WO2021079531A1

WO2021079531A1 - Route management control server, method, and system, and first flying body and second flying body used in the same

Info

Publication number: WO2021079531A1
Application number: PCT/JP2019/042074
Authority: WO
Inventors: 周平小松
Original assignee: 株式会社Ａ．Ｌ．Ｉ．Ｔｅｃｈｎｏｌｏｇｉｅｓ
Priority date: 2019-10-26
Filing date: 2019-10-26
Publication date: 2021-04-29
Also published as: JP6820045B1; JPWO2021079531A1

Abstract

A route management control server according to the present invention is connected to a plurality of first flying bodies so as to be able to communicate therewith over a network. This server comprises: a storage means that stores location data including at least one among map information, topographic information, and building information, and route data based on three-dimensional coordinates; a control means that retrieves the location data and the route data; and a transmission means that transmits the retrieved location data and route data to each of the first flying bodies.

Description

Route management control servers, methods and systems, and the 1st and 2nd aircraft used for them.

The present invention relates to a route management control server, a method and a system, and the first and second aircraft used therein, and more particularly to a technique for managing and controlling the appropriate operation of a manned aircraft.

Patent Document 1 discloses a technique for displaying a planned flight path as a tunnel-like display on a display unit with respect to a flight path guidance technique for an air vehicle.

JP-A-2009-269604

However, the technique described in Patent Document 1 does not disclose the management and control of a plurality of flying objects at the same time.

Therefore, one object of the present invention is to provide a technique capable of simultaneously managing and controlling a plurality of flying objects.

According to the present invention, it is a route management control server that is communicably connected to a plurality of first aircraft via a network.
A storage means for storing location data including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates.
A control means for reading the location data and the route data, and
Read A route management control server including a transmission means for transmitting the location data and the route data to each of the first aircraft can be obtained.

According to the present invention, a plurality of flying objects can be managed and controlled at the same time.

It is a block diagram of the network used for the route management control system by embodiment of this invention. It is a block diagram which shows the hardware configuration of the route management control server of FIG. It is a block diagram which shows the hardware composition of the computer mounted on the 1st Air Division of FIG. It is a block diagram which shows the hardware composition of the computer mounted on the 2nd flying body of FIG. It is an image diagram which shows typically the content of the data used for the route management control system of FIG. It is a schematic diagram which shows the outline of the route management control system of FIG. It is a screen display example of the display part of the 1st Air Division of FIG. It is another schematic diagram which shows the outline of the route management control system of FIG. It is another schematic diagram which shows the outline of the route management control system of FIG. It is a schematic diagram and an image diagram of the guidance system according to the embodiment of the present invention. It is a block diagram which shows the hardware composition of the unmanned moving body of FIG. It is a block diagram which shows the hardware configuration of the management server of FIG. It is an image diagram which shows typically the content of the data used for the guidance system of FIG. It is an image diagram of the route generation by the guidance system of FIG. It is a processing flow of the management server by the guidance system of FIG. It is a figure which shows the flow of processing between a management server, an unmanned aerial vehicle, and a user terminal by the guidance system of FIG. It is an image diagram which shows the example which applied the guidance system of FIG. 1 to a delivery system. It is the figure which showed the image of the client-server model which consists of a management server and a plurality of unmanned aerial vehicles, and the peer-to-peer model which consists only of a plurality of unmanned aerial vehicles. It is a figure which shows the state at the time of flight of the flying object by the guidance system of FIG. It is a conceptual diagram which shows the principle of measuring the distance between an air vehicle and an electric wire.

