WO2021064977A1 - Flight route generation method for flying object, flying object reservation method, program, and management server - Google Patents

Flight route generation method for flying object, flying object reservation method, program, and management server Download PDF

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Publication number
WO2021064977A1
WO2021064977A1 PCT/JP2019/039249 JP2019039249W WO2021064977A1 WO 2021064977 A1 WO2021064977 A1 WO 2021064977A1 JP 2019039249 W JP2019039249 W JP 2019039249W WO 2021064977 A1 WO2021064977 A1 WO 2021064977A1
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WIPO (PCT)
Prior art keywords
flight
aircraft
flight path
information
generation method
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PCT/JP2019/039249
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French (fr)
Japanese (ja)
Inventor
一貴 小松
Original Assignee
株式会社センシンロボティクス
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社センシンロボティクス filed Critical 株式会社センシンロボティクス
Priority to JP2020500911A priority Critical patent/JP6807129B1/en
Priority to PCT/JP2019/039249 priority patent/WO2021064977A1/en
Publication of WO2021064977A1 publication Critical patent/WO2021064977A1/en

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    • 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
    • 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
    • G06Q10/00—Administration; Management
    • G06Q10/02—Reservations, e.g. for tickets, services or events
    • G06Q50/40—
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms

Definitions

  • the present invention relates to a flight path generation method for an air vehicle, a flight body reservation method, a program, and a management server.
  • Patent Document 1 discloses a system in which an air vehicle captures an imaged object at a preset waypoint.
  • the air vehicle is prepared in advance by the user as a premise, and a waypoint is set for one or more prepared air vehicles, and a flight path along the prepared air vehicle is set. It is what is generated. Therefore, since the user must prepare an air vehicle that matches the purpose, sufficient knowledge about the air vehicle is required, and multiple air vehicles must be owned for each purpose of use. , It is not a situation that can be easily used by users who want to use the aircraft personally.
  • the present invention has been made in view of such a background, and in particular, in the work of creating a flight path of an air vehicle, the user simply specifies, for example, a position where the air vehicle is desired to face with a user terminal or the like. It is an object of the present invention to provide a flight route generation method, a flight object reservation method, a program, and a management server for an aircraft that selects an appropriate flight object and creates a flight route.
  • FIG. 1 It is a figure which shows the structure of the management system which concerns on embodiment of this invention. It is a block diagram which shows the hardware configuration of the management server of FIG. It is a block diagram which shows the hardware configuration of the terminal of FIG. It is a block diagram which shows the hardware composition of the flying object of FIG. It is a block diagram which shows the function of the management server of FIG. It is a block diagram which shows the structure of the storage part of FIG.
  • This is an example of a display screen according to the embodiment of the present invention. It is another example of the display screen which concerns on embodiment of this invention. It is another example of the display screen which concerns on embodiment of this invention.
  • the flight path generation method, the flight object reservation method, the program, and the management server according to the embodiment of the present invention have the following configurations.
  • [Item 1] It is a method of generating a flight path of an air vehicle. Includes a step to generate a flight path based on the points set on the area displayed on the display. The step of generating the flight path is Steps to obtain information about a plurality of aircraft including the aircraft, and A step of selecting the aircraft based on at least the set points and information about the plurality of aircraft. A flight path generation method characterized by that.
  • [Item 6] A flight object reservation method including the flight route generation method according to items 1 to 5. The flight object reservation method is Including the step of reserving the selected aircraft. A flight object reservation method characterized by that.
  • [Item 7] In the flight object reservation method described in item 6, The step of calculating the charge when using the selected aircraft and Steps to display the above charges and Including the step of approving the displayed fee, A flight object reservation method characterized by that.
  • the flight path generation method is Includes a step to generate a flight path based on the points set on the area displayed on the display.
  • the step of generating the flight path is Steps to obtain information about a plurality of aircraft including the aircraft, and A step of selecting the aircraft based on at least the set points and information about the plurality of aircraft.
  • a flight path generator that generates a flight path based on a point set on the area displayed on the display unit is provided.
  • the flight path generator An air vehicle information acquisition unit that acquires information on a plurality of air vehicles including the air vehicle, and A flying object selection unit that selects the flying object based on at least the set points and information on the plurality of flying objects.
  • a management server that features that.
  • the present system for executing the method for creating an air vehicle path according to the embodiment of the present invention.
  • the present system for executing the method for creating an air vehicle path according to the embodiment of the present invention.
  • the same or similar elements are given the same or similar reference numerals and names, and duplicate 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 system includes one or more management servers 1, one or more terminals 2, one or more flying objects 4, and one or more flying object storage devices 5.
  • the management server 1, the terminal 2, the flying object 4, and the flying object storage device 5 are connected to each other so as to be able to communicate with each other via a network.
  • a management server 1 may be installed for each fixed section in the area to manage each section.
  • FIG. 2 is a diagram showing a hardware configuration of the management server 1.
  • the illustrated configuration is an example, and may have other configurations.
  • the management server 1 is connected to a plurality of terminals 2, an air vehicle 4, and an air vehicle storage device 5 to form a part of this 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, and these are electrically connected to each other through a bus 15.
  • the processor 10 is an arithmetic unit that controls the operation of the entire management server 1, controls the transmission and reception of data between each element, and performs information processing necessary for application execution and authentication processing.
  • the processor 10 is a CPU (Central Processing Unit), and executes each information processing by executing a program or the like 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 non-volatile 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 a BIOS (Basic Input / Output System) executed when the management server 1 is started, 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 built in the storage 12.
  • the transmission / reception unit 13 connects the management server 1 to the network and the blockchain network.
  • the transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
  • the input / output unit 14 is an information input device such as a keyboard and a 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 terminal 2 shown in FIG. 3 also includes 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 functions of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.
  • the terminal 2 does not necessarily have to be a user terminal owned by the user, and may be any terminal that can be operated by the user. Further, if the flying object can be used for the purpose desired by the user, the user does not have to directly operate the terminal. For example, a third party may operate the terminal 2 based on the user's request.
  • FIG. 4 is a block diagram showing a hardware configuration of the air vehicle 4.
  • the flight controller 41 can have one or more processors such as a programmable processor (eg, central processing unit (CPU)).
  • a programmable processor eg, 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 the flight controller can execute to perform one or more steps.
  • the flight controller 41 may include sensors 412 such as an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (for example, rider) and the like.
  • Memory 411 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
  • the data acquired from the cameras / sensors 42 may be directly transmitted and stored in the memory 411.
  • still image / moving image data taken by a camera or the like may be recorded in the internal memory or an external memory, but the present invention is not limited to this, and at least the management server 1 or the management server 1 or the internal memory may be recorded from the camera / sensor 42 or the internal memory via the network NW. It may be recorded in one of the terminal 2 and the air vehicle storage device 5.
  • the camera 42 is installed on the flying object 4 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 adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z).
  • ESC44 Electric Speed Controller
  • the propulsion mechanism (motor 45, etc.) of the flying object.
  • the propeller 46 is rotated by the motor 45 supplied 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 the sensors.
  • the flight controller 41 is configured to transmit and / or receive data from one or more external devices (eg, transmitter / receiver (propo) 49, terminal, display device, or other remote controller). It is possible to communicate with the unit 47.
  • the transmitter / receiver 49 can use any suitable communication means such as wired communication or wireless communication.
  • the transmission / reception unit 47 uses one or more of a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, and the like. can do.
  • LAN local area network
  • WAN wide area network
  • P2P point-to-point
  • the transmission / reception unit 47 transmits and / or receives one or more of the data acquired by the sensors 412, the processing result generated by the flight controller 41, the predetermined control data, the user command from the terminal or the remote controller, and the like. be able to.
  • the air vehicle storage device 5 includes, for example, an aircraft storage function for storing one or more air vehicles, a contact type or non-contact power supply function, a battery exchange function for replacing the battery of the air vehicle 4, and the air vehicle 4.
  • a payload change function that changes the payload mounted on the aircraft 4 (for example, cameras, sensors, security equipment, etc.), and an aircraft inspection function that inspects the aircraft 4 (for example, analyzing the flight environment from the obtained data).
  • an aircraft repair function for repairing the aircraft of the flying object 4, and the like may be included.
  • a plurality of these functions may be provided, or any one of them may be provided.
  • FIG. 5 is a block diagram illustrating the functions implemented in the management server 1.
  • the management server 1 includes a communication unit 110, a flight mission generation unit 120, a fourth flight route acquisition unit 130, an air vehicle utilization management unit 140, a past flight route calling unit 150, a storage unit 160, and a report generation.
  • the unit 170 is provided.
  • the flight mission generation unit 120 includes a first flight route generation unit 121, a second flight route generation unit 123, and a third flight route generation unit 125.
  • the storage unit 160 includes various databases such as a flight path information storage unit 162, a flight log storage unit 164, an air vehicle information storage unit 166, and an interface information storage unit 168.
  • the flight path information storage unit 162 includes a first flight path storage unit 1621, a second flight path storage unit 1623, a third flight path storage unit 1625, and a fourth flight path storage unit 1627. ..
  • the communication unit 110 communicates with the terminal 2, the flying object 4, and the flying object storage device 5.
  • the communication unit 110 also functions as a reception unit that receives a reservation start request from the terminal 2.
  • the reservation start request may include, for example, the flight location, intended use, scheduled usage date and time, selected charge, number of flying objects, and the like.
  • Flight mission generation unit 120 generates flight missions. Flight missions include at least the flight path.
  • the flight path is, for example, a point set by the user on the terminal 2 in the first flight path generation unit 121, and the flight body 4 and / or the flight body storage device 5 selected by the flight body utilization management unit 140 described later. Generated as a first flight path based on position. Further, the flight path can be generated so as to determine a building or the like exceeding a certain height or an area where a flight restriction is provided based on map information or the like, and avoid the building or the area.
  • the flight path takes into consideration flight environment information such as weather information (for example, temperature, wind speed, wind direction, weather, etc.), traffic information of the flying object 4, and abnormal information (for example, forest fire, aircraft event, etc.). For example, a flight path may be generated or a flight path that has already been generated may be corrected so as to avoid a place with a high flight risk.
  • the planned usage status may be changed according to the flight environment information (for example, the occupied flying object 4 and / or the flying object storage device 5 is changed), and when the change is made, the change content is changed on the terminal 2. (For example, the usage fee, the degree of safety in each flight route, etc.) may be displayed so that the possibility of change can be selected.
  • the flight path included in the flight mission includes, for example, the flight path described later in FIGS. 14-26, and if necessary, the flight mission also includes the flight body 4 and / or the flight body storage device 5. Can be sent.
  • the flight mission The generation unit 120 may include a third flight path generation unit 125.
  • the third flight path generation unit 125 may generate a third flight path by referring to, for example, the first flight path storage unit 1621 and the second flight path storage unit 1623.
  • the first flight path can be substantially similar to the first flight path described above.
  • the second flight path may be generated by the second flight path generation unit 123, and may be automatically generated by setting the target turning radius, the number of waypoints (WP) during turning, or the like.
  • the third flight path generation unit 125 generates a third flight path by combining the first flight path and the second flight path (and / or the fourth flight path described later).
  • each flight path is composed of a plurality of waypoints (including position coordinate information), and the closest waypoints (position coordinates) between the first flight path and the second flight path. ) Can be used as a connection point to generate a third flight path so as to fly continuously on both flight paths, but the present invention is not limited to this.
  • the fourth flight path acquisition unit 130 that acquires the fourth flight path generated outside the management server 1 in place of the first flight path (or in addition to the first and second flight paths). May be provided.
  • the fourth flight path acquisition unit 130 acquires the fourth flight path generated outside the management server 1 via the communication unit 110, and stores it in the fourth flight path storage unit 1627.
  • the fourth flight path is based on, for example, a bird's-eye view image (for example, a satellite photograph or an aerial photograph) taken from a satellite or an air vehicle, or a map (for example, a map or a route map) showing the bird's-eye view image on a plane. It was generated.
