WO2019230885A1 - Flight management server and flight management system for unmanned aerial vehicle - Google Patents

Flight management server and flight management system for unmanned aerial vehicle Download PDF

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Publication number
WO2019230885A1
WO2019230885A1 PCT/JP2019/021528 JP2019021528W WO2019230885A1 WO 2019230885 A1 WO2019230885 A1 WO 2019230885A1 JP 2019021528 W JP2019021528 W JP 2019021528W WO 2019230885 A1 WO2019230885 A1 WO 2019230885A1
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Prior art keywords
flight
management server
unmanned air
air vehicle
mission
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PCT/JP2019/021528
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French (fr)
Japanese (ja)
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太郎 吉井
高橋　和也
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株式会社センシンロボティクス
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Priority to JP2019563630A priority Critical patent/JP6713156B2/en
Publication of WO2019230885A1 publication Critical patent/WO2019230885A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Definitions

  • the present invention relates to a flight management server and a flight management system for an unmanned air vehicle.
  • Patent Document 1 discloses a system that creates a flight route of an unmanned aircraft that acquires data for inspection from a windmill by reflecting the control state of the windmill.
  • drones have various needs such as security, collection of information at the time of disaster, surveying, etc. as well as the above-mentioned inspections, and the targets are diverse, such as solar power generation facilities, bridges, roads, etc.
  • An object of the present invention is to provide a technique capable of automatically setting an optimal flight route by simply selecting various work targets.
  • An unmanned air vehicle flight management server connected to a user terminal and an unmanned air vehicle via a network, A storage unit that stores flight route information including flight parameters, and a plurality of flight applications by purpose; A reception unit that accepts a flight request including at least a flight location and a flight purpose; A generating unit that generates a flight mission including a flight route generated by referring to the flight route information based on the flight request and a flight application selected from the purpose-specific flight application; A communication unit for transmitting the generated flight mission to the unmanned air vehicle; An unmanned air vehicle flight management server.
  • a flight management server and a flight management system have the following configuration.
  • An unmanned air vehicle flight management server connected to a user terminal and an unmanned air vehicle via a network, A storage unit that stores flight route information including flight parameters, and a plurality of flight applications by purpose; A reception unit that accepts a flight request including at least a flight location and a flight purpose; A generating unit that generates a flight mission including a flight route generated by referring to the flight route information based on the flight request and a flight application selected from the purpose-specific flight application; A communication unit for transmitting the generated flight mission to the unmanned air vehicle; An unmanned air vehicle flight management server.
  • a flight management system for an unmanned air vehicle including a user terminal, an unmanned air vehicle, and a flight management server connected via a network
  • the flight management server is: A storage unit for storing flight route information including flight parameters and a plurality of purpose-specific flight applications; Accepting a flight request including at least a flight location and a flight purpose from the user terminal; Generating a flight mission including a flight route generated by referring to the flight route information and a flight application selected from the purpose-specific flight application based on the flight request; Sending the generated flight mission to the unmanned air vehicle;
  • the unmanned air vehicle performs the flight mission and transmits a flight log to the flight management server.
  • Flight management system for unmanned air vehicles is: A storage unit for storing flight route information including flight parameters and a plurality of purpose-specific flight applications; Accepting a flight request including at least a flight location and a flight purpose from the user terminal; Generating a flight mission including a flight route generated by referring to the flight route information and a flight application selected from
  • the present system a flight management system
  • the present system a flight management system for an unmanned air vehicle according to an embodiment of the present invention.
  • the same or similar elements are denoted by the same or similar reference numerals and names, and redundant description of the same or similar elements may be omitted in the description of each embodiment.
  • the features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.
  • the present system includes a management server 1, a plurality of user terminals 2 and 3, and one or more flying bodies 4.
  • the management server 1, the user terminals 2 and 3, and the flying object 4 are connected to be communicable with each other via a network.
  • FIG. 2 is a diagram illustrating a hardware configuration of the management server 1.
  • the structure shown in figure is an example and may have a structure other than this.
  • the management server 1 is connected to a plurality of user terminals 2 and 3 and the flying vehicle 4 to constitute a part of the present system.
  • the management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.
  • the management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, which are electrically connected to each other through a bus 15.
  • the processor 10 is an arithmetic device that controls the overall operation of the management server 1 and performs data transmission / reception control between elements and information processing necessary for application execution and authentication processing.
  • the processor 10 is a CPU (Central Processing Unit) and executes each information process by executing a program for the system stored in the storage 12 and expanded in the memory 11.
  • CPU Central Processing Unit
  • the memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary memory composed of a nonvolatile storage device such as a flash memory or an HDD (Hard Disc Drive). .
  • the memory 11 is used as a work area of the processor 10 and stores BIOS (Basic Input / Output System) executed when the management server 1 is started up, various setting information, and the like.
  • BIOS Basic Input / Output System
  • the storage 12 stores various programs such as application programs.
  • a database storing data used for each process may be constructed in the storage 12.
  • the transmission / reception unit 13 connects the management server 1 to a network and a block chain network.
  • the transmission / reception unit 13 may include a Bluetooth (registered trademark) and a BLE (Bluetooth Low Energy) short-range communication interface.
  • the input / output unit 14 is an information input device such as a keyboard / mouse and an output device such as a display.
  • the bus 15 is commonly connected to each of the above elements, and transmits, for example, an address signal, a data signal, and various control signals.
  • the user terminals 2 and 3 shown in FIG. 3 also include a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, and the like, which are electrically connected to each other through a bus 25. Since the function of each element can be configured in the same manner as the management server 1 described above, detailed description of each element is omitted.
  • FIG. 4 is a block diagram showing a hardware configuration of the flying object 4.
  • the flight controller 41 may have one or more processors such as a programmable processor (eg, a central processing unit (CPU)).
  • a programmable processor eg, a central processing unit (CPU)
  • the flight controller 41 has a memory 411 and can access the memory.
  • Memory 411 stores logic, code, and / or program instructions that can be executed by the flight controller to perform one or more steps.
  • the flight controller 41 may include sensors 412 such as an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, and a proximity sensor (for example, a rider).
