WO2017090493A1 - Tracking-assist-information generating device and tracking-assist-information generating system - Google Patents

Abstract

This tracking-assist-information generating device is provided with a tracking path calculation unit that calculates a tracking path on a road along which a tracker tracks the flight of an unmanned flying body, on the basis of: distance information that indicates the distance by which the tracker tracking the unmanned flying body can be separated from the unmanned flying body flying along a flight path based on the laying path of an electric cable; position information indicating the position of the electric cable; and map information indicating the position of the road.

Description

Tracking support information generation apparatus and tracking support information generation system

The present invention relates to a tracking support information generation device and a tracking support information generation system.

Conventionally, a technique for calculating a route between two points from information on a current location and a destination is known.

JP-A-9-178500

Here, when flying an unmanned aerial vehicle, a person who manages the unmanned aerial vehicle may be required to monitor at a distance where the unmanned aerial vehicle in flight can be visually observed. In other words, depending on the flight of the unmanned air vehicle, a tracker who tracks the unmanned air vehicle at a distance where the unmanned air vehicle can be viewed may be required to monitor the unmanned air vehicle.
However, the conventional technique is a technique for calculating a route from the present location to the destination, and is a route according to the flight of the unmanned air vehicle, and calculating a route that takes into account the unmanned air vehicle being viewed. It may have been difficult.
One aspect of the present invention provides a tracking support information generation device that generates a route along which a tracker who monitors an unmanned air vehicle moves according to the flight of the unmanned air vehicle.

One aspect of the present invention is: distance information indicating a distance at which an unmanned air vehicle flying on a flight route based on a laying route of an electric wire and a tracker tracking the unmanned air vehicle can be separated, and a position indicating the position of the electric wire A tracking support information generation device including a tracking route calculation unit that calculates a tracking route on the road on which the tracker tracks the flight of the unmanned air vehicle based on information and map information indicating a position of the road. .

The tracking support information generation device according to one aspect of the present invention may further include a relative speed between a tracking speed that is a speed that the tracker tracks and a flight speed that is a speed that the unmanned air vehicle flies along the flight path. Based on this, the tracking route is calculated.

The tracking support information generating device according to one aspect of the present invention is based on a relative speed between a tracking speed that is a speed that the tracker tracks and a flight speed that is a speed at which the unmanned air vehicle flies through the flight path. And a flight information generating unit that generates flight information used for controlling the flight speed of the unmanned aerial vehicle.

Moreover, one aspect of the present invention is based on the tracking support information generation device described above, information indicating that the unmanned air vehicle has reached the end position of the flight path, and information indicating the position of the tracker. A tracking support information generation system comprising: a flight path information generation device that generates flight path information indicating a flight path from the end position to the position of the tracker used for controlling the flight of the unmanned air vehicle.

According to the present invention, it is possible to calculate a route along which a tracker who monitors an unmanned air vehicle moves.

It is a schematic diagram which shows an example of the outline | summary of the tracking assistance information generation apparatus of 1st Embodiment. It is a block diagram which shows an example of a structure of the tracking assistance information generation apparatus of this embodiment. It is a schematic diagram which shows an example of the map information of this embodiment. It is a table | surface which shows an example of the equipment information of this embodiment. It is a schematic diagram which shows an example of the distance information of this embodiment. It is a flowchart which shows an example of operation | movement of the tracking assistance information generation apparatus of this embodiment. It is a schematic diagram which shows an example of the laying path | route of this embodiment. It is a schematic diagram which shows an example of the separable area | region of this embodiment. It is a schematic diagram which shows an example of the tracking path | route of this embodiment. It is a block diagram which shows an example of a structure of the tracking assistance information generation apparatus of a modification. It is a schematic diagram which shows an example of the course of a modification. It is a schematic diagram which shows an example of the tracking path | route of a modification. It is a schematic diagram which shows an example of selection of the tracking path | route of a modification. It is a schematic diagram which shows an example of a structure of the tracking assistance information generation apparatus of 2nd Embodiment. It is a 1st flowchart which shows an example of operation | movement of the tracking assistance information generation apparatus in this embodiment. It is a 2nd flowchart which shows an example of operation | movement of the tracking assistance information generation apparatus in this embodiment. It is a table | surface which shows an example of the process of the flight speed correction | amendment part of this embodiment. It is a block diagram which shows the structure of the unmanned air vehicle of 3rd Embodiment. It is a block diagram which shows the structure of the tracking assistance information generation apparatus in this embodiment.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram illustrating an example of an overview of the tracking support information generation device 1 according to the first embodiment.
In this example, the unmanned air vehicle D flies based on the power transmission line WR by a known means. Specifically, the unmanned air vehicle D flies based on the power transmission line WR1 supported by the steel tower ST1 and the steel tower ST2, and flies based on the power transmission line WR2 supported by the steel tower ST2 and the steel tower ST3. That is, the unmanned air vehicle D flies between the steel tower ST1 and the steel tower ST3 based on the power transmission line WR1 and the power transmission line WR2.

In this example, the unmanned air vehicle D checks the power transmission line WR by flying based on the power transmission line WR. The unmanned air vehicle D flies through a predetermined section to be checked. Thereby, the unmanned air vehicle D autonomously flies in a section in which inspection is performed by a known means. In this example, the section to be inspected is the section from the tower ST1 to the tower ST3. In the following description, the steel tower ST1, the steel tower ST2, and the steel tower ST3 are collectively referred to as the steel tower ST unless otherwise distinguished. Further, when the power transmission line WR1 and the power transmission line WR2 are not particularly distinguished, they are collectively referred to as a power transmission line WR.

In addition, in this example, although the case where the unmanned air vehicle D flies based on the power transmission line WR was demonstrated, it is not restricted to this. The unmanned air vehicle D may fly based on the distribution line. That is, the power transmission line WR is an example of an electric wire.

Here, when the unmanned air vehicle D flies, it may be required that the flight of the unmanned air vehicle D is visually monitored. Specifically, the tracker TP that tracks the unmanned air vehicle D according to the flight of the unmanned air vehicle D may be required to track at a distance where the flight of the unmanned air vehicle D can be seen.
As shown in FIG. 1, in this example, the tracker TP gets on the vehicle V and tracks the unmanned air vehicle D. Moreover, as shown in FIG. 1, the path | route which the unmanned air vehicle D flies and the road CW where the vehicle V can drive may not be parallel.
That is, the vehicle V on which the tracker TP rides is required to travel on the road CW that maintains a distance at which the unmanned air vehicle D can be seen according to the flight of the unmanned air vehicle D.
Specifically, the tracker TP tracks the unmanned air vehicle D from the tracking start point BP set in the vicinity of the position where the unmanned air vehicle D starts the inspection of the transmission line WR. Further, the tracker TP tracks the unmanned air vehicle D to the tracking end point EP set near the position where the unmanned air vehicle D ends the inspection of the power transmission line WR.