  • the fourth flight path is a movement path (for example, a roadway, a railroad track, a route, a sidewalk, a mountain road) along a path in which a moving body different from the flying object or an animal including a human can move. , Paint trail, etc.).
  • a movement route for example, when the flight start position, the waypoint position, the position of the object, etc. are specified based on the above-mentioned images and figures by using API (Application Programming Interface) or application software on the terminal 2.
  • the location information is transmitted directly or via the management server 1 to an external server or the like (not shown) via a network, searches for a route on which the moving body can move based on the location information, and manages the result.
  • the management server 1 can acquire the route of the search result as the fourth flight route and store it in the fourth flight route storage unit 1627.
  • the flight since the flight is carried out on the movement route, it is possible to acquire not only the information on the object but also the information on the movement route to the object. Therefore, for example, it can be used in various situations such as confirmation of traffic congestion on the road to the object, confirmation of the route to the object in the event of a disaster, and search for a mountain road when searching for a victim.
  • the acquired information on the movement path at this time may be a moving image or an image captured at a set waypoint.
  • the fourth flight path is a moving path different from that of the flying object or a moving path along a path in which an animal including a human can move, but the present invention is not limited to this, and for example, a path obtained by image recognition. It may be (for example, a ridge of a mountain range, a fence, a roof, an electric wire, etc.), or it can be searched using a general search method (for example, Dijkstra's algorithm, best-first search, A algorithm, etc.) or AI. If it is a route, it is possible to target all of them.
  • a general search method for example, Dijkstra's algorithm, best-first search, A algorithm, etc.
  • the flight body utilization management unit 140 acquires a plurality of flight body information deployed in a predetermined area from the flight body information storage unit 166 in the management server 1 based on the information of the point selected by the user, for example, and the user can obtain the information. Comparison with the set reservation information and selection of flight object candidates are performed, so-called matching is performed.
  • the configuration for this matching is known, for example, using a data table, or using AI analysis using information obtained in the process of selecting a flying object 4 or creating a flight mission as described later as teacher data. It may be composed of the above techniques.
  • the plurality of aircraft information includes, for example, when the usage is limited, at least the identification name and aircraft specifications of each aircraft, battery specifications, battery level, temperature information such as ESC or motor, charging method, and aircraft.
  • Information such as the status (for example, under inspection, repair, normal, etc.), but if there are multiple uses, information about the payload mounted on each aircraft (for example, camera type and security equipment) Types, etc.) and types of loads are also included.
  • the information on the remaining battery level of the flying object is not limited to the case where it is directly acquired from the flying object, for example, when it is acquired by communication via the flying object storage device 5 or when the flying object storage device 5 charges. It may be acquired based on the obtained information, or may be calculated from the battery specifications, flight time, flight distance, etc. on the management server 1 or the like.
  • the flight object utilization management unit 140 further has a charge calculation function for calculating the charge for using the utilization candidate aircraft 4 selected based on the matching result.
  • the calculation of the charge is, for example, flight time, flight body occupancy time, flight body specifications, payload type (options such as camera, sensor, goods carrying basket, baby seat, etc.), flight body 4 related to use, and / Or the number of flight object storage devices 5 (including the retracted flight object 4 and the flight object storage device 5 related thereto as described later in FIG. 17 and the like), responsiveness from the reserved time, and proximity from the specified time.
  • It may be calculated from the usage needs (for example, the flying object 4 having high usage needs, the usage time zone, etc.), the feeding time and the feeding amount in the flying object storage device 5.
  • the flight object utilization management unit 140 may have a function of updating the flight object information of the flight object information storage unit 166 regarding the flight object 4 selected by the flight object 4 or the terminal 2 as a candidate for use. Then, based on the information acquired from the flight object information storage unit 166, for example, when it is determined that a plurality of flight objects 4 are concentratedly arranged in the vicinity of one destination, the nearby flight objects are stored.
  • the device 5 may accept a provisional landing for the minimum required charge, and may sequentially move the charged vehicle 4 so as to be distributed in the required area.
  • the flight object utilization management unit 140 changes the usage status of the flight object 4 and / or the flight object storage device 5 based on whether or not an abnormality has occurred in the flight object 4 in flight, and the abnormality occurs.
  • the resulting flying object 4 may be flown to the flying object storage device 5 or the person who manages the flying object 4.
  • the flight object utilization management unit 140 may perform matching or calculate a charge based on, for example, the flight object storage device information (not shown) regarding the flight object storage device 5.
  • the aircraft storage device information is the ability of each function of the above-mentioned aircraft storage device, its height, whether or not the flight body storage device is occupied according to the reservation, identification name, installation location information, number of storable aircraft, and charging. It may be the number of ports or the like.
  • the past flight route calling unit 150 calls the past flight route as a flight route with reference to the past flight route storage unit 1629.
  • the flight paths generated in the past are manually or automatically stored in the past flight path storage unit 1629.
  • the interface information storage unit 168 stores various control information for display on the display unit (display or the like) of the terminal 2.
  • the report generation unit 170 generates report information to be transmitted to the terminal 2 based on the flight log storage unit 164.
  • the information (still image, moving image, sound, and other information) acquired by the flying object 4, the flight path itself, the power consumption result, and the flight
  • the current position of the body, the content of the abnormality, the location of the abnormality, the number of passengers, the load capacity of luggage, and the like are accumulated in the flight log storage unit 164 as a flight log.
  • a basic display example of this system particularly a display example of a flight object reservation related to transportation of luggage or the like is shown.
  • the purpose of using this system is not necessarily limited to flight object reservation, but in a situation where one or more flight objects 4 and flight object storage devices 5 are deployed in a predetermined area and they are used from the terminal 2. If there is, it may be used for any purpose. For example, in a situation where multiple flying objects are installed in a site or building owned by a company and employees or the like work with them. May be good.
  • FIG. 7 illustrates a flowchart when using this system.
  • the configuration for starting the application on the terminal 2 is shown as an example, but the present invention is not limited to this, and for example, the management server 1 and the aircraft storage device 5 have a processor and an input / output device capable of starting the application. However, it may be configured so that various settings can be made.
  • a reservation start button for using the flying object a favorite button for setting the usage and destination of the frequently used flying object in advance and calling it, and when used in the past A history button or the like for displaying the detailed history of the flight may be arranged.
  • the user sets the usage of the flying object on the application (SQ102). For example, when the reservation is started, the screen for setting the usage as shown in FIG. 9 is displayed.
  • Applications can include items such as transport, aerial photography, surveying, inspection, security, search, and boarding (on a flying object).
  • transportation as shown in FIG. 9, there may be an item for selecting the weight, size, etc. of the transported object.
  • aerial photography there may be items such as a shooting point and range, a size, height, and shape of a shooting target, a desired image quality, a desired shooting mode, a camera type, and the like.
  • a surveying point and range there may be items such as a surveying point and range, a shape of a surveying object, a desired image quality, a desired shooting mode, a camera type, and the like.
  • inspection there may be items for selecting the size, height, shape, inspection content, camera type, etc. of the inspection target.
  • security there may be items such as a security location (indoors, outdoors, etc.), a security target (suspicious person, animal, etc.), and necessary equipment (cameras, sensors, paintball, etc.).
  • a search there may be items such as a search point and range, a search target (distressed person, animal, etc.), and necessary equipment (camera, sensors, speakers, etc.).
  • a search target stresseded person, animal, etc.
  • necessary equipment cameras, sensors, speakers, etc.
  • boarding there may be items such as the number of passengers, the amount of baggage, the presence or absence of options such as baby seats, the number of flying objects, and the like.
  • the current setting item may be clearly indicated by a frame or the like.
  • the user sets the reservation date and time of the aircraft on the application (SQ103).
  • a screen for setting a reservation date and time is displayed.
  • the reservation date and time "designated place arrival date and time”, “designated place departure date and time”, “departure as soon as the reservation is made”, “designated place flight start date and time”, “designated place flight end date and time” and the like may be specified.
  • “use period”, “shooting date and time within the use period”, “use at a fixed cycle during the reservation period”, etc. may be specified.
  • the "current date and time” may be displayed to help specify the date and time.
  • the user sets the destination point where the air vehicle heads on the application (SQ104).
  • a flight selected by the user from among the starting point for transportation for example, the user's current position, a predetermined deposit collection location, and the position of the flying object storage device displayed on the terminal 2).
  • the location of the body storage device for example, the location of the body storage device
  • the end point for example, the destination building, the predetermined collection location for the transported object, the location of the vehicle storage device selected by the user among the positions of the vehicle storage device displayed on the terminal 2, etc.
  • the screen for setting is displayed.
  • the target In aerial photography, inspection, etc., when the target is one place, it is not always necessary to specify multiple points (for example, start point and end point), it is sufficient to specify one target point. It may be that. Further, when there are a plurality of target points and waypoints, for example, the "add waypoint value" button on the display screen may be selected to transition to the screen for setting the waypoints. Further, since it is sufficient that the start point and the end point can be discriminated, for example, the route may be set by drawing a line on the display screen with a finger or a pointer.
  • the storage unit in the management server 1 is based on the information of the point selected by the user, for example.
  • a plurality of flight object information deployed in a predetermined area is acquired from 160 or the like, comparison with reservation information set by the user, selection of flight object candidates, and so-called matching are performed (SQ106).
  • the management server 1 calculates the charge for using the use candidate aircraft 4 selected based on the matching result, and transmits at least the calculated charge information to the terminal 2 (SQ107).
  • At least the charge information is obtained when a plurality of the flying objects 4 and / or the flying object storage devices 5 are selected as a result of the matching.
  • at least the charge information includes, for example, the proximity to the estimated arrival time, the safety level of the flight route, and the like. It is possible that multiple transmissions will be made.
  • charges are set according to the closestness to the estimated time of arrival, and the charges are displayed in ascending order, but the flight time is not limited to this, for example, the length of flight time. It can be displayed in various orders, such as the display order according to the size (especially in the case of boarding), the display order according to the safety level in flight, the display order according to the high security level of security, and so on.
  • the matching is not limited to the timing at which the reservation start request is transmitted (SQ105), but is executed after each timing (for example, SQ102, SQ103, etc.) in which the user sets information regarding the reservation, for example.
  • the terminal 2 may display whether or not each item of the reservation information can be set on the application, or may hide the item that cannot be selected.
  • the flight body 4 transmits the flight log to the management server 1 when the mission is completed (SQ112).
  • the management server 1 generates a report based on the transmitted flight log (SQ113), outputs the report to the terminal 2 as a result (SQ114), and displays it on the terminal 2.
  • flight logs and / or reports can be output sequentially, for example, not only when the mission is completely completed.
  • the current position of the flying object 4 and the acquired information (for example, the photographed image and the position information of the inspection completed location or the abnormality occurrence location) are displayed on the terminal 2 as a report.
  • a report including a progress information superimposed on an image such as a map or a floor map may be displayed.
  • the information obtained in the process of selecting the flight object 4 and creating the flight mission based on the request from the user can be accumulated in the management server 1.
  • the accumulated information is, for example, information on a start point, an end point, a position selected as a stopover, and a usage time zone, and is used for analysis of high and low usage needs, and is used for the installation position and installation of the flying object storage device 5. It can be used for studying the number of aircraft and the distribution of the distributed arrangement of the flying objects 4.
  • the accumulated information is information such as flight routes and usage time zones, and flight results associated with these (for example, required time, amount of battery consumption, etc.), which can be used when selecting a flight object candidate or creating a flight route.
  • the accumulated information is a usage history for each user. For example, a premium course that can be used by further charging according to the purpose of use that is frequently used (for example, an aircraft so that there is no situation where reservations cannot be made). It may be used for marketing such as occupying 4 or encouraging participation in a course where high-spec air vehicle 4 can be used at a discount), or encouraging purchase of air vehicle 4. ..
  • FIGS. 14-26 An example of the flight path of the selected aircraft is shown with reference to FIGS. 14-26.
  • the flying object 41 selected based on, for example, the remaining battery level and the aircraft specifications is selected from the flying object storage device 51 along the flight path A as the starting point.
