The horizontal leg 232 is fixed to the lower end of the leg support 231 and extends in the y direction.

  The flight control device 24 is provided on the base 21. The flight control device 24 is a control circuit that controls the flight of the flying object 2 by supplying control signals to the power receiving device 25 and the motor 26. The power receiving device 25 is provided below the pedestal 21. The power receiving device 25 includes a battery 251, a power receiving control device 252, and a power receiving coil 253.

  A motor 26 and a propeller 27 are provided near the respective ends of the four arms 22. The motor 26 is provided so that the direction of the rotation axis is oriented in the up-down direction (z-axis direction). A propeller 27 is attached to a rotating shaft of the motor 26. Note that an ESC (Electrical Speed Controller) 261 and a motor control device 262 (see FIG. 3) are connected to each motor 26.

  The sensor group 28 is provided on the base 21. The sensor group 28 includes, for example, a three-axis gyro sensor (angular velocity sensor), a three-axis acceleration sensor, a barometric sensor, a magnetic sensor, an ultrasonic sensor, a pressure sensor, and the like.

  As shown in FIG. 2, a load 110 of the flying object 2 is mounted below the pedestal 21. The load 110 is disposed in a space surrounded by the lower portion of the pedestal 21 and the two leg posts 231. The load 110 is, for example, a pickup when the flying object 2 is used for collection and delivery of luggage. For example, when the flying object 2 is used for aerial photography, photographing equipment (a camera, a video camera, a stabilizer, a gimbal) is used. , Vibration dampers, etc.).

  Note that the configuration of the flying object 2 shown in FIG. 2 is merely an example, and can be changed as appropriate. For example, four arms 22 and two propellers 27 are provided, but two, three, five or more arms may be provided. Further, the power receiving coil 253 is provided below the pedestal portion 21, but is not limited to this, and may be any position as long as it can face the power feeding coil 313 (see FIG. 4).

  As shown in FIG. 3, the flying object 2 further includes a communication unit 29, an ESC temperature sensor 281, and a GPS receiving unit 282. The communication unit 29 includes a transmission / reception circuit that performs wireless communication with the flight management device 4 and the flight plan creation device 5. This wireless communication is performed using, for example, radio waves in the 2.4 GHz band. The ESC temperature sensor 281 is a temperature sensor that detects the temperature of the ESC 261. The GPS receiving section 282 includes a receiving antenna, a receiving circuit, and the like for receiving a GPS signal in a GPS (Global Positioning System).

  The flight control device 24 includes a control circuit 241 and a storage unit 242. The control circuit 241 outputs a control signal to the power receiving device 25 and the motor control device 262 based on the flight command Sh from the flight management device 4 to control the flight of the flying object 2. The control circuit 241 is, for example, a CPU (Central Processing Unit). The storage unit 242 stores the flying object information Sa, the battery information Sb, the flight plan information Sg necessary for the flight, and the like regarding the flying object 2. The storage unit 242 is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), or the like.

  The motor control device 262 outputs a drive signal to the ESC 261 based on a control signal from the control circuit 241. The ESC 261 outputs a voltage signal to the motor 26 by controlling the magnitude of the electric resistance value or controlling the PWM (Pulse Width Modulation). Thus, the ESC 261 controls the rotation of the motor 26. The ESC 261 is a motor drive circuit that controls the operation of the motor 26. The control circuit 241 controls the rotation speeds of the plurality of motors 26 based on information from the sensor group 28, the ESC temperature sensor 281 and the GPS receiver 282. Thus, the control circuit 241 controls the operation (posture (pitch, roll, yaw), movement (forward, backward, left / right movement, ascending, descending), etc.) of the flying object 2. The motor 26 is an electric motor, for example, a brushless motor. Further, the control circuit 241 has a function of performing wireless communication with the power supply device 3 and performing authentication between the flying object 2 and the power supply device 3.

  The power receiving device 25 includes a charge amount detection circuit 254 in addition to the battery 251, the power receiving control device 252, and the power receiving coil 253. The power reception control device 252 is a circuit that controls charging of the battery 251 based on a control signal from the control circuit 241. The battery 251 is, for example, a lithium polymer secondary battery, an electric double layer capacitor (electric double layer capacitor), a lithium ion secondary battery, or the like. The charge amount detection circuit 254 is a circuit that detects a charge amount based on a voltage between terminals of the battery 251. The charge amount detection circuit 254 can also detect the remaining voltage capacity of the battery 251 based on the voltage between the terminals of the battery 251. The control circuit 241 calculates the power consumption of the battery 251 based on the information on the remaining voltage capacity.

  The power receiving coil 253 is, for example, a spiral coil. The power receiving coil 253 is provided so as to face the power feeding coil 313 (see FIG. 4) of the power feeding device 3 when the flying object 2 lands on the power feeding device 3. Due to the magnetic coupling between the power receiving coil 253 and the power supply coil 313, the battery 251 is charged by the non-contact power supply from the power supply device 3. The power of the battery 251 is supplied to the control circuit 241 and the ESC 261.

