WO2021045064A1 - 管制装置、第１の移動端末、方法、プログラム、及び記録媒体 - Google Patents

管制装置、第１の移動端末、方法、プログラム、及び記録媒体 Download PDF

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Publication number
WO2021045064A1
WO2021045064A1 PCT/JP2020/033140 JP2020033140W WO2021045064A1 WO 2021045064 A1 WO2021045064 A1 WO 2021045064A1 JP 2020033140 W JP2020033140 W JP 2020033140W WO 2021045064 A1 WO2021045064 A1 WO 2021045064A1
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WIPO (PCT)
Prior art keywords
mobile terminal
landing
landing position
information
flight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2020/033140
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English (en)
French (fr)
Japanese (ja)
Inventor
田村　利之
尚 二木
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NEC Corp
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NEC Corp
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Publication date
Application filed by NEC Corp filed Critical NEC Corp
Priority to JP2021543786A priority Critical patent/JP7347516B2/ja
Priority to US17/637,142 priority patent/US20220371731A1/en
Publication of WO2021045064A1 publication Critical patent/WO2021045064A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • 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
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • 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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • 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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/22—Arrangements for acquiring, generating, sharing or displaying traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/30—Flight plan management
    • G08G5/34—Flight plan management for flight plan modification
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/54—Navigation or guidance aids for approach or landing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/76—Arrangements for monitoring traffic-related situations or conditions for monitoring atmospheric conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • B64U2101/21—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms for providing Internet access
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • B64U2101/23—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms for providing telephone services
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/59—Navigation or guidance aids in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Definitions

  • the present invention relates to a control device, a first mobile terminal, a method, a program, and a recording medium.
  • Mobile terminals that fly according to information about the flight route received from a server or the like via a communication network are widely known.
  • Patent Document 1 discloses that a base station sets a flight route of a flight device based on a radio resource that can be assigned to the flight device (mobile terminal).
  • Patent Document 2 when the operation manager determines that the drone cannot fly according to the flight plan, a crash landing (landing at an unplanned landing point.
  • the landing point is, for example, a riverbed or a riverbed or It is disclosed to instruct the business terminal that manages the drone to (such as a branch of the business).
  • Patent Document 3 discloses that when it is determined that the drone is in a state where it can fly for at least several minutes, the response instruction information for guiding the drone to the landing point and landing is transmitted to the drone. Has been done.
  • Patent Document 2 when a mobile terminal such as a drone cannot fly, a landing instruction to a landing point such as a riverbed or a branch office of a business operator is given to the mobile terminal. I just did it. That is, in the disclosed technology such as the above-mentioned patent documents including Patent Document 2, the mobile terminal can land at an appropriate landing position by adapting to changes in events that may occur during flight along the flight path. There wasn't.
  • An object of the present invention is a control device, a first mobile terminal, a method, a program that enables a mobile terminal to adapt to changes in events that may occur during flight along a flight path and land at an appropriate landing position. , And to provide a recording medium.
  • the control device of the present invention is one or more associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position. It includes an information acquisition unit that acquires information on the second landing position, and a communication processing unit that transmits the above information on the above-mentioned one or more second landing positions to the first mobile terminal via a communication network. ..
  • the first mobile terminal of the present invention is associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • the first communication processing unit that receives information on one or more second landing positions via a communication network, and the first landing position according to the above information on one or more second landing positions. It is equipped with a control unit that performs a landing operation at a different planned landing position.
  • the first method of the present invention is associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position. It includes acquiring the above-mentioned information on the second landing position and transmitting the above-mentioned information on the above-mentioned one or more second landing positions to the above-mentioned first mobile terminal via a communication network.
  • the second method of the present invention is associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • the landing position is different from the above first landing position. To perform the landing operation of.
  • the first program of the present invention is associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position. Acquiring the above-mentioned information on the second landing position and transmitting the above-mentioned information on the above-mentioned one or more second landing positions to the above-mentioned first mobile terminal via a communication network are executed by the processor. Let me.
  • the second program of the present invention is associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • the landing position is different from the above first landing position. To perform the landing operation of, and let the processor execute.
  • the non-temporary recording medium readable by the first computer of the present invention moves to the first landing position according to the flight of the first mobile terminal based on the flight path to the first landing position. Acquiring information on one or more second landing positions associated with the flight path of the above, and transmitting the above information on the one or more second landing positions to the first mobile terminal via a communication network. Record what you want to send and what program you want the processor to run.
  • the second computer-readable non-temporary recording medium of the present invention moves to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • the second computer-readable non-temporary recording medium of the present invention moves to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • the mobile terminal can adapt to changes in events that may occur during flight along the flight path and land at an appropriate landing position.
  • other effects may be produced in place of or in combination with the effect.
  • FIG. 1 is an explanatory diagram showing an example of a schematic configuration of a system 1 according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing an example of a schematic configuration of the control device 100 according to the first embodiment.
  • FIG. 3 is a block diagram showing an example of a schematic configuration of the mobile terminal 200 according to the first embodiment.
  • FIG. 4 is a diagram for schematically explaining the technical features of the first embodiment.
  • FIG. 5 is an explanatory diagram for explaining an example of the flight operation of the first mobile terminal (for example, the mobile terminal 200a) based on the flight path to the first landing position.
  • FIG. 6 is a diagram showing a specific example of a plurality of zones 61 assigned by the flight airspace 60 managed by the control device 100.
  • FIG. 7 is a diagram for explaining an example of the flow of the landing operation of the first mobile terminal in response to the instruction to stop the flight from the control device 100.
  • FIG. 8 is for explaining an example of the flow of the landing operation of the first mobile terminal (mobile terminal 200a) in response to the disconnection of communication between the control device 100 and the first mobile terminal (mobile terminal 200a). It is a figure.
  • FIG. 9 is a diagram for explaining a flow of a first operation example of a landing operation performed by the first mobile terminal (mobile terminal 200a).
  • FIG. 10 is a diagram for explaining the flow of a second operation example of the landing operation performed by the first mobile terminal (mobile terminal 200a).
  • FIG. 11 is an explanatory diagram showing an example of a schematic configuration of the system 2 according to the second embodiment.
  • Patent Document 1 discloses that a base station sets a flight route of a flight device based on a radio resource that can be assigned to the flight device (mobile terminal).
  • Patent Document 2 when the operation manager determines that the drone cannot fly according to the flight plan, a crash landing (landing at an unplanned landing point.