  • the flight is performed from the starting point to the stopover along the flight path B1, for example, another baggage is further collected or a part of the baggage is unloaded and along the flight path B2. Is flying to the end point.
  • the flight body storage device 52 is used for, for example, charging or replacing the battery of the flying object, loading / unloading of luggage by the user, and the like.
  • FIG. 16 it is assumed that another flying object is not stored in the flying object storage device 52.
  • FIGS. 15 and 16 it is not necessary to collect the luggage at the starting point, and for example, the user may go to the waypoint or the air vehicle storage device 52 and load the luggage there.
  • the aircraft flies from the end point along the flight path E1 and returns to another flight object storage device 54.
  • another flying object 43 is stored in yet another flying object storage device 54, and there may be a configuration similar to that of FIG. 17-19, for example.
  • the flight object storage device 54 may also be reserved (occupied) so that it can return, and when the flight object storage device 54 becomes unavailable. Therefore, other air vehicle storage devices may be reserved as candidates.
  • the reservations of the plurality of aircraft storage devices are prioritized and occupied according to, for example, the distance for returning, and when other reservations are made, the occupation is sequentially released based on the priority. You may.
  • FIGS. 25-26 it is assumed that a cancellation request is made during flight along the flight path A of FIG. 14, and in FIG. 25, a cancellation request is made during flight along the flight path A1. It returns to the flight object storage device 51 along the flight path A2, and in FIG. 26, it returns to another flight object storage device 52 along the flight path A3.
  • the usage schedule status of the flying object 4 may be changed (for example, changing the occupied flying object 4 and / or the flying object storage device 5).
  • the air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. It can also be used in various industries such as security, agriculture, infrastructure monitoring, surveying, sports venue inspections such as golf courses and tennis courts, building roof inspections such as factories and warehouses, disaster response, and disaster response.

Abstract

[Problem] To provide a flight route generation method for a flying object, a flying object reservation method, a program, and a management server through which a user selects a suitable flight and creates a flight route only by designating, by means of a user terminal, for example, the location to which the flying object is intended to be directed in a work for creating the flight route of the flying object. [Solution] A flight route generation method for a flying object according to the present invention includes a step for generating a flight route on the basis of a point set in a displayed area on a display unit, wherein the step for generating a flight route is provided with: a step for acquiring information about a plurality of flying objects including the flying object; and a step for selecting the flying object at least on the basis of the set point and the information about the plurality of flying objects.

Description

飛行体の飛行経路生成方法及び飛行体予約方法、プログラム、管理サーバFlight path generation method and flight reservation method, program, management server of the aircraft
　本発明は、飛行体の飛行経路生成方法及び飛行体予約方法、プログラム、管理サーバに関する。 The present invention relates to a flight path generation method for an air vehicle, a flight body reservation method, a program, and a management server.
　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、飛行体が予め設定されたウェイポイントにおいて撮影対象を撮影するシステムが開示されている。 In recent years, flying objects (hereinafter collectively referred to as "aircraft") such as drones and unmanned aerial vehicles (UAVs) have begun to be used in industry. Under these circumstances, Patent Document 1 discloses a system in which an air vehicle captures an imaged object at a preset waypoint.
特開２０１４－０８９１６０号公報Japanese Unexamined Patent Publication No. 2014-089160
　しかしながら、上記特許文献１の開示技術では、前提として飛行体はユーザが予め準備しておくものであり、その準備した一以上の飛行体に対してウェイポイントを設定し、それに沿った飛行経路を生成するものである。そのため、ユーザが用途と合致する飛行体を準備しなければならないため、飛行体についての十分な知識が必要であり、かつ、各利用目的のために複数の飛行体を所有しなくてはならず、個人的に飛行体を利用したいユーザにとっては気軽に利用できる状況ではない。 However, in the disclosed technology of Patent Document 1, the air vehicle is prepared in advance by the user as a premise, and a waypoint is set for one or more prepared air vehicles, and a flight path along the prepared air vehicle is set. It is what is generated. Therefore, since the user must prepare an air vehicle that matches the purpose, sufficient knowledge about the air vehicle is required, and multiple air vehicles must be owned for each purpose of use. , It is not a situation that can be easily used by users who want to use the aircraft personally.
　また、例えばレンタカーのように用途に合わせて個人で飛行体を借りることも可能ではあるが、自分で飛行体を操作するなどの技術的な知識が依然として必要である。さらに、将来的に、街中に飛行体が配備されることも想定されえるが、その際にユーザがどのように配備された飛行体を使用するかについては、未だ十分に検討されていない。 Although it is possible to rent an air vehicle individually according to the purpose, such as a rental car, technical knowledge such as operating the air vehicle by oneself is still required. Furthermore, it is possible that air vehicles will be deployed in the city in the future, but how the users will use the deployed air vehicles at that time has not yet been fully considered.
　本発明はこのような背景を鑑みてなされたものであり、特に、飛行体の飛行経路を作成する作業において、ユーザは、例えば飛行体を向かわせたい位置をユーザ端末等で指定するだけで、適切な飛行体を選定して飛行経路を作成してくれる飛行体の飛行経路生成方法及び飛行体予約方法、プログラム、管理サーバを提供することを目的とする。 The present invention has been made in view of such a background, and in particular, in the work of creating a flight path of an air vehicle, the user simply specifies, for example, a position where the air vehicle is desired to face with a user terminal or the like. It is an object of the present invention to provide a flight route generation method, a flight object reservation method, a program, and a management server for an aircraft that selects an appropriate flight object and creates a flight route.
　上記課題を解決するための本発明の主たる発明は、飛行体の飛行経路生成方法であって、表示部に表示された領域上に設定された点に基づいて、飛行経路を生成するステップを含み、前記飛行経路を生成するステップは、前記飛行体を含む複数の飛行体に関する情報を取得するステップと、少なくとも前記設定された点および前記複数の飛行体に関する情報に基づき、前記飛行体を選択するステップと、を備える、ことを特徴とする飛行経路生成方法、である。 The main invention of the present invention for solving the above problems is a method for generating a flight path of an air vehicle, which includes a step of generating a flight path based on a point set on an area displayed on a display unit. , The step of generating the flight path selects the flight object based on the step of acquiring information on a plurality of flight objects including the flight object, and at least the set point and the information on the plurality of flight objects. A flight path generation method, characterized in that it comprises steps.
　本発明によれば、特に、飛行体の飛行経路を作成する作業において、ユーザが、例えば飛行体を向かわせたい位置をユーザ端末等で指定するだけで、適切な飛行体を選定して飛行経路を作成する、飛行体の飛行経路生成方法及び飛行体予約方法、プログラム、管理サーバを提供することができる。 According to the present invention, in particular, in the work of creating a flight path of an air vehicle, the user simply specifies, for example, a position at which the air vehicle is desired to face with a user terminal or the like, and an appropriate flight object is selected and the flight path is selected. It is possible to provide a flight path generation method and a flight reservation method, a program, and a management server for an aircraft.
本発明の実施の形態にかかる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 management system which concerns on 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 configuration of the management server of FIG. 図１の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 configuration of the 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 composition of the flying object 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５の記憶部の構造を示すブロック図である。It is a block diagram which shows the structure of the storage part of FIG. 本発明の実施の形態にかかる管理システム利用時のフローチャートの一例である。This is an example of a flowchart when the management system according to the embodiment of the present invention is used. 本発明の実施の形態にかかる表示画面の一例である。This is an example of a display screen according to the embodiment of the present invention. 本発明の実施の形態にかかる表示画面の他の例である。It is another example of the display screen which concerns on embodiment of this invention. 本発明の実施の形態にかかる表示画面の他の例である。It is another example of the display screen which concerns on embodiment of this invention. 本発明の実施の形態にかかる表示画面の他の例である。It is another example of the display screen which concerns on embodiment of this invention. 本発明の実施の形態にかかる表示画面の他の例である。It is another example of the display screen which concerns on embodiment of this invention. 本発明の実施の形態にかかる表示画面の他の例である。It is another example of the display screen which concerns on embodiment of this invention. 本発明の実施の形態にかかる飛行体等の制御の一例である。This is an example of control of an air vehicle or the like according to the embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like according to an embodiment of the present invention. 本発明の実施の形態にかかる飛行体等の制御の他の例である。This is another example of control of an air vehicle or the like 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飛行経路生成方法及び飛行体予約方法、プログラム、管理サーバは、以下のような構成を備える。
［項目１］
　飛行体の飛行経路生成方法であって、
　表示部に表示された領域上に設定された点に基づいて、飛行経路を生成するステップを含み、
　前記飛行経路を生成するステップは、
　前記飛行体を含む複数の飛行体に関する情報を取得するステップと、
　少なくとも前記設定された点および前記複数の飛行体に関する情報に基づき、前記飛行体を選択するステップと、を備える、
　ことを特徴とする飛行経路生成方法。
［項目２］
　項目１に記載の飛行経路生成方法において、
　前記飛行体の利用用途を設定するステップをさらに含み、
　前記飛行体を選択するステップは、さらに前記飛行体の利用用途に基づく、
　ことを特徴とする飛行経路生成方法。
［項目３］
　項目１または２に記載の飛行経路生成方法において、
　前記飛行体の利用期間を設定するステップをさらに含み、
　前記飛行体を選択するステップは、さらに前記飛行体の利用期間に基づく、
　ことを特徴とする飛行経路生成方法。
［項目４］
　項目１ないし３に記載の飛行経路生成方法において、
　前記飛行体を選択するステップは、さらに飛行予定距離、電池消費量のうちの少なくとも１つの情報に基づく、
　ことを特徴とする飛行経路生成方法。
［項目５］
　項目１ないし４に記載の飛行経路生成方法であって、
　前記複数の飛行体に関する情報は、電池残量、ペイロード種別、機体スペックのうちの少なくとも１つを含む、
　ことを特徴とする飛行経路生成方法。
［項目６］
　項目１ないし５に記載の飛行経路生成方法を含む飛行体予約方法であって、
　前記飛行体予約方法は、
　前記選択された飛行体を予約処理するステップを含む、
　ことを特徴とする飛行体予約方法。
［項目７］
　項目６に記載の飛行体予約方法において、
　前記選択された飛行体を利用した際の料金を算出するステップと、
　前記料金を表示するステップと、
　前記表示された料金を承認するステップと、を含む、
　ことを特徴とする飛行体予約方法。
［項目８］
　飛行体の飛行経路生成方法を管理サーバに実行させるためのプログラムであって、
　前記飛行経路生成方法は、
　表示部に表示された領域上に設定された点に基づいて、飛行経路を生成するステップを含み、
　前記飛行経路を生成するステップは、
　前記飛行体を含む複数の飛行体に関する情報を取得するステップと、
　少なくとも前記設定された点および前記複数の飛行体に関する情報に基づき、前記飛行体を選択するステップと、を備える、
　ことを特徴とするプログラム。
［項目９］
　表示部に表示された領域上に設定された点に基づいて、飛行経路を生成する飛行経路生成部を備え、
　前記飛行経路生成部は、
　前記飛行体を含む複数の飛行体に関する情報を取得する飛行体情報取得部と、
　少なくとも前記設定された点および前記複数の飛行体に関する情報に基づき、前記飛行体を選択する飛行体選択部と、を備える、
　ことを特徴とする管理サーバ。 The contents of the embodiments of the present invention will be described in a list. The flight path generation method, the flight object reservation method, the program, and the management server according to the embodiment of the present invention have the following configurations.
[Item 1]
It is a method of generating a flight path of an air vehicle.
Includes a step to generate a flight path based on the points set on the area displayed on the display.
The step of generating the flight path is
Steps to obtain information about a plurality of aircraft including the aircraft, and
A step of selecting the aircraft based on at least the set points and information about the plurality of aircraft.
A flight path generation method characterized by that.
[Item 2]
In the flight path generation method according to item 1,
It further includes a step of setting the intended use of the aircraft.
The step of selecting the air vehicle is further based on the intended use of the air vehicle.
A flight path generation method characterized by that.
[Item 3]
In the flight path generation method according to item 1 or 2,
It further includes a step of setting the period of use of the aircraft.