  FIG. 4 is a block diagram illustrating a configuration of the power supply device according to the first embodiment. As shown in FIG. 4, the power supply device 3 includes a power supply circuit 31, a power supply control device 32, a storage unit 33, a timer 34, a flying object detection sensor 35, and a communication unit 39. The power supply control device 32 is a circuit that controls the non-contact power supply from the power supply device 3 to the power receiving device 25 by controlling the power supply circuit 31, the storage unit 33, the timer 34, the flying object detection sensor 35, the communication unit 39, and the like. .

  The power supply circuit 31 includes a power supply coil 313, a power measurement circuit 312, and a power supply circuit 311. The power supply circuit 311 includes, for example, an AC / DC converter and a regulator. The power supply circuit 311 supplies power supplied from a commercial power supply or the like to the power supply coil 313 via the power measurement circuit 312, for example. The power measurement circuit 312 measures the power supplied to the power supply coil 313. The power measurement circuit 312 includes, for example, a voltmeter and an ammeter. The power supply coil 313 is, for example, a spiral coil, and supplies power to the power receiving coil 253 in a non-contact manner.

  The storage unit 33 stores power supply device information Sc that is information on the power supply device 3. The storage unit 33 also stores power supply conditions such as a power supply time and a power supply amount to the flying object 2 and conditions related to past power supply results. The timer 34 measures the power supply time to the flying object 2, that is, the time from when the power supply circuit 31 starts power supply to when power supply is completed.

  The flying object detection sensor 35 determines whether the flying object 2 is at a fixed position of the power supply device 3 (whether the power supply region of the power supply coil 313 and the power reception region of the power reception coil 253 face each other). Detect. The flying object detection sensor 35 is configured using, for example, a photoelectric sensor, a pressure-sensitive sensor, a distance measurement sensor, and the like.

  The communication unit 39 includes a transmission / reception circuit that performs wireless communication with the flying object 2, the flight management device 4, and the flight plan creation device 5. The power supply control device 32 transmits various information such as power supply device information Sc to the flight management device 4 and the flight plan creation device 5 via the communication unit 39. In addition, the power supply control device 32 receives the flying object information Sa and the battery information Sb from the flying vehicle 2 via the communication unit 39, and authenticates the flying vehicle 2.

  FIG. 5 is a block diagram illustrating a configuration of the flight management device according to the first embodiment. As illustrated in FIG. 5, the flight management device 4 includes a control device 41, a storage unit 42, an input unit 43, an output unit 44, and a communication unit 45. The input unit 43 is an interface that receives input of information and instructions from the user, and is, for example, a keyboard, a mouse, a touch panel, and the like. The user can input information such as the identification name of the flying object 2, the departure place and the destination of the flight route from the input unit 43 to the control device 41. The output unit 44 is an interface that provides information to the user, and is, for example, a liquid crystal panel (Liquid Crystal Display), an LED (Light Emitting Diode), a speaker, or the like. The communication unit 45 includes a transmission / reception circuit that performs wireless communication with the flying object 2, the power supply device 3, and the flight plan creation device 5.

  The control device 41 controls the flight of one or more flying objects 2 based on various information. The control device 41 is, for example, a CPU. The control device 41 includes a flying object identification unit 411, a battery identification unit 412, an information acquisition unit 413, and a flight command output unit 414.

  The information acquisition unit 413 acquires various types of information from the flying object 2, the power supply device 3, and the flight plan creation device 5. The storage unit 42 stores various information acquired by the information acquisition unit 413 as a database. The storage unit 42 includes a flying object information database 421, a battery information database 422, a flight plan information database 423, a power supply device information database 424, a weather information database 425, a flight result database 426, and the like.

  The flying object identification unit 411 determines whether the flying object 2 is the flying object 2 to be managed based on the flying object information Sa from the flying object 2 and the flight plan information Sg from the flight plan creation device 5. Identify. Similarly, the battery identification unit 412 identifies whether the battery 251 is the management target battery 251 based on the battery information Sb from the battery 251 and the flight plan information Sg from the flight plan creation device 5. . The flight command output unit 414 transmits the flight plan information Sg as the flight command Sh to the flying object 2 to be managed.

  FIG. 6 is a block diagram illustrating a configuration of the flight plan creation device according to the first embodiment. FIG. 7 is a block diagram illustrating a configuration of an information acquisition unit included in the flight plan creation device according to the first embodiment. As shown in FIG. 6, the flight plan creation device 5 includes a control device 51, a storage unit 52, a communication unit 53, an input unit 54, and an output unit 55.