  • the landing point is, for example, a riverbed or a riverbed or It is disclosed to instruct the business terminal that manages the drone to (such as a branch of the business).
  • Patent Document 3 discloses that when it is determined that the drone is in a state where it can fly for at least several minutes, the response instruction information for guiding the drone to the landing point and landing is transmitted to the drone. Has been done.
  • Patent Document 2 when a mobile terminal such as a drone cannot fly, a landing instruction to a landing point such as a riverbed or a branch office of a business operator is given to the mobile terminal. I just did it. That is, in the disclosed technology such as the above-mentioned patent documents including Patent Document 2, the mobile terminal can land at an appropriate landing position by adapting to changes in events that may occur during flight along the flight path. There wasn't.
  • One object of the present embodiment is to enable a mobile terminal to adapt to changes in events that may occur during flight along a flight path and land at an appropriate landing position.
  • the control device moves to the first landing position according to the flight of the first mobile terminal based on the flight path to the first landing position.
  • the information regarding one or more second landing positions associated with the flight path is acquired, and the above information regarding the one or more second landing positions is transmitted to the first mobile terminal via the communication network.
  • the first mobile terminal moves to the first landing position according to the flight of the first mobile terminal based on the flight path to the first landing position.
  • Information on one or more second landing positions associated with a flight path is received via a communication network, and in response to the above information on one or more second landing positions, what is the first landing position? Perform landing operations at different planned target positions.
  • FIG. 1 is an explanatory diagram showing an example of a schematic configuration of a system 1 according to an embodiment of the present invention.
  • the system 1 includes a control device 100, mobile terminals 200a, 200b, 200c (collectively referred to as mobile terminals 200), a mobile communication network 300a managed by a plurality of mobile communication operators, respectively. It includes 300b, 300c (collectively referred to as a mobile communication network 300), NEF (Network Exposure Function) 410a, 410b, 410c, an application server device 420, and an artificial intelligence processing server device 430.
  • NEF Network Exposure Function
  • Control device 100 For example, the control device 100 communicates with the mobile terminal 200 via the NEF 410 and the mobile communication network 300.
  • the control device 100 is not limited to the mobile communication network 300 managed by the mobile communication operator, and may communicate with the mobile terminal 200 using any wireless communication means (satellite communication network or the like).
  • the mobile terminal 200 is a terminal device such as an unmanned drone or a manned drone that flies according to information on a flight path received from the control device 100.
  • each mobile terminal 200a, 200b, 200c may communicate with any one of the mobile communication networks 300a, 300b, 300c.
  • the mobile communication network 300 is a network managed by each mobile communication operator as described above, and is, for example, a network compliant with the standard / specification of 3GPP (Third Generation Partnership Project). is there. More specifically, for example, the mobile communication network 300 may be a network compliant with LTE / LTE-Advanced and / or SAE (System Architecture Evolution) standards / specifications. Alternatively, the mobile communication network 300 may be a network that conforms to the 5th generation (5G) / NR (New Radio) standard / specification.
  • the mobile communication network 300 includes, for example, a wireless access network 310, and wirelessly communicates with the mobile terminal 200 by the wireless access network 310. As a matter of course, the mobile communication network 300 includes a core network higher than the radio access network 310.
  • the application server device 420 and the artificial intelligence processing server device 430 provide various information to the control device 100.
  • the application server device 420 may execute a flight application that is remotely controlled by a business operator that manages the mobile terminal 200. Further, the application server device 420 may acquire the weather information of the flight airspace managed by the control device 100, for example, and provide the weather information to the control device 100 at an arbitrary timing.
  • FIG. 2 is a block diagram showing an example of a schematic configuration of the control device 100 according to the first embodiment.
  • the control device 100 includes a network communication unit 110, a storage unit 120, and a processing unit 130.
  • the network communication unit 110 receives a signal from the network and transmits the signal to the network.
  • Storage unit 120 The storage unit 120 temporarily or permanently stores programs (instructions) and parameters for the operation of the control device 100, as well as various data.
  • the program includes one or more instructions for the operation of the control device 100.
  • Processing unit 130 provides various functions of the control device 100.
  • the processing unit 130 includes an information acquisition unit 131, a first communication processing unit 133, and a second communication processing unit 135.
  • the processing unit 130 may further include other components other than these components. That is, the processing unit 130 may perform operations other than the operations of these components.
  • the specific operations of the information acquisition unit 131, the first communication processing unit 133, and the second communication processing unit 135 will be described in detail later.
  • the processing unit 130 (first communication processing unit 133) communicates with the mobile terminal 200 via the mobile communication network 300 and the mobile communication network 300 via the network communication unit 110. Further, the processing unit 130 (second communication processing unit 135) communicates with the application server device 420, the artificial intelligence processing server device 430, and the like via the network communication unit 110.
  • the network communication unit 110 may be mounted by a network adapter and / or a network interface card or the like.
  • the storage unit 120 may be mounted by a memory (for example, a non-volatile memory and / or a volatile memory) and / or a hard disk.
  • the processing unit 130 may be implemented by one or more processors.
  • the information acquisition unit 131, the first communication processing unit 133, and the second communication processing unit 135 may be implemented by the same processor or may be separately implemented by different processors.
  • the memory (storage unit 120) may be contained in the one or more processors, or may be outside the one or more processors.
  • the control device 100 may include a memory for storing a program (instruction) and one or more processors capable of executing the program (instruction).
  • the one or more processors may execute the above program to perform the operation of the processing unit 130 (the operation of the information acquisition unit 131, the first communication processing unit 133, and / or the second communication processing unit 135).
  • the program may be a program for causing the processor to execute the operation of the processing unit 130 (the operation of the information acquisition unit 131, the first communication processing unit 133, and / or the second communication processing unit 135).
  • the control device 100 may be virtualized. That is, the control device 100 may be implemented as a virtual machine. In this case, the control device 100 (virtual machine) may operate as a virtual machine on a physical machine (hardware) including a processor, memory, and the like and a hypervisor.
  • a virtual machine may operate as a virtual machine on a physical machine (hardware) including a processor, memory, and the like and a hypervisor.
  • FIG. 3 is a block diagram showing an example of a schematic configuration of the mobile terminal 200 according to the first embodiment.
  • the mobile terminal 200 includes a wireless communication unit 210, a flight unit 220, a storage unit 230, and a processing unit 240.
  • the wireless communication unit 210 wirelessly transmits and receives signals.
  • the wireless communication unit 210 receives a signal from a wireless access network 310 (for example, a wireless station) included in the mobile communication network 300, and transmits a signal to the wireless access network 310.
