JPWO2020153170A1 - Information processing device - Google Patents

Abstract

The avoidance processing unit 106 determines the transmission control content based on the risk level information which is the information indicating the magnitude of the danger when the drone 20 flies. The avoidance processing unit 106 uses information indicating the density of the drone 20 flying in a certain flight airspace as the risk information of the flight airspace. Denseness in the flight airspace is represented, for example, by flight plans and flight information. The avoidance processing unit 106 instructs the drone 20 flying in the flight airspace to transmit the flight information according to the magnitude of the danger in the flight airspace represented by the danger level information acquired by the flight information acquisition unit 102 or the like. .. Specifically, the avoidance processing unit 106 instructs that the greater the danger represented by the acquired risk information, the higher the frequency of transmitting the flight information.

Description

The present invention relates to a technique for supporting safe flight of an air vehicle.

According to Patent Document 1, in a moving body system in which a server collects the planned orbits of each moving body and avoids a collision, the load on the server is obtained by causing each moving body to generate a self-planned orbit that does not interfere with the planned orbits of others. The technology to reduce the problem is disclosed.

JP-A-2017-130121

An air vehicle such as a drone may transmit information including the position of its own aircraft to a management device or the like in order to notify the presence or absence of danger during flight. It is not desirable that the load of this transmission process is too high because the resources of the aircraft that needs to be lightened are limited. However, when the danger is great, it is important to be sure to inform the danger.
Therefore, it is an object of the present invention to reduce the load of transmission processing in an air vehicle and to more reliably deal with dangers that occur during flight.

In order to achieve the above object, the present invention transmits a acquisition unit that acquires risk information indicating the magnitude of danger when the aircraft flies, and flight information indicating the flight status of the aircraft itself. Information including an instruction unit for instructing the flight information to transmit the flight information in a mode corresponding to the magnitude of danger represented by the acquired risk level information. Provide a processing device.

According to the present invention, it is possible to more reliably deal with dangers that occur during flight while suppressing the load of transmission processing in the flying object.

Diagram showing an example of the overall configuration of the flight management support system according to the embodiment The figure which shows an example of the hardware configuration of a server device and an integrated management device. Diagram showing an example of drone hardware configuration Diagram showing the functional configuration realized by each device Diagram showing an example of flight information Diagram showing an example of a flight plan Diagram showing an example of a frequency table The figure which shows an example of the operation procedure of each device in instruction processing. Diagram showing an example of item table Diagram showing an example of a destination table Diagram showing an example of the frequency table of the modified example Diagram showing an example of the frequency table of the modified example Diagram showing an example of the frequency table of the modified example

[1] Example FIG. 1 shows an example of the overall configuration of the flight management support system 1 according to the embodiment. The flight management support system 1 is a system that supports flight management of an aircraft. Flight management refers to managing flight (that is, flight) according to the flight plan of an aircraft such as a drone. In this embodiment, it is assumed that there are a plurality of business operators 3 that manage operations, and each business operator 3 manages the operations of the aircraft under its jurisdiction.

The flight management support system 1 includes a network 2, a plurality of server devices 10, a plurality of drones 20, and an integrated management device 30. The network 2 is a communication system including a mobile communication network, the Internet, and the like, and relays data exchange between devices accessing the own system. The server device 10 and the integrated management device 30 access the network 2 by wire communication (may be wireless communication), and the drone 20 accesses the network 2 by wireless communication.

In this embodiment, the drone 20 is a rotorcraft-type flying object that flies by rotating one or more rotors, and is used for various purposes such as photography, inspection, spraying, security, and transportation. The drone 20 flies according to the operation of the operator. The operation by the operator is performed using a radio (a controller that performs proportional control (proportional control)) or a personal computer for flight instructions (a device that continuously issues set flight instructions).

Since the drone 20 is used for flight management for the purpose of safe flight and the like, information (flight information) indicating the flight status including at least the position of the own aircraft during flight is designated to the server device 10 having jurisdiction over the own aircraft. It transmits by the transmission control method. The details of flight information transmission control will be described in detail later. The server device 10 is installed by the business operator 3 and performs processing for managing the operation of the drone 20 under the jurisdiction of the business operator 3 and its own device based on the flight information transmitted and the flight plan of each drone 20. .. The details of this process will be described later.

The integrated management device 30 aggregates information (flight plan, flight information, etc.) handled by a plurality of server devices 10, and performs processing for smooth information sharing between the devices. For example, the flight plans of the drones 20 can be shared more efficiently if they are once aggregated in the integrated management device 30 and distributed to each server device 10 rather than shared by the server devices 10 with each other. However, not all information sharing is performed via the integrated management device 30. Information sharing directly between the server devices 10 will also be described in detail later.

FIG. 2 shows an example of the hardware configuration of the server device 10 and the integrated management device 30. The server device 10 and the integrated management device 30 may be physically configured as a computer device including a processor 11, a memory 12, a storage 13, a communication device 14, a bus 15, and the like. In the following description, the word "device" can be read as a circuit, a device, a unit, or the like.

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

For example, the baseband signal processing unit and the like may be realized by the processor 11. Further, the processor 11 reads a program (program code), a software module, data, and the like from at least one of the storage 13 and the communication device 14 into the memory 12, and executes various processes according to these. As the program, a program that causes a computer to execute at least a part of the operations described in the above-described embodiment is used.

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

The memory 12 may be composed of at least one such as a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), and a RAM (Random Access Memory). The memory 12 may be referred to as a register, a cache, a main memory (main storage device), or the like. The memory 12 can store a program (program code), a software module, or the like that can be executed to implement the wireless communication method according to the embodiment of the present disclosure.

The storage 13 is a computer-readable recording medium, and is, for example, an optical disk such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, an optical magnetic disk (for example, a compact disk, a digital versatile disk, or a Blu-ray). It may consist of at least one (registered trademark) disk), smart card, flash memory (eg, card, stick, key drive), floppy (registered trademark) disk, magnetic strip, and the like.

The storage 13 may be referred to as an auxiliary storage device. The storage medium described above may be, for example, a database, server or other suitable medium containing at least one of the memory 12 and the storage 13. The communication device 14 is hardware (transmission / reception device) for communicating between computers via at least one of a wired network and a wireless network.

For example, the above-mentioned transmission / reception antenna, amplifier unit, transmission / reception unit, transmission line interface, and the like may be realized by the communication device 14. The transmission / reception unit may be physically or logically separated from each other in the transmission unit and the reception unit. Further, each device such as the processor 11 and the memory 12 is connected by a bus 15 for communicating information. The bus 15 may be configured by using a single bus, or may be configured by using a different bus for each device.

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

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

The sensor device 26 is a device having a sensor group for acquiring information necessary for flight control. The sensor device 26 has, for example, a position sensor that measures the position (latitude and longitude) of the own machine and a direction in which the own machine is facing (the drone has a front direction of the own machine, and the front direction is facing the front direction). It is equipped with a direction sensor that measures the direction in which the aircraft is operating and an altitude sensor that measures the altitude of the aircraft. Further, the sensor device 26 includes a speed sensor for measuring the speed of the own machine and an inertial measurement unit (IMU (Inertial Measurement Unit)) for measuring the angular velocity of three axes and the acceleration in three directions.

Each function in each device included in the flight management support system 1 is calculated by the processor by loading predetermined software (program) on the hardware such as each processor and memory, and communication by each communication device is performed. It is achieved by controlling or controlling at least one of reading and writing data in memory and storage.

FIG. 4 shows a functional configuration realized by each device. In FIG. 4, two combinations of the server device 10 and the drone 20 are shown. These are the drone 20 under the jurisdiction of different flight management operators and used by each flight management operator to control the drone 20. It is a combination with the server device 10. Further, since each of the server device 10 and each drone 20 included in the flight management support system 1 has the functions shown in FIG. 4, the other server device 10 and the drone 20 are not shown.

In the flight management support system 1, a device ID for identifying each server device 10 and a drone ID for identifying each drone 20 are defined. By assigning their IDs and current times to the data exchanged between the devices, the source of the information, the target of the information (for example, which drone 20 is the flight plan), the transmission time, and the like can be identified. It has become like. In addition, various information such as flight plans and flight information are exchanged as data, but in the following, it is also referred to as simply transmitting the information indicated by the data to transmit the data.