  • the memory 411 may include a separable medium such as an SD card or a random access memory (RAM) or an external storage device. Data obtained from the camera / sensors 42 may be transmitted directly to the memory and stored. For example, still image / moving image data shot by a camera or the like is recorded in a built-in memory or an external memory.
  • the camera 42 is installed on the flying object via the gimbal 43.
  • the flight controller 41 includes a control module (not shown) configured to control the state of the flying object.
  • the control module may adjust the spatial arrangement, velocity, and / or acceleration of an aircraft that has six degrees of freedom (translational motion x, y, and z, and rotational motion ⁇ x , ⁇ y, and ⁇ z ).
  • the propulsion mechanism (motor 45 and the like) of the flying object is controlled via an ESC 44 (Electric Speed Controller).
  • the propeller 46 is rotated by the motor 45 fed from the battery 48 to generate lift of the flying object.
  • the control module can control one or more of the states of the mounting unit and sensors.
  • the flight controller 41 is configured to send and / or receive data from one or more external devices (eg, a transceiver 49, a terminal, a display device, or other remote controller).
  • a transceiver 49 e.g., a transceiver 49, a terminal, a display device, or other remote controller.
  • the communication with the unit 47 is possible.
  • the transceiver 49 can use any appropriate communication means such as wired communication or wireless communication.
  • the transmission / reception unit 47 uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication, and the like. can do.
  • LAN local area network
  • WAN wide area network
  • infrared wireless
  • WiFi point-to-point
  • P2P point-to-point
  • telecommunication network cloud communication, and the like. can do.
  • the transmission / reception unit 47 transmits and / or receives one or more of data acquired by the sensors 42, a processing result generated by the flight controller 41, predetermined control data, a user command from a terminal or a remote controller, and the like. be able to.
  • the sensors 42 may include an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, a proximity sensor (eg, a rider), or a vision / image sensor (eg, a camera).
  • an inertial sensor acceleration sensor, gyro sensor
  • GPS sensor GPS sensor
  • proximity sensor eg, a rider
  • vision / image sensor eg, a camera
  • FIG. 5 is a block diagram illustrating functions implemented in the management server 1.
  • the management server 1 includes a communication unit 110, a flight mission generation unit 130, a report generation unit 150, an application unit 170, and a storage unit 190.
  • the flight mission generation unit 130 includes a route generation unit 132, an application selection unit 134, an evaluation unit 136, and a correction unit 138.
  • the storage unit 190 includes various databases of flight route information 192, purpose-specific flight applications 194, flight logs 196, and interface information 198.
  • the communication unit 110 communicates with the user terminal 2 and the flying object 4.
  • the communication unit 110 also functions as a reception unit that receives a flight request including at least a flight location and a flight purpose from the user terminal 2.
  • the flight mission generation unit 130 generates a flight mission.
  • the flight mission is an application selected from the flight route and purpose-specific flight application 194.
  • the flight route is generated by the route generation unit 132 with reference to the flight route information 192.
  • the flight application is selected by the application selection unit 134 with reference to the purpose-specific flight application 194.
  • an evaluation unit 136 that evaluates whether the generated flight mission is appropriate may be provided.
  • the evaluation unit 136 may evaluate the suitability based on a score or the like by, for example, a user operation on a flight mission or machine learning based on a flight mission accumulated in the past. If the score is not within the predetermined range, the flight mission is corrected by the correction unit 138.
  • information (still images, moving images, audio and other information) acquired by the flying object 4 is accumulated in the flight log 196.
  • the report generation unit 150 generates report information to be transmitted to the user terminal 2 based on the flight log. Examples of the report according to the present embodiment include the inspection result of the inspection target facility and the security result of the security target facility, but may be various reports according to needs.
  • the interface information 198 stores various control information to be displayed on the display unit (display or the like) of the user terminal 2 together with the application unit 170 (see FIG. 10 for a screen example).
  • FIG. 6 is a functional block diagram implemented in the user terminal 2.
  • the user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and interacts with each other.
  • the purpose-specific flight application 194 is prepared for each work purpose (use) of the flying object 4 working with the present system.
  • an application 1941 for security / monitoring, an application 1942 for equipment inspection, an application 1943 for surveying, and an application 1944 for disaster countermeasures are included, but are not limited thereto.
  • information on flight control (altitude, speed, range, etc.) suitable for the purpose, acquisition conditions (camera resolution, shooting angle, overlap rate, presence of filters, estimated flight time, battery required)
  • the user transmits a flight request from the user terminal 2 (SQ101).
  • the flight request includes at least information regarding the flight location and the flight purpose.
  • the management server 1 refers to the storage unit 190 (see FIG. 5) (SQ102) and generates a flight mission (SQ104).
  • the generated flight mission is transmitted to the flying object 4 directly (or indirectly via a terminal or a transmitter) (SQ106).
  • the flying object 4 transmits (reports) the information acquired during the flight mission to the management server 1 in real time (or after the fact) (SQ108).
  • the management server 1 generates a report based on information (flight log) acquired from the flying object (SQ110).
  • FIG. 9 is an example of generating a flight mission (flight route) of a photovoltaic power generation facility.
  • a route based on the inspection by a plurality of flying objects may be generated in consideration of the power supply (battery) of the flying object, the inspection time, and the like.
  • flight routes R1 and R2 by the flying bodies 4a and 4b are generated for the flight areas A1 and A2.
  • Information acquired by the flying objects 4a and 4b is merged based on position information and time information associated with the acquired information on the management server 1 side, and used for report generation.
  • a flight request may be transmitted for each flying body to generate a flying route, or a flight request of one flying body 4a as shown in FIG.
  • flight routes R4 and R5 for each aircraft may be assigned based on the flight route R3 generated for the aircraft.
  • a series of flight routes R ⁇ b> 6 by one flying body 4 may be generated for a plurality of flight routes in the flight areas A ⁇ b> 1 and A ⁇ b> 2 that are originally performed by two (a plurality).
  • the replacement battery 5 is replaced in the middle of the flight route R6.
  • a flight route R7 may be set.
  • FIG. 13 is a display example displayed on the display DP of the user terminal 2 when receiving an input (operation) of a flight request from the user.
