WO2021064977A1 - Procédé de génération d'itinéraire de vol pour objet volant, procédé de réservation d'objet volant, programme et serveur de gestion - Google Patents

Procédé de génération d'itinéraire de vol pour objet volant, procédé de réservation d'objet volant, programme et serveur de gestion 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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English (en)
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.)
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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/ja
Priority to PCT/JP2019/039249 priority patent/WO2021064977A1/fr
Publication of WO2021064977A1 publication Critical patent/WO2021064977A1/fr

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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.

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Abstract

Le problème décrit par la présente invention est de fournir un procédé de génération d'itinéraire de vol pour un objet volant, un procédé de réservation d'objet volant, un programme, et un serveur de gestion, un utilisateur sélectionne un vol approprié et crée un itinéraire de vol uniquement par désignation, au moyen d'un terminal utilisateur, par exemple, l'emplacement auquel l'objet volant est destiné à être dirigé dans un travail pour créer l'itinéraire de vol de l'objet volant. L'invention porte sur un procédé de génération d'itinéraire de vol pour un objet volant, lequel procédé comprend une étape consistant à générer un itinéraire de vol sur la base d'un point défini dans une zone affichée sur une unité d'affichage, l'étape consistant à générer un itinéraire de vol comprenant : une étape consistant à acquérir des informations concernant une pluralité d'objets volants comprenant l'objet volant ; et une étape de sélection de l'objet volant au moins sur la base du point de consigne et des informations concernant la pluralité d'objets volants.
PCT/JP2019/039249 2019-10-04 2019-10-04 Procédé de génération d'itinéraire de vol pour objet volant, procédé de réservation d'objet volant, programme et serveur de gestion WO2021064977A1 (fr)

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JP2020500911A JP6807129B1 (ja) 2019-10-04 2019-10-04 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
PCT/JP2019/039249 WO2021064977A1 (fr) 2019-10-04 2019-10-04 Procédé de génération d'itinéraire de vol pour objet volant, procédé de réservation d'objet volant, programme et serveur de gestion

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PCT/JP2019/039249 WO2021064977A1 (fr) 2019-10-04 2019-10-04 Procédé de génération d'itinéraire de vol pour objet volant, procédé de réservation d'objet volant, programme et serveur de gestion

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JP7409275B2 (ja) * 2020-09-30 2024-01-09 トヨタ自動車株式会社 情報処理装置、方法、及びプログラム

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