The server device 10 includes a flight plan transmission unit 101, a flight information acquisition unit 102, an unplanned flight determination unit 103, a flight plan acquisition unit 104, a first collision identification unit 105, an avoidance processing unit 106, and an unplanned operation. It includes a flight notification unit 107, an unplanned notification receiving unit 108, a second collision specifying unit 109, a collision notification unit 110, and a collision notification receiving unit 111. The drone 20 includes a flight control unit 201 and a flight information transmission unit 202. The integrated management device 30 includes a flight plan acquisition unit 301, a flight plan storage unit 302, and a flight plan distribution unit 303.

The flight plan transmission unit 101 of the server device 10 transmits the flight plan of the drone 20 under the jurisdiction of the own device (that is, the flight management operator using the own device) to the integrated management device 30. The flight plan of the drone 20 is created by the flight management company having jurisdiction over the drone 20, converted into data, and stored in the server device 10. The flight plan is, for example, information indicating the flight airspace in which the drone 20 flies and the time zone in which the flight airspace flies. The flight plan may be the same day's plan or the next day's plan or later. The flight plan transmission unit 101 transmits the stored flight plan data to the integrated management device 30.

The flight plan acquisition unit 301 of the integrated management device 30 acquires the flight plan indicated by the transmitted flight plan data, that is, the flight plan of the drone 20 supported by the flight management support system 1. The flight plan acquisition unit 301 supplies the acquired flight plan to the flight plan storage unit 302. The flight plan storage unit 302 stores the supplied flight plan in association with the drone ID of the drone 20 to be planned.

The flight control unit 201 of the drone 20 controls the flight of its own aircraft by using the measurement results of each sensor included in the sensor device 26. For example, the flight control unit 201 performs flight control so as to fly on a flight path instructed by the operator using a radio or the like. The flight information transmission unit 202 of the drone 20 transmits flight information indicating the flight status of the own aircraft to the server device 10 having jurisdiction over the own aircraft by a designated method.

In this embodiment, the flight information transmission unit 202 transmits flight information at a frequency instructed by the server device 10. The frequency of transmission of flight information is specified, for example, by the time interval of transmission or the number of transmissions in a predetermined period. In either case, once the transmission frequency is determined, the time interval until the next transmission is determined. The flight information transmission unit 202 generates flight information data based on the measurement results of each sensor included in the sensor device 26 at time intervals indicated by the designated frequency, and transmits the flight information data to the server device 10.

The flight information acquisition unit 102 of the server device 10 acquires the flight information transmitted from the drone 20 by the designated method described above as described above. By acquiring this flight information, the flight information acquisition unit 102 acquires the flight status of the drone 20 belonging to the group under its jurisdiction. Here, for the server device 10, the group of drones 20 under the jurisdiction of the own device is referred to as a "jurisdiction group", and the group of drones 20 under the jurisdiction of another server device 10 is referred to as a "non-jurisdiction group". do. That is, the flight information acquisition unit 102 acquires the flight status of the drone 20 belonging to the jurisdiction group.

FIG. 5 shows an example of flight information. In the example of FIG. 5, the drone ID, the flight time (measurement time of each information), the flight position (for example, latitude and longitude), the flight direction (for example, the numerical value representing the direction in 360 degrees), and the flight altitude (for example, 360 degrees). Flight information including (altitude above sea level) and flight speed is shown. Since flight information is repeatedly acquired, a plurality of flight times and the like are associated with one drone ID.

The flight information acquisition unit 102 supplies the flight information of the drone 20 belonging to the acquired jurisdiction group to the unplanned flight determination unit 103. The unplanned flight determination unit 103 determines whether or not the drone 20 belonging to the jurisdiction group is flying out of the flight plan. The unplanned flight determination unit 103 requests the flight plan acquisition unit 104, for example, for all flight plans of the drone 20 scheduled to fly on the same day at the beginning of the day and belonging to the jurisdiction group.

The flight plan acquisition unit 104 acquires the requested flight plan, that is, the flight plan of the drone 20 belonging to the jurisdiction group scheduled to fly on the day. The flight plan acquisition unit 104 acquires the requested flight plan by reading the corresponding flight plan from the flight plan transmission unit 101 of its own device. The flight plan will be described with reference to FIG.

FIG. 6 shows an example of a flight plan. FIG. 6A shows the flight airspace in which the drone 20 having the drone ID “D001” is scheduled to fly. In the flight management support system 1, the flightable airspace in which the drone 20 can fly is predetermined like a road network. A flightable airspace is an airspace that has received the necessary permission for flight, and may include an airspace that does not require a permission in some cases.

In this embodiment, the flightable airspace is represented by a cubic space (hereinafter referred to as "cell") spread without gaps, and each cell is given a cell ID for identifying each cell. In this embodiment, in order to make the explanation easy to understand, the altitude of each cell is constant, and the xy coordinate of each cell and the cell ID are represented in correspondence with each other (for example, the cell whose xy coordinate is (x10, y15) is represented. It has a cell ID of C10_15).

In FIG. 6A, the flight airspace R1 from “warehouse α11” to “store α12” is shown. The flight airspace R1 includes a divided airspace R11 (airspace obtained by dividing the flight airspace) from cell C01_01, which is the starting point of the drone 20, to cell C20_01 through cells adjacent in the positive direction on the x-axis, and the y-axis from there. It includes a divided airspace R12 that passes through cells adjacent in the positive direction to cell C20_20, and a divided airspace R13 that passes through cells adjacent in the positive direction of the x-axis to reach cell C50_20, which is a destination cell.

In FIG. 6B, the cell ID representing the flight airspace and the scheduled flight period in the flight airspace are shown as the flight plan of the drone 20 having the drone ID “D001”. For example, in the case of the drone 20, the cell ID and the scheduled flight period are represented for each divided airspace. For example, in the case of the divided airspace R11, the period K11 from the time T111 scheduled to enter the divided airspace R11 to the time T112 scheduled to leave is represented.

Further, the drone 20 having the drone ID "D002" represents a flight plan for flying in the flight airspace A21 from the time T21 to T22. The drone 20 is supposed to photograph a certain site from the sky, for example, and the flight airspace A21 is represented by a set of cell IDs of cells located above the site. In this example, the route to fly in the flight airspace A21 is not decided by the plan, but it may be decided in such detail.

The flight plan acquisition unit 104 supplies the flight plan of the drone 20 belonging to the acquired jurisdiction group to the unplanned flight determination unit 103. The unplanned flight determination unit 103 compares the supplied flight plan with the flight status indicated by the supplied flight information, and flies at a position more than a predetermined distance from the flight path planned in the flight plan, for example. If so, it is determined that the flight is out of the flight plan. The unplanned flight determination unit 103 determines that the flight deviates from the flight plan when, for example, the flight is separated from the flight airspace represented by the flight plan by two cells or more.

Further, the unplanned flight determination unit 103 deviates from the flight plan even if the flight path is planned in the flight plan when the flight is at a time separated from the scheduled flight time zone by a predetermined time or more. Determined to be flying. The unplanned flight determination unit 103 determines that the flight deviates from the flight plan when, for example, the flight is separated from the scheduled flight period indicated by the flight plan by 5 minutes or more. The distance and time of two cells and 5 minutes described above are examples, and other distances and times may be used.

Here, in this embodiment, as shown in FIG. 1, there is a group to which the drone 20 belongs for each server device 10. The flight plan acquisition unit 104 acquires not only the drone 20 belonging to the jurisdiction group under the jurisdiction of its own device, but also the flight plan of the drone 20 belonging to the non-jurisdiction group under the jurisdiction of the other server device 10 and scheduled to fly on the day. .. The flight plan acquisition unit 104 transmits the request data requesting the flight plan of the drone 20 belonging to the corresponding non-jurisdiction group to the integrated management device 30.

The flight plan distribution unit 303 of the integrated management device 30 reads the flight plan requested by the transmitted request data from the flight plan storage unit 302 and distributes it to the request source server device 10. The flight plan acquisition unit 104 acquires the delivered flight plan as a flight plan of the drone 20 belonging to the non-jurisdiction group and supplies it to the first collision identification unit 105. The flight plan acquisition unit 104 may directly acquire the flight plan of the drone 20 belonging to the non-jurisdiction group from the other server device 10.

The unplanned flight determination unit 103 supplies the first collision identification unit 105 with flight information of the drone 20 determined to be flying out of the flight plan. The first collision identification unit 105 is a drone belonging to the jurisdiction group when flight information is supplied from the unplanned flight determination unit 103, that is, when the flight status of the drone 20 indicating a flight out of the flight plan is acquired. Among the 20s, a drone 20 that may collide with a drone 20 having a flight status indicating a flight that is out of the flight plan is identified.