  • the user selects the purpose of checking the solar facility (not shown), and designates a specific range S on the map, whereby the flight route R8 is automatically generated.
  • the flight mission including the automatically generated flight route can be customized by receiving additional detailed adjustments from the user.
  • FIG. 14 is a display example in which a report generated based on still image information acquired by the flying object is displayed on the display DP of the user terminal 2.
  • the still image information P1 acquired by the flying object is plotted on the map image M acquired in advance (for example, an ortho image based on separately acquired information or a map image acquired through the Internet) ( By superimposing), the latest information is superimposed and displayed so that it can be easily confirmed.
  • the information displayed on the display DP of the user terminal 2 as a report is not limited to the plotted still image information, and information useful for inspection (for example, date and time, information on the flying object, the number of abnormal parts, etc.) is displayed. Also good.
  • the flying object of the present invention can be used in airplane related industries such as a multicopter drone. Furthermore, the present invention can be suitably used as an aerial photography flying object equipped with a camera or the like. It can also be used in various industries such as security, agriculture, and infrastructure monitoring.

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Abstract

[Problem] To automatically set an optimal flight route with only the selection of various work subjects. [Solution] A flight management server (1) according to this invention is connected to a user terminal (2) and unmanned aerial vehicle (4) via a network. The flight management server (1) comprises: a storage unit (190) for storing a plurality of flight applications for different purposes and flight route information including flight parameters, a reception unit (110) for receiving a flight request at least including a flight location and a flight purpose, a generation unit (130) for using the flight request to generate a flight mission including a flight route generated using the flight route information as a reference and a flight application selected from the flight applications for different purposes, and a communication unit (110) for transmitting the generated flight mission to the unmanned aerial vehicle (4).

Description

無人飛行体のフライト管理サーバ及びフライト管理システムFlight management server and flight management system for unmanned air vehicles
　本発明は、無人飛行体のフライト管理サーバ及びフライト管理システムに関する。 The present invention relates to a flight management server and a flight management system for an unmanned air vehicle.
　近年、ドローン（Ｄｒｏｎｅ）や無人航空機（ＵＡＶ：Ｕｎｍａｎｎｅｄ　Ａｅｒｉａｌ　Ｖｅｈｉｃｌｅ）などの飛行体（以下、「飛行体」と総称する）が産業に利用され始めている。こうした中で、特許文献１には、風車から点検用のデータを取得する無人機の飛行ルートを、風車の制御状態を反映して作成するシステムが開示されている。 In recent years, aircrafts such as drones and unmanned aerial vehicles (UAVs) (hereinafter collectively referred to as “aircrafts”) have begun to be used in the industry. Under these circumstances, Patent Document 1 discloses a system that creates a flight route of an unmanned aircraft that acquires data for inspection from a windmill by reflecting the control state of the windmill.
特開２０１８－２１４９１号公報Japanese Patent Laid-Open No. 2018-21491
　一方、ドローンにおいては、上述した点検のみならず、警備、災害時情報収集、測量等、様々なニーズが生じており、その対象も太陽光発電施設、橋梁、道路等と多岐にわたる。 On the other hand, drones have various needs such as security, collection of information at the time of disaster, surveying, etc. as well as the above-mentioned inspections, and the targets are diverse, such as solar power generation facilities, bridges, roads, etc.
　本発明は、様々な作業対象を選択するだけで、最適な飛行ルートを自動で設定することのできる技術を提供することを一つの目的とする。 An object of the present invention is to provide a technique capable of automatically setting an optimal flight route by simply selecting various work targets.
　本発明によれば、
　ネットワークを介してユーザ端末と無人飛行体と接続された、無人飛行体のフライト管理サーバであって、
　飛行パラメータを含む飛行ルート情報と、複数の目的別飛行アプリケーションを記憶する記憶部と、
　少なくとも飛行場所及び飛行目的を含むフライト依頼を受け付ける受付部と、
　前記フライト依頼に基づいて、前記飛行ルート情報を参照して生成された飛行ルートと、前記目的別飛行アプリケーションから選択された飛行アプリケーションとを含むフライトミッションを生成する生成部と、
　生成した前記フライトミッションを前記無人飛行体に送信する通信部と、
を備える
無人飛行体のフライト管理サーバ。 According to the present invention,
An unmanned air vehicle flight management server connected to a user terminal and an unmanned air vehicle via a network,
A storage unit that stores flight route information including flight parameters, and a plurality of flight applications by purpose;
A reception unit that accepts a flight request including at least a flight location and a flight purpose;
A generating unit that generates a flight mission including a flight route generated by referring to the flight route information based on the flight request and a flight application selected from the purpose-specific flight application;
A communication unit for transmitting the generated flight mission to the unmanned air vehicle;
An unmanned air vehicle flight management server.
　本発明によれば、様々な作業対象を選択するだけで、最適な飛行ルートを自動で設定することができる。 According to the present invention, it is possible to automatically set an optimal flight route simply by selecting various work targets.
本発明の実施の形態による飛行管理システムの構成を示す図である。It is a figure which shows the structure of the flight management system by embodiment of this invention. 図１の管理サーバのハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the management server of FIG. 図１のユーザ端末のハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the user terminal of FIG. 図１の飛行体のハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the flying body of FIG. 図１の管理サーバの機能を示すブロック図である。It is a block diagram which shows the function of the management server of FIG. 図１のユーザ端末の機能を示すブロック図である。It is a block diagram which shows the function of the user terminal of FIG. 目的別飛行アプリケーションの構成例である。It is a structural example of the flight application classified by purpose. 本発明の一実施の形態による飛行管理システムのフロー図である。It is a flowchart of the flight management system by one embodiment of this invention. 本発明の一実施の形態による飛行管理システムの利用イメージを示す図である。It is a figure which shows the utilization image of the flight management system by one embodiment of this invention. 本発明の一実施の形態による飛行管理システムの利用イメージを示す図である。It is a figure which shows the utilization image of the flight management system by one embodiment of this invention. 本発明の一実施の形態による飛行管理システムの利用イメージを示す図である。It is a figure which shows the utilization image of the flight management system by one embodiment of this invention. 本発明の一実施の形態による飛行管理システムの利用イメージを示す図である。It is a figure which shows the utilization image of the flight management system by one embodiment of this invention. 本発明の一実施の形態による飛行管理システムのユーザ端末側に表示される画面例である。It is an example of a screen displayed on the user terminal side of the flight management system according to an embodiment of the present invention. 本発明の一実施の形態による飛行管理システムのユーザ端末側に表示される画面例である。It is an example of a screen displayed on the user terminal side of the flight management system according to an embodiment of the present invention.