The contents of the embodiments of the present invention will be described in a list. The route management control server, method and system according to the embodiment of the present invention, and the first and second aircraft used therein have the following configurations.
[Item 1]
A route management control server that is communicatively connected to multiple 1st Air Divisions via a network.
A storage means for storing location data including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates.
A control means for reading the location data and the route data, and
A route management control server including a transmission means for transmitting the read location data and the route data to each of the first aircraft.
[Item 2]
The route management control server according to item 1.
Further provided with a receiving means for receiving the traffic information of the route,
The transmitting means transmits the received traffic information to the first aircraft.
Route management control server.
[Item 3]
The route management control server described in item 2.
The receiving means receives the traffic information from one of the first aircraft and receives the traffic information.
The transmitting means transmits the received traffic information to the other first aircraft.
Route management control server.
[Item 4]
The route management control server according to item 2 or item 3.
The control means generates new route data based on the received traffic information, and generates new route data.
The transmitting means transmits the generated new route data to the first aircraft.
Route management control server.
[Item 5]
The route management control server according to any one of items 2 to 4.
The control means generates a flight control instruction based on the received traffic information.
The transmitting means transmits the generated flight control instruction to the first aircraft.
Route management control server.
[Item 6]
The route management control server according to any one of items 1 to 5.
The route data has latitude information, longitude information and altitude information.
Route management control server.
[Item 7]
The route management control server according to any one of items 1 to 6.
The route data has speed limit information associated with the first specific area of the route.
Route management control server.
[Item 8]
The route management control server according to any one of items 1 to 7.
The route data has toll information associated with the second specific area of the route.
The route management control server is a payment means that starts payment processing for the first aircraft when the first aircraft enters the second specific area based on the position information received from the first aircraft. Further equipped,
Route management control server.
[Item 9]
A second aircraft capable of communicating with the route management control server according to any one of items 2 to 8 via a network.
Power unit for flight and
Positioning unit for positioning position information and
A collection unit that collects the traffic information of the route and
A transmission unit that transmits the collected traffic information to the route management control server is provided.
Second aircraft.
[Item 10]
The second aircraft according to item 9,
Further equipped with a detection means for detecting an abnormality from the collected traffic information,
The transmitting means transmits information about the detected abnormality to at least the route management control server, the first aircraft, or another second aircraft.
Second aircraft.
[Item 11]
The first air vehicle according to any one of items 1 to 10.
Power unit for flight and
Positioning unit for positioning position information and
A receiving unit that receives at least either the location data or the route data from the route management control server.
A control unit for accepting operations by the operator and controlling the flight of the first aircraft,
A first air vehicle including at least a display unit that displays the received route data to an operator.
[Item 12]
The first aircraft according to item 11,
A transmission unit that transmits the positioned position information to the route management control server is further provided.
1st Air Division.
[Item 13]
The first aircraft according to item 11 or item 12, which is the first aircraft.
The control unit controls the power unit based on the route data and the position information.
1st Air Division.
[Item 14]
It is a route management control server that uses a computer that is communicatively connected to multiple 1st Air Divisions via a network.
A storage step in which the computer stores location data, including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates.
A control step for reading the location data and the route data,
Read A route management control method including a transmission step of transmitting the location data and the route data to each of the first aircraft.
[Item 15]
A route management control system including a plurality of first aircraft, a plurality of second aircraft, and a route management control device.
The first air vehicle, the second air vehicle, and the route management control device are connected to each other so as to be able to communicate with each other via a network.
The route management control device is:
A storage means for storing location data including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data ;,
Read As a transmission means for transmitting the location data and the route data to each of the first aircraft;
It has a receiving means to receive route traffic information;
The 1st Air Division is:
With the power unit for flight;
With a positioning unit that positions position information;
With a receiver that receives at least either the location data or the route data from the route management control server;
With a control unit for accepting operations by the operator and controlling the flight of the first aircraft;
It is equipped with at least a display unit that displays the received route data to the operator;
The second aircraft is:
With the power unit for flight;
With a positioning unit that positions position information;
With a collecting unit that collects the traffic information of the route;
In a route management control system including a transmission unit that transmits the collected traffic information to the route management control server;
The control means of the route management control device generates new route data based on the received traffic information, and the transmission means of the route management control device uses the generated new route data for the first flight. Transmit to the body and the 2nd Air Division,
Route management control system.

<Details of the embodiment>
Hereinafter, the route management control server, the method and the system according to the embodiment of the present invention, and the route management control warehouse management system realized by the 1st Air Division and the 2nd Air Division used therein will be described with reference to the drawings. ..

<Overview>
The route management control system (hereinafter referred to as "control system") according to the present invention particularly appropriately controls the operation of a manned small aircraft (hereinafter referred to as "air mobile"). The control system cooperates with a plurality of surveillance rotary-wing aircraft (hereinafter referred to as "surveillance drones") to perform more appropriate operation control.

Airmobile is a small flying object that people can ride on, and has the size of a small scooter or a general automobile. The air mobile according to the present embodiment is a so-called multicopter having a plurality of rotor blades. Although the power source is mainly a rotary blade, it may have a lift generation source other than this, and may be able to move on water, on land, or in water. In this case, it may have auxiliary power means, various instruments, a control device, etc. according to the situation of the moving place. The hardware configuration of the information processing device mounted on the air mobile will be described later.

The surveillance drone is an unmanned aerial vehicle, equipped with batteries, multiple motors, position detection units, control units, drivers, storage devices, wireless communication devices, voltage sensors, current sensors, and the like. These components are mounted on a frame having a predetermined shape. The hardware configuration of the information processing device mounted on the surveillance drone will be described later. As for these basic structures, known techniques can be appropriately adopted.