The first collision identification unit 105 identifies the drone 20 that may collide based on the flight plan of the drone 20 belonging to the jurisdiction group acquired by the flight plan acquisition unit 104, for example. In the following, when the term "drone 20 that may collide" is simply referred to, it means the drone 20 that may collide with the drone 20 that is flying unplanned.

When two or more drones 20 are flying unplanned, it is possible that the drones 20 themselves, which may collide, are flying unplanned. In addition, the drone 20 that is flying unplanned and the group to which the drone 20 that may collide belongs are all jurisdiction groups in the above example, but they may also be non-jurisdiction groups (the case will be described later). do).

The first collision identification unit 105 determines, for example, the distance between the position of the drone 20 (drone 20 that is flying unplanned) included in the supplied flight status and the current position of the drone 20 in the acquired flight plan. Based on this, the drone 20 that may collide is identified. Generally, when the flying positions of two drones are closer than a certain distance, the possibility of collision increases. Therefore, the first collision identification unit 105 identifies the drone 20 whose distance to the drone 20 that is flying unplanned is less than the threshold value as the drone 20 that may collide.

Here, "there is a possibility of collision" means a state in which the possibility of collision has increased to a predetermined level or higher. For example, even if the drones are separated by 100 m or more, if they continue to fly, the possibility of collision is not 0, but it is extremely small, so it is not judged that there is a possibility of collision. On the other hand, when the distance between the drones approaches to a certain extent (distance less than the above-mentioned threshold value), there is no doubt that the possibility of collision increases depending on the flight direction and flight speed. Identify the drone 20 that may collide in such cases.

When the first collision identification unit 105 identifies the drone 20 that may collide, the first collision identification unit 105 notifies the avoidance processing unit 106 of the identified drone 20 and the drone 20 that is flying unplanned. When the drone 20 belonging to the jurisdiction group is identified as having a possibility of collision, the avoidance processing unit 106 performs a process (avoidance process) for avoiding the collision. For example, the avoidance processing unit 106 performs a process of instructing the drone 20 that may collide with the drone 20 that is flying unplanned to stop for a certain period of time as the avoidance process.

Further, the avoidance processing unit 106 performs a process of instructing the drone 20 to change the flight path to a flight path capable of avoiding a collision as an avoidance process. When the drone 20 flying unplanned is a drone 20 belonging to the jurisdiction group, the avoidance processing unit 106 sets the process of giving the same instruction to the drone 20 flying unplanned as the avoidance process. You may go. The avoidance processing unit 106 transmits instruction data indicating the above instruction to, for example, the drone 20 to be instructed.

Upon receiving the instruction data, the flight control unit 201 of the drone 20 to be instructed controls the flight of its own aircraft as instructed. The destination of the instruction data is not limited to this, and may be, for example, a radio or a personal computer used by the operator. In that case, the radio or personal computer displays the instruction indicated by the instruction data, and the operator sees it and performs the flight operation according to the instruction. By performing the avoidance process in this way, it is possible to prevent the drone 20 flying unplanned from colliding with the drone 20 belonging to the same jurisdiction group.

Further, the first collision identification unit 105 makes an unplanned flight from among the drones 20 belonging to the non-jurisdiction group based on the flight plan of the drone 20 belonging to the non-jurisdiction group acquired by the flight plan acquisition unit 104. Identify the drone 20 that may collide with the existing drone 20. The first collision identification unit 105 may collide with the drones 20 belonging to the non-jurisdiction group by the same method as the case of targeting the drones 20 belonging to the jurisdiction group (method using the distance between the drones 20). Identify the drone 20 that has.

The first collision identification unit 105 also notifies the avoidance processing unit 106 when a drone 20 belonging to a group outside the jurisdiction is specified as a drone 20 having a possibility of collision. Since the avoidance processing unit 106 cannot instruct the drone 20 belonging to the non-jurisdiction group, for example, the above-mentioned stop or change of flight route is made to the drone 20 belonging to the unplanned flight (that is, the drone 20 belonging to the jurisdiction group). Perform avoidance processing to instruct at least one.

The unplanned flight determination unit 103 also supplies the flight information of the drone 20 that is flying unplanned to the unplanned flight notification unit 107. The unplanned flight notification unit 107 transmits the supplied flight information to the other server device 10, so that the flight status of the drone 20 performing the unplanned flight indicated by the transmitted flight information can be reported to all the other server devices. Notify 10.

From here, the function of the server device 10 which is the notification destination of the flight status will be described. The unplanned notification receiving unit 108 of the server device 10 of the notification destination receives the notification of the flight status of the drone 20 that is flying unplanned by receiving the transmitted flight information. The unplanned notification receiving unit 108 supplies the flight information received as a flight status notification to the second collision identification unit 109 of its own device.

When the flight status of the drone 20 that is flying unplanned is notified from the other server device 10, the second collision identification unit 109 may collide with the notified drone 20 and is under the jurisdiction of its own device. Identify the drones 20 that belong to the group. The flight plan acquisition unit 104 of the own device supplies the second collision identification unit 109 with the flight plan of the drone 20 belonging to the group under the jurisdiction of the own device among the acquired flight plans.

Based on the supplied flight information and flight plan, the second collision identification unit 109 makes the notified unplanned flight, for example, by the same method as the first collision identification unit 105 (method using the distance between the drones 20). The drones 20 that are in use and the drones 20 that belong to the jurisdiction group are targeted, and the drones 20 that may collide are identified.

When the second collision identification unit 109 identifies a drone 20 that may collide from the drones 20 belonging to the jurisdiction group, the second collision identification unit 109 notifies the avoidance processing unit 106 of its own device of the identified drone 20. When the avoidance processing unit 106 receives the notification of the drone 20 that may collide, the avoidance processing unit 106 performs the avoidance processing. The avoidance processing performed by the avoidance processing unit 106 is the same processing as the above-mentioned avoidance processing (stop instruction, flight route change instruction, etc.). The second collision identification unit 109 notifies the collision notification unit 110 of the specified drone 20 and the drone 20 that is flying unplanned.

The collision notification unit 110 identifies when the notification of the drone 20 flying unplanned is received, that is, when the second collision identification unit 109 identifies the drone 20 belonging to the jurisdiction group where there is a possibility of collision. The flight status of the drone 20 is notified to the server device 10 of the flight status notification source indicating the flight that is out of the flight plan. The collision notification unit 110 performs the above notification by transmitting flight information indicating the flight status of the specified drone 20 to the server device 10 of the notification source described above.

From here, the explanation returns to the explanation of the server device 10 which was the notification source of the flight information indicating the flight status of the drone 20 which is flying unplanned. By receiving the transmitted flight information, the collision notification receiving unit 111 of the notification source server device 10 may collide with the drone 20 (drone 20 belonging to the jurisdiction group) that is flying unplanned. Receive notification of flight status of 20 (drone 20 belonging to a non-jurisdiction group).

The collision notification receiving unit 111 supplies the flight information received as a flight status notification to the avoidance processing unit 106. The flight information provided indicates that if the drone 20 belonging to the jurisdiction group is flying unplanned, it may collide with the drone 20 belonging to the non-jurisdiction group. The drone 20 belonging to the non-jurisdiction group may be specified as the drone 20 which may collide with the first collision identification unit 105, but this is not always specified.

For example, if the flight plan of the drone 20 belonging to a non-jurisdiction group is changed on the same day and the changed flight plan is not delivered, the first collision identification unit 105 may collide because it uses the old flight plan. A certain drone 20 cannot be correctly identified. In that case, the server device 10 having jurisdiction over the drone 20 whose flight plan has been changed on the day can acquire the new flight plan, so that the drone 20 that may collide can be correctly identified.

Therefore, when the avoidance processing unit 106 is notified by another server device 10 of the flight status of the drone 20 that may collide with the drone 20 belonging to the jurisdiction group, the first collision identification unit 105 may collide. Drone 20 (belonging to the jurisdiction group and unplanned flight) that may collide with the drone 20 (drone 20 belonging to the non-jurisdiction group) in the notified flight status even if the drone 20 with sex is not specified The avoidance process of the drone 20) is performed. By performing this avoidance process, it is possible to prevent a collision from occurring because the drone 20 that may collide due to the above-mentioned reason could not be correctly identified.