That is, the tracker TP may be required to travel from the tracking start point BP to the tracking end point EP along a tracking route CR that is a route that can be tracked at a distance where the unmanned air vehicle D can be seen. is there.
The tracking support information generation device 1 of this embodiment is a device that calculates a tracking route CR that can be tracked from a tracking start point BP to a tracking end point EP at a distance where the unmanned air vehicle D can be seen. .

In this example, the case where the tracker TP gets on the vehicle V and tracks the unmanned air vehicle D is described, but the present invention is not limited to this. The tracker TP may track the unmanned air vehicle D on foot, or may ride the bicycle and track the unmanned air vehicle D. That is, the tracker TP moves on the road and tracks from the tracking start point BP to the tracking end point EP at a distance where the unmanned air vehicle D can be seen. That is, the roadway CW is an example of a road.

Hereinafter, the configuration of the tracking support information generating apparatus 1 will be described with reference to FIG. FIG. 2 is a configuration diagram illustrating an example of the configuration of the tracking support information generation device 1 according to the present embodiment.
As shown in FIG. 2, the tracking support information generation device 1 includes a control unit 100 and a storage unit 120. The storage unit 120 stores map information M, facility information E, and distance information ERD in advance.

Hereinafter, the map information M will be described with reference to FIG. FIG. 3 is a schematic diagram illustrating an example of the map information M of the present embodiment.
In this example, since the tracker TP gets on the vehicle V and tracks the unmanned air vehicle D, the map information M includes information indicating the road CW and information indicating the position of the road CW.

Next, the facility information E will be described with reference to FIG. FIG. 4 is a table showing an example of the facility information E of the present embodiment.
In the case of this example, the unmanned air vehicle D checks the power transmission line WR supported by the steel tower ST. Therefore, the facility information E includes information indicating the name of the steel tower ST supporting the power transmission line WR and the position of the steel tower ST. Is included.
As shown in FIG. 4, in this example, the information indicating the name of the steel tower ST includes the steel tower ST1, the steel tower ST2, and the steel tower ST3. Moreover, as shown in FIG. 4, in this example, the position of the steel tower ST1 is position information P1 (35.000000, 135.000000). The position of the steel tower ST2 is position information P2 (35.00200, 135.00200). The position of the steel tower ST3 is position information P3 (35.00400, 135.00400).

Hereinafter, the distance information ERD will be described with reference to FIG. FIG. 5 is a schematic diagram illustrating an example of the distance information ERD of the present embodiment.
The distance information ERD is information indicating a distance at which the tracker TP can see the unmanned air vehicle D. That is, the distance information ERD is information indicating a distance that the unmanned air vehicle D and the tracker TP that tracks the unmanned air vehicle D can be separated. Further, the distance from the ground position GP, which is the intersection of the vertical axis passing through the unmanned air vehicle D and the ground surface, to the distance information ERD is an area where the unmanned air vehicle D can be viewed. As shown in FIG. 5, the region where the unmanned air vehicle D can be viewed is the separable region ERA.

Returning to FIG. 2, the control unit 100 includes a CPU (Central Processing Unit), and includes a laying route calculation unit 101, a tracking route calculation unit 102, and an output unit 103 as functional units.
The laying route calculation unit 101 calculates the laying route LR based on the map information M and the facility information E.

Hereinafter, the operation of each unit included in the control unit 100 and the operation of the tracking support information generation device 1 will be described with reference to FIG. FIG. 6 is a flowchart illustrating an example of the operation of the tracking support information generation device 1 according to the present embodiment.
As shown in FIG. 6, the laying route calculation unit 101 reads map information M from the storage unit 120 (step S100). Further, the laying route calculation unit 101 reads the facility information E from the storage unit 120 (step S110). The laying route calculation unit 101 calculates the laying route LR based on the map information M and the facility information E (step S120). The laying route calculation unit 101 supplies the calculated laying route LR to the tracking route calculation unit 102 (step S130).

Hereinafter, the laying route LR will be described with reference to FIG. FIG. 7 is a schematic diagram illustrating an example of the laying route LR of the present embodiment.
As shown in FIG. 7, the laying route LR indicates the position on the ground surface of the transmission line WR laid from the position where the unmanned air vehicle D starts the inspection of the transmission line WR to the position where the inspection ends.
In this example, since the unmanned air vehicle D flies based on the power transmission line WR for the purpose of checking the power transmission line WR, the laying route LR is calculated based on the map information M and the facility information E.
This time, the unmanned air vehicle D flies for the purpose of checking the transmission line WR. For this reason, the locus of the power transmission line WR and the flight path of the unmanned air vehicle D coincide. That is, the locus on the ground surface of the flight path of the unmanned air vehicle D matches the laying path LR. Hereinafter, description will be made assuming that the locus on the ground surface of the flight path of the unmanned air vehicle D is the laying path LR.

As shown in FIG. 7, the laying route LR includes the laying route LR1 and the laying route LR2. The laying route LR1 is a route indicating the position on the ground surface of the transmission line WR1 supported by the steel tower ST1 and the steel tower ST2. Specifically, the laying route LR1 is a route connecting the position information P1 of the steel tower ST1 and the position information P2 of the steel tower ST2. The laying route LR2 is a route indicating the position on the ground surface of the transmission line WR2 supported by the steel tower ST2 and the steel tower ST3. Specifically, the laying route LR2 is a route connecting the position information P2 of the steel tower ST2 and the position information P3 of the steel tower ST3.

In this example, the case where the position information P includes information indicating the position of the steel tower ST has been described. However, the present invention is not limited to this. The position information P may include information indicating the position of the laying route LR. That is, the position information P only needs to include information indicating the position of the electric wire.

2, the tracking route calculation unit 102 calculates the tracking route CR based on the laying route LR and the distance information ERD.

Hereinafter, the tracking route CR will be described with reference to FIG. 8 and FIG. FIG. 8 is a schematic diagram illustrating an example of the separable area ERA1 according to the present embodiment. FIG. 9 is a schematic diagram illustrating an example of the tracking route CR of the present embodiment.
Here, the XYZ orthogonal coordinate system shown in FIG. 8 will be described. The Z axis is an axis orthogonal to the ground surface. The XY plane is a plane that is horizontal to the ground surface. The Y axis is an axis parallel to the laying path LR.
As described above, in this example, the unmanned air vehicle D can be visually observed in the separable area ERA from the position indicated by the laying route LR to the distance indicated by the distance information ERD. That is, in the X-axis direction, the tracker TP can see the unmanned air vehicle D up to the distance indicated by the distance information ERD in the positive direction of the X-axis and the negative direction centering on the laying route LR.
In the following description, the positive direction of the X axis is also referred to as the right direction, and the negative direction is also referred to as the left direction.
In addition, the positive direction of the Y axis is described as the front, and the negative direction is described as the rear.