　本発明の実施形態の内容を列記して説明する。本発明の実施の形態によるフライト管理サーバ及びフライト管理システムは、以下のような構成を備える。
［項目１］
　ネットワークを介してユーザ端末と無人飛行体と接続された、無人飛行体のフライト管理サーバであって、
　飛行パラメータを含む飛行ルート情報と、複数の目的別飛行アプリケーションを記憶する記憶部と、
　少なくとも飛行場所及び飛行目的を含むフライト依頼を受け付ける受付部と、
　前記フライト依頼に基づいて、前記飛行ルート情報を参照して生成された飛行ルートと、前記目的別飛行アプリケーションから選択された飛行アプリケーションとを含むフライトミッションを生成する生成部と、
　生成した前記フライトミッションを前記無人飛行体に送信する通信部と、
を備える
無人飛行体のフライト管理サーバ。
［項目２］
　ネットワークを介して接続されたユーザ端末と無人飛行体とフライト管理サーバとを含む、無人飛行体のフライト管理システムであって、
　前記フライト管理サーバは：
　飛行パラメータを含む飛行ルート情報と、複数の目的別飛行アプリケーションを記憶する記憶部を備えており；
　前記ユーザ端末から、少なくとも飛行場所及び飛行目的を含むフライト依頼を受け付け；
　前記フライト依頼に基づいて、前記飛行ルート情報を参照して生成された飛行ルートと、前記目的別飛行アプリケーションから選択された飛行アプリケーションとを含むフライトミッションを生成し；
　生成した前記フライトミッションを前記無人飛行体に送信し；
　前記無人飛行体は、前記フライトミッションを遂行するとともに、フライトログを前記フライト管理サーバに送信する、
無人飛行体のフライト管理システム。 The contents of the embodiment of the present invention will be listed and described. A flight management server and a flight management system according to an embodiment of the present invention have the following configuration.
[Item 1]
An unmanned air vehicle flight management server connected to a user terminal and an unmanned air vehicle via a network,
A storage unit that stores flight route information including flight parameters, and a plurality of flight applications by purpose;
A reception unit that accepts a flight request including at least a flight location and a flight purpose;
A generating unit that generates a flight mission including a flight route generated by referring to the flight route information based on the flight request and a flight application selected from the purpose-specific flight application;
A communication unit for transmitting the generated flight mission to the unmanned air vehicle;
An unmanned air vehicle flight management server.
[Item 2]
A flight management system for an unmanned air vehicle including a user terminal, an unmanned air vehicle, and a flight management server connected via a network,
The flight management server is:
A storage unit for storing flight route information including flight parameters and a plurality of purpose-specific flight applications;
Accepting a flight request including at least a flight location and a flight purpose from the user terminal;
Generating a flight mission including a flight route generated by referring to the flight route information and a flight application selected from the purpose-specific flight application based on the flight request;
Sending the generated flight mission to the unmanned air vehicle;
The unmanned air vehicle performs the flight mission and transmits a flight log to the flight management server.
Flight management system for unmanned air vehicles.
＜実施の形態の詳細＞
　以下、本発明の実施の形態による無人飛行体のフライト管理装置及びフライト管理システムについて、特に、フライト管理システム（以下「本システム」という）の実施の形態を説明する。添付図面において、同一または類似の要素には同一または類似の参照符号及び名称が付され、各実施形態の説明において同一または類似の要素に関する重複する説明は省略することがある。また、各実施形態で示される特徴は、互いに矛盾しない限り他の実施形態にも適用可能である。 <Details of the embodiment>
Hereinafter, an embodiment of a flight management system (hereinafter referred to as “the present system”) will be described in particular, regarding a flight management apparatus and a flight management system for an unmanned air vehicle according to an embodiment of the present invention. In the accompanying drawings, the same or similar elements are denoted by the same or similar reference numerals and names, and redundant description of the same or similar elements may be omitted in the description of each embodiment. Further, the features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.
＜構成＞
　図１に示されるように、本システムは、管理サーバ１と、複数のユーザ端末２、３と、一以上の飛行体４とを有している。管理サーバ１と、ユーザ端末２、３と、飛行体４とは、ネットワークを介して互いに通信可能に接続されている。 <Configuration>
As shown in FIG. 1, the present system includes a management server 1, a plurality of user terminals 2 and 3, and one or more flying bodies 4. The management server 1, the user terminals 2 and 3, and the flying object 4 are connected to be communicable with each other via a network.
＜管理サーバ１＞
　図２は、管理サーバ１のハードウェア構成を示す図である。なお、図示された構成は一例であり、これ以外の構成を有していてもよい。 <Management server 1>
FIG. 2 is a diagram illustrating a hardware configuration of the management server 1. In addition, the structure shown in figure is an example and may have a structure other than this.
　図示されるように、管理サーバ１は、複数のユーザ端末２、３と、飛行体４と接続され本システムの一部を構成する。管理サーバ１は、例えばワークステーションやパーソナルコンピュータのような汎用コンピュータとしてもよいし、或いはクラウド・コンピューティングによって論理的に実現されてもよい。 As shown in the figure, the management server 1 is connected to a plurality of user terminals 2 and 3 and the flying vehicle 4 to constitute a part of the present system. The management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.
　管理サーバ１は、少なくとも、プロセッサ１０、メモリ１１、ストレージ１２、送受信部１３、入出力部１４等を備え、これらはバス１５を通じて相互に電気的に接続される。 The management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, which are electrically connected to each other through a bus 15.