Further, the avoidance processing unit 106 transmits flight information (information indicating the flight status of the own aircraft) so that the drone 20 can avoid the danger even before the drone 20 that may collide is identified. The avoidance processing unit 106 in this case is an example of the "instruction unit" of the present invention. In this embodiment, the avoidance processing unit 106 is instructed as the transmission method of the flight information.

The avoidance processing unit 106 determines the transmission method based on the risk level information which is the information indicating the magnitude of the danger when the drone 20 flies, and instructs the transmission of the flight information by the determined transmission method. The danger in the flying drone 20 is, for example, a danger that a failure or flight control becomes ineffective and the drone crashes, causing damage to the own aircraft and harm to people and objects. These dangers occur, for example, when the drones 20 come into contact with each other or collide with each other.

Contact and collision between drones 20 are more likely to occur, for example, as the drones 20 are denser. Therefore, in this embodiment, the avoidance processing unit 106 uses information indicating the density of the drone 20 flying in a certain flight airspace as the risk information of the flight airspace. Denseness in the flight airspace is represented, for example, by flight plans and flight information. The flight plan is acquired by the flight plan acquisition unit 104, and the flight information is acquired by the flight information acquisition unit 102.

The flight information acquisition unit 102 and the flight plan acquisition unit 104 are examples of the “acquisition unit” of the present invention. The flight plan acquisition unit 104 supplies the acquired flight plan (both the flight plan of the drone 20 belonging to the jurisdiction group and the flight plan of the drone 20 belonging to the non-jurisdiction group) to the avoidance processing unit 106 as risk information. The flight information acquisition unit 102 supplies the acquired flight information (flight information of the drone 20 belonging to the jurisdiction group) to the avoidance processing unit 106 as risk information.

In addition, the unplanned notification receiving unit 108 acquires the flight status of the drone 20 that is flying unplanned among the drones 20 belonging to the non-jurisdiction group. For drones 20 that are flying unplanned, more accurate density can be expressed by using the notified flight conditions rather than the flight plan. The unplanned notification receiving unit 108 is also an example of the “acquisition unit” of the present invention. The unplanned notification receiving unit 108 supplies the acquired flight status to the avoidance processing unit 106 as risk information.

All of the above risk information can represent the magnitude of the danger (denseness of the drone 20 in this embodiment) for each flight airspace. The flight airspace referred to here is, for example, a flight airspace including one or more cells. For example, in the flight plan shown in FIG. 6, since the period for flying each cell can be estimated from the flight airspace and the scheduled flight period, those drones 20 are densely packed in the cells in which the estimated periods for each drone 20 overlap. become.

As for the flight status, since the cells in flight can be known from the flight position and the flight time included in the flight status, it is possible to express the density of each cell. Therefore, the avoidance processing unit 106 uses a transmission control method according to the magnitude of the danger in the flight airspace represented by the danger level information acquired by each of the above units, so that the drone 20 flying in the flight airspace can obtain the flight information. Instruct to send.

Specifically, the avoidance processing unit 106 instructs control so that the greater the danger represented by the acquired risk information, the higher the frequency of transmission of flight information. In this embodiment, the avoidance processing unit 106 gives this instruction using a frequency table in which the density of the drones 20, the risk level (the magnitude of the risk represented by the risk level information), and the transmission frequency are associated with each other.

FIG. 7 shows an example of a frequency table. In the example of FIG. 7, the density of the drone 20 is "less than Th1", "Th1 or more and less than Th2", and "Th2 or more" (Th1 <Th2), and the risk of "low", "medium", and "high". , "Every T3", "Every T2" and "Every T1" (T1 <T2 <T3) are associated with each other. Th1 and Th2 represent the density threshold value, and T1 to T3 represent the transmission time interval.

First, the avoidance processing unit 106 determines the density of the drone 20 (drone flying in the flight airspace) in each flight airspace (for example, N (N is a natural number) adjacent cells) based on the acquired flight plan and flight status. 20 units) is calculated. The avoidance processing unit 106 identifies the degree of risk associated with the calculated density in the frequency table. The avoidance processing unit 106 determines the transmission frequency associated with the specified risk level in the frequency table as the transmission frequency of the drone 20 in flight in the flight airspace where the risk level is specified.

The avoidance processing unit 106 instructs the drone 20 to transmit flight information at a determined transmission frequency. However, it is not necessary to give an instruction every time the transmission frequency is determined. For example, the avoidance processing unit 106 does not instruct the transmission frequency if it does not change from the previously determined transmission frequency, and instructs the drone 20 to change to a new transmission frequency if it changes from the previously determined transmission frequency. ..

The avoidance processing unit 106 may instruct the transmission at the determined transmission frequency regardless of whether or not the transmission frequency is changed, but the communication amount of the instruction data can be reduced only at the time of the change. Upon receiving this instruction, the flight information transmission unit 202 of the drone 20 starts transmitting flight information at the instructed frequency. The avoidance processing unit 106 gives the above instruction only to the drone 20 under the jurisdiction of its own device.

A similar instruction is given to the drone 20 that is flying in a high-risk flight airspace and belongs to a group outside the jurisdiction from the avoidance processing unit 106 of the server device 10 that controls the drone 20. In this way, the drone 20 transmits flight information to the server device 10 having jurisdiction at a frequency according to the degree of danger of the flight airspace in which the aircraft is flying.

In the frequency table, there may be no risk item and only the density and transmission frequency may be associated with each other. Even in that case, the avoidance processing unit 106 can instruct the transmission of flight information at a frequency associated with the calculated density. Based on the above configuration, each device included in the flight management support system 1 performs an instruction process for instructing the drone 20 to control the transmission of flight information according to the degree of danger in the flight airspace.

FIG. 8 shows an example of the operation procedure of each device in the instruction processing. In FIG. 8, the server device 10 and the drone 20 under the jurisdiction of the server device 10 are shown. This operation procedure is started, for example, when a predetermined time is reached before the earliest flight start time of the drones 20 under the jurisdiction. First, the server device 10 (flight plan acquisition unit 301) acquires the flight plans of all the drones 20 scheduled to fly on the day (step S11). The acquired flight plan is also used as risk information.

Next, the drone 20 (flight information transmission unit 202) generates flight information indicating the flight status of the own aircraft (step S21), and transmits the generated flight information to the server device 10 by a designated transmission control method. (Step S22). The transmission control at this time is, for example, transmission in which the time interval is every T3 as shown in FIG. Upon receiving this flight information, the server device 10 (flight information acquisition unit 102) acquires the flight status indicated by the received flight information (step S23). The acquired flight status is also used as risk information.

Further, the server device 10 (unplanned notification receiving unit 108) acquires the flight status of the drone 20 that is flying unplanned (step S24). Step S24 is an operation performed only when the drone 20 belonging to the non-jurisdiction group is flying unplanned. This flight status is also used as risk information. The server device 10 (avoidance processing unit 106) calculates the density of the drone 20 based on the risk information (flight plan and flight status) acquired so far (step S31).

Subsequently, the server device 10 (avoidance processing unit 106) specifies the transmission control content (transmission frequency in this embodiment) according to the risk level represented by the calculated density (step S32). Then, the server device 10 (avoidance processing unit 106) determines whether or not there is a drone 20 whose transmission control content has changed (step S33), and if it determines that there is no (NO), step S22 (receipt of flight information). ) And perform the operation.

When the server device 10 (avoidance processing unit 106) determines that there is a drone 20 whose transmission control content has changed (YES), the server device 10 (avoidance processing unit 106) flies to the drone 20 based on the transmission control content according to the magnitude of danger. The instruction data instructing to transmit the information is transmitted (step S34). The drone 20 (flight information transmission unit 202) changes the transmission control content of the flight information according to the instruction indicated by the received instruction data (step S35).

In order to deal with the danger that occurs during the flight of the drone 20, it is desirable to acquire the flight status in real time by increasing the frequency of transmitting flight information as much as possible. This is because if the acquired flight status is old, it is possible that the avoidance process will not be in time and a collision will occur. However, the drone 20 is lightened for flight, and the resources used for information processing such as the processor 11 are also limited.

