JP6980037B2 - Information processing equipment - Google Patents

Description

The present invention relates to a technique for controlling the flight of an air vehicle.

The technology to manage the air vehicle is known. Patent Document 1 discloses a technique for controlling a flight robot that guides flight according to a migration route.

Japanese Unexamined Patent Publication No. 2005-289307

In addition to the guidance as described in Patent Document 1, the drone may have a plurality of purposes such as transportation, photography, monitoring, and the like. For example, if the purpose is transportation, the flight plan is made so as to meet the conditions according to the purpose, such as arriving at the transportation destination by the deadline. On the other hand, when there are multiple flight objectives to be achieved, it is efficient if those flight objectives can be achieved with fewer drones.
Therefore, it is an object of the present invention to use an air vehicle that satisfies certain conditions to fly and to perform a flight that satisfies at least a part of other conditions.

In order to achieve the above object, the present invention has the acquisition unit for acquiring the first flight plan satisfying the first condition, and the acquired flying object which is the target of the first flight plan in addition to the first condition. Provided is an information processing apparatus including a change unit for changing the first flight plan to a second flight plan capable of the flight when a flight satisfying at least a part of the second condition is possible.

The change unit may determine a flight path capable of the flight, and make the change with the flight plan flying along the flight path as the second flight plan.

The modified portion may determine that the flight is possible if the flying object has the functions necessary to satisfy at least a part of the second condition.

The changing unit may determine that the flight is possible when the cruising range of the flying object is equal to or longer than the length of the flight path for carrying out the flight.

The change unit may make the determination using a determination criterion that the higher the importance of satisfying the first condition is, the less likely it is to determine that the flight is possible.

The change unit may use a criterion for shortening the flight distance allowed in the flight as the determination criterion as the importance of satisfying the first condition becomes higher.

The second condition may be a condition that is satisfied when the flying object flies in a predetermined area or when the flying object flies in a predetermined period.

The acquisition unit acquires two or more of the first flight plans, and the change unit satisfies more parts of the second condition by changing the acquired two or more first flight plans. When flight becomes possible, the change to the second flight plan may be made by reflecting the change in each of the two or more first flight plans.

The acquisition unit acquires two or more of the first flight plans, and the change unit determines that any of the two or more first flight plans can be changed to perform the flight. The first flight plan, which has a smaller difference between the flight path for satisfying the conditions and the flight path in the flight, may be changed to the second flight plan.

The acquisition unit acquires the first flight plan of two or more flight objects, the first condition may not be satisfied when a predetermined situation occurs, and the change unit may obtain the two or more flight objects. If it is determined that any of the first flight plans of the above can be changed to carry out the flight, the first flight plan of the less likely aircraft may be changed to the second flight plan. ..

Further, the present invention includes a step of acquiring a first flight plan satisfying the first condition, and at least a part of the second condition in addition to the first condition for the acquired flight object of the first flight plan. Provided is an information processing method including a step of changing the first flight plan to a second flight plan capable of the flight when a flight satisfying the above conditions is possible.

According to the present invention, it is possible to make a flight that satisfies at least a part of other conditions by using an air vehicle that satisfies certain conditions.

Diagram showing the overall configuration of the drone management system according to the embodiment Diagram showing the hardware configuration of the server device Diagram showing the hardware configuration of the drone Diagram showing the appearance of the drone Diagram showing the functional configuration realized by the drone management system Diagram showing an example of flight plan changes A diagram showing an example of the operation procedure of each device in the plan change process. Diagram showing the functional configuration realized in the modified example Diagram showing an example of importance table A diagram showing an example of a modification of the flight plan of a modified example A diagram showing an example of a modification of the flight plan of a modified example Diagram showing an example of a modified flight plan change

1 ... Drone management system, 10 ... Server device, 20 ... Drone, 101 ... Flight plan acquisition unit, 102 ... Flight availability determination unit, 103 ... Drone information acquisition unit, 104 ... Flight plan generation unit, 105 ... Flight instruction unit, 106 ... Flight plan change unit, 107 ... Power remaining amount acquisition unit, 201 ... Flight control unit, 202 ... Flight unit, 203 ... Sensor measurement unit, 204 ... Work processing unit, 205 ... Power remaining amount detection unit.

[1] Example FIG. 1 shows the overall configuration of the drone management system 1 according to the embodiment. The drone management system 1 is a system for managing drones. A drone is a device capable of autonomously and unmanned flight according to a flight plan, and is an example of the "flying object" of the present invention. Drones are used for flight purposes such as landscape photography, surveying, inspection, exploration, surveillance, or transport of transported objects.