　プロセッサ１０は、管理サーバ１全体の動作を制御し、各要素間におけるデータの送受信の制御、及びアプリケーションの実行及び認証処理に必要な情報処理等を行う演算装置である。例えばプロセッサ１０はＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）であり、ストレージ１２に格納されメモリ１１に展開された本システムのためのプログラム等を実行して各情報処理を実施する。 The processor 10 is an arithmetic device that controls the overall operation of the management server 1 and performs data transmission / reception control between elements and information processing necessary for application execution and authentication processing. For example, the processor 10 is a CPU (Central Processing Unit) and executes each information process by executing a program for the system stored in the storage 12 and expanded in the memory 11.
　メモリ１１は、ＤＲＡＭ（Ｄｙｎａｍｉｃ　Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）等の揮発性記憶装置で構成される主記憶と、フラッシュメモリやＨＤＤ（Ｈａｒｄ　Ｄｉｓｃ　Ｄｒｉｖｅ）等の不揮発性記憶装置で構成される補助記憶と、を含む。メモリ１１は、プロセッサ１０のワークエリア等として使用され、また、管理サーバ１の起動時に実行されるＢＩＯＳ（Ｂａｓｉｃ　Ｉｎｐｕｔ　／　Ｏｕｔｐｕｔ　Ｓｙｓｔｅｍ）、及び各種設定情報等を格納する。 The memory 11 includes a main memory composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary memory composed of a nonvolatile storage device such as a flash memory or an HDD (Hard Disc Drive). . The memory 11 is used as a work area of the processor 10 and stores BIOS (Basic Input / Output System) executed when the management server 1 is started up, various setting information, and the like.
　ストレージ１２は、アプリケーション・プログラム等の各種プログラムを格納する。各処理に用いられるデータを格納したデータベースがストレージ１２に構築されていてもよい。 The storage 12 stores various programs such as application programs. A database storing data used for each process may be constructed in the storage 12.
　送受信部１３は、管理サーバ１をネットワークおよびブロックチェーンネットワークに接続する。なお、送受信部１３は、Ｂｌｕｅｔｏｏｔｈ（登録商標）及びＢＬＥ（Ｂｌｕｅｔｏｏｔｈ　Ｌｏｗ　Ｅｎｅｒｇｙ）の近距離通信インターフェースを備えていてもよい。 The transmission / reception unit 13 connects the management server 1 to a network and a block chain network. The transmission / reception unit 13 may include a Bluetooth (registered trademark) and a BLE (Bluetooth Low Energy) short-range communication interface.
　入出力部１４は、キーボード・マウス類等の情報入力機器、及びディスプレイ等の出力機器である。 The input / output unit 14 is an information input device such as a keyboard / mouse and an output device such as a display.
　バス１５は、上記各要素に共通に接続され、例えば、アドレス信号、データ信号及び各種制御信号を伝達する。 The bus 15 is commonly connected to each of the above elements, and transmits, for example, an address signal, a data signal, and various control signals.
＜ユーザ端末２、３＞
　図３に示されるユーザ端末２、３もまた、プロセッサ２０、メモリ２１、ストレージ２２、送受信部２３、入出力部２４等を備え、これらはバス２５を通じて相互に電気的に接続される。各要素の機能は、上述した管理サーバ１と同様に構成することが可能であることから、各要素の詳細な説明は省略する。 < User terminals 2 and 3>
The user terminals 2 and 3 shown in FIG. 3 also include a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, and the like, which are electrically connected to each other through a bus 25. Since the function of each element can be configured in the same manner as the management server 1 described above, detailed description of each element is omitted.
＜飛行体４＞
　図４は、飛行体４のハードウェア構成を示すブロック図である。フライトコントローラ４１は、プログラマブルプロセッサ（例えば、中央演算処理装置（ＣＰＵ））などの１つ以上のプロセッサを有することができる。 <Aircraft 4>
FIG. 4 is a block diagram showing a hardware configuration of the flying object 4. The flight controller 41 may have one or more processors such as a programmable processor (eg, a central processing unit (CPU)).
　また、フライトコントローラ４１は、メモリ４１１を有しており、当該メモリにアクセス可能である。メモリ４１１は、１つ以上のステップを行うためにフライトコントローラが実行可能であるロジック、コード、および／またはプログラム命令を記憶している。また、フライトコントローラ４１は、慣性センサ（加速度センサ、ジャイロセンサ）、ＧＰＳセンサ、近接センサ（例えば、ライダー）等のセンサ類４１２を含みうる。 The flight controller 41 has a memory 411 and can access the memory. Memory 411 stores logic, code, and / or program instructions that can be executed by the flight controller to perform one or more steps. The flight controller 41 may include sensors 412 such as an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, and a proximity sensor (for example, a rider).
　メモリ４１１は、例えば、ＳＤカードやランダムアクセスメモリ（ＲＡＭ）などの分離可能な媒体または外部の記憶装置を含んでいてもよい。カメラ／センサ類４２から取得したデータは、メモリに直接に伝達されかつ記憶されてもよい。例えば、カメラ等で撮影した静止画・動画データが内蔵メモリ又は外部メモリに記録される。カメラ４２は飛行体にジンバル４３を介して設置される。 The memory 411 may include a separable medium such as an SD card or a random access memory (RAM) or an external storage device. Data obtained from the camera / sensors 42 may be transmitted directly to the memory and stored. For example, still image / moving image data shot by a camera or the like is recorded in a built-in memory or an external memory. The camera 42 is installed on the flying object via the gimbal 43.
　フライトコントローラ４１は、飛行体の状態を制御するように構成された図示しない制御モジュールを含んでいる。例えば、制御モジュールは、６自由度（並進運動ｘ、ｙ及びｚ、並びに回転運動θｘ、θｙ及びθｚ）を有する飛行体の空間的配置、速度、および／または加速度を調整するために、ＥＳＣ４４（Ｅｌｅｃｔｒｉｃ　Ｓｐｅｅｄ　Ｃｏｎｔｒｏｌｌｅｒ）を経由して飛行体の推進機構（モータ４５等）を制御する。バッテリー４８から給電されるモータ４５によりプロペラ４６が回転することで飛行体の揚力を生じさせる。制御モジュールは、搭載部、センサ類の状態のうちの１つ以上を制御することができる。 The flight controller 41 includes a control module (not shown) configured to control the state of the flying object. For example, the control module may adjust the spatial arrangement, velocity, and / or acceleration of an aircraft that has six degrees of freedom (translational motion x, y, and z, and rotational motion θ x , θ y, and θ z ). The propulsion mechanism (motor 45 and the like) of the flying object is controlled via an ESC 44 (Electric Speed Controller). The propeller 46 is rotated by the motor 45 fed from the battery 48 to generate lift of the flying object. The control module can control one or more of the states of the mounting unit and sensors.