  • a wireless access network 310 for example, a wireless station
  • Flight unit 220 The flight unit 220 includes a rotor, a driving means, and the like, and flies the mobile terminal 200.
  • Storage unit 230 The storage unit 230 temporarily or permanently stores programs (instructions) and parameters for the operation of the mobile terminal 200, as well as various data.
  • the program includes one or more instructions for the operation of the mobile terminal 200.
  • the processing unit 240 provides various functions of the mobile terminal 200.
  • the processing unit 240 includes a first communication processing unit 241 and a second communication processing unit 243, a notification processing unit 245, and a control unit 247.
  • the processing unit 240 may further include other components other than these components. That is, the processing unit 240 may perform operations other than the operations of these components. Specific operations of the first communication processing unit 241 and the second communication processing unit 243, the notification processing unit 245, and the control unit 247 will be described in detail later.
  • the processing unit 240 (first communication processing unit 241) communicates with the mobile communication network 300 via the wireless communication unit 210. Further, the processing unit 240 (second communication processing unit 243) performs terminal-to-terminal (Device to Device: D2D) communication with another mobile terminal 200 via the wireless communication unit 210. Further, the processing unit 240 (control unit 247) controls the flight unit 220 to fly the mobile terminal 200.
  • the wireless communication unit 210 may be mounted by an antenna, a radio frequency (RF) circuit, or the like, and the antenna may be a directional antenna.
  • the flight unit 220 is implemented by a rotor, a drive circuit for rotationally driving the rotor, a battery for supplying electric power to the drive circuit, and the like.
  • the storage unit 230 may be mounted by a memory (for example, a non-volatile memory and / or a volatile memory) and / or a hard disk.
  • the processing unit 240 may be implemented by one or more processors such as a baseband (BB) processor and / or other types of processors.
  • BB baseband
  • the first communication processing unit 241 and the second communication processing unit 243, the notification processing unit 245, and the control unit 247 may be implemented by the same processor or may be separately implemented by different processors.
  • the memory (storage unit 230) may be contained in the one or more processors, or may be outside the one or more processors.
  • the processing unit 240 may be implemented in the SoC (System on Chip).
  • the mobile terminal 200 may include a memory for storing a program (instruction) and one or more processors capable of executing the program (instruction).
  • the one or more processors execute the above program to perform the operation of the processing unit 240 (the operation of the first communication processing unit 241 and the second communication processing unit 243, the notification processing unit 245, and / or the control unit 247). You may go.
  • the program may be a program for causing the processor to execute the operation of the processing unit 130 (the operation of the information acquisition unit 131, the first communication processing unit 133, and / or the second communication processing unit 135).
  • the control device 100 responds to the flight of the first mobile terminal (for example, the mobile terminal 200a) performed based on the flight path to the first landing position. Then, the information regarding one or more second landing positions associated with the flight path to the first landing position is acquired. Further, the control device 100 (first communication processing unit 133) transmits the above information regarding the first or more second landing positions to the first mobile terminal (for example, the mobile communication network 300) via the communication network (for example, the mobile communication network 300). , Mobile terminal 200a).
  • the first mobile terminal (for example, the first communication processing unit 241 of the mobile terminal 200a) is performed based on the flight path to the first landing position.
  • the first mobile terminal (for example, the control unit 247 of the mobile terminal 200a) moves to a target planned position different from the first landing position according to the above information regarding the first or more second landing positions. Landing operation.
  • FIG. 4 is a diagram for schematically explaining the technical features of the first embodiment.
  • the control device 100 (information acquisition unit 131) predicts that, for example, the mobile terminal 200a flying to the first landing position 41 is expected to pass through the lightning forecast area 42.
  • Information regarding the second landing positions 43 and 44 (information sent by the arrow 45 in FIG. 4) associated with the flight path R to the first landing position 41 is transmitted to the mobile terminal 200a.
  • the mobile terminal 200a can avoid passing through the expected lightning strike area 42 by starting the landing operation at either of the second landing positions 43 and 44.
  • the flight path to the first landing position is, for example, the first mobile terminal (for example, mobile terminal 200a) or the first mobile terminal (for example).
  • This is a flight path set by the control device 100 in response to a flight request from a management server (for example, an application server device 420) that manages the mobile terminal 200a).
  • the flight path from the planned takeoff position of the first mobile terminal (for example, the mobile terminal 200a) to the first landing position is set in the control device 100.
  • the flight path is set by the control device 100, information about the flight path is transmitted to the first mobile terminal (for example, the mobile terminal 200a) via the mobile communication network 300.
  • the mobile communication network 300 in which the first mobile terminal (for example, the mobile terminal 200a) performs wireless communication sets wireless resources for the flight of the first mobile terminal (for example, the mobile terminal 200a).
  • FIG. 5 is an explanatory diagram for explaining an example of the flight operation of the first mobile terminal (for example, the mobile terminal 200a) based on the flight path to the first landing position.
  • the radio access network 310 has four radio stations 311, 312, 313, 314 in which coverage areas are set on the flight path 53 from the scheduled takeoff position 51 to the first landing position 52.
  • the mobile terminal 200a allocates radio resources for flight along the flight path R.
  • the radio resource is a resource in the frequency time domain reserved by each radio station 311, 312, 313, 314 for wireless communication with the mobile terminal 200a.
  • Each radio station 311, 312, 313, 314 has, for example, an amount of frequency time domain required for the mobile terminal 200a to fly for the mobile terminal 200a while the mobile terminal 200a is in the coverage area. Reserve resources.
  • the mobile terminal 200a communicates with the control device 100 via each radio station in the order of the radio stations 311, 312, 313, 314 (for example, the position information of the mobile terminal 200a).
  • Battery level information of the mobile terminal 200a, instruction information from the control device 100, etc. can be transmitted and received to fly along the flight path 53.
  • the flight path for flying to the first landing position is a plurality of mobile communication businesses that wirelessly communicate with mobile terminals (for example, mobile terminals 200a, 200b, 200c). It may be set based on a plurality of zones that can commonly identify a three-dimensional space among mobile communication networks 300a, 300b, and 300c managed by a person.
  • FIG. 6 is a diagram showing a specific example of a plurality of zones 61 assigned by the flight airspace 60 managed by the control device 100.
  • Zone 61 is a three-dimensional space specified by, for example, latitude, longitude, and altitude.
  • the flight airspace 60 is specified at an altitude of 150 m or less, from 35 degrees X minutes north latitude (X + 3) minutes, 139 degrees Y minutes east longitude to (Y + 7) minutes (X, Y are arbitrary positive numbers).