Therefore, it is not desirable that the load of flight information transmission processing is too high. In this embodiment, when the degree of risk is low, the transmission frequency is reduced to reduce the load of the transmission process, as compared with the case where the transmission frequency is always increased for safety. On the other hand, when the degree of danger is high, the transmission frequency is increased, so compared to the case where the transmission frequency is always low, the flight status closer to real time is acquired to deal with the danger that occurs during flight. Is more reliable.

Further, in this embodiment, the flight plan and the flight status, which are information indicating the density of the drone 20, are used as the risk information. These pieces of information are information that the server device 10 acquires for flight management. Therefore, since it is not necessary to newly add a process for acquiring the risk level information, the processing load of the server device 10 can be reduced as compared with the case where other information is acquired as the risk level information.

[2] Modifications The above-mentioned examples are merely examples of the implementation of the present invention, and may be modified as follows. Further, the examples and the modified examples may be combined as necessary. In that case, each modification may be prioritized (when each modification causes a conflicting event, which one is prioritized).

Further, as a specific combination method, for example, a modification example in which different parameters are used to obtain a common value (for example, transmission frequency) may be combined, and a common value or the like may be obtained by using those parameters together. Further, one value or the like may be obtained by adding up the individually obtained values or the like according to some rule. Further, in these cases, different weighting may be applied for each parameter used.

[2-1] Drone Identification Method The first collision identification unit 105 and the second collision identification unit 109 may identify the drone 20 that may collide by a method different from that of the embodiment. For example, the first collision identification unit 105 may collide when the distance between the position of the drone 20 that is flying unplanned in the embodiment and the current position of the drone 20 in the flight plan is less than the threshold value. Identified as drone 20.

The first collision identification unit 105 may change the threshold value depending on, for example, the positional relationship between the drone 20 that is flying unplanned and another drone 20 and the flight direction. Specifically, the first collision identification unit 105 decreases the threshold value when the positions of both drones 20 are close to each other, and increases the threshold value when the positions of both drones 20 are far apart. Further, when the flight airspace is represented by a cell as in the embodiment, the cell may be used for identification.

For example, the first collision identification unit 105 predicts the flight path for a certain period in the future from the flight direction of the drone 20 that is flying unplanned, and the distance to the drone 20 that is flying unplanned is in that period. A drone 20 that is scheduled to fly a cell that falls below the threshold may be specified as a drone 20 that may collide. Further, for example, a cell including a flight position included in the flight status of the drone 20 and a position in a three-dimensional space indicated by a flight altitude indicates the airspace during flight of the drone 20.

Therefore, the first collision identification unit 105 may collide with the drone 20 for which the flight plan for which the drone 20 flying unplanned flies in the airspace having a predetermined relationship with the airspace currently in flight has been acquired. It may be specified as a certain drone 20. The predetermined relationship is, for example, the same airspace as the airspace currently in flight. This is because there is a possibility of collision between drones 20 flying in the same airspace.

In addition, for example, a relationship in which the drone 20 for unplanned flight is in the same airspace as the airspace currently in flight or an airspace adjacent thereto may be used as a predetermined relationship. Further, when the flight direction of the drone 20 is limited as in the flight path for transportation, the adjacent airspace only before and after the flight direction may be included in the airspace having a predetermined relationship. By performing the identification based on the cell (flying airspace) in this way, the process of calculating the distance between the drones 20 becomes unnecessary.

It is easier to reduce the processing load by determining whether or not the cell contains coordinates (whether or not the coordinates are within a fixed range) rather than calculating the distance between the three-dimensional coordinates. Therefore, according to this modification, the processing load when identifying the drones 20 having a possibility of collision can be reduced as compared with the case based on the distance between the drones 20.

On the other hand, the possibility of collision varies depending on where in the cell it flies, but it cannot be judged on a cell-by-cell basis based on the detailed degree of collision possibility. When the distance between the drones 20 is used as in the embodiment, the drones 20 having a possibility of collision can be identified with higher accuracy than the case where the judgment is made on a cell-by-cell basis.

Further, the second collision identification unit 109 may also use the same identification method as the first collision identification unit 105 described above. For example, when the second collision identification unit 109 indicates an unplanned flight and is notified of the flight status of the drone 20 belonging to the non-jurisdiction group, the second collision identification unit 109 flies in the airspace having a predetermined relationship with the airspace in which the drone 20 is flying. The drone 20 belonging to the interval group from which the flight plan to be operated is acquired is specified as a drone 20 having a possibility of collision.

The concept of the predetermined relationship is as described above. Also in this case, the load of processing (specific processing) when identifying the drones 20 having a possibility of collision can be reduced as compared with the case based on the distance between the drones 20. Further, when the distance between the drones 20 is used as in the embodiment, the drone 20 having a possibility of collision can be identified with higher accuracy than the case where the judgment is made on a cell-by-cell basis.

In addition to the above method, the first collision identification unit 105 and the second collision identification unit 109 may specify a drone 20 that may collide based on, for example, the flight direction or flight speed of the drone 20. In that case, for example, even if the distances between the drones 20 are the same, if the flight directions are facing each other, the possibility of collision is higher than that in the opposite directions.

Specifically, for example, the first collision identification unit 105 sets the threshold value of the distance between the drones 20 facing each other in the flight direction (indicating that there is a possibility of collision if the flight direction is less than the threshold value), and the flight direction is opposite to the threshold value. The drones 20 that may collide are specified by making them larger than the threshold of the distance between the drones 20. Further, the first collision identification unit 105 increases the threshold value of the distance between the drones 20 as the flight speed increases. The second collision identification unit 109 can also identify the drone 20 that may collide in the same manner. In either case, the accuracy of identifying the drone 20 that may collide can be improved as compared with the case where the flight direction or the flight speed is not used.

[2-2] Flight Information The flight conditions indicated by the flight information transmitted by the drone 20 may be different from those in the embodiment. For example, since the flight direction and the flight speed can be calculated from the amount of change in the flight position and the flight altitude, the flight information does not have to include the flight direction and the flight speed. Further, for example, if it is decided to fly at a certain flight altitude in a certain area, the flight information may not include the flight altitude.

Further, when the drone 20 has a function of detecting the distance and direction of surrounding flying objects (mainly other drones 20), flight information indicating a flight situation indicating that the flying object exists at the detected distance and direction. May be obtained. This flight status can also be used to determine the possibility of collision between the drones 20. In short, any information may be included in the flight information as long as it can be used for at least one of the determination of unplanned flight and the determination of the possibility of collision between the drones 20.

[2-3] Transmission control content: Flight information item Flight information transmission control is not limited to the transmission frequency described in the examples. The avoidance processing unit 106 may instruct, for example, to increase the number of information items to be included in the flight information as the risk represented by the risk information acquired by the flight information acquisition unit 102 or the like increases. In this case, the avoidance processing unit 106 gives this instruction using an item table in which the density of the drone 20, the danger level, and the flight information item are associated with each other.

FIG. 9 shows an example of an item table. In the example of FIG. 9, the density of the drones 20 of "less than Th1", "Th1 or more and less than Th2" and "Th2 or more" (Th1 <Th2), and the risk of "low", "medium" and "high" , "Flight position, flight time", "flight position, flight time, flight direction" and "flight position, flight time, flight direction, flight speed" are associated with each other.

The avoidance processing unit 106 calculates the density from the acquired flight plan and flight status in the same manner as in the embodiment, and sets the flight information items associated with the same risk as the calculated density in the item table. The flight airspace for which the degree of danger is specified is determined as an item of flight information of the drone 20 in flight. In this modification, for example, at the start of flight, it is assumed that flight information including only "flight position and flight time" is transmitted.

After that, when a flight airspace with a risk level of "medium" appears, for example, the avoidance processing unit 106 associates the drone 20 that is flying in the flight airspace and belongs to the controlled group with the risk level "medium". Instructs the transmission of flight information including "flight position, flight time, flight direction" as items. In response to this instruction, the drone 20 transmits flight information including items according to the degree of danger of the flight airspace in which the aircraft is flying to the server device 10 having jurisdiction.

For example, even if the flight information includes only the flight position and flight time, the method using the distance between the drones 20 described in the embodiment or the method using the flight airspace during flight described in the modified example is used. , It is possible to identify the drone 20 that may collide. On the other hand, in order to use the method using the flight direction or the flight speed described in the above modification, such information is required.