　フライトコントローラ４１は、１つ以上の外部のデバイス（例えば、送受信機（プロポ）４９、端末、表示装置、または他の遠隔の制御器）からのデータを送信および／または受け取るように構成された送受信部４７と通信可能である。送受信機４９は、有線通信または無線通信などの任意の適当な通信手段を使用することができる。 The flight controller 41 is configured to send and / or receive data from one or more external devices (eg, a transceiver 49, a terminal, a display device, or other remote controller). The communication with the unit 47 is possible. The transceiver 49 can use any appropriate communication means such as wired communication or wireless communication.
　例えば、送受信部４７は、ローカルエリアネットワーク（ＬＡＮ）、ワイドエリアネットワーク（ＷＡＮ）、赤外線、無線、ＷｉＦｉ、ポイントツーポイント（Ｐ２Ｐ）ネットワーク、電気通信ネットワーク、クラウド通信などのうちの１つ以上を利用することができる。 For example, the transmission / reception unit 47 uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication, and the like. can do.
　送受信部４７は、センサ類４２で取得したデータ、フライトコントローラ４１が生成した処理結果、所定の制御データ、端末または遠隔の制御器からのユーザコマンドなどのうちの１つ以上を送信および／または受け取ることができる。 The transmission / reception unit 47 transmits and / or receives one or more of data acquired by the sensors 42, a processing result generated by the flight controller 41, predetermined control data, a user command from a terminal or a remote controller, and the like. be able to.
　本実施の形態によるセンサ類４２は、慣性センサ（加速度センサ、ジャイロセンサ）、ＧＰＳセンサ、近接センサ（例えば、ライダー）、またはビジョン／イメージセンサ（例えば、カメラ）を含み得る。 The sensors 42 according to the present embodiment may include an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, a proximity sensor (eg, a rider), or a vision / image sensor (eg, a camera).
＜管理サーバの機能＞
　図５は、管理サーバ１に実装される機能を例示したブロック図である。管理サーバ１は、通信部１１０、フライトミッション生成部１３０、レポート生成部１５０、アプリケーション部１７０、記憶部１９０を備えている。フライトミッション生成部１３０は、ルート生成部１３２、アプリケーション選定部１３４、評価部１３６、補正部１３８を含む。また、記憶部１９０は、飛行ルート情報１９２、目的別飛行アプリケーション１９４、フライトログ１９６、インターフェース情報１９８の各種データベースを含む。 <Management server functions>
FIG. 5 is a block diagram illustrating functions implemented in the management server 1. The management server 1 includes a communication unit 110, a flight mission generation unit 130, a report generation unit 150, an application unit 170, and a storage unit 190. The flight mission generation unit 130 includes a route generation unit 132, an application selection unit 134, an evaluation unit 136, and a correction unit 138. The storage unit 190 includes various databases of flight route information 192, purpose-specific flight applications 194, flight logs 196, and interface information 198.
　通信部１１０は、ユーザ端末２や、飛行体４と通信を行う。通信部１１０は、ユーザ端末２から、少なくとも飛行場所及び飛行目的を含むフライト依頼を受け付ける受付部としても機能する。フライトミッション生成部１３０は、フライトミッションを生成する。フライトミッションは、飛行ルート及び目的別飛行アプリケーション１９４から選択されたアプリケーションである。飛行ルートは、飛行ルート情報１９２を参照してルート生成部１３２により生成される。飛行アプリケーションは、目的別飛行アプリケーション１９４を参照して、アプリケーション選定部１３４により選択される。 The communication unit 110 communicates with the user terminal 2 and the flying object 4. The communication unit 110 also functions as a reception unit that receives a flight request including at least a flight location and a flight purpose from the user terminal 2. The flight mission generation unit 130 generates a flight mission. The flight mission is an application selected from the flight route and purpose-specific flight application 194. The flight route is generated by the route generation unit 132 with reference to the flight route information 192. The flight application is selected by the application selection unit 134 with reference to the purpose-specific flight application 194.
　本実施の形態においては、生成したフライトミッションが適切なものかどうかを評価する評価部１３６を設けることとしてもよい。評価部１３６は、例えば、フライトミッションに対するユーザからの操作や、過去に蓄積されたフライトミッションに基づく機械学習等によりその適切さをスコア等によって評価することとしてもよい。スコアが所定の範囲にない場合には、フライトミッションは補正部１３８により補正される。 In this embodiment, an evaluation unit 136 that evaluates whether the generated flight mission is appropriate may be provided. The evaluation unit 136 may evaluate the suitability based on a score or the like by, for example, a user operation on a flight mission or machine learning based on a flight mission accumulated in the past. If the score is not within the predetermined range, the flight mission is corrected by the correction unit 138.
　本実施の形態においては、飛行体４により取得された情報（静止画、動画、音声その他の情報）はフライトログ１９６に蓄積される。レポート生成部１５０はフライトログに基づいてユーザ端末２に送信するためのレポート情報を生成する。本実施の形態によるレポートは、例えば、点検対象施設の点検結果や、警備対象施設の警備結果等が例示できるが、ニーズに応じた各種レポートとしてよい。 In the present embodiment, information (still images, moving images, audio and other information) acquired by the flying object 4 is accumulated in the flight log 196. The report generation unit 150 generates report information to be transmitted to the user terminal 2 based on the flight log. Examples of the report according to the present embodiment include the inspection result of the inspection target facility and the security result of the security target facility, but may be various reports according to needs.