  • the control device 100 allocates a total of 64 zones. That is, four zones different in minutes are assigned in the latitude direction, eight zones different in minutes are assigned in the longitude direction, and two zones different in 75 m are assigned in the altitude direction.
  • zones shifted by one in the latitude and altitude directions correspond to zones 61b and 61c, respectively.
  • the control device 100 manages the number of mobile terminals that can pass per unit time for each zone 61, so that each mobile terminal (for example, mobile terminals 200a, 200b) that is communicatively connected to a different mobile communication network 300 , 200c), the flight path can be managed appropriately.
  • the control device 100 may manage the number of mobile terminals that can pass per unit time for each zone 61 based on the flight direction of the mobile terminals. For example, when mobile terminals passing through the zone 61 fly from all directions and pass through, the number of mobile terminals that can pass per unit time is set to a small number (for example, a number smaller than a predetermined threshold value). May be good. On the other hand, when the direction of the mobile terminals passing through the zone 61 is constant, for example, when all the mobile terminals fly from the south and head toward the north, the number of mobile terminals that can pass per unit time is large. It may be set to (for example, a number equal to or larger than a predetermined threshold value).
  • control device 100 may manage the number of mobile terminals that can pass per unit time for each zone 61 based on the flight speed of the mobile terminals. For example, when the mobile terminals passing through the zone 61 pass at a low speed, for example, 30 km / H, the number of mobile terminals that can pass per unit time is set to a large number (for example, a number equal to or more than a predetermined threshold value). You may. On the other hand, when the mobile terminals passing through the zone 61 pass at high speed, for example, 100 km / H, the number of mobile terminals that can pass per unit time is set to a small number (for example, a number smaller than a predetermined threshold value). May be done.
  • the control device 100 has a flight airspace 60 specified by latitude, longitude, and altitude as information regarding the zone 61, and the number of zones assigned within the flight airspace 60 (for example, 64). And the information regarding the allocation standard (minute unit, altitude 75 m unit, etc.) is notified to each mobile communication network 300.
  • control device 100 may transmit information (zone identifier, etc.) for identifying each zone 61 in the flight airspace 60 to each mobile communication network 300 as information regarding the zone 61. ..
  • Each mobile communication network 300 associates the zone 61 notified from the control device 100 with the tracking area managed for each mobile communication network 300 in advance, so that the flight to the first landing position is performed.
  • a radio station having a coverage area on the route can be easily identified.
  • the zone 61 may correspond to one tracking area or a plurality of tracking areas. Further, a plurality of zones 61 may correspond to one tracking area.
  • the above-mentioned information regarding the second landing position is associated with the above-mentioned flight path for flying to the above-mentioned first landing position in, for example, the following points. Be done.
  • the second landing position of 1 or more is within a predetermined distance (for example, 1 km from the flight path) or less from the flight path for flying to the first landing position. Good.
  • a predetermined distance for example, 1 km from the flight path
  • the first mobile terminal for example, the mobile terminal 200a
  • the second landing position of 1 or more is the flight path to the first landing position. It may be a position specified based on one or more zones to which it belongs. Specifically, it may be specified that the above-mentioned one or more second landing positions exist, for example, directly under the zone to which the flight path belongs or adjacent to the zone. Thereby, the control device 100 can manage, for example, the number of mobile terminals landing at the above-mentioned one or more second landing positions on a zone-by-zone basis.
  • the second landing position of 1 or more may be information acquired according to the information regarding the operating state of the first mobile terminal (for example, the mobile terminal 200a). .. Specifically, the information regarding the operating state of the first mobile terminal (for example, mobile terminal 200a) includes the remaining battery level, internal temperature, and consumption that can be transmitted from, for example, the first mobile terminal (for example, mobile terminal 200a). Information such as power. That is, the control device 100 (for example, the information acquisition unit 131) sets the second landing position according to the remaining battery level that can be transmitted from the first mobile terminal (for example, the mobile terminal 200a), for example. Acquire the second landing position. For example, the second landing position may be set with priority given to a position closer to the flight path as the battery level of the first mobile terminal (for example, the mobile terminal 200a) is smaller.
  • the second landing position of 1 or more may be information acquired according to the information regarding the status of the flight path to the first landing position.
  • the information regarding the status of the flight path to the first landing position is weather information provided by, for example, the application server device 420. That is, the control device 100 may set a second landing position suitable for the mobile terminal 200 based on the weather information provided by the application server device 420 or the like.
  • the second landing position may exclude the expected lightning district specified from the meteorological information from the setting of the second landing position.
  • the second landing position may be preferentially set in consideration of the wind direction and the wind speed specified from the weather information.
  • the second landing position of 1 or more may be information acquired according to the information regarding the type of the first mobile terminal (for example, the mobile terminal 200a).
  • the information regarding the type of the first mobile terminal corresponds to an attribute classified according to, for example, the use of the mobile terminal (courier service, taxi) or the like.
  • the control device 100 for example, the information acquisition unit 131 responds to the information regarding the type of the mobile terminal 200 that can be transmitted from the mobile terminal 200, for example, as follows.
  • the second landing position may be set.
  • the second landing position may be set only in a relatively wide place such as a school ground.
  • the information regarding the one or more second landing positions may be information regarding a plurality of second landing positions.
  • the first mobile terminal for example, the control unit 247 of the mobile terminal 200a
  • the planned landing position may be determined from the landing positions. For example, among the plurality of second landing positions, the second landing position closest to the current position can be determined as the planned landing position.
  • the first mobile terminal for example, the mobile terminal 200a
  • the first mobile terminal for example, the control unit 247 of the mobile terminal 200a
  • the second landing position in the cell cell provided by the radio station
  • the first mobile terminal for example, the mobile terminal 200a
  • a priority may be set for the first mobile terminal (for example, the mobile terminal 200a) to preferentially land.
  • the above-mentioned information regarding the plurality of second landing positions includes information indicating a priority order for the first mobile terminal (for example, the mobile terminal 200a) to preferentially land with respect to each of the second landing positions. But it may be. That is, the control device 100 (first communication processing unit 133) may transmit the information indicating the priority order to the first mobile terminal (for example, the mobile terminal 200a).
  • the above-mentioned information indicating the above-mentioned priority may be information acquired according to the above-mentioned information regarding the type of the mobile terminal.
  • the control device 100 (information acquisition unit 131) acquires the information indicating the priority by setting the priority according to the type of the first mobile terminal (for example, the mobile terminal 200a). May be good.