<Structure>
As shown in FIG. 1, the control system 100 according to the present embodiment includes a route management control server (hereinafter, simply referred to as “server”) 1, an air mobile 2, and a monitoring drone 3.

The server 1, the air mobile 2, and the monitoring drone 3 are so-called client-server model systems that are connected to each other so as to be able to communicate with each other via the network 4. Although the network 4 according to the present embodiment is an IP-based computer network, it may be shared with a carrier network for mobile phones, smartphones, and the like. Here, computer networks are used in a broader concept, including the Internet built by interconnected IP networks. Further, the computer network may include a wireless network constructed by a wireless base station (for example, WiFi) (not shown). The carrier network and the IP network are connected via, for example, a gateway or the like, but the carrier network and the IP network are not limited to this.

<Hardware configuration>
The hardware configurations of the server 1, the air mobile 2, and the monitoring drone 3 will be described with reference to FIGS. 2 to 4, respectively.

<Route management control server (server) 1>
As shown in FIG. 2, the server 1 is an information processing device for providing services through the route management control system 100, and may be a general-purpose computer such as a workstation or a personal computer, or a cloud computing device. It may be realized logically by ing. As shown in FIG. 2, the server 1 includes a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, which are electrically connected to each other through a bus 15.

The processor 10 is an arithmetic unit that controls the operation of the entire server 1, controls the transmission and reception of data between each element, and performs information processing and the like necessary for executing an application. For example, the processor 10 is a CPU (Central Processing Unit), and executes each information processing by executing a program or the like stored in the storage 12 and expanded in the memory 11.

The memory 11 includes a main memory composed of a volatile storage device such as DRAM (Dynamic Random Access Memory) and an auxiliary storage composed of a non-volatile storage device such as a flash memory or HDD (Hard Disc Drive). .. The memory 11 is used as a work area or the like of the processor 10, and also stores a BIOS (Basic Input / Output System) executed when the server 1 is started, various setting information, and the like. The storage 12 stores an application program and various programs such as an authentication program for each air mobile 2 and a monitoring drone 3. A database (location data, route data, etc., which will be described later) storing data used for each process may be built in the storage 12.

<Small aircraft (air mobile) 2>
As shown in FIG. 3, the air mobile 2 is equipped with an information processing device 200. The information processing device 200 receives the service of the route management control system 100 by executing information processing via communication with the server 1. The information processing device 200 includes at least a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, a positioning unit 26, a detection unit 27, and the like, and these are electrically connected to each other through a bus 25. .. The information processing device 200 may be a general-purpose computer such as a workstation or a personal computer, may be linked with a terminal having a touch panel such as a device such as a smartphone, a PDA, or a tablet computer, or may be linked with a terminal having a touch panel, or cloud computing. It may be realized logically by.

The processor 20 is an arithmetic unit that controls the operation of the information processing device 200, controls the transmission and reception of data between each element, and performs processing necessary for executing an application. For example, the processor 20 is a CPU and / or GPU (Graphical Processing Unit) or the like, and performs each necessary information processing by executing a program or the like stored in the storage 22 and expanded in the memory 21.

The memory 21 includes a main memory composed of a volatile storage device such as RAM and an auxiliary storage composed of a non-volatile storage device such as a flash memory and an HDD. The memory 21 is used as a work area or the like of the processor 20, and also stores a BIOS executed when the information processing apparatus 200 is started, various setting information, and the like. An application program or the like is stored in the storage 22.

The transmission / reception unit 23 connects the information processing device 200 to the network 4 and communicates with the server 1. The transmission / reception unit 23 also includes a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input / output unit 24 is an information input device such as a control stick (handle) switch and an output device such as a display, and presents and inputs information to the operator of the air mobile 2.

The bus 25 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

The positioning unit 26 detects at least the altitude of the air mobile 2. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector that detects the latitude, longitude, and altitude of the current position of the air mobile 2.

The detection unit 27 is for sensing the external environment of the air mobile 2 by various sensors such as voice, image, and infrared rays.

In addition to the information processing device 200, the air mobile 2 according to the present embodiment relays a power source, a motor connected to a rotor blade, and an information processing device 200 and a motor for movement and flight of the air mobile 2. Have at least more drivers. The information processing device 200 controls a plurality of motors to control the flight of the air mobile (control of ascending, descending, horizontal movement, etc.) and a plurality of gyros (not shown) mounted on the air mobile 2. Attitude control is also performed by controlling the motor of. The driver drives the motor according to a control signal from the information processing device 200. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. As a matter of course, the air mobile 200 has elements (for example, equipment for manned flight, other equipment for flight, etc.) which are not shown.