In this modification, it is possible to identify the drone 20 that may collide with a highly accurate flight direction or flight speed in a high-risk flight airspace. On the other hand, when the degree of danger is low, the number of flight information items is reduced to reduce the load of transmission processing. Although the flight direction and flight speed can be obtained from the time-series changes in the flight position and flight time, the identification of the drone 20 which may collide is delayed by the time required for the calculation. In this modification, by including the flight direction and the flight speed in the items, it is possible to prevent such a delay from occurring.

[2-4] Transmission control: There are other transmission control contents of the destination flight information. In the embodiment, the flight information transmission unit 202 of the drone 20 transmits flight information only to the server device 10, but in this modified example, the flight information is required for two or more external devices that perform processing related to the flight of the own aircraft. It shall be possible to transmit according to. The two or more external devices are, for example, a plurality of server devices 10 in the case where a main server device 10 and a sub server device 10 that control the drone 20 exist.

The main and sub server devices 10 may be prepared by a business operator having jurisdiction over the drone 20, or may be prepared by another business operator who assists the jurisdiction of the business operator. The subsidy company is, for example, another company under the jurisdiction of the drone 20, a company that operates the integrated management device 30, and the like. The purpose of controlling the drone 20 with a plurality of server devices 10 is, for example, to back up when the drone 20 that may collide with the main server device 10 cannot be identified for some reason (when a specific omission occurs). This is to (make the identification done instead).

In this modification, the avoidance processing unit 106 instructs that the greater the danger represented by the risk information acquired by the flight information acquisition unit 102 or the like, the greater the number of destinations for transmitting the flight information. The avoidance processing unit 106 gives this instruction using, for example, a destination table in which the density of the drone 20, the degree of danger, and the destination of flight information are associated with each other.

FIG. 10 shows an example of a destination table. In the example of FIG. 10, the density of the drone 20 is “less than Th1”, “Th1 or more and less than Th2”, and “Th2 or more” (Th1 <Th2), and the risk of “low”, “medium”, and “high”. , "Main server device", "Main server device + 1 sub server device", and "Main server device + 2 sub server devices" are associated with each other.

The avoidance processing unit 106 calculates the density from the acquired flight plan and flight status in the same manner as in the embodiment, and sets the destinations associated with the same risk as the calculated density in the destination table as the danger. The flight airspace with the specified degree is determined as the destination of flight information of the drone 20 in flight. In this modification, for example, at the start of flight, flight information is transmitted only to the "main server device".

After that, when, for example, a flight airspace having a risk level of "high" appears, the avoidance processing unit 106 associates the drone 20 that is flying in the flight airspace and belongs to the jurisdiction group with the risk level "high". Instructs the transmission of flight information to the "main server device + 2 sub server devices" as the transmission destination. According to this instruction, the drone 20 transmits flight information not only to the main server device but also to the two sub-server devices.

In this modified example, when the degree of danger is high, identification is performed by a plurality of units, so that specific omission of the drone 20 which may collide is unlikely to occur. On the other hand, when the risk is low, the number of destinations is reduced to reduce the processing load on the sub-server device. As a result, the resources required for the sub-server device can be kept small and the cost burden of the operator who prepares the sub-server device can be reduced as compared with the case where the flight information is always transmitted to all the destinations.

[2-5] Danger level information: Population density The risk level information is not limited to the information (flight plan and flight status) described in the examples. For example, information indicating the population density on the ground around the flight airspace may be used as the risk information of the flight airspace.

Population density is represented, for example, by the type of land on the ground. The type of land is, for example, a type of land classified according to use, such as residential area, commercial area, industrial area, agricultural land, and forest area. For example, residential areas have many people, and forest areas have few people. The type of land shows the tendency of the number of people there. Since the time to fly the drone 20 is basically in the daytime, the risk information may indicate the number of people in the daytime.

In this modification, the server device 10 stores in advance map data representing a map of the area where the flight is scheduled according to the flight plan and the type of land in the area. For the classification of land types, for example, the registered land may be used, or the color coding (color coding of houses, stores, factories, etc.) made on commercially available maps may be used.

The avoidance processing unit 106 identifies a position on the map of each flight airspace, and acquires the type of land around the position from the map data as risk information. The avoidance processing unit 106 in this case is an example of the “acquisition unit” of the present invention. When the avoidance processing unit 106 instructs the transmission frequency as the transmission control content of the flight information as in the embodiment, the avoidance processing unit 106 associates the type of land on the ground with the population density, the risk degree, and the transmission frequency. This instruction is given using a frequency table.

FIG. 11 shows an example of the frequency table of this modification. In the example of FIG. 11, the land types of "agricultural land, forest land", "industrial land" and "residential land, commercial land", the population density of "low", "medium" and "high", and "low" , "Medium" and "High" are associated with transmission frequencies of "Every T3", "Every T2" and "Every T1", respectively.

The avoidance processing unit 106 identifies the population density associated with the type of land on the ground acquired for each flight airspace in the frequency table. Then, the avoidance processing unit 106 acquires the transmission frequency associated with the same risk level as the specified population density in the frequency table, and the type of land on the ground associated with the population density. The airspace is determined as the frequency of transmission of flight information of the drone 20 in flight.

In this modification, the transmission frequency of the drone 20 flying in an area with low population density is reduced to reduce the load of transmission processing. On the other hand, for the drone 20 flying in a densely populated area, the transmission frequency is increased so that the danger can be transmitted more reliably. In this way, while suppressing the load of the transmission process, the possibility of injuring a person even if the drone 20 should fall is reduced.

In this modification, transmission control parameters other than the transmission frequency may be used. Even when these transmission control parameters are used, the effects described in the above modification (specific realization with higher accuracy, suppression of cost burden of the sub-server device) are realized respectively.

[2-6] Danger level information: Meteorological conditions Danger level information is not limited to the above-mentioned information. For example, information indicating the weather conditions in the flight airspace may be used as the risk information of the flight airspace. Since the drone 20 is easily affected by wind and rain, the risk of the drone 20 falling increases as the wind speed and precipitation increase.

In this modification, the avoidance processing unit 106 acquires information indicating the weather condition by using the weather forecast service or the like. The avoidance processing unit 106 in this case is an example of the “acquisition unit” of the present invention. When the transmission frequency is specified as a transmission control parameter of flight information as in the embodiment, the avoidance processing unit 106 uses a frequency table in which the weather conditions in the flight airspace, the degree of danger, and the transmission frequency are associated with each other. Give instructions for the flight.

FIG. 12 shows an example of the frequency table of this modification. In the example of FIG. 12A, the wind speeds of "less than Th11", "Th11 or more and less than Th12", and "Th12 or more" (Th11 <Th12), and the risk levels of "low", "medium", and "high" are used. The transmission frequencies of "every T3", "every T2", and "every T1" are associated with each other.

The avoidance processing unit 106 determines the transmission frequency associated with the same risk level as the wind speed acquired as the weather condition of the flight airspace in the destination table as the transmission frequency of the flight information of the drone 20 in flight in the flight airspace. do. Further, in the example of FIG. 12B, the precipitation amount of "less than Th21", "Th21 or more and less than Th22" and "Th22 or more" (Th21 <Th22), and the danger of "low", "medium" and "high" The degree is associated with the transmission frequencies of "every T3", "every T2", and "every T1", respectively.

The avoidance processing unit 106 sets the transmission frequency associated with the same risk as the precipitation amount acquired as the weather condition of the flight airspace in the destination table as the transmission frequency of the flight information of the drone 20 flying in the flight airspace. decide. When both the wind speed and the amount of precipitation are acquired as the weather conditions, the avoidance processing unit 106 determines the transmission frequency associated with the higher risk level.

In this modified example, even if the weather condition changes during the flight, the flight information is transmitted at a frequency corresponding to the changed weather condition. As a result, as compared with the case where the above instruction is not given, it is possible to execute a quick avoidance process in a situation where the risk of falling is increased due to a change in weather conditions, and the possibility of falling of the drone 20 is reduced. In this modification as well, the flight information item and the transmission destination may be used as transmission control parameters, and the effects described in the above modification are realized respectively.

[2-7] Danger level information: Airspace altitude risk level information is not limited to the above-mentioned information. For example, the higher the flight altitude of the drone 20, the greater the impact at the time of falling, and there is a danger that the degree of damage to people and objects will increase, and there is a possibility that the drone will fall if flight control becomes impossible due to a failure or the like. The range of the area is widened and the risk of falling to an unexpected place increases.