  • the priority order can be set as follows.
  • the second landing position corresponding to the first is set to a private place such as the land owned by the company that manages the first mobile terminal (for example, the mobile terminal 200a).
  • the second landing position corresponding to the second is set to a public place such as a park and a riverbed.
  • the first mobile terminal (for example, the mobile terminal 200a) can land even if the parcel to be delivered to the home is damaged or lost, for example, in a river, the sea, or in the mountains.
  • the location is set.
  • the priority order can be set as follows.
  • the second landing position corresponding to the first is set to private land such as the land owned by the company that manages the first mobile terminal (for example, the mobile terminal 200a).
  • the second landing position corresponding to the second is a private land other than the company that manages the first mobile terminal (for example, the mobile terminal 200a) such as a heliport of a hospital or a large building.
  • a public place such as a park or a riverbed is set as the second landing position corresponding to the third.
  • the second landing position corresponding to the fourth is set to, for example, a river, the sea, or the mountains.
  • the second landing position corresponding to the fifth is set to a place where landing is possible using, for example, a parachute.
  • the above priority is not necessarily limited to the case where the control device 100 side is set.
  • the first mobile terminal (control unit 247 of the mobile terminal 200a) may set the information indicating the priority order based on the type of the first mobile terminal.
  • Flight Cancellation Instruction The control device 100 (first communication processing unit 133) flies the first mobile terminal (for example, the mobile terminal 200a) to the first landing position based on the flight path.
  • Information instructing the cancellation of the above may be transmitted to the first mobile terminal (for example, mobile terminal 200a) via a communication network (for example, mobile communication network 300).
  • control device 100 provides information for instructing the suspension of flight to a communication network (for example, mobile communication network 300) based on the information regarding the situation in the flight path to the first landing position. It is transmitted to the first mobile terminal (for example, mobile terminal 200a) via the above.
  • the information regarding the situation in the flight path to the first landing position includes, for example, the application server device 420 and the artificial intelligence processing server device 430 such as a change in the weather that may occur suddenly on the flight path. Information provided by.
  • the above-mentioned information regarding the above-mentioned one or more second landing positions may be included in the above-mentioned information instructing the suspension of flight of the first mobile terminal (for example, the mobile terminal 200a). This makes it possible to notify the first mobile terminal (for example, the mobile terminal 200a) of the landing position suitable for stopping the flight and promptly performing the landing operation.
  • the landing schedule Start the landing operation to the position.
  • the radio access network (for example, the radio access network 310) on the communication path between the control device 100 and the first mobile terminal (mobile terminal 200a) tells the first.
  • Information on emergency bulletins for example, mobile terminal 200a
  • mobile terminals for example, mobile terminals 200b and 200c
  • PWS Public Warning System
  • CBS Cell Broadcast Service
  • the PWS may be, for example, any of ETWS (Earthquake and Tsunami Warning System), CMAS (Commercial Mobile Alert System), KPAS (Korean Public Alert System), and EU Alert.
  • FIG. 7 is a diagram for explaining an example of the flow of the landing operation of the first mobile terminal in response to the instruction to stop the flight from the control device 100.
  • the first mobile terminal (mobile terminal 200a) is controlled by the control device 100 via any of the three radio access networks (RAN) 310a, 310b, 310c in the mobile communication network 300. It is assumed that it is connected so that it can communicate with.
  • RAN radio access networks
  • the control device 100 transmits information instructing flight permission to the first mobile terminal (mobile terminal 200a) (S701).
  • the information for instructing the flight permission is, for example, information indicating the flight path to the first landing position, and is used by the first mobile terminal (mobile terminal 200a) for flight along the flight path. Includes radio information to be used and information regarding the plurality of second landing positions.
  • control device 100 starts communication for the first mobile terminal (mobile terminal 200a) to fly (S703).
  • the first mobile terminal (mobile terminal 200a) takes off from the current position and starts flying (S705).
  • the control device 100 transmits information instructing the stop of the flight of the first mobile terminal (mobile terminal 200a) to the first mobile terminal (mobile terminal 200a) (S707).
  • the control device 100 When a predetermined number or more of mobile terminals are flying around the first mobile terminal (mobile terminal 200a), the control device 100 is hovering the first mobile terminal (mobile terminal 200a).
  • a predetermined standby time may be set based on the capacity (for example, information obtained from the remaining battery level, etc.). In this case, the control device 100 may transmit information instructing the flight of the first mobile terminal (mobile terminal 200a) to be stopped after the standby time has elapsed.
  • the control device 100 When the control device 100 commands the first mobile terminal (mobile terminal 200a) to stand by, the first mobile terminal (mobile terminal 200a) is located in the zone where the first mobile terminal (mobile terminal 200a) is located (in the service area). The mobile terminal 200a) will be located (in the service area) for a time longer than the scheduled time. In order to ensure the safety of the entire flight area, the control device 100 may instruct the mobile terminals in the zone and other zones to stop the flight or change the flight route.
  • the above-mentioned information for instructing the cancellation of the flight is managed by the above-mentioned information on the plurality of second landing positions, the instruction for changing the operation related to the flight, and the flight number normalized for each mobile terminal (control device 100). Flight control number) is included.
  • the information regarding the plurality of second landing positions may be different from at least a part of the information regarding the second landing positions transmitted at the time of flight permission.
  • the first mobile terminal (mobile terminal 200a) determines the shortest planned landing position based on the current position and the plurality of second landing positions (S709).
  • the first mobile terminal (mobile terminal 200a) starts transmitting the camera image to the application server device 420 and makes a landing by remote operation (S711).
  • the first mobile terminal (mobile terminal 200a) arrives at the planned landing position (S713).
  • the mobile terminal (mobile terminal 200a) controls the arrival position, the arrival time, the information of the mobile terminal (mobile terminal 200a) at the time of arrival, and the peripheral information of the planned landing position. You may notify 100.
  • the first mobile terminal (mobile terminal 200a) can land at an appropriate planned landing position according to the information instructing the suspension of the flight.
  • the mobile terminal 200 (control unit 247) is set to the planned landing position when communication via the communication network (mobile communication network 300) by the mobile terminal 200 is disconnected.
  • the landing operation on the landing may be started.
  • the mobile terminal 200 (control unit 247) is used when communication is disconnected between any network node on the communication path between the mobile terminal 200 and the control device 100, or the mobile terminal 200.
  • the landing operation at the planned landing position may be started.
