WO2019146578A1

WO2019146578A1 - Information processing device and information processing method

Info

Publication number: WO2019146578A1
Application number: PCT/JP2019/001811
Authority: WO
Inventors: 山田　武史; 健甲本; 英利江原; 陽平大野; 雄一朗瀬川; 由紀子中村; 花野　真也
Original assignee: 株式会社Ｎｔｔドコモ
Priority date: 2018-01-26
Filing date: 2019-01-22
Publication date: 2019-08-01
Also published as: JPWO2019146578A1; JP7058290B2

Abstract

When a specified flight-incapable parameter does not meet a safety standard, a flight control unit 203 controls a flight body 10 so as to perform an operation that corresponds to the reason the parameter exceeded the safety standard. It is necessary to ensure safety of the flight body 10 when the safety standard is not met. When the reason for not meeting the safety standard pertains to a fault of the flight body, the control by the flight control unit 203 includes control of operations pertaining to a decrease in altitude of the flight body. When the reason for not meeting the safety standard pertains to a crash of the flight body, the control of operation by the flight control unit 203 includes control of operations furthermore pertaining to a change of course of the flight body. When the reason for not meeting the safety standard pertains to insufficient power of the flight body, the control by the flight control unit 203 includes control of operations pertaining to landing of the flight body.

Description

INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD

TECHNICAL FIELD The present invention relates to a technique for suppressing danger by a flying object.

For example, with the spread of unmanned flying vehicles called drone, the establishment of technology for securing its safety is required. For example, Patent Document 1 discloses that, when the flying object is flying, any one of the battery's output voltage, output current, and output power becomes lower than a predetermined safety standard, and the flying object elevation control is performed. It is done.

JP, 2016-210404, A

Although the technology described in Patent Document 1 focuses only on so-called battery depletion in a flying object, factors other than the battery depletion may be considered as factors that make the flying object impossible to fly.

Therefore, it is an object of the present invention to provide a mechanism capable of performing an operation for securing safety before it becomes impossible to fly, in accordance with a plurality of factors that make the flight object impossible to fly.

In order to solve the above problems, according to the present invention, there is provided an identifying unit for identifying a parameter indicating a possibility that the flight vehicle can not fly based on a plurality of factors, and when the identified parameter falls below a safety standard. An information processing apparatus comprising: a flight control unit configured to control the flying object to perform an operation according to the factor in which the parameter exceeds a safety standard.

The flight control unit may control the operation of the aircraft if the specified parameter falls below a fluctuating safety standard.

The flight control unit may use the safety standard that varies in accordance with the attribute of the transported object transported by the aircraft.

The flight control unit may use the safety standard that changes according to an attribute of the ground corresponding to the airspace where the aircraft flies.

The flight control unit may use the safety standard that changes according to the attribute of the airspace where the aircraft flies.

In the case where the factor is a factor related to the failure of the aircraft, the control by the flight control unit may include control of an operation related to a decrease in altitude of the aircraft.

In the case where the factor is a factor related to the collision of the flying object, the control of the operation by the flight control unit may include control of the operation related to the turning of the flying object.

When the factor is a factor related to the power shortage of the aircraft, the control by the flight control unit may include control of an operation regarding landing of the aircraft.

The present invention also includes the steps of identifying a parameter indicating the possibility of the flight vehicle becoming incapable of flying based on a plurality of factors, and in the case where the identified parameter falls below a safety standard, the parameter indicates a safety standard. And controlling the aircraft to perform an operation according to the factor that has been exceeded.

According to the present invention, in accordance with a plurality of factors that make the flying object impossible to fly, it is possible to perform an operation for securing safety before it becomes impossible to fly.

1 shows an example of the configuration of a flight control system 1. FIG. FIG. 2 is a view showing an example of the appearance of a flying object 10; It is a figure which shows the hardware constitutions of the flying body 10. As shown in FIG. FIG. 2 is a diagram showing a hardware configuration of a server device 20. FIG. 2 is a diagram showing an example of a functional configuration of a server device 20. It is a figure explaining the relationship between a flight impossible factor and flight control. It is a figure explaining the relationship between a flight impossible factor and flight control. 5 is a flowchart showing an example of the operation of the server device 20.