　インターフェース情報１９８は、アプリケーション部１７０と共にユーザ端末２の表示部（ディスプレイ等）に表示するための各種制御情報を格納している（画面例については、図１０を参照）。 The interface information 198 stores various control information to be displayed on the display unit (display or the like) of the user terminal 2 together with the application unit 170 (see FIG. 10 for a screen example).
　図６は、ユーザ端末２に実装される機能ブロック図である。ユーザ端末２は、通信部２１０、記憶部２２０、入力部２４０、出力部２５０、およびアプリケーション部２７０を含み、相互に作用する。 FIG. 6 is a functional block diagram implemented in the user terminal 2. The user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and interacts with each other.
＜目的別飛行アプリケーション＞
　図７に示されるように、目的別飛行アプリケーション１９４は、本システムによって作業を行う飛行体４の作業目的（用途）毎に用意される。例示すれば、警備・監視用のアプリケーション１９４１、設備点検用のアプリケーション１９４２、測量用のアプリケーション１９４３、災害対策用のアプリケーション１９４４が挙げられるがこれに限られない。各アプリケーションには、例えば、目的に適した飛行制御（高度、速度、範囲等）に関する情報や、取得条件（カメラの解像度、撮影角度、オーバーラップ率、フィルタの有無、飛行予定時間、バッテリーの必要量等）、その他目的を遂行するために必要な飛行体４の制御情報が含まれている。 <Flight application by purpose>
As shown in FIG. 7, the purpose-specific flight application 194 is prepared for each work purpose (use) of the flying object 4 working with the present system. For example, an application 1941 for security / monitoring, an application 1942 for equipment inspection, an application 1943 for surveying, and an application 1944 for disaster countermeasures are included, but are not limited thereto. For each application, for example, information on flight control (altitude, speed, range, etc.) suitable for the purpose, acquisition conditions (camera resolution, shooting angle, overlap rate, presence of filters, estimated flight time, battery required) Control information of the air vehicle 4 necessary for carrying out other purposes.
　図８を参照して、本システムの処理の流れを説明する。ユーザは、ユーザ端末２からフライト依頼を送信する（ＳＱ１０１）。フライト依頼は、少なくとも飛行場所と、飛行目的に関する情報を含んでいる。管理サーバ１は、記憶部１９０（図５参照）を参照して（ＳＱ１０２）、フライトミッションを生成する（ＳＱ１０４）。生成されたフライトミッションは、飛行体４に対して、直接（又は端末やプロポを経由等して間接的に）送信される（ＳＱ１０６）。飛行体４はフライトミッション中に取得した情報をリアルタイムで（又は事後に）管理サーバ１に送信（報告）する（ＳＱ１０８）。管理サーバ１は、飛行体から取得した情報（フライトログ）に基づいてレポートを生成する（ＳＱ１１０）。 Referring to FIG. 8, the process flow of this system will be described. The user transmits a flight request from the user terminal 2 (SQ101). The flight request includes at least information regarding the flight location and the flight purpose. The management server 1 refers to the storage unit 190 (see FIG. 5) (SQ102) and generates a flight mission (SQ104). The generated flight mission is transmitted to the flying object 4 directly (or indirectly via a terminal or a transmitter) (SQ106). The flying object 4 transmits (reports) the information acquired during the flight mission to the management server 1 in real time (or after the fact) (SQ108). The management server 1 generates a report based on information (flight log) acquired from the flying object (SQ110).
　図９は、太陽光発電施設のフライトミッション（飛行ルート）生成の例である。図示されるように、点検範囲が広い場合には、飛行体の電源（バッテリー）や、点検時間等を考慮して複数台の飛行体による点検を前提としたルートを生成してもよい。図示される例では、飛行区域Ａ１およびＡ２について、飛行体４ａ、４ｂによる飛行ルートＲ１、Ｒ２が生成されている。飛行体４ａ、４ｂにより取得された情報は、管理サーバ１側においてそれぞれ取得した情報に紐づく位置情報及び時間情報などに基づいてマージされ、レポート生成に利用される。複数台の飛行体の飛行ルートは、例えば、飛行体ごとにフライト依頼が送信されて飛行ルートが生成されてもよいし、図１０（ａ）で示すような１台の飛行体４ａのフライト依頼に対して生成された飛行ルートＲ３を基に、図１０（ｂ）で示すように飛行体ごと（例えば飛行体４ａ、４ｂの２台）の飛行ルートＲ４、Ｒ５が割り当てられてもよい。さらに、図１１に示されるように、本来は２台（複数台）で行う飛行区域Ａ１、Ａ２における複数の飛行ルートについて、１台の飛行体４による一連の飛行ルートＲ６を生成してもよい。また、図１２に示されるように、１台の飛行体４による一連の飛行ルートＲ６は長距離となりバッテリー切れの可能性が高いため、上記飛行ルートＲ６の途中で、換装用バッテリー５を換装するための飛行ルートＲ７が設定されてもよい。 FIG. 9 is an example of generating a flight mission (flight route) of a photovoltaic power generation facility. As shown in the drawing, when the inspection range is wide, a route based on the inspection by a plurality of flying objects may be generated in consideration of the power supply (battery) of the flying object, the inspection time, and the like. In the illustrated example, flight routes R1 and R2 by the flying bodies 4a and 4b are generated for the flight areas A1 and A2. Information acquired by the flying objects 4a and 4b is merged based on position information and time information associated with the acquired information on the management server 1 side, and used for report generation. As for the flight routes of a plurality of flying bodies, for example, a flight request may be transmitted for each flying body to generate a flying route, or a flight request of one flying body 4a as shown in FIG. As shown in FIG. 10B, flight routes R4 and R5 for each aircraft (for example, two aircrafts 4a and 4b) may be assigned based on the flight route R3 generated for the aircraft. Furthermore, as shown in FIG. 11, a series of flight routes R <b> 6 by one flying body 4 may be generated for a plurality of flight routes in the flight areas A <b> 1 and A <b> 2 that are originally performed by two (a plurality). . In addition, as shown in FIG. 12, since a series of flight routes R6 by a single flying body 4 is long and the possibility of running out of the battery is high, the replacement battery 5 is replaced in the middle of the flight route R6. A flight route R7 may be set.