  The input unit 54 is an interface that receives input of information and instructions from the user, and is, for example, a keyboard, a mouse, a touch panel, or the like. The user can input information on flight plan creation from the input unit 43 to the control device 51. The output unit 55 is an interface that provides information to the user, and is, for example, a liquid crystal panel (Liquid Crystal Display), an LED (Light Emitting Diode), a speaker, or the like. The communication unit 53 includes a transmission / reception circuit that performs wireless communication with the flying object 2, the power supply device 3, and the flight management device 4.

  Control device 51 includes an information acquisition unit 511 and a flight plan creation unit 512. The control device 51 is, for example, a CPU. The information acquisition unit 511 acquires various types of information from the flying object 2, the power supply device 3, and the flight management device 4. As shown in FIG. 7, the information acquisition unit 511 includes a flying object information acquisition unit 511A, a battery information acquisition unit 511B, a flight condition acquisition unit 511C, a power supply device information acquisition unit 511D, a weather information acquisition unit 511E, and a flight result information acquisition unit. 511F and the like.

  The flying object information acquisition unit 511A acquires, as the flying object information Sa, information such as the flying object identification name, the aircraft specification information, the mounted battery identification name, the position information, the flight speed, the flight direction, the flight time, the ESC temperature, the motor temperature, and the like. I do. The battery information acquisition unit 511B acquires information such as a battery identification name, battery specification information, remaining voltage capacity, output current value, and battery temperature as the battery information Sb. The flight condition acquisition unit 511C acquires information such as a departure place, a destination, a load weight, a load capacity, a load shape, and a flight method. The power supply device information acquisition unit 511D acquires information such as a power supply device identification name, an installation location, and power supply device specification information as the power supply device information Sc. The weather information acquisition unit 511E acquires information such as temperature, wind speed, and wind direction as weather observation information Se and weather prediction information Sf. The flight result information acquisition unit 511F acquires information such as a flight route, required time, power consumption, weather conditions, ESC temperature, motor temperature, and battery temperature as the flight result information Sd.

  The storage unit 52 illustrated in FIG. 6 stores information acquired by the information acquisition unit 511. The storage unit 52 is, for example, a ROM, a RAM, a hard disk, or the like.

  The flight plan creation unit 512 is a circuit that creates a flight plan based on the various information acquired by the information acquisition unit 511. The flight plan creation unit 512 includes a flight route creation unit 513, a flight time calculation unit 514, a charging time calculation unit 515, a flight distance calculation unit 516, a required time calculation unit 517, an ESC cooling time calculation unit 518, and a determination unit 519. The flight plan creation unit 512 may be configured by an arithmetic circuit individually formed for each of the above functions. Alternatively, each function of the flight plan creation unit 512 may be formed by one semiconductor integrated circuit (IC: Integrated Circuit). The flight plan created by the flight plan creation unit 512 is transmitted to the flight management device 4 via the communication unit 53 as the flight plan information Sg.

  Next, a flight plan creation method by the flight plan creation device 5 will be described with reference to FIGS. FIG. 8 is a flowchart of the flight plan creation method according to the first embodiment. FIG. 9 is an explanatory diagram for explaining a flight plan according to the first embodiment.

  As shown in FIG. 8, the flight plan creation device 5 receives information on the departure place P1 and the destination P2 (see FIG. 9) from the flight management device 4 (step ST11). The information of the departure place P1 and the destination P2 is the respective position information. Thus, the flight plan creation device 5 starts creating a flight plan. The flight plan creation device 5 further acquires various information such as the flying object information Sa, the battery information Sb, and the power supply device information Sc from the flight management device 4 (step ST12).

  The flight distance calculation unit 516 calculates a distance that can be fly in one flight based on the flying object information Sa and the battery information Sb. In other words, the flight distance calculation unit 516 calculates the distance over which the power supply device 3 can fly without charging the battery 251. The determination unit 519 determines whether the flying object 2 cannot reach the destination P2 in one flight based on the information on the departure point P1 and the destination P2 and the information from the flight distance calculation unit 516. (Step ST13).

  When it is not impossible for the flying object 2 to reach the destination P2 in one flight (step ST13, No), the determination unit 519 determines that the flying object 2 does not need to pass through the power feeding device 3 (see FIG. 9). I do. Thereby, the flight route creation unit 513 and the flight time calculation unit 514 create a flight plan from the departure place P1 to the destination P2 (step ST14). The flight plan in step ST14 includes a flight path from the departure point P1 to the destination P2 without passing through the power supply device 3, and a flight time required from the departure point P1 to the destination P2. Then, the flight plan creation device 5 transmits the flight plan information Sg to the flight management device 4 (Step ST18). Thereby, the flying object 2 flies according to the flight plan according to the flight command Sh based on the flight plan information Sg.