The step of selecting the air vehicle is further based on the period of use of the air vehicle.
A flight path generation method characterized by that.
[Item 4]
In the flight path generation method according to items 1 to 3,
The step of selecting an air vehicle is further based on information on at least one of the planned flight distance and the battery consumption.
A flight path generation method characterized by that.
[Item 5]
The flight path generation method according to items 1 to 4.
The information about the plurality of aircraft includes at least one of battery level, payload type, and aircraft specifications.
A flight path generation method characterized by that.
[Item 6]
A flight object reservation method including the flight route generation method according to items 1 to 5.
The flight object reservation method is
Including the step of reserving the selected aircraft.
A flight object reservation method characterized by that.
[Item 7]
In the flight object reservation method described in item 6,
The step of calculating the charge when using the selected aircraft and
Steps to display the above charges and
Including the step of approving the displayed fee,
A flight object reservation method characterized by that.
[Item 8]
It is a program to make the management server execute the flight path generation method of the aircraft.
The flight path generation method is
Includes a step to generate a flight path based on the points set on the area displayed on the display.
The step of generating the flight path is
Steps to obtain information about a plurality of aircraft including the aircraft, and
A step of selecting the aircraft based on at least the set points and information about the plurality of aircraft.
A program characterized by that.
[Item 9]
A flight path generator that generates a flight path based on a point set on the area displayed on the display unit is provided.
The flight path generator
An air vehicle information acquisition unit that acquires information on a plurality of air vehicles including the air vehicle, and
A flying object selection unit that selects the flying object based on at least the set points and information on the plurality of flying objects.
A management server that features that.
＜実施の形態の詳細＞
　以下、本発明の実施の形態による飛行体経路作成方法を実行するためのシステム（以下「本システム」という）等について説明する。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, a system (hereinafter referred to as “the present system”) for executing the method for creating an air vehicle path according to the embodiment of the present invention will be described. In the accompanying drawings, the same or similar elements are given the same or similar reference numerals and names, and duplicate description of the same or similar elements may be omitted in the description of each embodiment. In addition, 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、一以上の管理サーバ１と、一以上の端末２と、一以上の飛行体４と、一以上の飛行体格納装置５とを有している。管理サーバ１と、端末２と、飛行体４と、飛行体格納装置５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。なお、飛行体格納装置５を配置する地域が広い場合には、例えば当該地域内の一定区画ごとに管理サーバ１を設置して各区画を管理するようにしてもよい。 <Structure>
As shown in FIG. 1, the system includes one or more management servers 1, one or more terminals 2, one or more flying objects 4, and one or more flying object storage devices 5. The management server 1, the terminal 2, the flying object 4, and the flying object storage device 5 are connected to each other so as to be able to communicate with each other via a network. When the area where the flight object storage device 5 is arranged is wide, for example, a management server 1 may be installed for each fixed section in the area to manage each section.
＜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 showing a hardware configuration of the management server 1. The illustrated configuration is an example, and may have other configurations.
　図示されるように、管理サーバ１は、複数の端末２と、飛行体４、飛行体格納装置５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 terminals 2, an air vehicle 4, and an air vehicle storage device 5 to form a part of this 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, and these 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 unit that controls the operation of the entire management server 1, controls the transmission and reception of data between each element, and performs information processing necessary for application execution and authentication processing. For example, the processor 10 is a CPU (Central Processing Unit), and executes each information processing by executing a program or the like 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 non-volatile 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 a BIOS (Basic Input / Output System) executed when the management server 1 is started, 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 built 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 the network and the blockchain network. The transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
　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 and a 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.
＜端末２＞
　図３に示される端末２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。なお、端末２は、必ずしもユーザが所有するユーザ端末でなくてもよく、ユーザが操作可能な端末ならどのようなものでもよい。また、ユーザの希望する用途で飛行体を利用できれば、ユーザが直接端末を操作しなくてもよく、例えば、第三者がユーザの希望に基づき端末２を操作してもよい。 <Terminal 2>
The terminal 2 shown in FIG. 3 also includes 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 functions of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted. The terminal 2 does not necessarily have to be a user terminal owned by the user, and may be any terminal that can be operated by the user. Further, if the flying object can be used for the purpose desired by the user, the user does not have to directly operate the terminal. For example, a third party may operate the terminal 2 based on the user's request.
＜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 air vehicle 4. The flight controller 41 can have one or more processors such as a programmable processor (eg, 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。 Further, the flight controller 41 has a memory 411 and can access the memory. Memory 411 stores logic, code, and / or program instructions that the flight controller can execute to perform one or more steps. Further, the flight controller 41 may include sensors 412 such as an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (for example, rider) and the like.
　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４１１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てもよいが、これに限らず、カメラ／センサ４２または内蔵メモリからネットワークＮＷを介して、少なくとも管理サーバ１や端末２、飛行体格納装置５のいずれかに１つに記録されてもよい。カメラ４２は飛行体４にジンバル４３を介して設置される。 Memory 411 may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. The data acquired from the cameras / sensors 42 may be directly transmitted and stored in the memory 411. For example, still image / moving image data taken by a camera or the like may be recorded in the internal memory or an external memory, but the present invention is not limited to this, and at least the management server 1 or the management server 1 or the internal memory may be recorded from the camera / sensor 42 or the internal memory via the network NW. It may be recorded in one of the terminal 2 and the air vehicle storage device 5. The camera 42 is installed on the flying object 4 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 adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion θ x , θ y and θ z). , ESC44 (Electric Speed Controller) to control the propulsion mechanism (motor 45, etc.) of the flying object. The propeller 46 is rotated by the motor 45 supplied 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 the 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 transmit and / or receive data from one or more external devices (eg, transmitter / receiver (propo) 49, terminal, display device, or other remote controller). It is possible to communicate with the unit 47. The transmitter / receiver 49 can use any suitable 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 a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, and the like. can do.
　送受信部４７は、センサ類４１２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 the data acquired by the sensors 412, the processing result generated by the flight controller 41, the predetermined control data, the user command from the terminal or the remote controller, and the like. be able to.
　本実施の形態によるセンサ類４１２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。 Sensors 412 according to this embodiment may include an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
＜飛行体格納装置５＞
　飛行体格納装置５は、例えば、一以上の飛行体を格納する機体保管機能や、接触式または非接触式による給電機能、飛行体４のバッテリーを交換するためのバッテリー交換機能、飛行体４の送受信部４７を介したデータ通信機能、データ通信により受信したデータを記憶するデータ記憶機能、データ通信により受信したデータまたは記憶されたデータを解析するデータ解析機能（例えば、飛行体４が飛行中に得たデータから飛行環境を解析するなど）、飛行体４に搭載されたペイロード（例えば、カメラやセンサ、警備装備など）を変更するペイロード変更機能、飛行体４の機体を点検する機体点検機能（例えば、画像解析等により異常個所を探すなど）、飛行体４の機体を補修する機体補修機能等が含まれうる。これらの機能は、複数備えられていてもよいし、いずれか一つであってもよい。 <Aircraft storage device 5>
The air vehicle storage device 5 includes, for example, an aircraft storage function for storing one or more air vehicles, a contact type or non-contact power supply function, a battery exchange function for replacing the battery of the air vehicle 4, and the air vehicle 4. A data communication function via the transmission / reception unit 47, a data storage function for storing data received by data communication, and a data analysis function for analyzing data received or stored data by data communication (for example, while the flying object 4 is in flight). A payload change function that changes the payload mounted on the aircraft 4 (for example, cameras, sensors, security equipment, etc.), and an aircraft inspection function that inspects the aircraft 4 (for example, analyzing the flight environment from the obtained data). (For example, searching for an abnormal part by image analysis or the like), an aircraft repair function for repairing the aircraft of the flying object 4, and the like may be included. A plurality of these functions may be provided, or any one of them may be provided.
＜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。本実施の形態においては、管理サーバ１は、通信部１１０、フライトミッション生成部１２０、第４飛行経路取得部１３０、飛行体利用管理部１４０、過去飛行経路呼出部１５０、記憶部１６０、レポート生成部１７０を備えている。フライトミッション生成部１２０は、第１飛行経路生成部１２１、第２飛行経路生成部１２３、第３飛行経路生成部１２５を含む。また、記憶部１６０は、飛行経路情報記憶部１６２、フライトログ記憶部１６４、飛行体情報記憶部１６６、インターフェース情報記憶部１６８などの各種データベースを含む。さらに、図６に示すように、飛行経路情報記憶部１６２は、第１飛行経路記憶部１６２１、第２飛行経路記憶部１６２３、第３飛行経路記憶部１６２５、第４飛行経路記憶部１６２７を含む。 <Management server function>
FIG. 5 is a block diagram illustrating the functions implemented in the management server 1. In the present embodiment, the management server 1 includes a communication unit 110, a flight mission generation unit 120, a fourth flight route acquisition unit 130, an air vehicle utilization management unit 140, a past flight route calling unit 150, a storage unit 160, and a report generation. The unit 170 is provided. The flight mission generation unit 120 includes a first flight route generation unit 121, a second flight route generation unit 123, and a third flight route generation unit 125. Further, the storage unit 160 includes various databases such as a flight path information storage unit 162, a flight log storage unit 164, an air vehicle information storage unit 166, and an interface information storage unit 168. Further, as shown in FIG. 6, the flight path information storage unit 162 includes a first flight path storage unit 1621, a second flight path storage unit 1623, a third flight path storage unit 1625, and a fourth flight path storage unit 1627. ..
　通信部１１０は、端末２や、飛行体４、飛行体格納装置５と通信を行う。通信部１１０は、端末２から、予約開始要求を受け付ける受付部としても機能する。なお、予約開始要求として、例えば、飛行場所、利用用途、利用予定日時、選択した料金、飛行体の数などを含んでもよい。 The communication unit 110 communicates with the terminal 2, the flying object 4, and the flying object storage device 5. The communication unit 110 also functions as a reception unit that receives a reservation start request from the terminal 2. The reservation start request may include, for example, the flight location, intended use, scheduled usage date and time, selected charge, number of flying objects, and the like.
　フライトミッション生成部１２０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、少なくとも飛行経路を含む。飛行経路は、例えば、第１飛行経路生成部１２１において、ユーザが端末２上において設定した地点と、後述する飛行体利用管理部１４０により選択された飛行体４および／または飛行体格納装置５の位置に基づいて、第１飛行経路として生成される。また、飛行経路は、例えば地図情報などに基づき、一定の高さを超える建造物等や飛行制限が設けられた地域を判定し、その建造物等や地域を避けるように生成され得る。さらに、飛行経路は、例えば気象情報（例えば、気温、風速、風向き、天候等）や飛行体４の交通情報、異常情報（例えば、山火事や航空機イベントなど）などの飛行環境情報を勘案して、例えば飛行リスクの高い場所を避けるように、飛行経路を生成されてもよいし、または、すでに生成された飛行経路を補正してもよい。また、飛行環境情報に合わせて、利用予定状況を変更してもよく（例えば、占有していた飛行体４および／または飛行体格納装置５の変更など）、さらに変更に際して、端末２において変更内容（例えば、利用料金や各飛行経路での安全度など）を表示し、変更の可否を選択可能なような構成としてもよい。なお、フライトミッションに含まれる飛行経路は、例えば、図１４－２６において後述する飛行経路を含み、必要に応じて、他の飛行体４および／または飛行体格納装置５に対してもフライトミッションが送信され得る。 Flight mission generation unit 120 generates flight missions. Flight missions include at least the flight path. The flight path is, for example, a point set by the user on the terminal 2 in the first flight path generation unit 121, and the flight body 4 and / or the flight body storage device 5 selected by the flight body utilization management unit 140 described later. Generated as a first flight path based on position. Further, the flight path can be generated so as to determine a building or the like exceeding a certain height or an area where a flight restriction is provided based on map information or the like, and avoid the building or the area. Further, the flight path takes into consideration flight environment information such as weather information (for example, temperature, wind speed, wind direction, weather, etc.), traffic information of the flying object 4, and abnormal information (for example, forest fire, aircraft event, etc.). For example, a flight path may be generated or a flight path that has already been generated may be corrected so as to avoid a place with a high flight risk. In addition, the planned usage status may be changed according to the flight environment information (for example, the occupied flying object 4 and / or the flying object storage device 5 is changed), and when the change is made, the change content is changed on the terminal 2. (For example, the usage fee, the degree of safety in each flight route, etc.) may be displayed so that the possibility of change can be selected. The flight path included in the flight mission includes, for example, the flight path described later in FIGS. 14-26, and if necessary, the flight mission also includes the flight body 4 and / or the flight body storage device 5. Can be sent.