1: Flight control system 10: Flight object 20: Server device 21: Processor 22: Memory 23: Storage 24: Communication device 25: Bus 200: Tracking unit 201: Acquisition unit 202: Identification Part 203: Flight control part.

[Constitution]
FIG. 1 is a diagram showing an example of the configuration of a flight control system 1. The flight control system 1 is a system that controls the flight of the flying object 10. The flight control system 1 includes a plurality of aircraft 10 and a server device 20 serving as an information processing device.

FIG. 2 is a view showing an example of the appearance of the flying object 10. The flying object 10 is, for example, a so-called drone, and includes a propeller 101, a drive device 102, and a battery 103.

The propeller 101 rotates about an axis. As the propeller 101 rotates, the flying object 10 flies. The driving device 102 powers and rotates the propeller 101. The drive device 102 includes, for example, a motor and a transmission mechanism that transmits the power of the motor to the propeller 101. The battery 103 supplies power to each part of the flying object 10 including the drive device 102.

FIG. 3 is a diagram showing the hardware configuration of the aircraft 10. The flying object 10 is physically configured as a computer device including a processor 11, a memory 12, a storage 13, a communication device 14, a positioning device 15, an imaging device 16, a beacon device 17, a bus 18, and the like. In the following description, the term "device" can be read as a circuit, a device, a unit, or the like.

The processor 11 operates an operating system, for example, 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 device, a register, and the like.

Further, the processor 11 reads a program (program code), a software module or data from the storage 13 and / or the communication device 14 to the memory 12 and executes various processing according to these. As a program, a program that causes a computer to execute at least a part of the operation of the flying object 10 is used. The various processes performed in the aircraft 10 may be performed by one processor 11 or may be performed 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, and includes, for example, at least one of a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), and a RAM (Random Access Memory). It may be done. The memory 12 may be called 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, and the like that can be executed to implement the flight control method according to the embodiment of the present invention.

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, a magnetooptical disk (for example, a compact disk, a digital versatile disk, Blu-ray A (registered trademark) disk, a smart card, a flash memory (for example, a card, a stick, a key drive), a floppy (registered trademark) disk, a magnetic strip, and the like may be used. The storage 13 may be called an auxiliary storage device.

The communication device 14 is hardware (transmission / reception device) for performing communication between computers via a wired and / or wireless network, and is also called, for example, a network device, a network controller, a network card, a communication module, or the like.

The positioning device 15 measures the three-dimensional position of the aircraft 10. The positioning device 15 is, for example, a GPS (Global Positioning System) receiver, and measures the current position of the aircraft 10 based on GPS signals received from a plurality of satellites.

The imaging device 16 captures an image around the flying object 10. The imaging device 16 is, for example, a camera, and captures an image by forming an image on an imaging element using an optical system. The imaging device 16 captures an image of a predetermined range in front of the aircraft 10, for example. However, the imaging direction of the imaging device 16 is not limited to the front of the aircraft 10, and may be above, below, or behind the aircraft 10. Further, for example, the imaging direction may be changed by rotating a pedestal supporting the imaging device 16.

The beacon device 17 transmits a beacon signal of a predetermined frequency, and also receives a beacon signal transmitted from another flying object 10. The reach of this beacon signal is a predetermined distance such as 100 m. The beacon signal includes aircraft identification information that identifies the aircraft 10 that transmits the beacon signal.

The sensor unit 19 detects a sign of component failure of the flying object 10, abnormal noise in the flying object 10, a remaining battery level of a battery, and the like. The indication of the component failure of the flying object 10 is grasped by monitoring the operating condition such as the voltage / current value of each component, for example. These detected values are provided to the server device 20.

The devices such as the processor 11 and the memory 12 described above are connected by a bus 18 for communicating information. The bus 18 may be configured as a single bus or may be configured as different buses among the devices.