  When the flying object 2 cannot reach the destination P2 in one flight (step ST13, Yes), the determining unit 519 determines that the flying object 2 needs to pass through the power feeding device 3 (see FIG. 9). I do. Then, the flight route creation unit 513 creates the first flight route FP1, and the flight distance calculation unit 516 calculates the flight distance of the second partial flight route FP1-2 from the power supply device 3 to the destination P2 (step). ST15). Specifically, the flight route creation unit 513 creates a first flight route FP1 that reaches the destination P2 from the starting point P1 shown in FIG. Here, the first flight path FP1 includes a first partial flight path FP1-1 and a second partial flight path FP1-2. The first partial flight path FP1-1 is a flight path from the departure point P1 to the power supply device 3. The second partial flight path FP1-2 is a flight path from the power supply device 3 to the destination P2. Then, the flight distance calculation unit 516 calculates the flight distance of the first partial flight route FP1-1 and the flight distance of the second partial flight route FP1-2.

  The charging time calculation unit 515 calculates the required charge amount of the battery 251 required for the flight on the second partial flight path FP1-2 (step ST16). The charging time calculation unit 515 can calculate the required charging amount based on the flying object information Sa, the battery information Sb, and the flight distance of the second partial flight path FP1-2. In this case, the required charge amount of the battery 251 is smaller than the maximum charge amount. Then, the charging time calculation unit 515 calculates the charging time in the power supply device 3 based on the required charge amount of the battery 251 and the power supply device information Sc.

  The flight plan creation unit 512 sends the required charge amount based on the first flight route FP1 created by the flight route creation unit 513 and the charging time calculated by the charging time calculation unit 515. A flight plan for resuming flight to the destination P2 is created (step ST17). The flight plan in step ST17 includes a first flight path FP1 from the departure point P1 to the destination P2 via the power supply device 3, and a required time required from the departure point P1 to the destination P2. The required time is the total time required for the flight from the departure point P1 to the destination P2, and includes the flight time required for the first flight path FP1 and the charging time for the power supply device 3. The required time is calculated by the required time calculation unit 517. Then, the flight plan creation device 5 transmits the flight plan information Sg to the flight management device 4 (Step ST18).

  As described above, the flight control system 1 of the present embodiment includes the flying object 2 (unmanned flying object) having the battery 251, the power supply device 3 that supplies power to the flying object 2, the flying object information Sa related to the flying object 2, and the battery. The flight management device 4 that receives the battery information Sb regarding the power supply device 251 and the power supply device information Sc regarding the power supply device 3 and manages the flight of the flying object 2, the flying object information Sa from the flight management device 4, the battery information Sb, and the power supply device information A flight plan creation device 5 for creating a flight plan of the flying object 2 based on Sc. The flight plan creation device 5 creates a first flight route FP1 from the departure point P1 to the destination P2 via the power supply device 3, sets a first charge amount smaller than the maximum charge amount of the battery 251, and supplies power. A flight plan is created in which the flying object 2 resumes flight when the first charged amount is charged in the device 3.

  The first charge amount is a charge amount of the battery 251 necessary for a flight from the power supply device 3 to the destination P2.

  According to this, the charge amount of the battery 251 in the power supply device 3 is regulated to a required charge amount (first charge amount) smaller than the maximum charge amount, so that the charging time in the power supply device 3 can be reduced. Can be. In the power supply device 3, a required charge amount required for a flight from the power supply device 3 to the destination P2 is charged. Therefore, it is possible to fly the flying object 2 from the power supply device 3 to the destination P2 while shortening the charging time. Therefore, the flight control system 1 can shorten the time required from the departure point P1 to the destination P2, and can create a safe and efficient flight plan.

  In addition, the flying object 2 includes a power receiving coil 253 that receives power by non-contact power feeding, and the power feeding device 3 includes a power feeding coil 313 that transmits power to the power receiving coil 253. According to this, in the power supply device 3, the battery 251 of the flying object 2 is charged by non-contact power supply. Therefore, the power supply device 3 does not require connection of a power cable or the like to the flying object 2. Therefore, the flying object 2 can autonomously fly from the departure point P1 to the destination P2 according to the flight plan.

(2nd Embodiment)
FIG. 10 is a flowchart of a flight plan creation method according to the second embodiment. FIG. 11 is an explanatory diagram for explaining a flight plan according to the second embodiment. FIG. 12 is an explanatory diagram for explaining another example of the flight plan according to the second embodiment. Steps ST21 to ST24 shown in FIG. 10 are the same as steps ST11 to ST14 shown in FIG. 8, and a detailed description is omitted.

  When the flying object 2 cannot reach the destination P2 in one flight (step ST23, Yes), the determining unit 519 determines that the flying object 2 needs to pass through the power supply device 3. The flight route creation unit 513 determines whether there are a plurality of power supply devices 3 available between the departure point P1 and the destination P2 based on the information on the departure place P1 and the destination P2 and the power supply device information Sc. A determination is made (step ST25).