<Monitoring rotary wing aircraft (surveillance drone) 3>
As shown in FIG. 4, the monitoring drone 3 is equipped with an information processing device 300. The information processing device 300 constitutes a part of the system of the route management control system 100 by executing information processing via communication with the server 1. The information processing device 300 includes at least a processor 30, a memory 31, a storage 32, a transmission / reception unit 33, an output unit 34, a positioning unit 36, a detection unit 37, and the like, and these are electrically connected to each other through a bus 35. The information processing device 300 may be composed of, for example, a microcomputer or an ASIC (Application Specific Integrated Circuit), or may be logically realized by cloud computing.

The processor 30 is an arithmetic unit that controls the operation of the information processing device 300, controls the transmission and reception of data between each element, and performs processing necessary for executing an application. For example, the processor 30 is a CPU and / or GPU (Graphical Processing Unit) or the like, and performs each necessary information processing by executing a program or the like stored in the storage 32 and expanded in the memory 31.

The memory 31 includes a main memory composed of a volatile storage device such as RAM and an auxiliary storage composed of a non-volatile storage device such as a flash memory and an HDD. The memory 31 is used as a work area or the like of the processor 30, and also stores a BIOS executed when the information processing apparatus 300 is started, various setting information, and the like. An application program or the like is stored in the storage 32.

The transmission / reception unit 33 connects the information processing device 300 to the network 4 and communicates with the server 1. The transmission / reception unit 33 also includes a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input / output unit 34 is an information input device such as a control stick (handle) switch and an output device such as a display.

The bus 35 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

The positioning unit 36 detects at least the altitude of the surveillance drone 3. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector that detects the latitude, longitude, and altitude of the current position of the air mobile 2.

The detection unit 37 is for sensing the external environment of the surveillance drone 3 by various sensors such as voice, image, and infrared rays.

In addition to the information processing device 300, the monitoring drone 3 according to the present embodiment relays the power supply, the motor connected to the rotor blade, the information processing device 300, and the motor for the movement and flight of the monitoring drone 3. Have at least more drivers. The information processing device 300 controls a plurality of motors to control the flight of the surveillance drone (control of ascent, descent, horizontal movement, etc.) and a plurality of gyros (not shown) mounted on the surveillance drone 3. Attitude control is also performed by controlling the motor of. The driver drives the motor according to a control signal from the information processing device 300. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. The surveillance drone 300 may have other elements (not shown).

<Data>
As shown in FIG. 5, in the present embodiment, location data 530 including at least one of map information, topographical information, and building information, route data 510 based on three-dimensional coordinates, and a state on the route. The traffic data 520 representing the above is used. These data are transmitted from the server 1 to a part or all of the air mobile 2 or the monitoring drone 3 and shared with each other.

Specifically, as shown in FIG. 5, the location data is map information and includes information about topography, buildings and other structures. The location data in the present embodiment includes so-called plane map information (latitude information and longitude information) as well as accurate height information (altitude information) of the structure. Further, particularly for a structure, it also has coordinate information of the volume occupied in the real space (that is, includes shape information of the structure for the air mobile 2 to fly without colliding).

The route data 510 serves as a road in the sky of the air mobile 2, and as will be described later, the route data is displayed on the display unit of the air mobile 2 to enable safe operation of the air mobile. Become. The route data has at least continuous latitude information, longitude information, and altitude information, and the route is specified by the information. In addition, the route data may have a certain width information that can be operated in the same manner as the width of a normal road. The route data 510 includes information on route branching, speed limit, distance from other routes, traveling direction, vehicle type restriction, and traffic restriction (information corresponding to a signal and information on operation restriction).

The traffic data 520 is information for identifying the area of the obstacle on the route, for example, when the route has an obstacle, and has at least latitude information, longitude information, altitude information, and the content of the obstacle.

<Processing flow>
With reference to the conceptual diagram of the control system according to the present embodiment shown in FIG. 6, the server 1 reads out the location data and the route data and transmits them to the air mobile 2, and displays the serviceable area on the display unit of the air mobile 2. indicate. The display unit of the air mobile 2 according to the present embodiment is preferably a display means such as a head-up display that does not block the driver's field of vision, such as a method of projecting onto a windshield or AR (Augmented Reality). Various devices and the like using the technology can be adopted.

As shown in FIG. 7, the windshield of the air mobile 2 displays the route 710 based on the route data 510. The state of the route 710 (congestion status, accident status, etc.) is collected by the monitoring drone 2 as traffic information and transmitted to the server 1. The traffic information may be automatically or manually transmitted from the air mobile 2 to the server 1. The traffic information is shared with each other among a plurality of air mobiles 2, a monitoring drone 3, and a server 1.