The drone management system 1 includes a network 2, a server device 10, and drones 20-1, 20-2, 20-3, ... (If not distinguished from each other, it is referred to as "drone 20"). The network 2 is a communication system including a mobile communication network, the Internet, and the like, and relays data exchange between devices accessing the own system. The server device 10 is accessing the network 2 by wire communication (may be wireless communication), and the drone 20 is accessing by wireless communication.

The server device 10 is an information processing device that executes various processes for managing the drone 20. The server device 10 executes, for example, a process of generating a flight plan indicating the route on which the drone 20 flies, a process of instructing the drone 20 to fly in the generated flight plan, and the like. In this embodiment, the drone 20 is a rotorcraft type flying object having one or more rotor blades and rotating the rotor blades to fly. The drone 20 has a function suitable for a flight purpose (for example, a function of holding and separating a transported object for a transport purpose, a photographing function for a surveying purpose and a monitoring purpose, etc.).

FIG. 2 shows the hardware configuration of the server device 10. The server device 10 is a computer including a processor 11, a memory 12, a storage 13, a communication device 14, an input device 15, an output device 16, and a bus 17. The word "device" here can be read as a circuit, a device, a unit, or the like. Further, each device may be included one or more, or some devices may not be included.

The processor 11 operates, for example, an operating system to control the entire computer. The processor 11 may be composed of a central processing unit (CPU) including an interface with peripheral devices, a control device, an arithmetic unit, a register, and the like. Further, the processor 11 reads a program (program code), a software module, data, and the like from the storage 13 and / or the communication device 14 into the memory 12, and executes various processes according to these.

The number of processors 11 that execute various processes may be one, two or more, and two or more processors 11 may execute various processes simultaneously or sequentially. Further, the processor 11 may be mounted on one or more chips. The program may be transmitted from the network over a telecommunication line.

The memory 12 is a computer-readable recording medium, and is composed of at least one such as a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), and a RAM (Random Access Memory). May be done. The memory 12 may be referred to as a register, a cache, a main memory (main storage device), or the like. The memory 12 can store the above-mentioned program (program code), software module, data, and the like.

The storage 13 is a recording medium that can be read by a computer, and is, for example, an optical disk such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, an optical magnetic disk (for example, a compact disk, a digital versatile disk, Blu-). It may consist of at least one such as a ray® disk), a smart card, a flash memory (eg, a card, stick, key drive), a floppy® disk, a magnetic strip, and the like.

The storage 13 may be referred to as an auxiliary storage device. The storage medium described above may be, for example, a database, server or other suitable medium including the memory 12 and / or the storage 13. The communication device 14 is hardware (transmission / reception device) for communicating between computers via a wired and / or wireless network, and is also referred to as, for example, a network device, a network controller, a network card, a communication module, or the like.

The input device 15 is an input device (for example, a keyboard, a mouse, a microphone, a switch, a button, a sensor, etc.) that receives an input from the outside. The output device 16 is an output device (for example, a display, a speaker, etc.) that outputs to the outside. The input device 15 and the output device 16 may have an integrated configuration (for example, a touch screen). Further, the devices such as the processor 11 and the memory 12 are accessible to each other via the bus 17 for communicating information. The bus 17 may be composed of a single bus or may be composed of different buses between the devices.

FIG. 3 shows the hardware configuration of the drone 20. The drone 20 is a computer including a processor 21, a memory 22, a storage 23, a communication device 24, a flight device 25, a sensor device 26, a photographing device 27, a holding device 28, and a bus 29. be. The word "device" here can be read as a circuit, a device, a unit, or the like. Further, each device may be included one or more, or some devices may not be included.

The processor 21, the memory 22, the storage 23, the communication device 24, and the bus 29 are hardware of the same type as the device of the same name shown in FIG. 2 (performance and specifications are not necessarily the same). In addition to wireless communication with the network 2, the communication device 24 can also perform wireless communication between drones. The flight device 25 includes the above-mentioned rotor and a driving means such as a motor for rotating the rotor, and is a device for flying the own aircraft. The flight device 25 can move its own aircraft in all directions and make its own aircraft stationary (hovering) in the air.

The sensor device 26 is a device having a sensor group for acquiring information necessary for flight control. The sensor device 26 has a position sensor that measures the position (latitude and longitude) of the own machine and a direction in which the own machine is facing (the front direction of the own machine is determined for the drone, and the front direction thereof is facing. It includes a direction sensor that measures the direction), an altitude sensor that measures the altitude of the own machine, and a speed sensor that measures the speed of the own machine.