  If there is no plurality of power supply devices 3 (No in step ST25), the flight route creation unit 513 creates a flight route via one available power supply device 3. The flight plan creation unit 512 creates a flight plan via the power supply device 3 based on the flight route created by the flight route creation unit 513 and the charging time calculated by the charging time calculation unit 515 (step ST26). Then, the flight plan creation device 5 transmits the flight plan information Sg to the flight management device 4 (Step ST30).

  When there are a plurality of power supply devices 3 (step ST25, Yes), the flight route creation unit 513 creates a flight route for each of the plurality of available power supply devices 3 (step ST27). As an example, as shown in FIGS. 11 and 12, there are two available first power supply devices 3-1 and second power supply devices 3-2 between the departure point P1 and the destination P2. A method of creating a flight plan in a case will be described. The flight route creation unit 513 creates a second flight route FP2 (see FIG. 11) and a third flight route FP3 (see FIG. 12). The second flight path FP2 is a flight path from the departure point P1 to the destination P2 via the first power supply device 3-1. The third flight route FP3 is a flight route from the departure point P1 to the destination P2 via the second power supply device 3-2.

  Next, the required time calculation unit 517 calculates the required time from the information on the flight time and the charging time for each of the second flight path FP2 and the third flight path FP3 (step ST28). Specifically, the flight distance calculation unit 516 calculates the flight distance of the second flight route FP2 and the flight distance of the third flight route FP3, respectively. The flight time calculation unit 514 calculates the flight time for each of the second flight route FP2 and the third flight route FP3 based on the flight distance information and the flying object information Sa.

  For example, in the second flight route FP2 shown in FIG. 11, the flight time on the first partial flight route FP2-1 is 10 minutes, and the flight time on the second partial flight route FP2-2 is 20 minutes. That is, the flight time of the second flight route FP2 is a total of 30 minutes. In the third flight route FP3 shown in FIG. 12, the flight time on the first partial flight route FP3-1 is 20 minutes, and the flight time on the second partial flight route FP3-2 is 10 minutes. That is, the flight time of the third flight route FP3 is also 30 minutes in total.

  The charging time calculation unit 515 determines the first power supply device based on the information on the flight distance of the second partial flight route FP2-2, the information on the flight distance of the second partial flight route FP3-2, and the power supply device information Sc. The respective charging times of the 3-1 and the second power supply device 3-2 are calculated. As shown in FIG. 11, the charging time in the first power supply device 3-1 is 10 minutes. As shown in FIG. 12, the charging time in the second power supply device 3-2 is 5 minutes. The flight distance of the second partial flight path FP3-2 shown in FIG. 12 is shorter than the second partial flight path FP2-2 shown in FIG. For this reason, the charging time in the second power supply device 3-2 is shorter than the power supply time in the first power supply device 3-1. The power supply device information Sc includes information on power supply performance for each power supply device 3. For example, the first power supply device 3-1 and the second power supply device 3-2 may have different power supply performances. In this case, the first power supply device 3-1 and the second power supply device 3-2 charge the same amount of charge of the battery 251 at different charging times.

  The required time calculation unit 517 calculates a required time obtained by adding the flight time (30 minutes) and the charging time (10 minutes) on the second flight route FP2. The time required for the second flight route FP2 is 40 minutes. Further, the required time calculation unit 517 calculates a required time obtained by adding the flight time (30 minutes) and the charging time (5 minutes) on the third flight route FP3. It is calculated that the required time of the third flight route FP3 is 35 minutes.

  The flight plan creation unit 512 creates a flight plan that minimizes the required time (step ST29). Specifically, the determination unit 519 compares the required time of the second flight route FP2 with the required time of the third flight route FP3, and selects the flight route with the shortest required time. In the examples shown in FIGS. 11 and 12, the required time of the third flight path FP3 is the shortest. The flight plan creation unit 512 creates a flight plan based on the third flight path FP3 passing through the second power supply device 3-2. Then, the flight plan creation device 5 transmits the flight plan information Sg to the flight management device 4 (Step ST30).

  As described above, the flight control system 1 according to the present embodiment relates to the flying vehicle 2 having the battery 251, the plurality of power supply devices 3 for supplying power to the flying vehicle 2, the flying vehicle information Sa about the flying vehicle 2, and the battery 251. The flight management device 4 that receives the battery information Sb and the power supply device information Sc regarding the power supply device 3 and manages the flight of the flying vehicle 2, and outputs the flying object information Sa, the battery information Sb, and the power supply device information Sc from the flight management device 4. A flight plan creation device 5 for creating a flight plan of the flying object 2 based on the flight plan. The flight plan creation device 5 generates a plurality of different flight routes (second flight route FP2 and third flight route FP3) from at least one power feeding device 3 among the plurality of power feeding devices 3 from the starting point P1 to the destination P2. Based on the flying object information Sa and the power supply device information Sc, the total time of the flight time and the charging time is calculated for each of a plurality of flight paths, and is created as a flight plan based on the shortest flight time. .