The server 1 generates data for a new route in the received traffic information when the current route is not appropriate, for example, when it is congested. The generated new route data is transmitted to Air Mobile 2. As shown in FIG. 8, the generated new route 510'is set, and the information of the new route 510' is shared with the air mobile and the surveillance drone 3. The server 1 may generate and transmit a flight control instruction for (remotely) automatically controlling the air mobile so that the air mobile 2 flies over the new route 510'. In this case, the flight of the air mobile 2 is controlled based on the received flight control instruction.

The route data according to the present embodiment may further have speed limit information. That is, more appropriate route management can be performed by setting a speed limit for a part or all of the route as in the case of a road for automobiles. Further, for example, as shown in FIG. 9, the routes may be separate roads according to the up line, the down line, and the speed limit. As shown in FIG. 9, the route 520 having a high speed limit is set at an altitude higher than that of the route 530 having a low speed limit. When moving from route 530 to route 520, the air mobile 2 passes through a guidance route (a route connecting route 530 and route 520) (not shown).

Furthermore, for the route data, a toll may be set for a part or all of the route. The area where the toll is set (hereinafter referred to as "toll section") is specified by, for example, information such as latitude, longitude, and altitude. When the air mobile 2 enters the toll road based on the location information received from the air mobile, the server 1 starts the payment for the air mobile 2. Various conventional techniques can be used for payment.

The contents of other embodiments of the present invention will be described in a list. The invention according to the present embodiment has the following configurations.
[Item 16]
It is a method of guiding an air vehicle using a plurality of columns and a cable for connecting the columns.
The guidance device: A step of receiving a route request; a step of reading out the support column node information corresponding to the position of the support column; a route is determined by identifying at least the start point support column node and the end point support column node based on the route request and the support column node information. The step to generate; the step to send the generated route to the flying object, and
A method of guiding an air vehicle, including a step in which the air vehicle flies according to the route.
[Item 17]
The method for guiding an air vehicle according to claim 1.
The flying object flies along the cable.
How to guide the flying object.
[Item 18]
The method for guiding an air vehicle according to claim 2.
The flying object flies while maintaining a predetermined distance from the cable.
How to guide the flying object.
[Item 19]
The method for guiding an air vehicle according to claim 3.
The flying object detects that at least an electric field or a magnetic field of the cable is in a predetermined condition, and measures the distance from the cable.
How to guide the flying object.
[Item 20]
Meet by the method of guiding the flying object according to claim 4.
The air vehicle receives at least information about the value of voltage or current flowing in the cable and corrects the result of the measurement based on the information.
How to guide the flying object.
[Item 21]
The method for guiding an air vehicle according to any one of claims 2 to 5.
The strut node information includes X, Y and Z coordinates with respect to the position of the strut in real space.
The generated route is generated at least at a position higher than the Z coordinate.
How to guide the flying object.
[Item 22]
The method for guiding an air vehicle according to any one of claims 1 to 6.
The plurality of said aircraft can communicate with each other via a network.
Each of the flying objects generates its own route in consideration of the position of the flying object or the generated route.
How to guide the flying object.
[Item 23]
An air vehicle guidance device that uses a plurality of columns and a cable that connects the columns.
Means of receiving route requests and
A means for reading the column node information corresponding to the position of the column, and
A means for generating a route by identifying at least a start point support node and an end point support node based on the route request and the support node information.
An air vehicle guidance device that includes means for transmitting the generated route to the air vehicle.
[Item 24]
It is a method of guiding an air vehicle using a plurality of columns and a cable for connecting the columns.
The guidance device is:
Step to receive route request; Read column node information corresponding to the position of the column;
Based on the route request and the support node information, at least the start point support node and the end point support node are specified to generate a route;
Send the generated route to the aircraft;
The flying object flies according to the route.
Guidance system for flying objects.

<Details of the embodiment>
Hereinafter, the route management control server, the method and the system according to the embodiment of the present invention, and the first and second aircraft used thereto will be described with reference to the drawings.

<Overview>
The flight body guidance system according to the embodiment of the present invention is for flying an unmanned flight body (described later) according to a predetermined flight route, and is used for home delivery, security / patrol, agriculture, surveying, and investigation. It can be applied to any application that can set a flight route in advance, such as disaster relief applications. In the following, a guidance system mainly applied to home delivery applications will be described.