　さらに、例えば、点検や測量において、対象物に対する飛行経路が予め設定可能な場合（例えば、対象物の周辺を旋回したり、壁面に沿って網羅的に飛行したりするなど）においては、フライトミッション生成部１２０は、第３飛行経路生成部１２５を備えていてもよい。第３飛行経路生成部１２５は、例えば、第１飛行経路記憶部１６２１及び第２飛行経路記憶部１６２３を参照し、第３飛行経路を生成してもよい。第１飛行経路は、上述の第１飛行経路と実質的に同様であり得る。第２飛行経路については、第２飛行経路生成部１２３により生成され、例えば、対象旋回半径や旋回中のウェイポイント（ＷＰ）数等を設定することで自動的に生成される構成でもよいし、予め設定済みの飛行経路および／またはウェイポイントを呼び出す構成でもよいし、対象物の形状若しくは第２飛行経路の経路長や作業時間に応じて手動でウェイポイントを設定するようにしてもよい。なお、第２飛行経路の具体例として旋回する経路を例示しているが、これに限らず、任意に生成される経路であってよい。 Furthermore, for example, in inspections and surveys, when the flight path to the object can be set in advance (for example, turning around the object or flying comprehensively along the wall surface), the flight mission The generation unit 120 may include a third flight path generation unit 125. The third flight path generation unit 125 may generate a third flight path by referring to, for example, the first flight path storage unit 1621 and the second flight path storage unit 1623. The first flight path can be substantially similar to the first flight path described above. The second flight path may be generated by the second flight path generation unit 123, and may be automatically generated by setting the target turning radius, the number of waypoints (WP) during turning, or the like. A preset flight path and / or waypoint may be called, or the waypoint may be manually set according to the shape of the object, the path length of the second flight path, or the working time. Although a turning path is illustrated as a specific example of the second flight path, the path is not limited to this and may be an arbitrarily generated path.
　第３飛行経路生成部１２５は、第１飛行経路と第２飛行経路（および／または後述の第４飛行経路）を結合することで、第３飛行経路を生成する。具体的な生成例の一つとしては、各飛行経路が複数のウェイポイント（位置座標情報を含む）から構成されており、第１飛行経路と第２飛行経路の最も近接したウェイポイント（位置座標）同士を接続点として、両飛行経路を連続して飛行するように第３飛行経路を生成することができるが、これに限定されない。 The third flight path generation unit 125 generates a third flight path by combining the first flight path and the second flight path (and / or the fourth flight path described later). As one of the specific generation examples, each flight path is composed of a plurality of waypoints (including position coordinate information), and the closest waypoints (position coordinates) between the first flight path and the second flight path. ) Can be used as a connection point to generate a third flight path so as to fly continuously on both flight paths, but the present invention is not limited to this.
　また、例えば、第１の飛行経路に代えて（または、第１及び第２の飛行経路に加えて）、管理サーバ１外で生成された第４飛行経路を取得する第４飛行経路取得部１３０を備えていてもよい。第４飛行経路取得部１３０は、通信部１１０を介して管理サーバ１外で生成された第４飛行経路を取得し、第４飛行経路記憶部１６２７に記憶する。第４飛行経路は、例えば、衛星または飛行体から撮像した俯瞰画像（例えば、衛星写真や航空写真など）または当該俯瞰画像を平面上に表した図（例えば、地図や路線図など）に基づいて生成されたものである。より具体的な例としては、第４飛行経路は、飛行体とは異なる形態の移動体またはヒトを含む動物が移動可能な経路に沿った移動経路（例えば、車道や線路、航路、歩道、山道、獣道など）であり得る。この移動経路は、例えば、端末２上でＡＰＩ（Ａｐｐｌｉｃａｔｉｏｎ　Ｐｒｏｇｒａｍｍｉｎｇ　Ｉｎｔｅｒｆａｃｅ）やアプリケーションソフトなどを用いて、上述の画像や図を基に、飛行開始位置や経由位置、対象物の位置などを指定すると、その位置情報が直接または管理サーバ１を経由して外部のサーバ等（不図示）にネットワークを介して送信され、当該位置情報に基づいた移動体が移動可能な経路を検索し、その結果を管理サーバ１に送信する。管理サーバ１は、その検索結果の経路を第４飛行経路として取得し、第４飛行経路記憶部１６２７に記憶することができる。これにより、移動経路上を飛行することになるため、対象物の情報のみならず、対象物までの移動経路上の情報も取得することが可能となる。そのため、例えば、対象物までの道路の渋滞状況確認や、災害時における対象物までの経路状況確認、遭難者捜索時における山道捜索など、様々な状況において利用可能である。なお、この時の移動経路上の取得情報は動画像であってもよいし、設定されたウェイポイントでの撮像画像であってもよい。 Further, for example, the fourth flight path acquisition unit 130 that acquires the fourth flight path generated outside the management server 1 in place of the first flight path (or in addition to the first and second flight paths). May be provided. The fourth flight path acquisition unit 130 acquires the fourth flight path generated outside the management server 1 via the communication unit 110, and stores it in the fourth flight path storage unit 1627. The fourth flight path is based on, for example, a bird's-eye view image (for example, a satellite photograph or an aerial photograph) taken from a satellite or an air vehicle, or a map (for example, a map or a route map) showing the bird's-eye view image on a plane. It was generated. As a more specific example, the fourth flight path is a movement path (for example, a roadway, a railroad track, a route, a sidewalk, a mountain road) along a path in which a moving body different from the flying object or an animal including a human can move. , Beast trail, etc.). For this movement route, for example, when the flight start position, the waypoint position, the position of the object, etc. are specified based on the above-mentioned images and figures by using API (Application Programming Interface) or application software on the terminal 2. The location information is transmitted directly or via the management server 1 to an external server or the like (not shown) via a network, searches for a route on which the moving body can move based on the location information, and manages the result. Send to server 1. The management server 1 can acquire the route of the search result as the fourth flight route and store it in the fourth flight route storage unit 1627. As a result, since the flight is carried out on the movement route, it is possible to acquire not only the information on the object but also the information on the movement route to the object. Therefore, for example, it can be used in various situations such as confirmation of traffic congestion on the road to the object, confirmation of the route to the object in the event of a disaster, and search for a mountain road when searching for a victim. The acquired information on the movement path at this time may be a moving image or an image captured at a set waypoint.
　なお、管理サーバ１外にて経路検索を行うことで管理サーバ１の負荷を減らすことが可能であるが、もし管理サーバ１の記憶容量や処理能力などが許すならば、管理サーバ１内で経路検索を行うようにしてもよい。また、飛行体とは異なる形態の移動体またはヒトを含む動物が移動可能な経路に沿った移動経路を第４飛行経路とすることとしていたが、これに限らず、例えば画像認識により得られる経路（例えば、山脈等の尾根やフェンス、屋根、電線など）であってもよいし、一般的な検索方法（例えば、ダイクストラ法や最良優先探索、Ａアルゴリズムなど）やＡＩなどを用いて検索可能な経路であれば、そのすべてを対象とすることが可能である。 It is possible to reduce the load on the management server 1 by performing a route search outside the management server 1, but if the storage capacity and processing capacity of the management server 1 allow, the route is within the management server 1. You may want to do a search. Further, the fourth flight path is a moving path different from that of the flying object or a moving path along a path in which an animal including a human can move, but the present invention is not limited to this, and for example, a path obtained by image recognition. It may be (for example, a ridge of a mountain range, a fence, a roof, an electric wire, etc.), or it can be searched using a general search method (for example, Dijkstra's algorithm, best-first search, A algorithm, etc.) or AI. If it is a route, it is possible to target all of them.
　飛行体利用管理部１４０は、例えばユーザが選択した地点の情報に基づき、管理サーバ１内の飛行体情報記憶部１６６から所定の地域に配備されている複数の飛行体情報を取得し、ユーザが設定した予約情報との比較および飛行体の候補を選択し、いわゆるマッチングを行う。このマッチングのための構成は、例えばデータテーブルを用いたり、後述するような飛行体４の選択やフライトミッションの作成を行う過程で得られた情報を教師データとしてＡＩによる解析を用いたりなど、既知の技術により構成されていてよい。また、複数の飛行体情報は、例えば利用用途が限定的な場合には、少なくとも各飛行体の識別名や機体スペック、バッテリースペック、バッテリー残量、ＥＳＣ若しくはモータ等の温度情報、充電方式、機体状況（例えば、点検中、修理中、正常など）などの情報であるが、利用用途が複数ある場合には、さらに各飛行体に搭載されたペイロードに関する情報（例えば、カメラの種類や警備装備の種類など）や積載物の種類なども含まれる。なお、飛行体のバッテリー残量の情報は、飛行体から直接取得する場合に限らず、例えば、飛行体格納装置５を経由した通信により取得したり、飛行体格納装置５が充電を行う際に得た情報に基づいて取得したり、例えば管理サーバ１等においてバッテリーのスペックや飛行時間若しくは飛行距離などから算出されたものであってもよい。 The flight body utilization management unit 140 acquires a plurality of flight body information deployed in a predetermined area from the flight body information storage unit 166 in the management server 1 based on the information of the point selected by the user, for example, and the user can obtain the information. Comparison with the set reservation information and selection of flight object candidates are performed, so-called matching is performed. The configuration for this matching is known, for example, using a data table, or using AI analysis using information obtained in the process of selecting a flying object 4 or creating a flight mission as described later as teacher data. It may be composed of the above techniques. In addition, the plurality of aircraft information includes, for example, when the usage is limited, at least the identification name and aircraft specifications of each aircraft, battery specifications, battery level, temperature information such as ESC or motor, charging method, and aircraft. Information such as the status (for example, under inspection, repair, normal, etc.), but if there are multiple uses, information about the payload mounted on each aircraft (for example, camera type and security equipment) Types, etc.) and types of loads are also included. It should be noted that the information on the remaining battery level of the flying object is not limited to the case where it is directly acquired from the flying object, for example, when it is acquired by communication via the flying object storage device 5 or when the flying object storage device 5 charges. It may be acquired based on the obtained information, or may be calculated from the battery specifications, flight time, flight distance, etc. on the management server 1 or the like.
　また、飛行体利用管理部１４０は、マッチングの結果に基づき選定された利用候補の飛行体４を利用する際の料金を算出するための料金算出機能をさらに有する。料金の算出は、例えば、飛行時間や、飛行体占有時間、飛行体のスペック、ペイロードの種類（カメラ、センサ、物品運搬用かご、ベビーシートなどのオプション等）、利用に関連した飛行体４および／または飛行体格納装置５の台数（図１７等にて後述するような退避した飛行体４やそれに関連した飛行体格納装置５も含む）、予約時刻からの即応性、指定時刻からの直近性、利用ニーズ（例えば利用ニーズの高い飛行体４や利用時間帯など）、飛行体格納装置５における給電時間や給電量などから算出されてもよい。 In addition, the flight object utilization management unit 140 further has a charge calculation function for calculating the charge for using the utilization candidate aircraft 4 selected based on the matching result. The calculation of the charge is, for example, flight time, flight body occupancy time, flight body specifications, payload type (options such as camera, sensor, goods carrying basket, baby seat, etc.), flight body 4 related to use, and / Or the number of flight object storage devices 5 (including the retracted flight object 4 and the flight object storage device 5 related thereto as described later in FIG. 17 and the like), responsiveness from the reserved time, and proximity from the specified time. , It may be calculated from the usage needs (for example, the flying object 4 having high usage needs, the usage time zone, etc.), the feeding time and the feeding amount in the flying object storage device 5.