FIG. 4 is a diagram showing a hardware configuration of the server device 20. As shown in FIG. The server device 20 is physically configured as a computer device including a processor 21, a memory 22, a storage 23, a communication device 24, a bus 25 and the like. The processor 21, the memory 22, the storage 23, the communication device 24, and the bus 25 are similar to the processor 11, the memory 12, the storage 13, the communication device 14, and the bus 18 described above, and thus the description thereof is omitted.

FIG. 5 is a diagram showing an example of a functional configuration of the server device 20. As shown in FIG. Each function in the server device 20 causes the processor 21 to perform an operation by reading predetermined software (program) on hardware such as the processor 21 and the memory 22, thereby performing communication by the communication device 24, the memory 22, and the storage 23. This is realized by controlling the reading and / or writing of data in

In FIG. 5, the tracking unit 200 records the flying object identification information of the flying object 10 under control of the server device 20 and the flight status thereof. The flight status includes the position where the flying object 10 is flying and the date and time at that position. The tracking unit 200 records position information and date and time information notified from the aircraft 10. In addition, the tracking unit 200 determines whether the position information and the date and time information are within a previously planned flight plan, and records the determination result. Thereby, the difference between the plan and the result of the flight of the flying object 10 is specified.

The acquisition unit 201 acquires the attribute of the ground (that is, the ground immediately below the airspace) in the airspace that is a candidate for the flight vehicle 10 to fly, the attribute of the airspace, and the attribute of the cargo transported by the aircraft 10. These attributes are acquired by the acquiring unit 201 from each flying object 10 or from a database stored in the acquiring unit 201. In this database, the population distribution on the ground, the location, number, density and type of facilities or natural objects on the ground, the location (latitude, longitude, altitude) of each airspace that the aircraft 10 is a candidate to fly and its airspace Information on the number and attributes of flight vehicles scheduled to fly, the communication environment of the flight vehicle 10 in each airspace, the weather in each airspace, and the like is stored. These pieces of information are pre-specified or measured and stored in this database.

The identifying unit 202 identifies a parameter indicating the possibility of the flight object 10 becoming incapable of flying based on a plurality of factors. The factors include, for example, a factor related to the failure of the flying object 10, a factor related to the collision of the flying object 10, or a factor related to the power shortage of the flying object 10.

If the above identified parameters fall below a predetermined safety standard, security of the flying object 10 is required. When the parameter falls below the safety standard, the flight control unit 203 controls the aircraft 10 to perform an operation according to the factor that the parameter exceeds the safety standard. This safety standard is an attribute of a transported object transported by the aircraft (referred to as a transported object attribute), an attribute of the ground corresponding to an airspace where the aircraft flies (grounded attribute), or an attribute of an airspace where the aircraft flies It changes according to the attribute).

The ground attributes relate to, for example, the density of the population on the ground of the airspace where the aircraft 10 is a candidate to fly, and the number, density or type of equipment or natural objects on the ground. The population includes cases that change with time. The equipment is, for example, a building (including the presence of a roof), a road, a field, a drone landing equipment, a vehicle, etc., including those fixed on the ground and those moving on the ground. Equipment includes time-dependent cases. Natural products include mountains, rivers, seas, lakes, etc.

The airspace attribute may, for example, be the altitude of the airspace, the communication environment of the airborne vehicle 10 in the airspace, the number or density of the airborne vehicles 10 in the airspace, or an airspace allocated exclusively for the particular airborne vehicle 10 It relates to whether or not to assign to a plurality of aircrafts 10 to be shared.

The transported item attribute includes, for example, the weight of the transported object transported by the aircraft 10, whether it is a broken item, or the degree of importance.

FIG. 6 is a view for explaining a variation example of the safety standard. For example, when the transported item is a broken item, the safety standard is Th1, and when it is not a broken item, the safety standard is Th2. However, it is Th1> Th2. That is, when the transported object is a broken object, it is likely to be necessary to ensure the safety of the flying object 10. Also, the safety standard is Th3 when there are many people on the ground attribute (for example, the population density is above the threshold), and the safety standard is Th4 when the population is low (for example, the population density is less than the threshold) . However, Th3> Th4. That is, as the population is larger, it is likely to be necessary to ensure the safety of the flying object 10. When the airspace attribute is high altitude (altitude is equal to or higher than the threshold), the safety standard is Th5, and when low altitude (for example, the altitude is lower than the threshold), the safety standard is Th6. However, there is Th5> Th46. That is, as the altitude of the flying object 10 is higher, it is likely to be necessary to ensure the safety of the flying object 10.