On the other hand, if the flight altitude is too low, if the flight descends from the normal flight state for some reason, the risk of falling without regaining the flight state increases. Therefore, the information indicating the altitude of the flight airspace may be used as the risk information of the flight airspace. The altitude of the flight airspace is represented by the flight plan (represented by the altitude of the cell) and the flight conditions (represented by the flight altitude of the drone 20) as in the embodiment.

Therefore, in the present modification, the flight information acquisition unit 102, the flight plan acquisition unit 104, and the unplanned notification receiving unit 108 are examples of the “acquisition unit” of the present invention. The altitude of the flight airspace is represented by, for example, the altitude of the lowest position or the center position in the flight airspace (as long as it is a position represented by a certain rule). When the transmission frequency is specified as a transmission control parameter of flight information as in the embodiment, the avoidance processing unit 106 uses a frequency table in which the altitude of the flight airspace, the degree of danger, and the transmission frequency are associated with each other. Give this instruction.

FIG. 13 shows an example of the frequency table of this modification. In the example of FIG. 13, the altitude of the flight airspace of "Th31 or more", "Th31 or more and less than Th32", "Th32 or more and less than Th33" and "Th33 or more" (Th31 <Th32 <Th33), and "medium" and "low" , "Medium" and "High" are associated with transmission frequencies of "Every T2", "Every T3", "Every T2" and "Every T1", respectively.

The avoidance processing unit 106 sets the transmission frequency associated with the altitude of the flight airspace indicated by the acquired risk information in the destination table, and the transmission frequency of the flight information of the drone 20 flying in the flight airspace. To determine as. For example, if the altitude of the flight airspace is "less than Th31", the risk is "medium", so the transmission frequency of "every T2" is determined, and if the altitude of the flight airspace is "Th33 or higher", the risk is "high". The transmission frequency of "every T1" is determined.

In this modification, the transmission frequency of the drone 20 flying in the low-risk flight airspace is reduced to reduce the burden of transmission processing. On the other hand, for the drone 20 flying in the high-risk flight airspace, the transmission frequency is increased to enable quick avoidance processing and reduce the possibility of the drone 20 falling. In this modification as well, the flight information item and the transmission destination may be used as transmission control parameters, and the effects described in the above modification are realized respectively.

[2-8] Peripheral information The risk information described in each example is the risk of collision of the drones 20 (when the positions of the drones approach each other, etc.) or the risk of falling (when the wind speed or precipitation increases, etc.) ) May be expressed. In that case, the avoidance processing unit 106 may increase the information to be acquired and utilize it to avoid those dangers.

In this modification, the avoidance processing unit 106 gives an instruction to cause another drone 20 flying around a position where a collision or a fall is predicted to transmit information (peripheral information) about the periphery of the predicted position. The avoidance processing unit 106 in this case is an example of the "second instruction unit" of the present invention. The peripheral information is, for example, the flight status of the drone 20 flying around the predicted position. Further, when the drone 20 has a function of detecting another flying object (drone, bird, etc.) by an infrared sensor or the like, the detection result is also included in the peripheral information.

The avoidance processing unit 106, for example, when the first collision identification unit 105 or the second collision identification unit 109 identifies drones 20 that may collide, the current position, flight direction, and flight speed of those drones 20. From, the position where the collision is predicted is calculated. The predicted position may be calculated by the first collision identification unit 105 or the second collision identification unit 109. The avoidance processing unit 106 identifies the drone 20 (for example, the drone 20 whose distance from the predicted position is less than the threshold value) flying around the calculated predicted position.

The avoidance processing unit 106 transmits instruction data instructing the transmission of peripheral information to the specified drone 20. Upon receiving this instruction, the flight information transmission unit 202 of the drone 20 transmits, for example, the flight status of its own aircraft or the detection result of another aircraft to the server device 10 as the instructed peripheral information. When the avoidance processing unit 106 receives the transmitted peripheral information, the avoidance processing unit 106 performs the avoidance processing according to the peripheral situation indicated by the peripheral information.

For example, if there are few other drones 20 around the predicted position, the avoidance processing unit 106 slows down the flight speed of the specified drone 20 to avoid a collision and continue the flight to some extent, but other drones around the predicted position. If there are many drones 20, the specified drone 20 is stopped to more reliably avoid the collision. Further, when another drone 20 exists on the right side of the predicted position when viewed from the specified drone 20, the avoidance processing unit 106 flies on a route bypassing the left side of the predicted position to avoid a collision.

Since the drone 20 instructed to avoid the flight will fly differently than planned, it is not always possible that the drone 20 will collide with another drone 20 as a result. In this modified example, since the avoidance process is performed based on the peripheral information, not only the collision with the other drone 20 that may collide is avoided, but also the collision with the other flying objects around the predicted position is performed. Can also be avoided.

When the drone 20 flying around the predicted position is equipped with an anemometer or precipitation meter, the wind speed or precipitation may be transmitted as peripheral information. In that case, the avoidance processing unit 106 performs the avoidance processing based on the weather condition of the predicted position. For example, if the wind or rain is strong, the avoidance processing unit 106 stops the drone 20 before the predicted position just in case, and if the wind or rain is weak, the collision is avoided only by slowing down the flight speed. In this case as well, the possibility of collision can be reduced as compared with the case where there is no peripheral information.

[2-9] Instruction Timing In the embodiment, the avoidance processing unit 106 instructed the drone 20 in flight about the transmission control content, but the present invention is not limited to this, and the transmission control content is instructed in advance before starting the flight. You may leave it. Even before the start of flight, the density of drones 20 at some point in the future in each flight airspace can be calculated from the flight plan and the flight status of other drones 20 that have already started flight.

The avoidance processing unit 106 then calculates the density of the drones 20 in each flight airspace for each future time, and transmits each flight airspace to which the instructed drone 20 is scheduled to fly according to the calculated density. Determine the frequency. The avoidance processing unit 106 instructs the drone 20 to be instructed to transmit flight information at a determined transmission frequency when flying in each flight airspace. If the density of each flight airspace changes after the flight is started, the avoidance processing unit 106 may give an instruction based on the changed density again.

Further, even if the transmission control content is an item of flight information or a transmission destination, it can be similarly instructed in advance. The same applies when the information indicating the population density on the ground or the altitude of the flight airspace is used as the risk information. In addition, it is possible to instruct the weather conditions in advance by using the information of the weather forecast. According to this modification, for example, when the drone 20 flies in an area where the communication condition is poor, it is possible to easily avoid a collision by giving an instruction in advance before the start of the flight.

[2-10] Unit of risk information In the embodiment, risk information indicating the magnitude of danger for each flight airspace was used, but the present invention is not limited to this. For example, risk information indicating the magnitude of danger for each time zone may be used. The risk level for each time zone is, for example, low risk level at 9 to 10 o'clock, medium risk level at 10 to 11 o'clock, and high risk level at 11 to 13 o'clock. The avoidance processing unit 106 determines the degree of danger for each time zone from, for example, the number of drones 20 flying in each time zone indicated by the flight plan.

It should be noted that risk information indicating the magnitude of danger in each time zone may be used for each flight airspace. Further, in the case of the server device 10 that controls only the drone 20 whose flight range and flight time zone are extremely limited, the risk information indicating the magnitude of the danger of the day without distinguishing the flight airspace and the time zone (for example, the day). Information indicating only the number of drones 20 flying in) may be used. In short, any information may be used as the risk information as long as it represents the magnitude of the danger when the drone 20 flies.

[2-11] Narrowing down the notification destinations In the embodiment, the unplanned flight notification unit 107 notifies all the other server devices 10 of the flight status of the drone 20 that is flying unplanned, but narrows down the notification destinations. But it may be. The unplanned flight notification unit 107 may narrow down the notification destination to, for example, only the server device 10 that has jurisdiction over the drone 20 that has been identified as having a possibility of collision with the drone 20 that is flying unplanned. By doing so, it is possible to reduce the load of processing (communication processing, specific processing, etc.) by notification of the drone 20 that is flying unplanned, as compared with the case where the narrowing down is not performed.

[2-12] Flight Plan The expression of the flight plan may be different from that of the embodiment. For example, a flight plan may be expressed using coordinates in three-dimensional space without using cells. In that case, for example, in a three-dimensional coordinate system, a mathematical formula representing the flight path with a line, a mathematical formula representing the boundary surface of the flight airspace, or the like may be used. In addition, the flight plan may be represented only by the information of the departure place, the waypoint, and the arrival place, instead of the route on the way. Even in that case, if it is decided to move linearly between each position or to move along a determined route, it is possible to determine the actual flight route.