As shown in FIG. 10A, in the guidance system according to the present embodiment, the unmanned aerial vehicle 1 flies over the utility pole 20 and the electric wire 30 provided between the utility poles as a flight route. As shown in FIG. 11B, the flight route can be expressed as a virtual network having utility poles a to j as nodes, and in route generation, the utility poles (start point nodes) and end points are the start points. Utility poles (end point nodes), utility poles (via nodes) that pass between start point nodes and end point nodes, and electric wires provided between them are considered (details will be described later).

<Structure>
As shown in FIG. 18A, the vehicle guidance system according to the present embodiment includes a plurality of unmanned aircraft 1 and a management server 2 connected to the unmanned aircraft 1 via a network. This is a so-called client-server model.

In addition to the information processing device, the unmanned flying object 1 according to the present embodiment relays a power source, a motor connected to a rotor blade, an information processing device and a motor for moving / flying the unmanned flying object 1. Have at least more drivers.

Multiple information processing devices are used to control the flight of a surveillance drone by controlling multiple motors (control of ascent, descent, horizontal movement, etc.) and the gyro (not shown) mounted on the unmanned aerial vehicle 1. Attitude control is also performed by controlling the motor of.

The driver drives the motor according to the control signal from the information processing device. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage specified by a control signal to the motor. The unmanned aerial vehicle 100 may have other elements (not shown).

<Management server 2>
As shown in FIG. 13, the management server 2 is an information processing device for providing services through an information transmission system, and may be a general-purpose computer such as a workstation or a personal computer, or cloud computing. It may be realized logically by.

As shown in FIG. 13, the server 2 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.

<Data>
The management server 2 according to the present embodiment has a pole node information DB regarding the position of each utility pole. As shown in FIG. 13, the pole node information DB includes at least a node identifier and position coordinates uniquely assigned to each utility pole. The position coordinates according to the present embodiment include at least three elements: latitude, longitude and height of the utility pole.

<Processing flow>
A method of route generation according to the present embodiment will be described with reference to FIG. The guidance system according to the present embodiment is in charge of a transaction related to delivery of a product purchased by a user using EC or the like (hereinafter referred to as “delivery transaction”). The delivery transaction itself is generated, for example, based on pre-registered user address information.

When the management server 2 starts a delivery transaction, the utility pole closest to the package shipping source (starting point node) and the utility pole closest to the delivery destination (user's address, etc.) are specified. In the illustrated example, the start point node is the utility pole a and the end node is the utility pole j. The management server 2 calculates the shortest path connecting the utility pole a and the utility pole j. At this time, a route capable of avoiding a collision is generated in consideration of the position and route of the other unmanned aircraft 1.

Collision avoidance may be performed by unmanned aerial vehicles 1 to each other. For example, the height of one unmanned vehicle and the height of the other unmanned vehicle may be changed to avoid a collision.

Returning to FIG. 14, the route according to the present embodiment proceeds in the order of utility pole a → utility pole b → utility pole d → utility pole f → utility pole h → utility pole j. It should be noted that some routes may be bypassed in order to avoid the collision described above. It flies in a region vertically (height) away from the electric wire by a predetermined distance.

The processing flow of the management server 2 will be described with reference to FIG. In the present embodiment, when the delivery transaction (route request) occurs (step S601), the support node information is read (step S603). The management server 2 identifies the start point node, the transit node, and the end point node based on the delivery transaction and the support node information, and generates a route (step S605). The generated route information is transmitted to the unmanned aerial vehicle 1, and the delivery of the unmanned aerial vehicle 1 by flight is started (step S607).

The flow of the delivery process using the guidance system according to the present embodiment will be described with reference to FIG. As shown, the delivery process is executed by the management server 2, the unmanned aerial vehicle 1, and the user terminal.

When the delivery transaction occurs (SQ701), the management server 2 reads the support node information from the node DB (SQ703) and generates a route (SQ705). The management server 2 transmits the generated route information to the unmanned aerial vehicle (SQ707). The unmanned aerial vehicle starts flying based on the received route information (SQ709).

When the unmanned aerial vehicle arrives at the destination, the management server 2 is notified of the destination arrival notification (SQ711). The management server 2 notifies the user terminal of the arrival notification (SQ713). After confirming the destination of the arrived package, the user sends a notification of each location to the management server 2 (SQ715). Upon receiving the confirmation notification from the user regarding the luggage, the management server 2 unlocks the luggage loaded on the unmanned aerial vehicle 1 (SQ717). Unlocked packages can be picked up by the user. The management server 2 updates the status of the delivery transaction when the delivery is completed, if necessary (SQ719).

According to the above processing, as shown in FIG. 8, the unmanned aerial vehicle 1 is placed on the utility pole 20 and the electric wire 30 from the luggage storage location 100 (for example, a warehouse or the like) according to the route generated by loading the luggage P. It is possible to fly and deliver the package P to the user's home 200 and deliver it to the user.