  • FIG. 8 illustrates an example of the flow of the landing operation of the first mobile terminal (mobile terminal 200a) in response to the disconnection of communication between the control device 100 and the first mobile terminal (mobile terminal 200a). It is a figure for doing.
  • the first mobile terminal (mobile terminal 200a) is controlled by the control device 100 via any of the three radio access networks (RAN) 310a, 310b, 310c in the mobile communication network 300. It is assumed that it is connected so that it can communicate with.
  • RAN radio access networks
  • the control device 100 transmits information instructing flight permission to the first mobile terminal (mobile terminal 200a) (S801).
  • the information indicating the flight permission includes, for example, information indicating the flight path to the first mobile terminal (mobile terminal 200a), and the first mobile terminal (movement) for flight along the flight path. It includes radio information used by the terminal 200a) and information on the plurality of second landing positions.
  • control device 100 starts communication for the first mobile terminal (mobile terminal 200a) to fly (S803).
  • the first mobile terminal (mobile terminal 200a) takes off from the current position and starts flying (S805).
  • the first mobile terminal (mobile terminal 200a) disconnects from the communication with the control device 100 (S807).
  • the disconnection of the communication is, for example, that the handover fails with one or more radio stations that the first mobile terminal (mobile terminal 200a) communicates with, and that RLF (Radio Link Failure) is detected. This includes failure of RRC (Radio Resource Control) reconnection (RRC re-establishment).
  • RRC Radio Resource Control
  • the first mobile terminal determines the shortest planned landing position based on the current position and the plurality of second landing positions, and autonomously operates toward the planned landing position. Land (S809). After that, the first mobile terminal (mobile terminal 200a) arrives at the planned landing position (S811).
  • the first mobile terminal (mobile terminal 200a) makes a plurality of second landings before the communication with the control device 100 is cut off, for example, when a flight is permitted. Since the information regarding the position has been received in advance, it is possible to appropriately land based on the information regarding the plurality of second landing positions.
  • the first mobile terminal (for example, the notification processing unit 245 of the mobile terminal 200a) is a communication network (for example, mobile communication) by the first mobile terminal (for example, the mobile terminal 200a).
  • a communication network for example, mobile communication
  • one or more second mobile terminals (for example, mobile terminals 200b and 200c) may be notified of the information regarding the planned landing position.
  • the first or more second mobile terminals (for example, mobile terminals 200b and 200c) can perform terminal-to-terminal communication with, for example, the first mobile terminal (for example, mobile terminal 200a).
  • a mobile terminal for example, a cell that is the same as or adjacent to the first mobile terminal (for example, the mobile terminal 200a), or a zone that is the same as or adjacent to the zone in which the first mobile terminal (for example, the mobile terminal 200a) exists.
  • the first mobile terminal for example, the mobile terminal 200a
  • the mobile terminal 200a exists.
  • the first mobile terminal (for example, the second communication processing unit 243 of the mobile terminal 200a) has one or more second mobile terminals (for example, mobile terminals 200b, 200c) and one or more second mobile terminals.
  • mobile terminals 200b, 200c may receive information regarding a planned landing position for landing.
  • the first mobile terminal (for example, the control unit 247 of the mobile terminal 200a) is referred to the above information regarding the planned landing position where the first or more second mobile terminals (for example, the mobile terminals 200b and 200c) land. Accordingly, the planned landing position where the first mobile terminal (for example, the mobile terminal 200a) makes a landing may be changed.
  • the first mobile terminal (for example, the control unit 247 of the mobile terminal 200a) has the planned landing position at which the first or more second mobile terminals (for example, the mobile terminals 200b and 200c) land.
  • the first mobile terminal for example, the mobile terminal 200a
  • the second mobile terminal for example, the mobile terminal 200b, etc.
  • a process for avoiding a collision with 200c) is executed.
  • the first mobile terminal (for example, mobile terminal 200a) is preset by, for example, a control device 100 or the like in order to avoid a collision with the first or more second mobile terminals (for example, mobile terminals 200b, 200c).
  • Information such as the priority of mobile terminals, the priority of mobile terminals generated by a random function, or the time required for landing performed by each mobile terminal is provided by the above-mentioned one or more second mobile terminals (for example, mobile terminal 200b). , 200c), and by negotiation (transmission / reception of information) based on this information, the planned landing position where the first mobile terminal (for example, the mobile terminal 200a) makes a landing is changed.
  • the first mobile terminal for example, the mobile terminal 200a
  • the second mobile terminal for example, the mobile terminal 200b
  • the planned landing position is changed to a finer range, so that the planned landing position where the first mobile terminal (for example, the mobile terminal 200a) makes a landing can be changed to the landing position of the second mobile terminal. It may be set to a position different from the planned position.
  • the first mobile terminal (for example, the mobile terminal 200a) has a wide range of the size of the terminal and a place required for landing by negotiating with the first or more second mobile terminals (for example, the mobile terminals 200b and 200c).
  • the above may be shared with the first or more second mobile terminals (for example, mobile terminals 200b, 200c).
  • FIG. 9 is a diagram for explaining the flow of a first operation example of the landing operation performed by the first mobile terminal (mobile terminal 200a).
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminals 200b, 200c) fly under the control of the control device 100.
  • the first mobile terminal (mobile terminal 200a) is communicably connected to the control device 100 via, for example, a wireless access network 310.
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminals 200b, 200c) follow the flight path under the control of the control device 100, respectively. Start the flight (S901a, S901b, S901c).
  • the planned landing position is based on the information regarding the second landing position. Is determined (S905).
  • the first mobile terminal (mobile terminal 200a) notifies the second mobile terminal (mobile terminals 200b, 200c) flying in the vicinity of information (landing information) regarding the planned landing position (S907).
  • the first mobile terminal (mobile terminal 200a) is changed from the second mobile terminal (mobile terminal 200b, 200c) flying around the periphery to the second mobile terminal (mobile terminal 200b).
  • 200c) receives the information about the planned landing position where the landing is performed.
  • the first mobile terminal (mobile terminal 200a) may detect the second mobile terminal (mobile terminals 200b, 200c) by using the Device discovery function defined by 3GPP.
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminals 200b, 200c) communicate using a unicast, groupcast, or broadcast communication method using Sidelink defined by 3GPP. You may.
  • the control device 100 has the same Group ID and / or Group IP multicast address and / for the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminals 200b, 200c).
  • proximity communication may be enabled by notifying the TMGI (Temporary Mobile Group Identity) and / or the ProSe Group ID and / or the ProSe Layer 2 Group ID.