FIG. 7 is a diagram for explaining the relationship between the non-flying factor and the flight control. The control by the flight control unit 203 includes instructions such as the flight date, flight path, flight speed, etc. of the flying object 10. As shown in FIG. 7, when the factor below the safety standard is a factor related to the failure of the aircraft, the control by the flight control unit 203 includes control of the operation related to the altitude reduction of the aircraft. The factors relating to the failure of the flying object include differences in flight plans and results, indications of component failure of the flying object 10, and abnormal noise in the flying object 10. If the factor falling below the safety standard is a factor related to the collision of the flying object, the control of the operation by the flight control unit 203 includes the control of the movement related to the turning of the flying object. The factors related to the collision of a flying object include the number, attributes, and communication status of other flying objects. When the factor below the safety standard is a factor related to the power shortage of the aircraft, the control by the flight control unit 203 includes the control of the operation regarding the landing of the aircraft. The factors relating to the power shortage of the flying object include the battery remaining amount of the flying object 10 or the weather.

The reason for making the control of the aircraft 10 different according to the factors below the safety standard is as follows. For example, even if there is a factor related to the failure of the flying object as a factor below the safety standard, if the flying object 10 can continue the flight, it becomes impossible to fly compared to the factor related to the power shortage (that is, the flying object 10 Is not likely to fall). Therefore, in such a case, it is preferred to lower the altitude of the flying object 10 to reduce, for example, the risk of crash, and to fulfill the flight purpose of the flying object 10, instead of landing the flying object 10. Let In this way, appropriate motion control for the aircraft 10 is considered to be different depending on the factor below the safety standard. In addition, regarding factors related to the power shortage of the aircraft, multiple levels of safety standards are provided, and when the safety level falls below the first safety standard, operation control for the altitude reduction of the aircraft 10 is performed. The motion of the flying object 10 may be controlled stepwise, such as performing motion control relating to the landing of the flying object 10 when the safety level falls below the second lower safety standard.

[Operation]
Next, the operation of this embodiment will be described. In the following description, when the server device 20 is described as a subject of processing, specifically, the processor 21 is read by reading predetermined software (program) on hardware such as the processor 21 and the memory 22. Means that the process is executed by performing an operation and controlling communication by the communication device 24 and reading and / or writing of data in the memory 22 and the storage 23.

FIG. 8 is a flowchart showing an example of the operation of the server device 20. In the server device 20, the acquiring unit 201 acquires each attribute such as a transported item attribute, a ground attribute, and an airspace attribute for a certain flying object 10, and detects for specifying a plurality of factors when the flying object becomes impossible to fly. Target (difference between flight plan and actual results, signs of parts failure of the flying object 10, abnormal noise in the flying object 10, number / attributes of other flying objects, communication status, battery remaining amount of the flying object 10, weather, etc.) Each data is acquired (step S11).

The identifying unit 202 identifies parameters (impossible to fly) parameters indicating the possibility of the flight object 10 being incapable of being fly based on the detection targets for identifying each factor (step S12). Here, from the difference between the flight plan and the results, the sign of component failure of the flying object 10, the abnormal noise in the flying object 10, the number and attributes of other flying objects, the communication status, the battery remaining amount of the flying object 10, the weather, etc. An algorithm for determining non-flyable parameters (for example, the probability of becoming non-flyable) indicating the possibility of the flight object 10 becoming non-flyable is predefined, and the identifying unit 202 uses the algorithm to determine non-flyable parameters. Identify

The flight control unit 203 compares the identified non-flyable parameter with the safety standard (step S13). Here, the safety criteria to be compared with the non-flyable parameters are determined for each of the transported item attribute, the ground attribute, and the airspace attribute. For example, if the transported item is, for example, a broken item, the safety standard is Th1. If not, the safety standard is Th2. Also, the safety standard is Th3 when there are many people on the ground attribute (for example, the population density is above the threshold), and the safety standard is Th4 when the population is low (for example, the population density is less than the threshold) . When the airspace attribute is high altitude (altitude is equal to or higher than the threshold), the safety standard is Th5, and when low altitude (for example, the altitude is lower than the threshold), the safety standard is Th6.