In this example, the case where the unmanned air vehicle D flies from the tower ST1 to the tower ST3 at a constant speed will be described. On the other hand, the case where the vehicle V adjusts a speed | rate suitably according to the unmanned air vehicle D flight, and hold | maintains the position which can be visually observed is demonstrated. That is, in this example, the distance information ERD in the front-rear direction between the unmanned air vehicle D and the vehicle V is appropriately adjusted.

Further, as shown in FIG. 8, the separable area ERA at the position indicated by the laying route LR1, the separable area ERA in the position information P2 of the steel tower ST2, the separable area ERA at the position indicated by the laying path LR2, and the steel tower ST3. The area indicated by the separable area ERA in the position information P3 is collectively referred to as a separable area ERA1. In this example, a case where the vehicle V travels on the road CW included in the separable area ERA1 as the tracking route CR will be described.
That is, in this example, the vehicle V adjusts the speed appropriately according to the flight of the unmanned air vehicle D, and the vehicle V travels on the road CW included in the separable area ERA1, so that the distance information ERD is in the left-right direction. Held in.

Specifically, as shown in FIG. 6, the tracking route calculation unit 102 acquires the laying route LR from the laying route calculation unit 101 (step S140). The tracking route calculation unit 102 reads the distance information ERD from the storage unit 120 (step S150). Thereby, the tracking route calculation unit 102 calculates the separable area ERA1 (step S160).
The tracking route calculation unit 102 repeats Step S180 and Step S190 when calculating the tracking route CR from the tracking start point BP to the tracking end point EP in the roadway CW included in the separable area ERA1 (Step S170). ).
The tracking route calculation unit 102 selects a route CS indicating the direction of the intersection CP that is in the tracking end point EP direction and included in the separable area ERA1 from the position where the tracking route CR is calculated (step S180). The tracking route calculation unit 102 calculates a tracking route CR to the next intersection CP existing in the route CS direction based on the direction indicated by the selected route CS (step S190).

Specifically, as shown in FIG. 8, the tracking route calculation unit 102 is in the direction of the tracking end point EP from the tracking start point BP, and among the intersection CPs included in the separable area ERA1, the nearest intersection CP The course CS indicating the direction is selected.
As shown in FIG. 8, in this example, the direction of the intersection CP from the tracking start point BP to the tracking end point EP and included in the separable area ERA1 is only the direction to the intersection CP1. That is, the tracking route calculation unit 102 selects a route CS from the tracking start point BP to the intersection CP1 (step S180 in FIG. 6).

The tracking route calculation unit 102 calculates the tracking route CR1 from the tracking start point BP to the intersection CP1 based on the selected route CS (step S190 in FIG. 6).
As shown in FIG. 9, the tracking route CR1 is a tracking route CR from the tracking start point BP to the intersection CP1.

Returning to FIG. 8, the tracking route calculation unit 102 selects a route CS indicating the direction from the intersection CP1 to the next intersection CP. Specifically, as shown in FIG. 8, the route CS from the intersection CP1 to the next intersection CP indicates the route CS1 indicating the route CS from the intersection CP1 to the intersection CP10 and the route CS from the intersection CP1 to the intersection CP2. There is a course CS2.
As shown in FIG. 8, the intersection CP10 is an intersection CP that is not included in the separable area ERA1. Thereby, the tracking route calculation unit 102 selects the route CS2 indicating the direction from the intersection CP1 to the intersection CP2 (step S180 in FIG. 6).

The tracking route calculation unit 102 calculates a tracking route CR2 from the intersection CP1 to the intersection CP2 based on the selected route CS2 (step S190 in FIG. 6).
As shown in FIG. 9, the tracking route CR2 is a tracking route CR from the intersection CP1 to the intersection CP2.

Returning to FIG. 8, the tracking route calculation unit 102 selects a route CS indicating a direction from the intersection CP2 to the next intersection CP. The tracking route calculation unit 102 selects a route CS4 indicating the direction of the intersection CP that is in the tracking end point EP direction and included in the separable area ERA1 among the routes CS3 and CS4 (step S180 in FIG. 6). ). The tracking route calculation unit 102 calculates a tracking route CR3 from the intersection CP2 to the intersection CP3 based on the selected route CS4 (step S190 in FIG. 6).
As shown in FIG. 9, the tracking route CR3 is a tracking route CR from the intersection CP2 to the intersection CP3.

Returning to FIG. 8, the tracking route calculation unit 102 selects a route CS indicating the direction from the intersection CP3 to the next intersection CP. The tracking route calculation unit 102 selects a route CS6 indicating the direction of the intersection CP that is in the tracking end point EP direction and included in the separable area ERA1 among the routes CS5 and CS6 (step S180 in FIG. 6). ). The tracking route calculation unit 102 calculates the tracking route CR4 from the intersection CP3 to the intersection CP4 based on the selected route CS6 (step S190 in FIG. 6).
As shown in FIG. 9, the tracking route CR4 is a tracking route CR from the intersection CP3 to the intersection CP4.

Returning to FIG. 8, the tracking route calculation unit 102 selects a route CS indicating the direction from the intersection CP4 to the next intersection CP. The tracking route calculation unit 102 selects the route CS9 indicating the direction of the intersection CP that is in the tracking end point EP direction and included in the separable area ERA1 among the routes CS7, CS8, and CS9 ( FIG. 6 step S180). The tracking route calculation unit 102 calculates a tracking route CR5 from the intersection CP4 to the intersection CP5 based on the selected route CS9 (step S190 in FIG. 6).
As shown in FIG. 9, the tracking route CR5 is a tracking route CR from the intersection CP4 to the intersection CP5.

Returning to FIG. 8, the tracking route calculation unit 102 selects a route CS indicating a direction from the intersection CP5 to the next intersection CP. The tracking route calculation unit 102 selects the route CS11 indicating the direction of the intersection CP that is in the tracking end point EP direction and included in the separable area ERA1 among the routes CS10 and CS11 (step S180 in FIG. 6). ). The tracking route calculation unit 102 calculates a tracking route CR6 from the intersection CP5 to the intersection CP6 based on the selected route CS11 (step S190 in FIG. 6).
As shown in FIG. 9, the tracking route CR6 is a tracking route CR from the intersection CP5 to the intersection CP6.
Here, the tracking route CR1, the tracking route CR2, the tracking route CR3, the tracking route CR4, the tracking route CR5, and the tracking route CR6 calculated by the tracking route calculation unit 102 are collectively referred to as a tracking route CR.

Returning to FIG. 6, the tracking route calculation unit 102 supplies the calculated tracking route CR to the output unit 103 (step S200).
The output unit 103 acquires the tracking route CR from the tracking route calculation unit 102 (step S210). The output unit 103 outputs the acquired tracking route CR to an external device (step S220). In this example, the vehicle V includes a car navigation. For example, information indicating the tracking route CR output by the output unit 103 is displayed on the car navigation screen.