  • the first mobile terminal (mobile terminal 200a) continues landing if there is no overlap in the planned landing positions, and if there is overlap, executes a process for avoiding a collision to determine the planned landing position. Reselect (S909). After that, the first mobile terminal (mobile terminal 200a) arrives at the planned landing position (S911).
  • the first mobile terminal (mobile terminal 200a) cooperates with the second mobile terminal (mobile terminals 200b, 200c) flying in the vicinity to avoid a collision or the like. While landing at an appropriate planned landing position.
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminals 200b, 200c) perform proximity communication (Proximity Communication) throughout the flight. Good.
  • the first mobile terminal (mobile terminal 200a) disconnects from the communication established with the control device 100 (S903)
  • the first mobile terminal (mobile terminal 200a) causes the second mobile terminal 200a.
  • Communication with the control device 100 may be performed via the mobile terminals (mobile terminals 200b, 200c) of the above.
  • the Sidelink Communication via ProSe UE-to-Network Relay capability defined by 3GPP may be used.
  • the second mobile terminal (mobile terminals 200b, 200c) transmits (Relays) the communication between the first mobile terminal (mobile terminal 200a) and the control device 100.
  • the control device 100 can communicate with each other via the second mobile terminal (mobile terminals 200b, 200c), as in the example shown in FIG. 9, It is not always necessary to land by autonomous control of the first mobile terminal (mobile terminal 200a), and landing may be performed in cooperation with the control device 100 as in the example shown in FIG.
  • FIG. 10 is a diagram for explaining the flow of a second operation example of the landing operation performed by the first mobile terminal (mobile terminal 200a).
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminals 200b, 200c) fly under the control of the control device 100.
  • the first mobile terminal (mobile terminal 200a) is communicably connected to the control device 100 via, for example, a wireless access network 310.
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminals 200b, 200c) follow the flight path under the control of the control device 100, respectively. Start the flight (S1001a, S1001b, S1001c).
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminal 200c) are disconnected from the communication established with the control device 100 (S1003a, S1003c).
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminal 200c) determine the planned landing position (S1005a, 1005c).
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminal 200c) notify the mobile terminal flying in the vicinity of information (landing information) regarding the planned landing position (S1005a, 1005c).
  • the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminal 200c) continue landing if there is no overlap in the planned landing positions, and if there is overlap, the collision is avoided.
  • the process is executed to reselect the planned landing position (S1009a, S1009c). After that, the first mobile terminal (mobile terminal 200a) and the second mobile terminal (mobile terminal 200c) arrive at the planned landing positions (S1011a, S1011c), respectively.
  • the first mobile terminal (mobile terminal 200a) cooperates with the second mobile terminal (mobile terminal 200c) that is landing in the vicinity to avoid a collision or the like. However, it is possible to land at an appropriate planned landing position.
  • control device 100 when all the mobile terminals to be controlled are communicating with a specific mobile communication network 300, the control device 100 is limited to the case where the control device 100 is located outside each mobile communication network 300. Instead, for example, it may be a network node inside a specific mobile communication network 300.
  • the first mobile terminal may emit a warning sound toward the planned landing position during landing at the planned landing position. Whether or not to emit a warning sound may be set for each of the second landing positions that are candidates for the planned landing position, for example.
  • the control device 100 sends the control device 100 to a PSAP (Public Safety Answering Point) of a nearby police station, fire station, etc. before the landing.
  • PSAP Public Safety Answering Point
  • the first mobile terminal may be notified that the landing will be performed.
  • the first mobile terminal determines that it cannot land at the second landing position, it selects a detour route different from the first flight route. , You may fly the detour route without landing.
  • the first mobile terminal detects RLF (or HO failure, RRC reconnection failure)
  • the first mobile terminal may try to connect to a predetermined cell.
  • the predetermined cell is the cell closest to the current position, the cell (cell provided by the radio station) with which the first mobile terminal (for example, the mobile terminal 200a) was last communicating, or held (acquired) in advance. It may be any cell based on information about the detour route.
  • information about the detour route may be received when a flight permit is instructed by the control device 100.
  • the first mobile terminal eg, mobile terminal 200a
  • the control device 100 may report to the control device 100 information about a new flight route including at least a detour route.
  • the control device 100 may transmit the new flight path information to the first mobile terminal (for example, the mobile terminal 200a) in response to the reception of the information regarding the new flight path.
  • the first mobile terminal for example, mobile terminal 200a
  • FIG. 11 is an explanatory diagram showing an example of a schematic configuration of the system 2 according to the second embodiment.
  • the system 2 includes a control device 500 and a first mobile terminal 600.
  • control device 500 includes an information acquisition unit 511 and a communication processing unit 513. The specific operations of the information acquisition unit 511 and the communication processing unit 513 will be described later.
  • the information acquisition unit 511 and the communication processing unit 513 may be implemented by one or more processors, a memory (for example, a non-volatile memory and / or a volatile memory), and / or a hard disk.
  • the information acquisition unit 511 and the communication processing unit 513 may be implemented by the same processor, or may be separately implemented by different processors.
  • the memory may be contained in the one or more processors, or may be outside the one or more processors.
  • the control device 500 may include a memory for storing a program (instruction) and one or more processors capable of executing the program (instruction).
  • the one or more processors may execute the above program to operate the information acquisition unit 511 and the communication processing unit 513.
  • the above program may be a program for causing the processor to execute the operations of the information acquisition unit 511 and the communication processing unit 513.
  • the first mobile terminal 600 includes a first communication processing unit 611 and a control unit 613. Specific operations of the first communication processing unit 611 and the control unit 613 will be described later.
  • the first communication processing unit 611 and the control unit 613 include one or more processors such as a baseband (BB) processor and / or other type of processor, a memory (for example, a non-volatile memory and / or a volatile memory), and a memory. / Or may be implemented by a hard disk.
  • the first communication processing unit 611 and the control unit 613 may be implemented by the same processor, or may be separately implemented by different processors.
  • the memory may be contained in the one or more processors, or may be outside the one or more processors.
  • the first mobile terminal 600 may include a memory for storing a program (instruction) and one or more processors capable of executing the program (instruction).
  • the one or more processors may execute the above program to operate the first communication processing unit 611 and the control unit 613.
  • the program may be a program for causing the processor to execute the operations of the first communication processing unit 611 and the control unit 613.