The flight control unit 203 compares the identified non-flyable parameters with the safety standard for each of the transported object attribute, ground attribute, and airspace attribute of the airframe 10, and if there is a non-flyable parameter below the safe standard. (Step S14: YES) As described with reference to FIG. 7, the flight control determined for the factor corresponding to the non-flyable parameter is performed (step S15). That is, when the factor below the safety standard is a factor related to the failure of the aircraft, the control by the flight control unit 203 includes control of the operation related to the altitude reduction of the aircraft. In addition, when the factor below the safety standard is a factor related to the collision of the flying object, the control of the operation by the flight control unit 203 includes the control of the operation related to the turning of the flying object. In addition, when the factor below the safety standard is a factor related to the power shortage of the aircraft, the control by the flight control unit 203 includes control of the operation regarding the landing of the aircraft.

According to the embodiment described above, it is possible to perform an operation for securing safety before it becomes impossible to fly, in accordance with a plurality of factors that make the flying object 10 impossible to fly.

[Modification]
The present invention is not limited to the embodiments described above. You may deform | transform the embodiment mentioned above as follows. Also, the following two or more modifications may be implemented in combination.

In the embodiment, the server device 20 uses all of the transported object attribute, the ground attribute, and the airspace attribute, but at least one of the attributes may be used. Moreover, the position of the flying object 10 may be measured by the method which does not use GPS.

The block diagram used for the description of the said embodiment has shown the block of a functional unit. These functional blocks (components) are realized by any combination of hardware and / or software. Moreover, the implementation means of each functional block is not particularly limited. That is, each functional block may be realized by one physically and / or logically coupled device, or directly and / or indirectly two or more physically and / or logically separated devices. It may be connected by (for example, wired and / or wireless) and realized by the plurality of devices.
In addition, at least a part of the functions of the server device 20 may be implemented on the aircraft 10. Similarly, at least part of the functions of the aircraft 10 may be implemented on the server device 20.

Each aspect / embodiment described in the present specification is LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G, 5G, FRA (Future Radio Access), W-CDMA (Registered trademark), GSM (registered trademark), CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, UWB (Ultra-Wide Band), The present invention may be applied to a system utilizing Bluetooth (registered trademark), other appropriate systems, and / or an advanced next-generation system based on these.

As long as there is no contradiction, the processing procedure, sequence, flow chart, etc. of each aspect / embodiment described in this specification may be reversed. For example, for the methods described herein, elements of the various steps are presented in an exemplary order and are not limited to the particular order presented.
Each aspect / embodiment described in this specification may be used alone, may be used in combination, and may be switched and used along with execution. In addition, notification of predetermined information (for example, notification of "it is X") is not limited to what is explicitly performed, but is performed by implicit (for example, not notifying of the predetermined information) It is also good.

The terms "system" and "network" as used herein are used interchangeably.

The information or parameters described in the present specification may be represented by absolute values, may be represented by relative values from predetermined values, or may be represented by corresponding other information. For example, radio resources may be indexed.

The names used for the parameters described above are in no way limiting. In addition, the formulas etc. that use these parameters may differ from those explicitly disclosed herein. Since various channels (eg PUCCH, PDCCH etc.) and information elements (eg TPC etc.) can be identified by any suitable names, the various names assigned to these various channels and information elements can be Is not limited.

The terms "determining", "determining" as used herein may encompass a wide variety of operations. For example, “judgment” and “decision” may be judging, calculating, calculating, processing, processing, deriving, investigating, looking up (for example, a table) (Searching in a database or another data structure), ascertaining may be considered as “decision” or “decision”. Also, "determination" and "determination" are receiving (for example, receiving information), transmitting (for example, transmitting information), input (input), output (output), access (Accessing) (for example, accessing data in a memory) may be regarded as "determined" or "determined". In addition, "determination" and "decision" are to be considered as "determination" and "determination" that they have resolved (resolving), selecting (selecting), choosing (choosing), establishing (establishing), etc. May be included. That is, "determination" "determination" may include considering that some action is "determination" "determination".