In the above description, an example in which information indicating the tracking route CR is output to the car navigation has been described. However, the present invention is not limited to this. Information indicating the tracking route CR may be output to a tablet device or the like, for example. That is, when the tracker TP tracks the unmanned air vehicle D by means other than the vehicle V, if the tracker TP can refer to the tracking route CR, the output unit 103 sets the tracking route CR to any device. It may be output.

As described above, the tracking support information generation device 1 according to the present embodiment includes the control unit 100 and the storage unit 120.
The storage unit 120 stores in advance distance information ERD indicating a distance at which the unmanned air vehicle D that flies along the flight route based on the laying route LR of the transmission line WR and the tracker TP that tracks the unmanned air vehicle D can be separated. Is done. Further, the storage unit 120 stores in advance position information P indicating the position of the power transmission line WR and map information M indicating the position of the road.
The control unit 100 includes a laying route calculation unit 101, a tracking route calculation unit 102, and an output unit 103 as functional units.
The laying route calculation unit 101 calculates the laying route LR based on the map information M and the facility information E. The tracking route calculation unit 102 calculates a tracking route CR on the road on which the tracker TP tracks the flight of the unmanned air vehicle D based on the laying route LR and the map information M. The output unit 103 outputs the tracking route CR calculated by the tracking route calculation unit 102.

Here, according to the conventional technique, it may be difficult for the tracker TP to select a route to be tracked for each intersection CP during tracking while maintaining a distance that allows the unmanned air vehicle D to be viewed. .
According to the tracking support information generation device 1 of the present embodiment, when the tracker TP tracks the unmanned air vehicle D, the tracker TP is unmanned based on the map information M, the facility information E, and the distance information ERD. The tracking route CR on the road that tracks the flying object D can be calculated.
That is, the tracker TP can track the unmanned air vehicle D while referring to the tracking route CR while maintaining the distance information ERD in the left-right direction. That is, when the tracker TP tracks the unmanned air vehicle D, it is possible to reduce time and effort for calculating a route along which the tracker who monitors the unmanned air vehicle moves.

[Modification]
Next, a modification according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 10 is a configuration diagram illustrating an example of the configuration of the tracking support information generation device 2 according to a modification.
As illustrated in FIG. 10, the tracking support information generation device 2 according to the modification includes a control unit 200 and a storage unit 120.
In addition, about the structure and operation | movement similar to 1st Embodiment mentioned above, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

As shown in FIG. 10, the control unit 200 includes a tracking route calculation unit 102-1 in addition to the laying route calculation unit 101 and the output unit 103 described above. The tracking route calculation unit 102-1 calculates the tracking route CR by a method different from that in the first embodiment. Specifically, as shown in FIG. 10, a tracking route candidate calculation unit 210 and a tracking route selection unit 211 are included.
The tracking route candidate calculation unit 210 selects all the routes CS indicating the direction of the intersection CP included in the separable area ERA1 in the tracking end point EP direction from the position where the tracking route CR is calculated. In the modification, the tracking route candidate calculation unit 210 calculates all the tracking routes CR up to the next intersection CP existing in the route CS direction based on the direction indicated by all the selected routes CS.
The tracking route selection unit 211 also tracks the tracking route based on the flight speed FV of the unmanned air vehicle D and the tracking speed TPV of the tracker TP among the plurality of tracking routes CR calculated by the tracking route candidate calculation unit 210. Select CR.

Next, all the routes CS selected by the tracking route candidate calculation unit 210 will be described with reference to FIG. FIG. 11 is a schematic diagram illustrating an example of a course CS of a modified example. As described above, in the modified example, the tracking route candidate calculation unit 210 performs the tracking end point EP direction from the position where the tracking route CR is calculated, and all directions indicating the direction of the intersection CP included in the separable area ERA1. Select the course CS.
That is, as shown in FIG. 11, the tracking route candidate calculation unit 210 selects the route CS10, the route CS14, and the route CS15 in addition to the plurality of routes CS selected in the first embodiment.
The tracking route candidate calculation unit 210 calculates a tracking route CR based on the selected route CS.

Hereinafter, all the tracking routes CR calculated by the tracking route candidate calculation unit 210 will be described with reference to FIG. FIG. 12 is a schematic diagram illustrating an example of a tracking route CR according to a modification. As described above, in the modified example, all the tracking routes CR up to the next intersection CP existing in the route CS direction are calculated based on the direction indicated by all the routes CS selected by the tracking route candidate calculation unit 210.
That is, as shown in FIG. 12, the tracking route candidate calculation unit 210 calculates the tracking route CR7 from the tracking route CR1 calculated in the first embodiment, the tracking route CR7, the tracking route CR8, and the tracking route CR9. .
The tracking route candidate calculation unit 210 supplies the tracking route CR from the calculated tracking route CR1 to the tracking route CR9 to the tracking route selection unit 211.

The tracking route selection unit 211 acquires the laying route LR from the laying route calculation unit 101. The tracking route selection unit 211 selects the tracking route CR based on the acquired laying route LR, the flight speed FV of the unmanned air vehicle D, and the tracking speed TPV of the tracker TP.

Hereinafter, the selection of the tracking route CR by the tracking route selection unit 211 will be described with reference to FIG. FIG. 13 is a schematic diagram illustrating an example of selection of the tracking route CR according to the modification. FIG. 13 is a schematic diagram showing the range LC shown in FIG. 12 in detail.
As described above, the tracking route selection unit 211 calculates the tracking route CR7, the tracking route CR8, and the tracking route CR9 in addition to the tracking route CR6 from the tracking route CR1 calculated in the first embodiment.

That is, in the modified example, the route from the intersection CP5 to the tracking end point EP may be the tracking route CR6, the tracking route CR7, the tracking route CR8, and the tracking route CR9.
In this example, as shown in FIG. 13, the distance of the tracking route CR6 is 200 m (tracking route distance CRD6). The distance of the tracking route CR7 is 100 m (tracking route distance CRD7). The distance of the tracking route CR8 is 300 m (tracking route distance CRD8). The distance of the tracking route CR9 is 50 m (tracking route distance CRD9).

In this example, a case where the speed limit of the vehicle V is set for each tracking route CR will be described. Specifically, the speed limit of the tracking route CR6 is 10 km / h. Further, the speed limit of the tracking route CR7, the tracking route CR8, and the tracking route CR9 is 60 km / h. In this example, the flying speed FV of the unmanned air vehicle D is 30 km / h.
That is, in this example, the tracker TP arrives at the tracking end point EP from the intersection CP5 via the tracking route CR6, and from the intersection CP5, the tracking route CR7, the tracking route CR8, and the tracking route CR9. In the case of arriving at the tracking end point EP via the latter, the latter is less separated from the unmanned air vehicle D.
That is, the tracking route selection unit 211 is based on the relative speed between the flight speed FV of the unmanned air vehicle D and the tracking speed TPV of the tracker TP, as the tracking route CR, the tracking route CR7, the tracking route CR8, and the tracking route. A tracking route CR passing through CR9 is selected.
As a result, the tracking route calculation unit 102-1 supplies the tracking route CR to the output unit 103.