  According to this, the flight control system 1 can create an efficient flight plan by reducing the required time from the departure point P1 to the destination P2, including the flight time and the charging time.

(Third embodiment)
FIG. 13 is a flowchart of a flight plan creation method according to the third embodiment. FIG. 14 is an explanatory diagram for explaining a flight plan according to the third embodiment. Steps ST31 and ST32 shown in FIG. 13 are the same as steps ST11 and ST12 shown in FIG. 8, and a detailed description thereof will be omitted.

  In the present embodiment, a first charge amount smaller than the maximum charge amount of the battery 251 is set. For example, as shown in FIG. 14, the first charge amount of each of the first power supply device 3-1 and the second power supply device 3-2 is set as a charge amount of 80% of the maximum charge amount. Here, the first charge amount is a set value input from the user to the flight management device 4 via the input unit 43 (see FIG. 5). The information acquisition unit 511 (see FIG. 6) acquires the battery information Sb or the information on the first charge amount as the information on the flight conditions.

  As shown in FIG. 13, the flight distance calculation unit 516 calculates a flight distance at which the user can fly with the first charge amount (step ST33). The flight plan creation unit 512 creates a flight plan by selecting a power supply device 3 that can be reached with the first charge amount among the plurality of power supply devices 3 (step ST34). In other words, the flight plan creation unit 512 creates a flight plan such that one flight distance is shorter than a flight distance that can fly with the first charge amount.

  Specifically, as shown in FIG. 14, the flight route creation unit 513 sets the fourth route from the departure point P1 to the destination P2 via the first power supply device 3-1 and the second power supply device 3-2. The flight path FP4 is created. The first partial flight path FP4-1, the second partial flight path FP4-2, and the third partial flight path FP4-3 are shorter than the flight distance in which the first charge amount can fly. Here, the first partial flight path FP4-1 is a flight path from the departure point P1 to the first power supply device 3-1. The second partial flight path FP4-2 is a flight path from the first power supply device 3-1 to the second power supply device 3-2. The third partial flight path FP4-3 is a flight path from the second power supply device 3-2 to the destination P2.

  Further, the charging time calculation unit 515 calculates the charging time in the first power supply device 3-1 and the second power supply device 3-2 based on the time during which the first charge amount smaller than the maximum charge amount is charged. The flight time calculation unit 514 calculates the flight time of each of the first partial flight route FP4-1, the second partial flight route FP4-2, and the third partial flight route FP4-3. The required time calculation unit 517 calculates the required time required for the flight on the fourth flight path FP4 from the information on the charging time and the flight time. In this way, the flight plan creation unit 512 creates a flight plan that can fly with the first charge amount.

  Then, the flight plan creation device 5 transmits the flight plan information Sg based on the flight plan capable of flying with the first charge amount to the flight management device 4 (step ST35).

  As described above, in the flight control system 1 of the present embodiment, a plurality of power supply devices 3 are provided, and the flight plan creation device 5 is a power supply device that can be reached with the first charge amount among the plurality of power supply devices 3. Select 3 to determine the flight plan. According to this, the number of times that the battery 251 of the flying object 2 is charged to the maximum charge amount can be reduced, and the life of the battery 251 can be extended. As a result, it is possible to reduce the performance deterioration of the battery 251 and the maintenance such as battery replacement during flight, and to create an efficient flight plan.

  In the present embodiment, the first charge amount is set to 80% of the maximum charge amount. However, the first charge amount is not limited to this. Depending on the location and the number of available power supply devices 3, the first charge may be less than 80% of the maximum charge or may be greater than 80%.

(Fourth embodiment)
FIG. 15 is a flowchart of the flight plan creation method according to the fourth embodiment. FIG. 16 is an explanatory diagram for explaining a flight plan according to the fourth embodiment. Steps ST41 and ST42 shown in FIG. 15 are the same as steps ST11 and ST12 shown in FIG. 8, and a detailed description thereof will be omitted.

  Similarly to the above-described example, the flight route creation unit 513 creates a fifth flight route FP5 that reaches the destination P2 from the starting point P1 via the power supply device 3 (step ST43). The fifth flight path FP5 includes a first partial flight path FP5-1 and a second partial flight path FP5-2. The first partial flight path FP5-1 is a flight path from the departure point P1 to the power supply device 3. The second partial flight path FP5-2 is a flight path from the power supply device 3 to the destination P2.

  The charging time calculator 515 calculates the charging time based on the battery information Sb and the power supply device information Sc. Further, the ESC cooling time calculation unit 518 calculates the ESC cooling time based on the information on the ESC temperature included in the flying object information Sa (step ST44). Here, the ESC cooling time is a time from when the flying object 2 lands on the power supply device 3 and the motor 26 stops, until the temperature of the ESC 261 (see FIG. 3) drops below a predetermined temperature. Further, the charging time may be a time required for charging the battery 251 at the maximum charge amount, or may be a time required for charging the first charge amount smaller than the maximum charge amount.