＜使用例＞
　図１３は、ユーザからのフライト依頼の入力（操作）を受け付ける際のユーザ端末２のディスプレイＤＰに表示される表示例である。図示されるように、ユーザは、太陽光設備の点検という目的を選択し（図示せず）、地図上の特定の範囲Ｓを指定することにより、飛行ルートＲ８が自動で生成される。なお、自動で生成した飛行ルートを含むフライトミッションは、ユーザから追加で詳細な調整を受けることによりカスタマイズも可能である。 <Usage example>
FIG. 13 is a display example displayed on the display DP of the user terminal 2 when receiving an input (operation) of a flight request from the user. As shown in the figure, the user selects the purpose of checking the solar facility (not shown), and designates a specific range S on the map, whereby the flight route R8 is automatically generated. The flight mission including the automatically generated flight route can be customized by receiving additional detailed adjustments from the user.
　図１４は、飛行体により取得された静止画情報に基づいて生成されたレポートをユーザ端末２のディスプレイＤＰに表示した表示例である。図示されるように、予め取得された地図画像Ｍ（例えば、別途取得した情報に基づくオルソ画像や、インターネットなどを通じて取得した地図画像）上に、飛行体により取得された静止画像情報Ｐ１をプロット（重畳）することで、最新の情報を確認しやすいように重畳して表示する。なお、レポートとしてユーザ端末２のディスプレイＤＰに表示される情報はプロットされた静止画像情報に限らず、点検に有用な情報（例えば、日時、飛行体に関する情報、異常個所数など）を表示してもよい。 FIG. 14 is a display example in which a report generated based on still image information acquired by the flying object is displayed on the display DP of the user terminal 2. As shown in the figure, the still image information P1 acquired by the flying object is plotted on the map image M acquired in advance (for example, an ortho image based on separately acquired information or a map image acquired through the Internet) ( By superimposing), the latest information is superimposed and displayed so that it can be easily confirmed. Note that the information displayed on the display DP of the user terminal 2 as a report is not limited to the plotted still image information, and information useful for inspection (for example, date and time, information on the flying object, the number of abnormal parts, etc.) is displayed. Also good.
　本発明の飛行体は、マルチコプター・ドローン等の飛行機関連産業において利用することができ、さらに、本発明は、カメラ等を搭載した空撮用の飛行体としても好適に使用することができる他、セキュリティ分野、農業、インフラ監視等の様々な産業にも利用することができる。 The flying object of the present invention can be used in airplane related industries such as a multicopter drone. Furthermore, the present invention can be suitably used as an aerial photography flying object equipped with a camera or the like. It can also be used in various industries such as security, agriculture, and infrastructure monitoring.
　上述した実施の形態は、本発明の理解を容易にするための例示に過ぎず、本発明を限定して解釈するためのものではない。本発明は、その趣旨を逸脱することなく、変更、改良することができると共に、本発明にはその均等物が含まれることは言うまでもない。 The embodiment described above is merely an example for facilitating the understanding of the present invention, and is not intended to limit the present invention. The present invention can be changed and improved without departing from the gist thereof, and it is needless to say that the present invention includes equivalents thereof.
　１　　　　管理サーバ
　２　　　　ユーザ端末
　４　　　　飛行体

  1 management server 2 user terminal 4 flying object

Claims (2)

  1. 　ネットワークを介してユーザ端末と無人飛行体と接続された、無人飛行体のフライト管理サーバであって、
    　飛行パラメータを含む飛行ルート情報と、複数の目的別飛行アプリケーションを記憶する記憶部と、
    　少なくとも飛行場所及び飛行目的を含むフライト依頼を受け付ける受付部と、
    　前記フライト依頼に基づいて、前記飛行ルート情報を参照して生成された飛行ルートと、前記目的別飛行アプリケーションから選択された飛行アプリケーションとを含むフライトミッションを生成する生成部と、
    　生成した前記フライトミッションを前記無人飛行体に送信する通信部と、
    を備える
    無人飛行体のフライト管理サーバ。     An unmanned air vehicle flight management server connected to a user terminal and an unmanned air vehicle via a network,
    A storage unit that stores flight route information including flight parameters, and a plurality of flight applications by purpose;
    A reception unit that accepts a flight request including at least a flight location and a flight purpose;
    A generating unit that generates a flight mission including a flight route generated by referring to the flight route information based on the flight request and a flight application selected from the purpose-specific flight application;
    A communication unit for transmitting the generated flight mission to the unmanned air vehicle;
    An unmanned air vehicle flight management server.
  2. 　ネットワークを介して接続されたユーザ端末と無人飛行体とフライト管理サーバとを含む、無人飛行体のフライト管理システムであって、
    　前記フライト管理サーバは：
    　飛行パラメータを含む飛行ルート情報と、複数の目的別飛行アプリケーションを記憶する記憶部を備えており；
    　前記ユーザ端末から、少なくとも飛行場所及び飛行目的を含むフライト依頼を受け付け；
    　前記フライト依頼に基づいて、前記飛行ルート情報を参照して生成された飛行ルートと、前記目的別飛行アプリケーションから選択された飛行アプリケーションとを含むフライトミッションを生成し；
    　生成した前記フライトミッションを前記無人飛行体に送信し；
    　前記無人飛行体は、前記フライトミッションを遂行するとともに、フライトログを前記フライト管理サーバに送信する、
    無人飛行体のフライト管理システム。

          A flight management system for an unmanned air vehicle including a user terminal, an unmanned air vehicle, and a flight management server connected via a network,
    The flight management server is:
    A storage unit for storing flight route information including flight parameters and a plurality of purpose-specific flight applications;
    Accepting a flight request including at least a flight location and a flight purpose from the user terminal;
    Generating a flight mission including a flight route generated by referring to the flight route information and a flight application selected from the purpose-specific flight application based on the flight request;
    Sending the generated flight mission to the unmanned air vehicle;
    The unmanned air vehicle performs the flight mission and transmits a flight log to the flight management server.
    Flight management system for unmanned air vehicles.

PCT/JP2019/021528 2018-05-30 2019-05-30 Flight management server and flight management system for unmanned aerial vehicle WO2019230885A1 (en)

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