As described above, the tracking path calculation unit 102-1 sets the relative speed between the tracking speed TPV, which is the speed at which the tracker TP tracks, and the flight speed FV, which is the speed at which the unmanned air vehicle D flies through the flight path. Further, the tracking route CR is calculated based on the above.
Thereby, the tracking support information generation device 2 of the modified example can calculate the tracking route CR from a plurality of routes based on the flight speed FV of the unmanned air vehicle D and the tracking speed TPV of the tracker TP. . That is, the tracking support information generation device 2 of the modified example can adjust the tracking speed TPV of the tracker TP with higher accuracy according to the flight of the unmanned air vehicle D. That is, the tracking support information generation device 2 of the modified example can keep the distance information ERD between the unmanned air vehicle D and the tracker TP in the front-rear direction.

[Second Embodiment]
The second embodiment of the present invention will be described below with reference to the drawings. FIG. 14 is a schematic diagram illustrating an example of the configuration of the tracking support information generation device 3 according to the second embodiment.
As shown in FIG. 14, the tracking support information generation device 3 of this embodiment includes a storage unit 120 and a control unit 300.
In addition, about the structure and operation | movement similar to 1st Embodiment mentioned above and a modification, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
In the second embodiment, the tracking support information generation device 3 generates flight information FC used for controlling the flight speed FV of the flight of the unmanned air vehicle D based on the positions of the unmanned air vehicle D and the tracker TP. To do.

The control unit 300 includes a flight speed correction unit 310 and a flight information generation unit 314 in addition to the laying route calculation unit 101, the tracking route calculation unit 102, and the output unit 103 described above.
The flight speed correction unit 310 includes a position calculation unit 311, a separation distance calculation unit 312, and a separation distance determination unit 313.

Hereinafter, the operation of the tracking support information generation device 3 will be described with reference to FIG. 15 and FIG. 16. FIG. 15 is a first flowchart illustrating an example of the operation of the tracking support information generation device 3 in the present embodiment. FIG. 16 is a second flowchart illustrating an example of the operation of the tracking support information generation device 3 in the present embodiment.
The operation of the tracking support information generation device 3 shown in FIG. 15 shows the operation after the processing from step S100 to step S210 shown in FIG. 6 is completed.
In this example, a case will be described in which the unmanned air vehicle D appropriately adjusts the flight speed FV in accordance with the movement of the tracker TP and maintains a position where the tracker TP can be seen. In this example, a case where the tracker TP moves at a constant speed will be described.

The position calculation unit 311 calculates the unmanned air vehicle position DP that is the position of the unmanned air vehicle D at a certain time t and the tracker position TPP that is the position of the tracker TP.
Specifically, the position calculation unit 311 acquires the tracking route CR from the tracking route calculation unit 102 (step S300). The position calculation unit 311 repeats the processing from step S320 to step S360 from the tracking start point BP to the tracking end point EP shown in the tracking route CR (step S310).
The position calculation unit 311 acquires the flight speed FV at a certain time t from the separation distance determination unit 313 (step S320). The position calculation unit 311 calculates the unmanned air vehicle position DP, which is the position of the unmanned air vehicle D at a certain time t, based on the certain time t and the flight speed FV (step S330). The position calculation unit 311 supplies the calculated unmanned air vehicle position DP at a certain time t to the separation distance calculation unit 312 (step S340). The position calculation unit 311 calculates the tracker position TPP at a certain time t (step S350). The position calculation unit 311 supplies the calculated tracker position TPP at a certain time t to the separation distance calculation unit 312 (step S360).

Next, with reference to FIG. 17, the process of the position calculation unit 311 at each time t will be described. FIG. 17 is a table showing an example of processing of the flight speed correction unit 310 of the present embodiment.
As illustrated in FIG. 17, the position calculation unit 311 acquires the tracking route CR from the tracking route calculation unit 102. Further, the position calculation unit 311 acquires the flight speed FV acquired from the separation distance determination unit 313. At this time, the separation distance determination unit 313 supplies 30 km / h, which is the initial value of the flying speed FV of the unmanned air vehicle D, to the position calculation unit 311 at time t1. The position calculation unit 311 calculates the unmanned air vehicle position DP1, which is the position of the unmanned air vehicle D at time t1, based on the acquired flight speed FV. The time t1 is a time at which a predetermined time has elapsed since the tracking was started from the tracking start point BP.
Further, the position calculation unit 311 calculates a tracker position TPP1 that is the position of the tracker TP at time t1 based on the tracking route CR and the tracking speed TPV.

15, the separation distance calculation unit 312 repeats the processing from step S380 to step S410 from the tracking start point BP to the tracking end point EP shown in the tracking route CR (step S370). The separation distance calculation unit 312 acquires the unmanned air vehicle position DP at a certain time t from the position calculation unit 311 (step S380). Further, the separation distance calculation unit 312 acquires the tracker position TPP at a certain time t from the position calculation unit 311 (step S390). The separation distance calculation unit 312 calculates the separation distance OD based on the acquired unmanned air vehicle position DP and the tracker position TPP (step S400). The separation distance calculation unit 312 supplies the calculated separation distance OD to the separation distance determination unit 313 (step S410).

Next, with reference to FIG. 17, the processing of the separation distance calculation unit 312 at each time t will be described.
As shown in FIG. 17, the separation distance calculation unit 312 calculates the separation distance OD1 based on the unmanned air vehicle position DP1 at the time t1 calculated by the position calculation unit 311 and the tracker position TPP1. In this example, the separation distance OD1 between the unmanned air vehicle D and the tracker TP at time t1 calculated by the separation distance calculation unit 312 is 195 m.

16, the separation distance determination unit 313 reads the distance information ERD from the storage unit 120 (step S420). The separation distance determination unit 313 repeats the processing from step S440 to step S480 from the tracking start point BP to the tracking end point EP shown in the tracking route CR (step S430). The separation distance determination unit 313 acquires the separation distance OD at a certain time t from the separation distance calculation unit 312 (step S440). The separation distance determination unit 313 determines whether or not the distance indicated by the separation distance OD at a certain time t is shorter than the distance indicated by the distance information ERD (step S450). When the separation distance determination unit 313 determines that the distance indicated by the separation distance OD at a certain time t is shorter than the distance indicated by the distance information ERD (step S450; YES), the separation distance determination unit 313 maintains the flight speed FV at a certain speed t. Then, it determines (step S460). In this example, the constant speed of the flight speed FV is 30 km / h. Further, when it is determined that the distance indicated by the separation distance OD at a certain time t is not shorter than the distance indicated by the distance information ERD (step S450; NO), the separation distance determination unit 313 reduces the flight speed FV at a certain time t. Then, it determines (step S470). The separation distance determination unit 313 supplies information indicating the flight speed FV at a certain time t to the position calculation unit 311 and the flight information generation unit 314 (step S480).