　また、飛行体利用管理部１４０は、利用候補の飛行体４や端末２により選定された飛行体４に関する飛行体情報記憶部１６６の飛行体情報を更新する機能を有していてもよい。そして、飛行体情報記憶部１６６から取得した情報を基に、例えば、１つの目的地の近隣に複数の飛行体４が集中して配置されたことを判定した場合には、近隣の飛行体格納装置５で必要最低限の充電を行うための暫定的な着陸を受け入れ、その充電が終わった飛行体４から必要な地域に分散配置されるように順次移動させるようにしてもよい。 Further, the flight object utilization management unit 140 may have a function of updating the flight object information of the flight object information storage unit 166 regarding the flight object 4 selected by the flight object 4 or the terminal 2 as a candidate for use. Then, based on the information acquired from the flight object information storage unit 166, for example, when it is determined that a plurality of flight objects 4 are concentratedly arranged in the vicinity of one destination, the nearby flight objects are stored. The device 5 may accept a provisional landing for the minimum required charge, and may sequentially move the charged vehicle 4 so as to be distributed in the required area.
　また、飛行体利用管理部１４０は、飛行中の飛行体４に異常が発生したか否かに基づいて、飛行体４および／または飛行体格納装置５の利用状況の変更を行い、異常が発生した飛行体４を飛行体格納装置５や飛行体４を管理する者のところまで飛行させるようにしてもよい。 Further, the flight object utilization management unit 140 changes the usage status of the flight object 4 and / or the flight object storage device 5 based on whether or not an abnormality has occurred in the flight object 4 in flight, and the abnormality occurs. The resulting flying object 4 may be flown to the flying object storage device 5 or the person who manages the flying object 4.
　また、飛行体利用管理部１４０は、例えば、飛行体格納装置５に関する飛行体格納装置情報（不図示）に基づいて、マッチングを行ったり、料金を算出したりしてもよい。飛行体格納装置情報とは、上述の飛行体格納装置の各機能の能力やその高低、予約等に応じた飛行体格納装置の占有の有無、識別名、設置場所情報、格納可能機体数、充電ポート数などであってもよい。 Further, the flight object utilization management unit 140 may perform matching or calculate a charge based on, for example, the flight object storage device information (not shown) regarding the flight object storage device 5. The aircraft storage device information is the ability of each function of the above-mentioned aircraft storage device, its height, whether or not the flight body storage device is occupied according to the reservation, identification name, installation location information, number of storable aircraft, and charging. It may be the number of ports or the like.
　過去飛行経路呼出部１５０は、過去飛行経路記憶部１６２９を参照して、過去飛行経路を飛行経路として呼び出す。過去に生成された飛行経路は、過去飛行経路記憶部１６２９に手動または自動で保存されている。 The past flight route calling unit 150 calls the past flight route as a flight route with reference to the past flight route storage unit 1629. The flight paths generated in the past are manually or automatically stored in the past flight path storage unit 1629.
　インターフェース情報記憶部１６８は、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。 The interface information storage unit 168 stores various control information for display on the display unit (display or the like) of the terminal 2.
　レポート生成部１７０は、フライトログ記憶部１６４に基づいて端末２に送信するためのレポート情報を生成する。本システムにおいては、例えば、フライトミッションにて設定された飛行経路上にて、飛行体４により取得された情報（静止画像、動画像、音声その他の情報）や飛行経路自体、電力消費結果、飛行体の現在位置、異常内容および発生個所、搭乗人数または荷物積載量などが、フライトログとしてフライトログ記憶部１６４に蓄積される。 The report generation unit 170 generates report information to be transmitted to the terminal 2 based on the flight log storage unit 164. In this system, for example, on the flight path set in the flight mission, the information (still image, moving image, sound, and other information) acquired by the flying object 4, the flight path itself, the power consumption result, and the flight The current position of the body, the content of the abnormality, the location of the abnormality, the number of passengers, the load capacity of luggage, and the like are accumulated in the flight log storage unit 164 as a flight log.
　図７－１３を参照して、本システムの基本的な表示例、特に荷物等の運搬に関する飛行体予約についての表示例を示す。なお、本システムの利用目的は、必ずしも飛行体予約に限らず、一以上の飛行体４及び飛行体格納装置５が所定の地域に配備されており、それらを端末２から利用するような状況であれば、どのような目的に使用されてもよく、例えば、企業が保有する敷地や建物内に複数飛行体を設置しており、従業員等がこれを用いて作業するような状況であってもよい。 With reference to FIG. 7-13, a basic display example of this system, particularly a display example of a flight object reservation related to transportation of luggage or the like is shown. The purpose of using this system is not necessarily limited to flight object reservation, but in a situation where one or more flight objects 4 and flight object storage devices 5 are deployed in a predetermined area and they are used from the terminal 2. If there is, it may be used for any purpose. For example, in a situation where multiple flying objects are installed in a site or building owned by a company and employees or the like work with them. May be good.
　図７には、本システム利用時のフローチャートが例示されている。このフローチャートでは、例示的に端末２上でアプリケーションを起動する構成を示しているが、これに限らず、例えば管理サーバ１や飛行体格納装置５がアプリケーションを起動可能なプロセッサと入出力装置を有し、各種設定等が可能な構成であってもよい。 FIG. 7 illustrates a flowchart when using this system. In this flowchart, the configuration for starting the application on the terminal 2 is shown as an example, but the present invention is not limited to this, and for example, the management server 1 and the aircraft storage device 5 have a processor and an input / output device capable of starting the application. However, it may be configured so that various settings can be made.
　まず、ユーザは、端末２において、例えば飛行体予約のアプリケーションを起動する（ＳＱ１０１）。このアプリケーションは、例えば端末２に記憶されていてもよいし、ネットワークを介して接続される管理サーバ１または他のサーバ（不図示）から提供されるソフトウェア（いわゆるＳａａＳ）であってもよい。図８は予約開始前の表示画面の表示例である。例えば、表示画面には地図やフロア図などの画像が表示されており、端末２に備えられたＧＰＳなどから取得される現在位置が示されている。また、例えば、表示画面内には、飛行体を利用するための予約開始ボタンや、利用頻度の高い飛行体の用途や行き先を予め設定し、それを呼び出すためのお気に入りボタン、過去に利用した際の詳細履歴を表示するための履歴ボタンなどが配置されていてもよい。 First, the user starts, for example, an application for aircraft reservation on the terminal 2 (SQ101). This application may be stored in the terminal 2, for example, or may be software (so-called SaaS) provided by the management server 1 or another server (not shown) connected via a network. FIG. 8 is a display example of the display screen before the start of reservation. For example, an image such as a map or a floor map is displayed on the display screen, and the current position acquired from GPS or the like provided in the terminal 2 is shown. In addition, for example, in the display screen, a reservation start button for using the flying object, a favorite button for setting the usage and destination of the frequently used flying object in advance and calling it, and when used in the past A history button or the like for displaying the detailed history of the flight may be arranged.
　次に、ユーザは、アプリケーション上で飛行体の利用用途を設定する（ＳＱ１０２）。例えば、予約を開始すると、図９のような用途を設定する画面が表示される。用途は、例えば、運搬、空撮、測量、検査、警備、捜索、（飛行体への）搭乗などの項目があり得る。運搬の場合には、図９に記載されるように、運搬物の重さや大きさ等を選択する項目があり得る。空撮の場合には、撮影地点や範囲、撮影対象の大きさ、高さ、形状や、所望の画質、所望の撮影モード、カメラ種類等を選択する項目などがあり得る。測量の場合には、測量地点や範囲、測量対象の形状や、所望の画質、所望の撮影モード、カメラ種類等を選択する項目などがあり得る。検査の場合には、検査対象の大きさや高さ、形状や、検査内容、カメラ種類等を選択する項目などがあり得る。警備の場合には、警備の場所（屋内、屋外等）、警備対象（不審者、動物等）や、必要な装備（カメラ、センサ類、ペイントボール等）を選択する項目などがあり得る。捜索の場合には、捜索地点や範囲、捜索対象（遭難者、動物等）、必要な装備（カメラ、センサ類、スピーカ等）を選択する項目などがあり得る。搭乗の場合には、搭乗人数、手荷物量、ベビーシートなどのオプションの有無、飛行体の数等を選択する項目などがあり得る。また、例えば、表示画面内では、現在の設定項目が枠囲いなどで明示されていてもよい。 Next, the user sets the usage of the flying object on the application (SQ102). For example, when the reservation is started, the screen for setting the usage as shown in FIG. 9 is displayed. Applications can include items such as transport, aerial photography, surveying, inspection, security, search, and boarding (on a flying object). In the case of transportation, as shown in FIG. 9, there may be an item for selecting the weight, size, etc. of the transported object. In the case of aerial photography, there may be items such as a shooting point and range, a size, height, and shape of a shooting target, a desired image quality, a desired shooting mode, a camera type, and the like. In the case of surveying, there may be items such as a surveying point and range, a shape of a surveying object, a desired image quality, a desired shooting mode, a camera type, and the like. In the case of inspection, there may be items for selecting the size, height, shape, inspection content, camera type, etc. of the inspection target. In the case of security, there may be items such as a security location (indoors, outdoors, etc.), a security target (suspicious person, animal, etc.), and necessary equipment (cameras, sensors, paintball, etc.). In the case of a search, there may be items such as a search point and range, a search target (distressed person, animal, etc.), and necessary equipment (camera, sensors, speakers, etc.). In the case of boarding, there may be items such as the number of passengers, the amount of baggage, the presence or absence of options such as baby seats, the number of flying objects, and the like. Further, for example, in the display screen, the current setting item may be clearly indicated by a frame or the like.
　次に、ユーザは、アプリケーション上で飛行体の予約日時を設定する（ＳＱ１０３）。図１０のように、例えば、予約日時を設定する画面が表示される。予約日時は、「指定場所到着日時」、「指定場所出発日時」、「予約成立次第出発」「指定場所飛行開始日時」、「指定場所飛行終了日時」等を指定することがあり得る。定期的な利用の場合には、例えば「利用期間」や「利用期間内における撮影日時」、「予約期間中一定周期で利用」等を指定することもあり得る。さらに、日時の指定の一助となるように「現在日時」を表示するようにしてもよい。 Next, the user sets the reservation date and time of the aircraft on the application (SQ103). As shown in FIG. 10, for example, a screen for setting a reservation date and time is displayed. As the reservation date and time, "designated place arrival date and time", "designated place departure date and time", "departure as soon as the reservation is made", "designated place flight start date and time", "designated place flight end date and time" and the like may be specified. In the case of regular use, for example, "use period", "shooting date and time within the use period", "use at a fixed cycle during the reservation period", etc. may be specified. Further, the "current date and time" may be displayed to help specify the date and time.
　次に、ユーザは、アプリケーション上で飛行体が向かう先の地点を設定する（ＳＱ１０４）。図１１及び図１２のように、例えば、運搬のための始点（例えば、ユーザの現在位置や所定の預かり物集荷場所、端末２に表示された飛行体格納装置の位置のうちユーザが選択した飛行体格納装置の場所など）や終点（例えば、運搬先の建物や所定の運搬物集荷場所、端末２に表示された飛行体格納装置の位置のうちユーザが選択した飛行体格納装置の場所など）を設定する画面が表示される。なお、空撮や検査等において、対象が一か所である場合などには、必ずしも複数の点（例えば、始点と終点など）を指定する必要はなく、対象地点を一か所指定すれば足りることとしてもよい。また、複数の対象地点や経由地がある場合には、例えば、表示画面上の「経由値追加」ボタンを選択し、経由地を設定する画面に遷移してもよい。さらに、始点と終点が判別可能であればよいので、例えば、指またはポインタにより表示画面上に線を描くようにして経路を設定するようにしてもよい。 Next, the user sets the destination point where the air vehicle heads on the application (SQ104). As shown in FIGS. 11 and 12, for example, a flight selected by the user from among the starting point for transportation (for example, the user's current position, a predetermined deposit collection location, and the position of the flying object storage device displayed on the terminal 2). (For example, the location of the body storage device) and the end point (for example, the destination building, the predetermined collection location for the transported object, the location of the vehicle storage device selected by the user among the positions of the vehicle storage device displayed on the terminal 2, etc.) The screen for setting is displayed. In aerial photography, inspection, etc., when the target is one place, it is not always necessary to specify multiple points (for example, start point and end point), it is sufficient to specify one target point. It may be that. Further, when there are a plurality of target points and waypoints, for example, the "add waypoint value" button on the display screen may be selected to transition to the screen for setting the waypoints. Further, since it is sufficient that the start point and the end point can be discriminated, for example, the route may be set by drawing a line on the display screen with a finger or a pointer.