  • the control device 500 (information acquisition unit 511) responds to the flight of the first mobile terminal 600 performed based on the flight path to the first landing position. Obtain information about one or more second landing positions associated with the flight path to the landing position. Further, the control device 500 (communication processing unit 513) transmits the above information regarding the first or more second landing positions to the first mobile terminal 600 via the communication network.
  • the first mobile terminal 600 (first communication processing unit 611) has the first landing position according to the flight of the first mobile terminal 600 performed based on the flight path to the first landing position. Information about one or more second landing positions associated with the flight path to is received via a communication network.
  • the first mobile terminal 600 (control unit 613) performs a landing operation at a planned landing position different from the first landing position according to the above information regarding the first or more second landing positions.
  • control device 500 and the first mobile terminal 600 of the second embodiment are the control device 100 and the mobile terminal 200 of the first embodiment, respectively.
  • the description of the first embodiment may also be applied to the second embodiment.
  • the second embodiment is not limited to this example.
  • the mobile terminal can adapt to changes in events that may occur during flight along the flight path and land at an appropriate landing position.
  • the steps in the processing described herein do not necessarily have to be performed in chronological order in the order described in the sequence diagram.
  • the steps in the process may be executed in an order different from the order described in the sequence diagram, or may be executed in parallel.
  • some of the steps in the process may be deleted, and additional steps may be added to the process.
  • a device including the components of the control device described in the present specification for example, an information acquisition unit, a first communication processing unit, and / or a second communication processing unit
  • a device including the components of the control device described in the present specification for example, an information acquisition unit, a first communication processing unit, and / or a second communication processing unit
  • a plurality of devices constituting the control device for example
  • a device eg, a module for a terminal device
  • a mobile terminal described herein eg, first communication processing unit, second communication processing unit, notification processing unit, and / or control unit
  • a method including the processing of the above-mentioned component may be provided, and a program for causing the processor to execute the processing of the above-mentioned component may be provided.
  • a non-transitory computer readable medium may be provided that can be read by the computer on which the program is recorded.
  • (Appendix 1) Information about one or more second landing positions associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • Information acquisition department to acquire A control device including a communication processing unit that transmits the information regarding the one or more second landing positions to the first mobile terminal via a communication network.
  • Appendix 2 The control device according to Appendix 1, wherein the one or more second landing positions are within a predetermined distance or less from the flight path to the first landing position.
  • the flight path to the first landing position includes a plurality of mobile communication networks that can commonly identify a three-dimensional space among a plurality of mobile communication networks managed by a plurality of mobile communication operators that perform wireless communication with a mobile terminal. It is set based on the zone and The control device according to Appendix 1, wherein the one or more second landing positions are positions specified based on one or more zones to which the flight path to the first landing position belongs.
  • the communication processing unit transmits the information regarding the one or more second landing positions to the first mobile terminal via a mobile communication network that wirelessly communicates with the first mobile terminal. 3.
  • the control device according to 3.
  • the information regarding the one or more second landing positions is information regarding a plurality of second landing positions.
  • the information regarding the plurality of second landing positions includes information indicating a priority order for the first mobile terminal to preferentially land with respect to each second landing position.
  • the control device according to any one of the items.
  • Appendix 9 The control device according to Appendix 8, wherein the information indicating the priority order is information acquired according to the information regarding the type of the first mobile terminal.
  • the communication processing unit transmits information instructing the stop of the flight of the first mobile terminal to the first landing position based on the flight path to the first landing position via the communication network.
  • the control device according to any one of Supplementary note 1 to 9, which is transmitted to.
  • the communication processing unit Based on the information regarding the situation in the flight path to the first landing position, the communication processing unit sends the information instructing the stop of the flight of the first mobile terminal to the first landing position via the communication network.
  • the control device according to Appendix 10 which is transmitted to the mobile terminal of 1.
  • Appendix 12 The control device according to Appendix 10 or 11, wherein the information regarding the one or more second landing positions is included in the information instructing the stop of the flight of the first mobile terminal.
  • a first mobile terminal including a control unit that performs a landing operation at a planned landing position different from the first landing position in response to the information regarding the one or more second landing positions.
  • Appendix 14 The first mobile terminal according to Appendix 13, wherein the information regarding the one or more second landing positions is information regarding a plurality of second landing positions.
  • Appendix 15 The first mobile terminal according to Appendix 14, wherein the control unit determines the planned landing position from the plurality of second landing positions based on the current position of the first mobile terminal.
  • Appendix 16 The second item of Appendix 14, wherein the control unit sets a priority order for the first mobile terminal to preferentially land with respect to each second landing position based on the type of the first mobile terminal. 1 mobile terminal.
  • Appendix 18 Appendix 13 to 13 to further include a notification processing unit for notifying one or more second mobile terminals of information regarding the planned landing position when the connection of communication via the communication network by the first mobile terminal is disconnected.
  • the first mobile terminal according to any one of 17.
  • Appendix 19 Further provided with a second communication processing unit that receives information regarding a planned landing position at which the second mobile terminal makes a landing from one or more second mobile terminals.
  • the control unit changes the planned landing position where the second mobile terminal makes a landing according to the information regarding the planned landing position where the second mobile terminal makes a landing.
  • the first mobile terminal according to any one of the items.
  • Appendix 20 Information about one or more second landing positions associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position. To get and A method comprising transmitting the information regarding the one or more second landing positions to the first mobile terminal via a communication network.
  • Appendix 21 Information about one or more second landing positions associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • a method comprising performing a landing operation at a planned landing position different from the first landing position according to the information regarding the one or more second landing positions.
  • Appendix 22 Information about one or more second landing positions associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position. To get and A program that causes a processor to transmit the information regarding the one or more second landing positions to the first mobile terminal via a communication network.
  • Appendix 23 Information about one or more second landing positions associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • a program that causes a processor to perform a landing operation at a planned landing position different from the first landing position in response to the information regarding the one or more second landing positions.
  • Information about one or more second landing positions associated with the flight path to the first landing position in response to the flight of the first mobile terminal based on the flight path to the first landing position.
  • the landing operation to a landing position different from the first landing position can be performed, and the computer can read the program that causes the processor to execute the landing operation.
  • the mobile terminal can land at an appropriate landing position by adapting to changes in events that may occur during flight along the flight path.
  • Control device 200 Control device 200, 200a, 200b, 200c Mobile terminal 600 First mobile terminal 131, 511 Information acquisition unit 133, 241, 611 First communication processing unit 135, 243 Second communication processing unit 245 Notification Processing unit 247, 613 Control unit 513 Communication processing unit

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  • Engineering & Computer Science (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Astronomy & Astrophysics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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