Next, with reference to FIG. 17, the process of the separation distance determination unit 313 at each time t will be described. FIG. 17 is a table showing an example of processing of the flight speed correction unit 310 of the present embodiment.
As illustrated in FIG. 17, the separation distance determination unit 313 determines whether or not the unmanned air vehicle D and the tracker TP are separated by the distance information ERD or more based on the separation distance OD at the time t1 calculated by the separation distance calculation unit 312. Determine whether. In this example, the distance information ERD is 500 m. That is, at time t1, the separation distance determination unit 313 determines to maintain the flying speed FV of the unmanned air vehicle D at a constant speed. In this case, the unmanned air vehicle D flight speed FV at time t1 is 30 km / h.

That is, as shown in FIG. 17, the position calculation unit 311 calculates the unmanned air vehicle position DP2 and the tracker position TPP2 at a time t2 when a predetermined time has elapsed from the time t1. The separation distance calculation unit 312 calculates the separation distance OD2 based on the unmanned air vehicle position DP2 calculated by the position calculation unit 311 and the tracker position TPP2. The separation distance determination unit 313 determines to maintain the flight speed FV of the unmanned air vehicle D at a constant speed at time t2 based on the separation distance OD2 calculated by the separation distance calculation unit 312.

Furthermore, at another time, as shown in FIG. 17, the position calculation unit 311 calculates the unmanned air vehicle position DP5 and the tracker position TPP5 at a time t5 when a predetermined time has elapsed from the time t4. The separation distance calculation unit 312 calculates the separation distance OD5 based on the unmanned air vehicle position DP5 calculated by the position calculation unit 311 and the tracker position TPP5. As shown in FIG. 17, in this example, the separation distance OD5 is 584 m.
The separation distance determination unit 313 determines to reduce the flight speed FV of the unmanned air vehicle D at time t5 based on the separation distance OD5 calculated by the separation distance calculation unit 312. In this example, reducing the flight speed FV indicates reducing the flight speed FV to 0 km / h. That is, the unmanned air vehicle D hovers at the position indicated by the unmanned air vehicle position DP5.

As shown in FIG. 17, the position calculation unit 311 calculates the unmanned air vehicle position DP6 and the tracker position TPP6 at a time t6 when a predetermined time has elapsed from the time t5. In this case, since the separation distance determination unit 313 determines to reduce the flight speed FV at time t5, the unmanned air vehicle D indicates the same unmanned air vehicle position DP as at time t5 at time t6. That is, the unmanned air vehicle position DP6 and the unmanned air vehicle position DP5 are the same position. The separation distance calculation unit 312 calculates the separation distance OD6 based on the unmanned air vehicle position DP6 calculated by the position calculation unit 311 and the tracker position TPP6. As shown in FIG. 17, in this example, the separation distance OD6 is 264 m. That is, when the flight speed FV of the unmanned air vehicle D is reduced at the time t5, the separation distance OD5 and the separation distance OD6 are such that the distance between the unmanned air vehicle D and the tracker TP is greater at the separation distance OD6. Shorter.
The separation distance determination unit 313 determines to maintain the flight speed FV of the unmanned air vehicle D at a constant speed at time t6 based on the separation distance OD6 calculated by the separation distance calculation unit 312.

Returning to FIG. 16, the flight information generation unit 314 repeats the process from step S500 to the tracking end point EP shown in the tracking route CR up to step S500 (step S490).
The flight information generation unit 314 acquires information indicating the flight speed FV of the unmanned air vehicle D at each time t from the separation distance determination unit 313 (step S500).
The flight information generation unit 314 generates flight information FC used for controlling the flight speed FV of the unmanned air vehicle D at each time t based on the acquired information indicating the flight speed FV (step S510).

Next, the process of the flight information generation unit 314 at each time t will be described with reference to FIG.
As described above, when the unmanned air vehicle D flies between the tower ST1 and the tower ST3 based on the transmission line WR1 and the transmission line WR2, the flight speed correction unit 310 calculates the flight speed FV at each time t. This is supplied to the flight information generation unit 314. For example, in this example, as shown in FIG. 17, the flight speed correction unit 310 has a flight speed FV of 30 km / h from time t1 to time t4, a flight speed FV of 0 km / h at time t5, and a flight speed at time t6. Information indicating that FV is 30 km / h is supplied to the flight information generation unit 314. The flight information generation unit 314 generates flight information FC based on the acquired flight speed FV at each time t.

As described above, the tracking support information generation device 3 includes the control unit 300 and the storage unit 120. The control unit 300 includes a laying route calculation unit 101, a tracking route calculation unit 102, an output unit 103, a flight speed correction unit 310, and a flight information generation unit 314. The flight speed correction unit 310 includes a position calculation unit 311, a separation distance calculation unit 312, and a separation distance determination unit 313.
The position calculation unit 311 calculates the unmanned air vehicle position DP and the tracker position TPP at a certain time t based on the tracking route CR. The separation distance calculation unit 312 calculates the separation distance OD based on the unmanned air vehicle position DP calculated by the position calculation unit 311 and the tracker position TPP. The separation distance determination unit 313 determines whether or not to reduce the flight speed FV of the unmanned air vehicle D based on the separation distance OD calculated by the separation distance calculation unit 312. The flight information generation unit 314 generates flight information FC used for controlling the flight speed FV of the unmanned air vehicle D based on the flight speed FV of the unmanned air vehicle D at each time t determined by the flight speed correction unit 310. .
That is, the flight information generation unit 314 is based on the relative speed between the tracking speed TPV, which is the speed that the tracker TP tracks, and the flight speed FV, which is the speed at which the unmanned air vehicle D flies along the flight path. Flight information FC used to control the flight speed FV of D is generated.

Thereby, the tracking support information generation device 3 according to the present embodiment generates the flight information FC used for controlling the flight speed FV of the unmanned air vehicle D based on the relative speed between the flight speed FV and the tracking speed TPV. be able to. That is, when the unmanned air vehicle D flies based on the flight information FC, and the separation distance OD between the unmanned air vehicle D and the tracker TP becomes longer than the distance information ERD, the flight speed of the unmanned air vehicle D FV is reduced. Thereby, the tracker TP can hold the distance information ERD between the unmanned air vehicle D and the tracker TP in the front-rear and left-right directions.
That is, when the tracker TP tracks the unmanned air vehicle D, the distance information ERD can be maintained with higher accuracy in the front-rear and left-right directions.

In the above description, the case where the flight speed FV of the unmanned air vehicle D is reduced and the flight speed FV of the unmanned air vehicle D is 0 km / h has been described, but the present invention is not limited to this. When the flying speed FV of the unmanned air vehicle D is reduced, control for reducing the value of the flying speed FV may be performed.