  Here, the ESC cooling time calculation unit 518 of the flight plan creation device 5 calculates the cooling time based on the information on the flight conditions of the first partial flight path FP5-1 in addition to the information on the ESC temperature. The flight conditions of the first partial flight path FP5-1 include information such as the flight distance, flight speed, and flight time of the flying object 2. The flight conditions of the first partial flight path FP5-1 may further include weather conditions such as a wind direction.

  The determination unit 519 determines whether the ESC cooling time is longer than the charging time (Step ST45). If the ESC cooling time is shorter than the charging time (step ST45, No), a flight plan is created based on the charging time (step ST49). That is, when the charging time in the power supply device 3 has elapsed, a flight plan for resuming the flight from the power supply device 3 to the destination P2 is created. In this case, since the ESC cooling time is shorter than the charging time, the temperature of the ESC 261 is cooled during charging by the power supply device 3.

  If the ESC cooling time is longer than the charging time (step ST45, Yes), the required time calculation unit 517 calculates the required time so that the flying object 2 waits until the ESC cooling time in the power supply device 3 has elapsed (step ST45). ST46). That is, even if the charging time in the power supply device 3 has elapsed, the flight from the power supply device 3 to the destination P2 is suspended, and the apparatus waits until the temperature of the ESC 261 cools. The flight plan creation unit 512 creates a flight plan based on the fifth flight path FP5 and the ESC cooling time (step ST47). Then, the flight plan creation device 5 transmits the flight plan information Sg to the flight management device 4 (Step ST48).

  As described above, the flight control system 1 according to the present embodiment includes the ESC 261 (motor drive circuit) that controls the operation of the motor, the flying vehicle 2 having the battery 251, and the power supply device 3 that supplies power to the flying vehicle 2. Receiving the flying object information Sa about the flying object 2, the battery information Sb about the battery 251 and the power supply device information Sc about the power supply device 3, and managing the flight of the flying object 2, and the flight from the flight management device 4. A flight plan creation device 5 for creating a flight plan of the flying object 2 based on the body information Sa, the battery information Sb, and the power supply device information Sc. The flight plan creation device 5 creates a fifth flight route FP5 from the departure point P1 to the destination P2 via the power supply device 3, and the power supply time at the power supply device 3 is changed to the ESC 261 after the motor 26 stops. If the temperature is shorter than the cooling time required for the temperature to drop below the predetermined temperature, a flight plan is prepared in which the power supply device 3 waits for the flying object 2 until the cooling time elapses.

  According to this, the flight control system 1 creates a flight plan in which the flying object 2 waits until the temperature of the ESC 261 decreases to an appropriate temperature even when the charging in the power supply device 3 is completed. Therefore, it is possible to suppress a decrease in the flight performance of the flying object 2 and the occurrence of a failure, and as a result, to create an efficient flight plan.

  Further, the flight plan creation device 5 calculates the cooling time based on the information on the ESC temperature and the information on the flight conditions from the departure point P1 to the power supply device 3. Thereby, when the flying object 2 departs from the departure place P1, the standby time (charging time and cooling time) of the flying object 2 in the power supply device 3 can be predicted in advance. Therefore, it is possible to suppress a change in the flight route and a change in the arrival time during the flight.

  Although the embodiment of the present invention has been described above, the present invention is not limited by the contents of the embodiment, and can be appropriately changed. For example, the flight plan creation methods of the embodiments described above can be appropriately combined. The configuration of the flight management device 4 shown in FIG. 5 and the configuration of the flight plan creation device 5 shown in FIG. 6 are merely examples. The flight management device 4 and the flight plan creation device 5 may omit some of the components shown in FIGS. 5 and 6, respectively. Alternatively, the flight management device 4 and the flight plan creation device 5 may add another component to the configurations shown in FIGS. 5 and 6, respectively. Also, various types of information of the information obtaining unit 511 illustrated in FIG. 7 are merely examples, and some information may be omitted or other information may be added.