As shown in FIG. 9A, the above-described embodiment uses a so-called client-server model including the unmanned aerial vehicle 1 and a management server 2 connected via a network. However, as shown in FIG. 9B, a peer-to-peer system composed of a plurality of unmanned flying objects 1 may be used.

Although the embodiment described above was for delivery, it may be applied to patrol use such as security. In this case, the management server 2 may generate a patrol route based on the patrol route and the support node information specified by the user. Further, when the patrol is completed, the patrol transaction may be terminated after sending the completed patrol to the user and receiving approval from the user.

<Measurement of distance from electric wire>
In this embodiment, the flying object 1 flies along the electric wire 30. At this time, as shown in FIG. 20, the aircraft flies within a predetermined range L from the electric wire 30. As a result, the flying object 1 flies along the electric wire 30 while maintaining a predetermined distance from the electric wire 30.

As shown in FIG. (A), when there are two electric wires 30 and 30'of the same height, both of the two electric wires 30 enter either of the predetermined ranges L and L'. I just need to be there.

Further, as shown in FIGS. 19A and 19B, in order to prevent the flying object 1 from colliding with the utility pole 20, the area above the electric wire 30 (FIG. 19A) or laterally. It is preferable to fly in any of the regions (FIG. 10 (b)). The detection of the positional relationship with the electric wire 30 may be performed by combining an ultrasonic sensor, position information including height information, a vision sensor, and the like.

As a method of maintaining the distance between the electric wire 30 and the flying object 1 in this way, for example, as shown in FIG. 201, the information of the electric field and the magnetic field generated in the electric wire 30 is detected by the flying object 1. May be good.

In the case of electric wires as public infrastructure, since the voltage during power transmission is constant, it is possible to calculate the distance based on the strength of the electric field regardless of the magnitude of the current. (Fig. 20 (a)). On the other hand, since the magnitude of the current during power transmission may differ depending on the amount of power supply and demand, it is possible to calculate the distance based on the strength of the magnetic field if the amount of power transmission is known in advance (FIG. 11 (FIG. 11). b)).

Note that more accurate distance may be measured by obtaining information on the amount of current and voltage of the transmission line included in the flight route in advance and appropriately correcting the result of distance measurement.

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 Route management control server 2 Small aircraft 3 Monitoring rotary wing machine 4 Network 10 Processor 11 Memory 12 Storage 13 Transmission / output unit 14 Input / output unit 15 Bus 20 Processor 21 Memory 22 Storage 23 Transmission / output unit 24 Input / output unit 25 Bus 26 Positioning unit 27 Detection unit 30 Processor 31 Memory 32 Storage 33 Transmission / output unit 34 Input / output unit 35 Bus 36 Positioning unit 37 Detection unit 100 Route