In the above description, the case where the flight speed FV is controlled based on the flight speed FV of the unmanned air vehicle D and the tracking speed TPV of the tracker TP has been described, but the present invention is not limited thereto. The tracking speed TPV of the tracker TP may be controlled based on the flight speed FV and the tracking speed TPV. Further, the flight speed FV and the tracking speed TPV may be controlled based on the flight speed FV of the unmanned air vehicle D and the tracking speed TPV of the tracker TP.

Further, in the above description, the case where the flight speed FV is 0 km / h at the place where it is determined that the flight speed FV of the unmanned air vehicle D is reduced has been described, but the present invention is not limited to this. For example, a place where the flying speed FV of the unmanned air vehicle D is reduced may be predetermined on the steel tower ST. In this case, when the separation distance OD is longer than the distance information ERD between the steel tower ST1 and the steel tower ST2, the unmanned air vehicle D may stand by at a speed reduction point determined on the steel tower ST1.

[Third embodiment]
The third embodiment of the present invention will be described below with reference to the drawings. In the third embodiment, a tracking support information generation system SYS (not shown) including a flight path information generation device 4 included in the unmanned air vehicle D and a tracking support information generation device 5 included in the tracker TP will be described.
FIG. 18 is a configuration diagram showing the configuration of the unmanned air vehicle D of the third embodiment.
The unmanned aerial vehicle D according to the present embodiment will be described with reference to the control of the unmanned air vehicle D when the unmanned air vehicle D returns to the current location of the tracker TP when the flight of the predetermined section is completed.
As shown in FIG. 18, the unmanned air vehicle D includes a flight path information generation device 4. The flight path information generation device 4 includes a control unit 400 and a storage unit 410.
In addition, about the structure and operation | movement similar to 1st Embodiment mentioned above, a modification, and 2nd Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

The flight unit information FL is stored in the storage unit 410. The flight route information FL is information indicating a route associated with a flight in a predetermined section in which the unmanned air vehicle D flies. In this example, the information is used for controlling the flight of the unmanned air vehicle D when the unmanned air vehicle D autonomously flies from the tower ST1 to the steel tower ST3 based on the power transmission line WR1 and the power transmission line WR2.

The control unit 400 includes a position detection unit 401, an inspection end determination unit 402, a transmission unit 403, a reception unit 404, a return path information generation unit 405, and a flight control unit 406 as functional units.
The position detector 401 detects the unmanned air vehicle position DP of the unmanned air vehicle D. The position detection unit 401 is, for example, a GPS sensor. The position detection unit 401 supplies the detected unmanned air vehicle position DP to the inspection end determination unit 402 and the return path information generation unit 405.

The inspection end determination unit 402 acquires the unmanned air vehicle position DP from the position detection unit 401. Further, the inspection end determination unit 402 reads the flight route information FL from the storage unit 410. The inspection end determination unit 402 determines whether or not the position of the unmanned air vehicle D indicated by the unmanned air vehicle position DP is the final point of the route indicated by the flight route information FL. The inspection end determination unit 402 supplies the inspection end determination result FJR to the transmission unit 403 when the inspection end determination result FJR, which is the determination result, indicates that the position of the unmanned air vehicle D is the final point of the flight path information FL. .
The transmission unit 403 transmits the acquired examination end determination result FJR to the tracking support information generation device 5.

Next, the tracking support information generation device 5 of this embodiment will be described with reference to FIG. FIG. 19 is a configuration diagram illustrating a configuration of the tracking support information generation device 5 in the present embodiment. The tracking support information generation device 5 includes a control unit 500 and a storage unit 120.
In addition, about the structure and operation | movement similar to 1st Embodiment mentioned above, a modification, and 2nd Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

The control unit 500 includes a laying route calculation unit 101, a tracking route calculation unit 102, an output unit 103, a flight speed correction unit 310, a flight information generation unit 314, a reception unit 501, a position detection unit 502, and a transmission. Part 503.
The receiving unit 501 receives the inspection end determination result FJR from the flight path information generation device 4. The reception unit 501 supplies the received inspection end determination result FJR to the position detection unit 502.
The position detection unit 502 detects the tracker position TPP of the tracker TP when acquiring the inspection end determination result FJR. The position detection unit 502 is, for example, a GPS sensor. The position detection unit 502 supplies the detected tracker position TPP to the transmission unit 503.
The transmission unit 503 transmits information indicating the acquired tracker position TPP to the flight path information generation device 4.
In this example, the flight path information generation device 4 and the tracking support information generation device 5 are connected via a network and can transmit and receive information.

Returning to FIG. 18, the receiving unit 404 receives information indicating the tracker position TPP from the tracking support information generating device 5. The receiving unit 404 supplies information indicating the received tracker position TPP to the return path information generating unit 405.
The return path information generation unit 405 generates return path information RR on which the unmanned air vehicle D flies from the unmanned air vehicle position DP to the tracker position TPP based on the acquired tracker position TPP and the unmanned air vehicle position DP. To do. The return route information RR is information used for autonomous flight control when the unmanned air vehicle D returns from the unmanned air vehicle position DP to the tracker position TPP. The return path information generation unit 405 supplies the generated return path information RR to the flight control unit 406.
The flight control unit 406 controls the flight of the unmanned air vehicle D based on the acquired return path information RR. Thereby, the unmanned air vehicle D can return to the position of the tracker TP after the flight in the predetermined section is completed.

In addition, although the case where the unmanned air vehicle D includes the flight path information generation device 4 has been described above, the present invention is not limited thereto. The flight path information generation device 4 may be included in the tracking support information generation device 5. In this case, the unmanned air vehicle D transmits information indicating that the flight of the predetermined section has ended to the tracking support information generation device 5 based on the flight path information FL and the unmanned air vehicle position DP. In addition, the tracking support information generation device 5 receives the unmanned air vehicle position DP of the unmanned air vehicle D received from the unmanned air vehicle D and information indicating that the unmanned air vehicle D has finished flying in a predetermined section. Based on this, the return route information RR from the tracker position TPP to the unmanned air vehicle position DP may be generated. Thereby, the tracking support information generation device 5 may transmit the generated return route information RR to the unmanned air vehicle D. In this case, the unmanned air vehicle D may return to the tracker position TPP of the tracker TP by controlling autonomous flight based on the received return path information RR.

As described above, the unmanned air vehicle D of the present embodiment includes the flight path information generation device 4. The flight path information generation device 4 includes a control unit 400 and a storage unit 410. The storage unit 410 stores flight path information FL.
The control unit 400 includes a position detection unit 401, an examination end determination unit 402, a transmission unit 403, a reception unit 404, a return path information generation unit 405, and a flight control unit 406. The position detector 401 detects the unmanned air vehicle position DP of the unmanned air vehicle D. When the inspection end determination unit 402 indicates that the inspection end determination result FJR, which is the detection result of the unmanned air vehicle position DP detected by the position detection unit 401, indicates that the position of the unmanned air vehicle D is the final point of the flight path information FL. The inspection end determination result FJR is supplied to the transmission unit 403. The transmission unit 403 transmits the acquired examination end determination result FJR to the tracking support information generation device 5.