　次に、ユーザが例えば図１２の決定ボタンを押下するなどして予約開始要求を管理サーバ１に送信する（ＳＱ１０５）と、例えばユーザが選択した地点の情報に基づき、管理サーバ１内の記憶部１６０などから所定の地域に配備されている複数の飛行体情報を取得し、ユーザが設定した予約情報との比較および飛行体の候補を選択し、いわゆるマッチングを行う（ＳＱ１０６）。そして、管理サーバ１は、マッチング結果に基づき選定された利用候補の飛行体４を利用する際の料金を算出し、少なくとも算出された料金情報を端末２に送信する（ＳＱ１０７）。なお、上述のとおり、マッチングおよび／または料金の算出には、多くのパラメータが存在するため、マッチングの結果により飛行体４および／または飛行体格納装置５が複数選択された場合には少なくとも料金情報も複数送信され得ることは明らかであるが、例えばマッチングの結果によって飛行体４が１台指定されたとしても、少なくとも料金情報が、例えば到着予定時刻までの直近性や、飛行経路の安全度等により複数送信されることもあり得る。 Next, when the user sends a reservation start request to the management server 1 (SQ105), for example, by pressing the enter button in FIG. 12, the storage unit in the management server 1 is based on the information of the point selected by the user, for example. A plurality of flight object information deployed in a predetermined area is acquired from 160 or the like, comparison with reservation information set by the user, selection of flight object candidates, and so-called matching are performed (SQ106). Then, the management server 1 calculates the charge for using the use candidate aircraft 4 selected based on the matching result, and transmits at least the calculated charge information to the terminal 2 (SQ107). As described above, since there are many parameters in the matching and / or the calculation of the charge, at least the charge information is obtained when a plurality of the flying objects 4 and / or the flying object storage devices 5 are selected as a result of the matching. Although it is clear that a plurality of flight objects can be transmitted, for example, even if one flight object 4 is specified by the matching result, at least the charge information includes, for example, the proximity to the estimated arrival time, the safety level of the flight route, and the like. It is possible that multiple transmissions will be made.
　次に、ユーザは、アプリケーション上で飛行体の利用料金を選択する（ＳＱ１０８）。図１３のように、例えば、料金を選択する画面が表示されるが、図示されるように複数の料金情報が提示される態様に限らず、マッチング結果や表示のための設定などに応じて、１つの料金情報が提示される態様であってもよい。また、図１３に図示されるような表示内容に限らず、例えば、具体的な飛行経路の表示や、飛行体４に関する情報（例えば、ペイロードの種類等）などを参照可能になっていてもよく、その表示は、料金表示に併記されていてもよいし、「詳細」ボタン（不図示）を選択することによって確認可能になっていてもよい。図１３に記載の例では、到着予定時刻までの直近性に応じて料金が設定されており、料金の安い順に表示されるようになっているが、これに限らず、例えば、飛行時間の長さによる表示順（特に、搭乗の場合）にしたり、飛行における安全度による表示順にしたり、警備のセキュリティレベルの高さによる表示順など、様々な順番で表示され得る。 Next, the user selects the usage fee of the aircraft on the application (SQ108). As shown in FIG. 13, for example, a screen for selecting a charge is displayed, but the mode is not limited to the mode in which a plurality of charge information is presented as shown in the figure, and depending on the matching result, the setting for display, and the like. It may be a mode in which one charge information is presented. Further, the display content is not limited to that shown in FIG. 13, and for example, it may be possible to refer to a specific flight path display, information on the flying object 4 (for example, the type of payload, etc.). , The display may be written together with the charge display, or may be confirmed by selecting the "Details" button (not shown). In the example shown in FIG. 13, charges are set according to the closestness to the estimated time of arrival, and the charges are displayed in ascending order, but the flight time is not limited to this, for example, the length of flight time. It can be displayed in various orders, such as the display order according to the size (especially in the case of boarding), the display order according to the safety level in flight, the display order according to the high security level of security, and so on.
　なお、マッチング（ＳＱ１０６）は、予約開始要求が送信されたタイミング（ＳＱ１０５）に限らず、例えば、ユーザが予約に関する情報を設定する各タイミング（例えば、ＳＱ１０２、ＳＱ１０３など）の後でそれぞれ実行してもよく、その結果に応じて、端末２において、アプリケーション上で予約情報の各項目の設定可否を表示したり、選択できない項目を非表示にしたりしてもよい。 The matching (SQ106) is not limited to the timing at which the reservation start request is transmitted (SQ105), but is executed after each timing (for example, SQ102, SQ103, etc.) in which the user sets information regarding the reservation, for example. Depending on the result, the terminal 2 may display whether or not each item of the reservation information can be set on the application, or may hide the item that cannot be selected.
　次に、管理サーバ１は、端末２から選択した飛行体４および／または飛行体格納装置５に関する情報を受信し（ＳＱ１０９）、受信した情報からフライトミッションを作成した後、飛行体４へのフライトミッションを送信し（ＳＱ１１０）、フライトミッションに応じたミッションを飛行体４が実行する（ＳＱ１１１）。 Next, the management server 1 receives information about the aircraft 4 and / or the aircraft storage device 5 selected from the terminal 2 (SQ109), creates a flight mission from the received information, and then flies to the aircraft 4. A mission is transmitted (SQ110), and the aircraft 4 executes a mission according to the flight mission (SQ111).
　次に、飛行体４は、ミッションが完了するとフライトログを管理サーバ１に送信する（ＳＱ１１２）。管理サーバ１は、送信されたフライトログに基づきレポートを生成して（ＳＱ１１３）、そのレポートを結果として端末２に出力し（ＳＱ１１４）、端末２上に表示する。なお、フライトログおよび／またはレポートは、例えばミッションが完全に遂行された場合だけでなく、逐次出力することも可能である。その場合、例えばミッションの経過情報という形で、飛行体４の現在位置や取得済みの情報（例えば撮影画像や、点検完了箇所若しくは異常発生箇所の位置情報など）などをレポートとして端末２に表示してもよく、例えば、経過情報を地図やフロア図などの画像に重畳したものを含むレポートを表示してもよい。 Next, the flight body 4 transmits the flight log to the management server 1 when the mission is completed (SQ112). The management server 1 generates a report based on the transmitted flight log (SQ113), outputs the report to the terminal 2 as a result (SQ114), and displays it on the terminal 2. Note that flight logs and / or reports can be output sequentially, for example, not only when the mission is completely completed. In that case, for example, in the form of mission progress information, the current position of the flying object 4 and the acquired information (for example, the photographed image and the position information of the inspection completed location or the abnormality occurrence location) are displayed on the terminal 2 as a report. Alternatively, for example, a report including a progress information superimposed on an image such as a map or a floor map may be displayed.
　なお、ユーザからの要求に基づき、飛行体４の選択やフライトミッションの作成を行う過程で得られた情報は、管理サーバ１内に蓄積され得る。そして、蓄積された情報は、例えば始点や終点、経由地として選択された位置や利用時間帯に関する情報であり、利用ニーズの高低等の分析に用いられ、飛行体格納装置５の設置位置や設置台数の検討や飛行体４の分散配置の分布の検討などに利用され得る。また、蓄積された情報は、飛行経路や利用時間帯等の情報とこれらに関連付けた飛行実績（例えば、所要時間や消費バッテリー量など）であり、飛行体候補選定時や飛行経路作成時にこれを勘案して、より精度の高いマッチングが可能となり、さらには飛行に関する予測（例えば、予定所要時間など）との差が生じるメカニズムや要因等（例えば、混雑状況や風の影響など）を分析する際に利用されてもよい。さらに、蓄積された情報は、ユーザごとの利用履歴であり、例えば、利用頻度の高い利用目的に合わせて、さらに課金することにより利用可能なプレミアムコース（例えば、予約できない状況がないように飛行体４を占有していたり、ハイスペックな飛行体４をディスカウントで利用できるなどが可能なコース）への加入を促したり、飛行体４の購入を促したりするなどのマーケティングに用いるようにしてもよい。 Note that the information obtained in the process of selecting the flight object 4 and creating the flight mission based on the request from the user can be accumulated in the management server 1. The accumulated information is, for example, information on a start point, an end point, a position selected as a stopover, and a usage time zone, and is used for analysis of high and low usage needs, and is used for the installation position and installation of the flying object storage device 5. It can be used for studying the number of aircraft and the distribution of the distributed arrangement of the flying objects 4. In addition, the accumulated information is information such as flight routes and usage time zones, and flight results associated with these (for example, required time, amount of battery consumption, etc.), which can be used when selecting a flight object candidate or creating a flight route. Taking this into consideration, more accurate matching is possible, and when analyzing mechanisms and factors (for example, congestion conditions and wind effects) that cause differences from flight forecasts (for example, scheduled travel time). It may be used for. Furthermore, the accumulated information is a usage history for each user. For example, a premium course that can be used by further charging according to the purpose of use that is frequently used (for example, an aircraft so that there is no situation where reservations cannot be made). It may be used for marketing such as occupying 4 or encouraging participation in a course where high-spec air vehicle 4 can be used at a discount), or encouraging purchase of air vehicle 4. ..
　また、飛行体４を認証する仕組みが備えられていてもよい。この仕組みとして、例えば、管理サーバ１、端末２、飛行体４および／または飛行体格納装置５に設けられた、バーコードリーダ、ＩＣカードリーダや認証情報（ユーザＩＤやパスワード、機体情報（機種コードや製造番号等）、生体情報（顔、音声、筆跡等）など）を受け付けるインターフェースを用いてもよく、本システムの各構成間で相互に認証が行われてもよい。 Also, a mechanism for authenticating the flying object 4 may be provided. As this mechanism, for example, a barcode reader, an IC card reader, and authentication information (user ID, password, aircraft information (model code) provided in the management server 1, terminal 2, aircraft 4 and / or aircraft storage device 5) are provided. , Serial number, etc.), biometric information (face, voice, handwriting, etc.), etc.) may be used, and mutual authentication may be performed between the configurations of this system.
　図１４－２６を参照して、選択された飛行体の飛行経路の例を示す。図１４では、始点近隣に配置された飛行体格納装置５１－５４のうち、例えば電池残量や機体スペック等に基づき選択された飛行体４１が飛行体格納装置５１から飛行経路Ａに沿って始点まで飛行し、例えばユーザから荷物を集荷し、飛行経路Ｂに沿って終点まで飛行し、例えば飛行体から荷物をおろし、飛行経路Ｃに沿って、元の飛行体格納装置５１へ帰還している。 An example of the flight path of the selected aircraft is shown with reference to FIGS. 14-26. In FIG. 14, among the flying object storage devices 51-54 arranged near the starting point, the flying object 41 selected based on, for example, the remaining battery level and the aircraft specifications, is selected from the flying object storage device 51 along the flight path A as the starting point. Flying to, for example, picking up luggage from the user, flying to the end point along flight path B, for example, unloading luggage from the flying object and returning to the original flying object storage device 51 along flight path C. ..
　図１５では、図１４の飛行経路Ｂに代えて、始点から飛行経路Ｂ１に沿って経由地まで飛行し、例えば別の荷物をさらに集荷、または、荷物の一部をおろし、飛行経路Ｂ２に沿って終点まで飛行している。 In FIG. 15, instead of the flight path B of FIG. 14, the flight is performed from the starting point to the stopover along the flight path B1, for example, another baggage is further collected or a part of the baggage is unloaded and along the flight path B2. Is flying to the end point.