The present invention may be provided as a flight control method or an information processing method including the steps of processing performed in the flight control system 1 or the server device 20. Also, the present invention may be provided as a program executed on the airframe 10 or the server device 20. Such a program may be provided in the form of being recorded in a recording medium such as an optical disk, 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. It is possible.

Software, instructions, etc. may be sent and received via a transmission medium. For example, software may use a wireline technology such as coaxial cable, fiber optic cable, twisted pair and digital subscriber line (DSL) and / or a website, server or other using wireless technology such as infrared, radio and microwave When transmitted from a remote source, these wired and / or wireless technologies are included within the definition of transmission medium.

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 mentioned throughout the above description may be voltage, current, electromagnetic waves, magnetic fields or particles, optical fields or photons, or any of these May be represented by a combination of

The terms described herein and / or the terms necessary for the understanding of the present specification may be replaced with terms having the same or similar meanings. For example, the channels and / or symbols may be signals. Also, the signal may be a message. Also, the component carrier (CC) may be called a carrier frequency, a cell or the like.

Any reference to an element using the designation "first," "second," etc. as used herein does not generally limit the quantity or order of those elements. These designations may be used herein as a convenient way of distinguishing between two or more elements. Thus, reference to the first and second elements does not mean that only two elements can be taken there, or that in any way the first element must precede the second element.

The “means” in the configuration of each device described above may be replaced with a “unit”, a “circuit”, a “device” or the like.

Insofar as "including", "comprising" and variations thereof are used in the present specification or claims, these terms as well as the term "comprising" are inclusive. Intended to be Further, it is intended that the term "or" as used in the present specification or in the claims is not an exclusive OR.

Throughout the disclosure, for example, when articles are added by translation, such as a, an, and the in English, these articles are not clearly indicated by the context, unless the article clearly indicates otherwise. It shall contain several things.

Although the present invention has been described above in detail, it is apparent to those skilled in the art that the present invention is not limited to the embodiments described herein. The present invention can be embodied as modifications and alterations without departing from the spirit and scope of the present invention defined by the description of the claims. Accordingly, the description in the present specification is for the purpose of illustration and does not have any limiting meaning on the present invention.

Claims

A specification unit that specifies a parameter indicating the possibility that the aircraft can not fly based on a plurality of factors;
And a flight control unit configured to control the flying object to perform an operation according to the factor whose parameter exceeds the safety standard, when the specified parameter falls below the safety standard. apparatus.
The information processing apparatus according to claim 1, wherein the flight control unit controls an operation of the aircraft when the identified parameter falls below a fluctuating safety standard.
The information processing apparatus according to claim 2, wherein the flight control unit uses the safety standard that changes in accordance with an attribute of a transported object transported by the aircraft.
The information processing apparatus according to claim 2, wherein the flight control unit uses the safety standard that changes in accordance with an attribute of the ground corresponding to an airspace where the aircraft flies.
The information processing apparatus according to claim 2, wherein the flight control unit uses the safety standard that changes in accordance with an attribute of an airspace in which the aircraft flies.
6. The flight control unit according to any one of claims 1 to 5, wherein the control by the flight control unit includes control of an operation related to a decrease in altitude of the aircraft, when the factor is a factor related to a failure of the aircraft. The information processing apparatus according to any one of the above.
The control of the operation by the flight control unit includes the control of the operation relating to the diversion of the flight body, when the factor is a factor relating to the collision of the flight body. The information processing apparatus according to any one of the items.
6. The flight control unit according to any one of claims 1 to 5, wherein the control by the flight control unit includes control of an operation related to landing of the flight body, when the factor is a factor related to the power shortage of the flight body. The information processing apparatus according to any one of the above.
Identifying a parameter indicative of the possibility of the aircraft becoming incapable of flying based on a plurality of factors;
And controlling the flying object to perform an operation according to the factor in which the parameter exceeds a safety standard, when the specified parameter falls below a safety standard.