management Control system

200, 300

Information processing device

510, 510', 520, 530 Route data 520 Traffic data 530 Location data

Claims

A route management control server that is communicatively connected to multiple 1st Air Divisions via a network.
A storage means for storing location data including a plurality of points and route data based on three-dimensional coordinates,
A control means for reading the location data and the route data, and
A route management control server including a transmission means for transmitting the read location data and the route data to each of the first aircraft.
The route management control server according to claim 1.
Further provided with a receiving means for receiving the traffic information of the route,
The transmitting means transmits the received traffic information to the first aircraft.
Route management control server.
The route management control server according to claim 2.
The receiving means receives the traffic information from one of the first aircraft and receives the traffic information.
The transmitting means transmits the received traffic information to the other first aircraft.
Route management control server.
The route management control server according to claim 2 or 3.
The control means generates new route data based on the received traffic information, and generates new route data.
The transmitting means transmits the generated new route data to the first aircraft.
Route management control server.
The route management control server according to any one of claims 2 to 4.
The control means generates a flight control instruction based on the received traffic information.
The transmitting means transmits the generated flight control instruction to the first aircraft.
Route management control server.
The route management control server according to any one of claims 1 to 5.
The route data has latitude information, longitude information and altitude information.
Route management control server.
The route management control server according to any one of claims 1 to 6.
The route data has speed limit information associated with the first specific area of the route.
Route management control server.
The route management control server according to any one of claims 1 to 7.
The route data has toll information associated with the second specific area of the route.
The route management control server is a payment means that starts payment processing for the first aircraft when the first aircraft enters the second specific area based on the position information received from the first aircraft. Further equipped,
Route management control server.
A second aircraft capable of communicating with the route management control server according to any one of claims 2 to 8 via a network.
Power unit for flight and
Positioning unit for positioning position information and
A collection unit that collects the traffic information of the route and
A transmission unit that transmits the collected traffic information to the route management control server is provided.
Second aircraft.
The second flying object according to claim 9.
Further equipped with a detection means for detecting an abnormality from the collected traffic information,
The transmitting means transmits information about the detected abnormality to at least the route management control server, the first aircraft, or another second aircraft.
Second aircraft.
The first air vehicle according to any one of claims 1 to 10.
Power unit for flight and
Positioning unit for positioning position information and
A receiving unit that receives at least either the location data or the route data from the route management control server.
A control unit for accepting operations by the operator and controlling the flight of the first aircraft,
A first air vehicle including at least a display unit that displays the received route data to an operator.
The first aircraft according to claim 11,
A transmission unit that transmits the positioned position information to the route management control server is further provided.
1st Air Division.
The first aircraft according to claim 11 or 12.
The control unit controls the power unit based on the route data and the position information.
1st Air Division.
It is a route management control server that uses a computer that is communicatively connected to multiple 1st Air Divisions via a network.
A storage step in which the computer stores location data, including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates.
A control step for reading the location data and the route data,
Read A route management control method including a transmission step of transmitting the location data and the route data to each of the first aircraft.
A route management control system including a plurality of first aircraft, a plurality of second aircraft, and a route management control device.
The first air vehicle, the second air vehicle, and the route management control device are connected to each other so as to be able to communicate with each other via a network.
The route management control device is:
A storage means for storing location data including at least one of map information, topographical information, or building information, and route data based on three-dimensional coordinates;
Control means for reading the location data and the route data ;,
Read As a transmission means for transmitting the location data and the route data to each of the first aircraft;
It has a receiving means to receive route traffic information;
The 1st Air Division is:
With the power unit for flight;
With a positioning unit that positions position information;
With a receiver that receives at least either the location data or the route data from the route management control server;
With a control unit for accepting operations by the operator and controlling the flight of the first aircraft;
It is equipped with at least a display unit that displays the received route data to the operator;
The second aircraft is:
With the power unit for flight;
With a positioning unit that positions position information;
With a collecting unit that collects the traffic information of the route;
In a route management control system including a transmission unit that transmits the collected traffic information to the route management control server;
The control means of the route management control device generates new route data based on the received traffic information, and the transmission means of the route management control device uses the generated new route data for the first flight. Transmit to the body and the 2nd Air Division,
Route management control system.
The route control system according to claim 1.
The plurality of points are a plurality of columns, and the plurality of points are
The route is a cable that connects the columns.
The guidance device: A step of receiving a route request; a step of reading out the support column node information corresponding to the position of the support column; a route is determined by identifying at least the start point support column node and the end point support column node based on the route request and the support column node information. The step to generate; the step to send the generated route to the flying object, and
A method of guiding an air vehicle, including a step in which the air vehicle flies according to the route.
The method for guiding an air vehicle according to claim 16.
The flying object flies along the cable.
How to guide the flying object.
The method for guiding an air vehicle according to claim 17.
The flying object flies while maintaining a predetermined distance from the cable.
How to guide the flying object.
The method for guiding an air vehicle according to claim 18.
The flying object detects that at least an electric field or a magnetic field of the cable is in a predetermined condition, and measures the distance from the cable.
How to guide the flying object.
Meet by the method of guiding an air vehicle according to claim 19.
The air vehicle receives at least information about the value of voltage or current flowing in the cable and corrects the result of the measurement based on the information.
How to guide the flying object.
The method for guiding an air vehicle according to any one of claims 2 to 5.
The strut node information includes X, Y and Z coordinates with respect to the position of the strut in real space.
The generated route is generated at least at a position higher than the Z coordinate.
How to guide the flying object.
The method for guiding an air vehicle according to any one of claims 1 to 6.
The plurality of said aircraft can communicate with each other via a network.
Each of the flying objects generates its own route in consideration of the position of the flying object or the generated route.
How to guide the flying object.
An air vehicle guidance device that uses a plurality of columns and a cable that connects the columns.
Means of receiving route requests and
A means for reading the column node information corresponding to the position of the column, and
A means for generating a route by identifying at least a start point support node and an end point support node based on the route request and the support node information.
An air vehicle guidance device that includes means for transmitting the generated route to the air vehicle.
It is a method of guiding an air vehicle using a plurality of columns and a cable for connecting the columns.
The guidance device is:
Step to receive route request; Read column node information corresponding to the position of the column;
Based on the route request and the support node information, at least the start point support node and the end point support node are specified to generate a route;
Send the generated route to the aircraft;
The flying object flies according to the route.
Guidance system for flying objects.