Further, as for the scheduled flight period, it is desirable to know the detailed period, but for example, only the scheduled departure time and the estimated arrival time may be known. Even in that case, for example, by calculating the average flight speed, it is possible to determine which area is in flight at which time. In short, the flight plan may be expressed in any form as long as the unplanned flight can be determined by comparing it with the flight information.

[2-13] Aircraft In the embodiment, a rotorcraft type air vehicle is used as an air vehicle that performs autonomous flight, but the present invention is not limited to this. For example, it may be an airplane type flying object or a helicopter type flying object. In short, any flying object that can fly by the operation of the operator and has a function of acquiring inspection data may be used.

[2-14] Device for Realizing Each Function The device for realizing each function shown in FIG. 4 is not limited to the above-mentioned device. For example, the integrated management device 30 may realize a part of the functions realized by the server device 10. Further, for example, when the jurisdiction business operator has a small number of drones 20 under the jurisdiction, a device used by an operator such as a radio or a personal computer may realize each function of the server device 10. In short, it suffices that each function shown in FIG. 4 is realized in the entire flight management support system 1.

[2-15] Category of Invention The present invention provides an information processing system (operation management) including the above-mentioned information processing devices such as the server device 10 and the integrated management device 30, as well as an information processing device thereof and an air vehicle such as a drone 20. Support system 1 can be regarded as an example). Further, the present invention can be regarded as an information processing method for realizing the processing performed by the information processing devices, and also as a program for operating the computer that controls the information processing devices. This program may be provided in the form of a recording medium such as an optical disk that stores it, or may be provided in the form of being downloaded to a computer via a network such as the Internet and installed and made available. May be done.

[2-16] Functional Blocks The block diagram used in the description of the above embodiment shows blocks for functional units. These functional blocks (components) are realized by any combination of at least one of hardware and software. Further, the method of realizing each functional block is not particularly limited.

That is, each functional block may be realized by using one physically or logically connected device, or directly or indirectly (for example, two or more physically or logically separated devices). , Wired, wireless, etc.) and may be realized using these plurality of devices. The functional block may be realized by combining the software with the one device or the plurality of devices.

Functions include judgment, decision, judgment, calculation, calculation, processing, derivation, investigation, search, confirmation, reception, transmission, output, access, solution, selection, selection, establishment, comparison, assumption, expectation, and assumption. Broadcasting, notifying, communicating, forwarding, configuring, reconfiguring, allocating, mapping, assigning, etc., but limited to these I can't. For example, a functional block (constituent unit) for functioning transmission is called a transmitting unit or a transmitter. As described above, the method of realizing each of them is not particularly limited.

[2-17] Input / output direction information and the like (* see the item of "information, signal") can be output from the upper layer (or lower layer) to the lower layer (or upper layer). Input / output may be performed via a plurality of network nodes.

[2-18] Handling of input / output information and the like The input / output information and the like may be stored in a specific location (for example, a memory) or may be managed using a management table. Input / output information and the like can be overwritten, updated, or added. The output information and the like may be deleted. The input information or the like may be transmitted to another device.

[2-19] Judgment method Judgment may be performed by a value represented by 1 bit (0 or 1), may be performed by a boolean value (Boolean: true or false), or may be a numerical value. (For example, comparison with a predetermined value) may be performed.

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

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

[2-22] Software Software, whether referred to as software, firmware, middleware, microcode, hardware description language, or by any other name, is an instruction, instruction set, code, code segment, program code, program. , Subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc. should be broadly interpreted.

Further, software, instructions, information and the like may be transmitted and received via a transmission medium. For example, software includes wired technology (coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), etc.) and wireless technology (infrared,
When transmitted from a website, server, or other remote source using at least one of these (such as microwaves), at least one of these wired and wireless technologies is included within the definition of transmission medium.

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

[2-24] "Judgment", "Decision"
The terms "determining" and "determining" as used in this disclosure may include a wide variety of actions. "Judgment" and "decision" are, for example, judgment, calculation, computing, processing, deriving, investigating, looking up, search, inquiry. (For example, searching in a table, database or another data structure), ascertaining may be regarded as "judgment" or "decision".

Also, "judgment" and "decision" are receiving (for example, receiving information), transmitting (for example, transmitting information), input (input), output (output), and access. (Accessing) (for example, accessing data in memory) may be regarded as "judgment" or "decision". In addition, "judgment" and "decision" are resolving,
It may include the fact that selection, choosing, establishment, comparison, etc. are regarded as "judgment" and "decision". That is, "judgment" and "decision" may include considering some action as "judgment" and "decision". Further, "judgment (decision)" may be read as "assuming", "expecting", "considering" and the like.

[2-25] Meaning of "based on" The term "based on" used in this disclosure does not mean "based on" unless otherwise stated. In other words, the statement "based on" means both "based only" and "at least based on".

[2-26] "Different"
In the present disclosure, the term "A and B are different" may mean "A and B are different from each other". The term may mean that "A and B are different from C". Terms such as "separate" and "combined" may be interpreted in the same way as "different".

[2-27] "and", "or"
In the present disclosure, for configurations that can be implemented by either "A and B" or "A or B", the configuration described in one expression may be used as the configuration described in the other expression. For example, when "A and B" are described, they may be used as "A or B" as long as they are not inconsistent with other descriptions and can be implemented.

[2-28] Variations of Aspects, etc. Each aspect / embodiment described in the present disclosure may be used alone, in combination, or switched with execution. Further, the notification of predetermined information (for example, the notification of "being X") is not limited to the explicit one, but is performed implicitly (for example, the notification of the predetermined information is not performed). May be good.

Although the present disclosure has been described in detail above, it is clear to those skilled in the art that the present disclosure is not limited to the embodiments described in the present disclosure. The present disclosure may be implemented as an amendment or modification without departing from the purpose and scope of the present disclosure, which is determined by the description of the scope of claims. Therefore, the description of the present disclosure is for the purpose of exemplary explanation and does not have any limiting meaning to the present disclosure.

1 ... Flight management support system, 10 ... Server device, 20 ... Drone, 30 ... Integrated management device, 101 ... Flight plan transmission unit, 102 ... Flight information acquisition unit, 103 ... Unplanned flight judgment unit, 104 ... Flight plan acquisition unit , 105 ... 1st collision identification unit, 106 ... avoidance processing unit, 107 ... unplanned flight notification unit, 108 ... unplanned notification receiving unit, 109 ... second collision identification unit, 110 ... collision notification unit, 111 ... collision notification receiving unit Department, 201 ... Flight control unit, 202 ... Flight information transmission unit, 301 ... Flight plan acquisition unit, 302 ... Flight plan storage unit, 303 ... Flight plan distribution unit.

Claims (7)

An acquisition unit that acquires risk information that indicates the magnitude of danger when an air vehicle flies,
When the flying object transmits flight information indicating the flight status of its own aircraft, the flying object is requested to transmit the flight information according to the magnitude of the danger represented by the acquired risk level information. An information processing device including an instruction unit for instructing. The danger level information includes information indicating the magnitude of the danger for each flight airspace.
The instruction unit according to claim 1, wherein the instruction unit instructs an air vehicle flying in the flight airspace to transmit the flight information according to the magnitude of danger in the flight airspace represented by the acquired risk information. Information processing device. The information processing device according to claim 1 or 2, wherein the instruction unit instructs that the frequency of transmission of the flight information increases as the danger represented by the acquired risk information increases. The information processing device according to any one of claims 1 to 3, wherein the instruction unit instructs that the larger the risk represented by the acquired risk information, the more items of information to be included in the flight information. The flying object can transmit the flight information to two or more external devices that perform processing related to the flight of the aircraft.
The information processing device according to any one of claims 1 to 4, wherein the instruction unit instructs to increase the number of destinations of the flight information as the danger represented by the acquired risk information increases. When the acquired risk level information represents the danger of collision or fall of the flying object, peripheral information about the periphery of the position is given to other flying objects flying around the position where the collision or falling is predicted. The information processing apparatus according to any one of claims 1 to 5, further comprising a second instruction unit that gives an instruction to transmit. The risk information is from claim 1 indicating at least one of the density of flying objects flying in the flight airspace, the population density on the ground around the flight airspace, the weather conditions in the flight airspace, and the altitude of the flight airspace. The information processing apparatus according to any one of 6.

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