The tracking support information generation device 5 includes a storage unit 120 and a control unit 500. The control unit 500 includes a laying route calculation unit 101, a tracking route calculation unit 102, an output unit 103, a flight speed correction unit 310, a flight information generation unit 314, a reception unit 501, a position detection unit 502, and a transmission. Part 503.
The receiving unit 501 receives the inspection end determination result FJR from the flight path information generation device 4. The reception unit 501 supplies the received inspection end determination result FJR to the position detection unit 502. When the inspection end determination result FJR indicates that the position of the unmanned air vehicle D is the final point of the flight path information FL, the position detection unit 502 supplies information indicating the tracker position TPP of the tracker TP to the transmission unit 503. To do. The transmission unit 503 transmits information indicating the tracker position TPP acquired from the position detection unit 502 to the flight path information generation device 4.

The receiving unit 404 included in the flight path information generation device 4 receives information indicating the tracker position TPP from the tracking support information generation device 5.
The return path information generation unit 405 returns the return path information RR based on the inspection end determination result FJR indicating that the unmanned air vehicle D has reached the end position of the flight path and the information indicating the tracker position TPP of the tracker TP. Is generated. The return path information RR is a path indicating a flight path from the end position used for controlling the flight of the unmanned air vehicle D to the tracker position TPP of the tracker TP. The return path information generation unit 405 supplies the generated return path information RR to the flight control unit 406. The flight control unit 406 controls the flight of the unmanned air vehicle D based on the acquired return path information RR.

Thereby, the tracking support information generation system SYS, when the unmanned air vehicle D reaches the end position of the flight path, the unmanned air vehicle from the unmanned air vehicle position DP of the unmanned air vehicle D to the tracker position TPP of the tracker TP. D's flight can be controlled. That is, when the unmanned air vehicle D reaches the end position of the flight path, the unmanned air vehicle D can autonomously fly to the tracker TP. That is, according to the tracking support information generation system SYS of this embodiment, when the unmanned air vehicle D reaches the end position of the flight path, it is possible to reduce the trouble of the tracker TP collecting the unmanned air vehicle D.

In addition, each part with which the tracking assistance information generation apparatus 1, the tracking assistance information generation apparatus 2, the tracking assistance information generation apparatus 3, the flight route information generation apparatus 4, and the tracking assistance information generation apparatus 5 in each of the above embodiments is dedicated It may be realized by hardware, or may be realized by a memory and a microprocessor.

The tracking support information generation device 1, the tracking support information generation device 2, the tracking support information generation device 3, the flight path information generation device 4, and the tracking support information generation device 5 each include a memory and a CPU (central processing unit). , A tracking support information generation device 1, a tracking support information generation device 2, a tracking support information generation device 3, a flight path information generation device 4, and a program for realizing the functions of the units included in the tracking support information generation device 5 The function may be realized by loading the program into a memory and executing it.

In addition, a program for realizing the functions of the respective units included in the tracking support information generation device 1, the tracking support information generation device 2, the tracking support information generation device 3, the flight path information generation device 4, and the tracking support information generation device 5 is a computer. Processing may be performed by recording the program on a readable recording medium, reading the program recorded on the recording medium into a computer system, and executing the program. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and appropriate modifications may be made without departing from the spirit of the present invention. it can. You may combine the structure as described in each embodiment mentioned above.

1, 2, 3, 5 ... tracking support information generating device, 4 ... flight route information generating device, 100, 200, 300, 400, 500 ... control unit, 101 ... laying route calculating unit, 102, 102-1 ... tracking route Calculation unit 103 ... Output unit 120, 410 ... Storage unit 210 ... Tracking route candidate calculation unit 211 ... Tracking route selection unit 310 ... Flight speed correction unit 311 ... Position calculation unit 312 ... Separation distance calculation unit, 313: Separation distance determination unit, 314 ... Flight information generation unit, 401, 502 ... Position detection unit, 402 ... Examination end determination unit, 405 ... Return path information generation unit, 406 ... Flight control unit, 404, 501 ... Reception unit, 403, 503 ... Transmitter, BP ... Tracking start point, CP, CP1, CP10, CP2, CP3, CP4, CP5, CP6 ... Intersection, CR, CR1, CR2, CR3, CR4, CR5, R6, CR7, CR8, CR9 ... tracking route, CS, CS1
, CS10, CS11, CS14, CS15, CS2, CS3, CS4, CS5, CS6, CS7, CS8, CS9 ... course, CW ... roadway, D ... unmanned air vehicle, DP, DP1, DP2, DP5, DP6 ... unmanned air vehicle Position, E ... Equipment information, EP ... Tracking end point, ERA, ERA1 ... Separable area, ERD ... Distance information, FC ... Flight information, FJR ... Examination end judgment result, FL ... Flight path information, FV ... Flight speed, GP ... ground position, LC ... range, LR, LR1, LR2 ... laying route, M ... map information, OD, OD1, OD2, OD5, OD6 ... separation distance, P, P1, P2, P3 ... position information, RR ... return route Information, ST, ST1, ST2, ST3 ... Steel tower, SYS ... Tracking support information generation system, t, t1, t2, t4, t5, t6 ... Time, TP ... Tracker, TPP, TP 1, TPP2, TPP5, TPP6 ... tracking's position, TPV ... tracking speed, V ... vehicle, WR, WR1, WR2 ... transmission line

Claims (4)

1. Distance information indicating the distance that the unmanned air vehicle flying along the flight route based on the route of the electric wire and the tracker tracking the unmanned air vehicle can be separated, positional information indicating the position of the electric wire, and road position. A tracking support information generating device comprising: a tracking route calculating unit that calculates a tracking route on the road on which the tracker tracks the flight of the unmanned air vehicle based on map information to be displayed.
2. The tracking route calculation unit
   The tracking path is calculated based on a relative speed between a tracking speed that is a speed that the tracker tracks and a flight speed that is a speed at which the unmanned air vehicle flies through the flight path. The tracking support information generation device according to 1.
3. Used for controlling the flight speed of the unmanned air vehicle based on the relative speed between the tracking speed, which is the speed that the tracker tracks, and the flight speed, which is the speed at which the unmanned air vehicle flies through the flight path. The tracking support information generation device according to claim 2, further comprising: a flight information generation unit that generates flight information.
4. The tracking support information generation device according to any one of claims 1 to 3,
   Based on the information indicating that the unmanned air vehicle has reached the end position of the flight path and the information indicating the position of the tracker, the tracking from the end position used for controlling the flight of the unmanned air vehicle is performed. A tracking support information generation system comprising: a flight path information generation device that generates flight path information indicating a flight path to a person's position.

Images