　図１６では、図１５の経由地に代えて、例えば飛行体のバッテリーの充電や交換、ユーザによる荷物の積み下ろしなどのために、飛行体格納装置５２を経由している。図１６では、飛行体格納装置５２に別の飛行体が格納されていない場合を想定している。なお、図１５、図１６においては、始点で荷物を集荷しなくてもよく、例えば、経由地や飛行体格納装置５２までユーザが出向き、そこで荷物を積載するようにしてもよい。 In FIG. 16, instead of the stopover in FIG. 15, the flight body storage device 52 is used for, for example, charging or replacing the battery of the flying object, loading / unloading of luggage by the user, and the like. In FIG. 16, it is assumed that another flying object is not stored in the flying object storage device 52. In addition, in FIGS. 15 and 16, it is not necessary to collect the luggage at the starting point, and for example, the user may go to the waypoint or the air vehicle storage device 52 and load the luggage there.
　図１７－２０では、図１６の状況において、飛行体格納装置５２に別の飛行体４２が格納されている場合を想定している。図１７では、例えば、別の飛行体４２は、例えば飛行体格納装置５２に近傍でホバリングまたは地面に着陸等して待機している。図１８では、例えば、別の飛行体４２は、さらに別の飛行体格納装置５３まで飛行経路Ｄ２に沿って飛行し、格納される。図１９では、例えば、別の飛行体４２は、飛行体４１が格納されていた飛行体格納装置５１まで飛行経路Ｄ３に沿って飛行し、格納される。図２０では、例えば、バッテリー状況などにより飛行体４１から飛行体４２への荷物の入れ替えや搭乗の乗り換えのような状況であり得る。また、空撮や点検などにおいて同時に複数台の飛行体４が飛行する状況もあり得る。その場合は、各々が撮影したデータを管理サーバ１に送信し、それらをマージしてレポートを作成して端末２に表示するようにしてもよい。 In FIG. 17-20, it is assumed that another flying object 42 is stored in the flying object storage device 52 in the situation of FIG. In FIG. 17, for example, another flying object 42 is waiting by hovering or landing on the ground in the vicinity of the flying object storage device 52, for example. In FIG. 18, for example, another flying object 42 flies and is stored along the flight path D2 to yet another flying object storage device 53. In FIG. 19, for example, another flying object 42 flies along the flight path D3 to the flying object storage device 51 in which the flying object 41 is stored and is stored. In FIG. 20, for example, depending on the battery condition, the situation may be such that the luggage is exchanged from the flying object 41 to the flying object 42 or the boarding is changed. In addition, there may be a situation where a plurality of flying objects 4 fly at the same time in aerial photography or inspection. In that case, the data captured by each may be transmitted to the management server 1, merged to create a report, and displayed on the terminal 2.
　図２１では、図１４の飛行経路Ｃに代えて、終点から飛行経路Ｅ１に沿って飛行し、別の飛行体格納装置５４に帰還している。図２２では、さらに別の飛行体格納装置５４に別の飛行体４３が格納されている状況を想定しており、例えば図１７－１９と同様の構成があり得る。これらの場合においては、ユーザが飛行体４１を予約時に、飛行体格納装置５４も併せて帰還可能に予約（占有）しておいてもよく、さらに飛行体格納装置５４が使用できなくなった際のために他の飛行体格納装置も候補として予約しておいてもよい。その場合、複数の飛行体格納装置の予約は、例えば帰還のための距離などに応じて優先順位をつけて占有し、他の予約が入った場合には優先順位に基づき占有を順次解除していってもよい。 In FIG. 21, instead of the flight path C in FIG. 14, the aircraft flies from the end point along the flight path E1 and returns to another flight object storage device 54. In FIG. 22, it is assumed that another flying object 43 is stored in yet another flying object storage device 54, and there may be a configuration similar to that of FIG. 17-19, for example. In these cases, when the user reserves the flight object 41, the flight object storage device 54 may also be reserved (occupied) so that it can return, and when the flight object storage device 54 becomes unavailable. Therefore, other air vehicle storage devices may be reserved as candidates. In that case, the reservations of the plurality of aircraft storage devices are prioritized and occupied according to, for example, the distance for returning, and when other reservations are made, the occupation is sequentially released based on the priority. You may.
　図２３では、図１３の飛行経路Ｃに代えて、終点から飛行経路Ｅ２に沿って次の予約の始点まで飛行している。 In FIG. 23, instead of the flight path C in FIG. 13, the flight is flying from the end point along the flight path E2 to the start point of the next reservation.
　図２４では、図１４－２３のように選択された飛行体がいずれかの飛行体格納装置に格納されている状況に代えて、例えば前の予約を終えて帰還中の飛行体４４に管理サーバ１から指示を出し、飛行経路Ｇに沿って次の予約の始点まで飛行している。 In FIG. 24, instead of the situation where the selected aircraft is stored in one of the aircraft storage devices as shown in FIGS. 14-23, for example, the management server is sent to the returning aircraft 44 after completing the previous reservation. I give an instruction from 1 and fly along the flight path G to the starting point of the next reservation.
　図２５－図２６では、図１４の飛行経路Ａに沿って飛行中に中止依頼がかかった場合を想定しており、図２５では、飛行経路Ａ１に沿って飛行中に中止依頼がかかり、元の飛行体格納装置５１へ飛行経路Ａ２に沿って帰還しており、図２６では、別の飛行体格納装置５２へ飛行経路Ａ３に沿って帰還している。このような中止依頼に応じて、飛行体４の利用予定状況を変更してもよい（例えば、占有している飛行体４および／または飛行体格納装置５の変更など）。 In FIGS. 25-26, it is assumed that a cancellation request is made during flight along the flight path A of FIG. 14, and in FIG. 25, a cancellation request is made during flight along the flight path A1. It returns to the flight object storage device 51 along the flight path A2, and in FIG. 26, it returns to another flight object storage device 52 along the flight path A3. In response to such a cancellation request, the usage schedule status of the flying object 4 may be changed (for example, changing the occupied flying object 4 and / or the flying object storage device 5).
　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、測量、ゴルフ場やテニス場などのスポーツ会場点検、工場・倉庫等建物の屋根の点検、災害対応、遭難対応等の様々な産業にも利用することができる。 The air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. It can also be used in various industries such as security, agriculture, infrastructure monitoring, surveying, sports venue inspections such as golf courses and tennis courts, building roof inspections such as factories and warehouses, disaster response, and disaster response.
　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 above-described embodiment is merely an example for facilitating the understanding of the present invention, and is not intended to limit the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof, and the present invention includes an equivalent thereof.
　１　　　　管理サーバ
　２　　　　端末
　４　　　　飛行体
  1 Management server 2 Terminal 4 Aircraft

Claims (9)

  1. 　飛行体の飛行経路生成方法であって、
    　表示部に表示された領域上に設定された点に基づいて、飛行経路を生成するステップを含み、
    　前記飛行経路を生成するステップは、
    　前記飛行体を含む複数の飛行体に関する情報を取得するステップと、
    　少なくとも前記設定された点および前記複数の飛行体に関する情報に基づき、前記飛行体を選択するステップと、を備える、
    　ことを特徴とする飛行経路生成方法。     It is a method of generating a flight path of an air vehicle.
    Includes a step to generate a flight path based on the points set on the area displayed on the display.
    The step of generating the flight path is
    Steps to obtain information about a plurality of aircraft including the aircraft, and
    A step of selecting the aircraft based on at least the set points and information about the plurality of aircraft.
    A flight path generation method characterized by that.
  2. 　請求項１に記載の飛行経路生成方法において、
    　前記飛行体の利用用途を設定するステップをさらに含み、
    　前記飛行体を選択するステップは、さらに前記飛行体の利用用途に基づく、
    　ことを特徴とする飛行経路生成方法。     In the flight path generation method according to claim 1,
    It further includes a step of setting the intended use of the aircraft.
    The step of selecting the air vehicle is further based on the intended use of the air vehicle.
    A flight path generation method characterized by that.
  3. 　請求項１または２に記載の飛行経路生成方法において、
    　前記飛行体の利用期間を設定するステップをさらに含み、
    　前記飛行体を選択するステップは、さらに前記飛行体の利用期間に基づく、
    　ことを特徴とする飛行経路生成方法。     In the flight path generation method according to claim 1 or 2.
    It further includes a step of setting the period of use of the aircraft.
    The step of selecting the air vehicle is further based on the period of use of the air vehicle.
    A flight path generation method characterized by that.
  4. 　請求項１ないし３に記載の飛行経路生成方法において、
    　前記飛行体を選択するステップは、さらに飛行予定距離、電池消費量のうちの少なくとも１つの情報に基づく、
    　ことを特徴とする飛行経路生成方法。     In the flight path generation method according to claims 1 to 3,
    The step of selecting an air vehicle is further based on information on at least one of the planned flight distance and the battery consumption.
    A flight path generation method characterized by that.
  5. 　請求項１ないし４に記載の飛行経路生成方法であって、
    　前記複数の飛行体に関する情報は、電池残量、ペイロード種別、機体スペックのうちの少なくとも１つを含む、
    　ことを特徴とする飛行経路生成方法。     The flight path generation method according to claims 1 to 4.
    The information about the plurality of aircraft includes at least one of battery level, payload type, and aircraft specifications.
    A flight path generation method characterized by that.
  6. 　請求項１ないし５に記載の飛行経路生成方法を含む飛行体予約方法であって、
    　前記飛行体予約方法は、
    　前記選択された飛行体を予約処理するステップを含む、
    　ことを特徴とする飛行体予約方法。     A flight object reservation method including the flight route generation method according to claims 1 to 5.
    The flight object reservation method is
    Including the step of reserving the selected aircraft.
    A flight object reservation method characterized by that.
  7. 　請求項６に記載の飛行体予約方法において、
    　前記選択された飛行体を利用した際の料金を算出するステップと、
    　前記料金を表示するステップと、
    　前記表示された料金を承認するステップと、を含む、
    　ことを特徴とする飛行体予約方法。     In the flight object reservation method according to claim 6,
    The step of calculating the charge when using the selected aircraft and
    Steps to display the above charges and
    Including the step of approving the displayed fee,
    A flight object reservation method characterized by that.
  8. 　飛行体の飛行経路生成方法を管理サーバに実行させるためのプログラムであって、
    　前記飛行経路生成方法は、
    　表示部に表示された領域上に設定された点に基づいて、飛行経路を生成するステップを含み、
    　前記飛行経路を生成するステップは、
    　前記飛行体を含む複数の飛行体に関する情報を取得するステップと、
    　少なくとも前記設定された点および前記複数の飛行体に関する情報に基づき、前記飛行体を選択するステップと、を備える、
    　ことを特徴とするプログラム。     It is a program to make the management server execute the flight path generation method of the aircraft.
    The flight path generation method is
    Includes a step to generate a flight path based on the points set on the area displayed on the display.
    The step of generating the flight path is
    Steps to obtain information about a plurality of aircraft including the aircraft, and
    A step of selecting the aircraft based on at least the set points and information about the plurality of aircraft.
    A program characterized by that.
  9. 　表示部に表示された領域上に設定された点に基づいて、飛行経路を生成する飛行経路生成部を備え、
    　前記飛行経路生成部は、
    　複数の飛行体に関する情報を取得する飛行体情報取得部と、
    　少なくとも前記設定された点および前記複数の飛行体に関する情報に基づき、対象となる飛行体を選択する飛行体選択部と、を備える、
    　ことを特徴とする管理サーバ。     A flight path generator that generates a flight path based on a point set on the area displayed on the display unit is provided.
    The flight path generator
    An aircraft information acquisition unit that acquires information on multiple aircraft, and
    A flight object selection unit that selects a target flight object based on at least the set points and information on the plurality of flight objects.
    A management server that features that.
PCT/JP2019/039249 2019-10-04 2019-10-04 Flight route generation method for flying object, flying object reservation method, program, and management server WO2021064977A1 (en)

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