DESCRIPTION OF SYMBOLS 1 Flight control system 2 Flying object 24 Flight control device 25 Power receiving device 251 Battery 252 Power receiving control device 253 Power receiving coil 26 Motor 261 ESC
281 ESC temperature sensor 3 Power supply device 31 Power supply circuit 313 Power supply coil 32 Power supply control device 4 Flight management device 5 Flight plan creation device 7 Weather observation device 71 Weather forecasting system Sa Flight object information Sb Battery information Sc Power supply device information Sd Flight result information Se Weather observation information Sf Weather forecast information Sg Flight plan information Sh Flight command 110 Load

Claims (10)

An unmanned aerial vehicle having a battery;
A power supply device for supplying power to the unmanned aerial vehicle,
A flight management device that receives the vehicle information on the unmanned aerial vehicle, battery information on the battery, and power supply device information on the power supply device, and manages the flight of the unmanned aerial vehicle,
A flight plan creation device that creates a flight plan of the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device;
The flight plan creation device creates a flight route from a starting point to a destination via the power supply device, sets a first charge amount smaller than a maximum charge amount of the battery, and sets the first charge amount in the power supply device. A flight control system for creating a flight plan in which the unmanned aerial vehicle resumes flight when one charge is charged.   The flight control system according to claim 1, wherein the first charge amount is a charge amount of the battery required for a flight from the power supply device to the destination. A plurality of the power supply devices are provided,
The flight control system according to claim 1, wherein the flight plan creation device selects the power supply device that can be reached with the first charge amount from the plurality of power supply devices and determines the flight plan. An unmanned aerial vehicle having a battery;
A plurality of power supply devices for supplying power to the unmanned aerial vehicle,
A flight management device that receives the vehicle information on the unmanned aerial vehicle, battery information on the battery, and power supply device information on the power supply device, and manages the flight of the unmanned aerial vehicle,
A flight plan creation device that creates a flight plan of the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device;
The flight plan creation device creates a plurality of different flight paths through at least one of the plurality of power supply devices from a departure point to a destination, based on the flying object information and the power supply device information. A flight control system that calculates a total time of a flight time and a charging time for each of the plurality of flight paths, and creates the flight plan based on the flight path in which the total time is short. A motor drive circuit for controlling the operation of the motor, and an unmanned aerial vehicle having a battery,
A power supply device for supplying power to the unmanned aerial vehicle,
A flight management device that receives the vehicle information on the unmanned aerial vehicle, battery information on the battery, and power supply device information on the power supply device, and manages the flight of the unmanned aerial vehicle,
A flight plan creation device that creates a flight plan of the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device;
The flight plan creation device creates a flight route from a departure place to a destination via the power supply device, and a power supply time in the power supply device is set to a temperature of the motor drive circuit after the motor stops. A flight control system that creates a flight plan in which the unmanned aerial vehicle waits in the power supply device until the cooling time elapses, when the cooling time is shorter than a time required for the temperature to drop below a predetermined temperature. The flying object information includes information on the motor drive circuit,
The flight control system according to claim 5, wherein the flight plan creation device calculates the cooling time based on information on the motor drive circuit and information on flight conditions to the power supply device. The unmanned aerial vehicle has a power receiving coil that receives power by non-contact power supply,
The flight control system according to any one of claims 1 to 6, wherein the power supply device includes a power supply coil that transmits power to the power receiving coil. An unmanned aerial vehicle having a battery;
A power supply device for supplying power to the unmanned aerial vehicle,
A flight management device that receives the vehicle information on the unmanned aerial vehicle, battery information on the battery, and power supply device information on the power supply device, and manages the flight of the unmanned aerial vehicle,
A flight plan creation device that creates a flight plan of the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device. So,
The flight plan creation device creates a flight route from the departure place to the destination via the power supply device,
Setting a first charge amount that is smaller than the maximum charge amount of the battery, and creating a flight plan in which the unmanned aerial vehicle resumes flight when the first charge amount is charged in the power supply device. Have a flight plan creation method. An unmanned aerial vehicle having a battery;
A plurality of power supply devices for supplying power to the unmanned aerial vehicle,
A flight management device that receives the vehicle information on the unmanned aerial vehicle, battery information on the battery, and power supply device information on the power supply device, and manages the flight of the unmanned aerial vehicle,
A flight plan creation device that creates a flight plan for the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device. So,
The flight plan creating device creates a plurality of different flight paths from at least one of the plurality of power supply devices to a destination via a power supply device,
Based on the flying object information and the power supply device information, for each of the plurality of flight paths, calculate a total time of a flight time and a charging time, and create the flight plan based on the shortest flight path. And a step of creating a flight plan. A motor drive circuit for controlling the operation of the motor, and an unmanned aerial vehicle having a battery,
A power supply device for supplying power to the unmanned aerial vehicle,
A flight management device that receives the vehicle information on the unmanned aerial vehicle, battery information on the battery, and power supply device information on the power supply device, and manages the flight of the unmanned aerial vehicle,
A flight plan creation device that creates a flight plan for the unmanned aerial vehicle based on the flying object information, the battery information, and the power supply device information from the flight management device. So,
The flight plan creation device creates a flight route from the departure point to the destination via the power supply device,
When the power supply time in the power supply device is shorter than the cooling time until the temperature of the motor drive circuit drops below a predetermined temperature after the motor stops, the cooling time of the unmanned aerial vehicle is reduced. Creating a flight plan that causes the power supply device to wait until the time elapses.

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