The photographing device 27 has a digital camera equipped with a lens, an image sensor, and the like, and photographs an ambient scene. There are two types of digital cameras, a visible light camera that captures the scene represented by visible light and an infrared camera that captures the scene represented by infrared light. In this embodiment, the drone 20-1 shown in FIG. 1 has only a visible light camera, the drone 20-2 has only an infrared camera, and the drone 20-3 has both cameras. do.

Depending on the purpose of the flight, the conditions for the type of camera required may be set. In this embodiment, the drone operator defines that a visible light camera is indispensable for surveying purposes and an infrared camera is indispensable for surveillance purposes. In that case, the drones 20-1 and 20-3 can be used for surveying purposes, but the drones 20-2 cannot be used. Further, drones 20-2 and 20-3 can be used for monitoring purposes, but drones 20-1 cannot be used.

The holding device 28 is a device for holding the transported object to be transported by the own machine, and is used when the flight purpose is, for example, the transport of the transported object. The holding device 28 is provided with a drone 20 used for transport purposes. In this embodiment, it is assumed that the drones 20-1 and 20-2 are provided with the holding device 28, and the drones 20-3 are not provided with the holding device 28. Therefore, the drones 20-1 and 20-2 can be used for the purpose of transportation, but the drones 20-3 cannot be used.

Various mechanisms (nets, strings, arms, stands, containers, etc.) can be used to hold the transported object, and in this embodiment, the arm is used.
FIG. 4 shows the appearance of the drone 20-1. The drone 20-1 includes a chassis 291 having four landing gears 292 and a holding device 28 having four openable arms 281 provided on the chassis 291.

In FIG. 4, the arm 281 is closed to hold the conveyed object 3, and the drone 20-1 flies in this state. The drone 20 can separate the transported object 3 and place it at the transport destination by landing at the transport destination and opening these arms 281. The length of the landing gear 292 can be manually or automatically expanded and contracted according to the size of the transported object 3 so that the separated transported object 3 is not damaged by the impact of dropping.

The server device 10 and the drone 20 include a microprocessor, a digital signal processor (DSP: Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field Programmable Gate Array), and the like. It may be configured to include hardware, and the hardware may realize a part or all of each functional block. For example, the processor 11 may be implemented on at least one of these hardware.

The server device 10 and the drone 20 included in the drone management system 1 store the programs provided by this system, and the processor of each device executes the program to control each part, thereby providing the function group described below. It will be realized.
FIG. 5 shows a functional configuration realized by the drone management system 1. Although only one drone 20 is shown in FIG. 5, it is assumed that the plurality of drones 20 all have the same functional configuration.

The server device 10 includes a flight plan acquisition unit 101, a flight availability determination unit 102, a drone information acquisition unit 103, a flight plan generation unit 104, and a flight instruction unit 105. The drone 20 includes a flight control unit 201, a flight unit 202, a sensor measurement unit 203, and a work processing unit 204. The flight control unit 201 of the drone 20 controls the flight of its own aircraft. The flight control unit 201 controls the flight of its own aircraft according to the flight path and flight period indicated by the flight plan described later, based on the flight instructions received from the server device 10.

The flight unit 202 is a function of flying the own aircraft, and in this embodiment, the own aircraft is made to fly by operating the rotor, the driving means, and the like provided in the flight device 25. The sensor measuring unit 203 measures by each sensor (position sensor, direction sensor, altitude sensor, speed sensor) included in the sensor device 26 shown in FIG. 3, and determines the position, direction, altitude, and speed of the own machine at predetermined time intervals. Repeatedly measure with.

The sensor measurement unit 203 supplies sensor information indicating the measured position, direction, altitude, and speed to the flight control unit 201 and the work processing unit 204. The flight control unit 201 controls the flight unit 202 based on the supplied sensor information, and causes the aircraft to fly along the flight path indicated by the flight plan. The work processing unit 204 is a work processing that is processing for work according to the flight purpose of the own aircraft (work other than flight necessary to achieve the flight purpose of the own aircraft) based on the supplied sensor information. To execute.

If the flight processing unit 204 includes the holding device 28 shown in FIG. 4 for the purpose of flight, the work processing unit 204 controls the holding device 28 and the landing gear 292 to hold and hold the transported object. A separation process or the like for separating the transported items is performed as a work process. Further, if the flight purpose of the own aircraft is the purpose of surveying, the work processing unit 204 controls the storage 23 and the photographing device 27 to take an image of the survey area from the sky, a recording process of recording the photographed image, and the like. Is performed as a work process.

Further, if the flight purpose of the own aircraft is the monitoring purpose, the work processing unit 204 controls the storage 23, the communication device 24, and the photographing device 27, and records the photographing process for photographing the monitored object and the captured image. The recording process or the transmission process of transmitting to the monitoring system is performed as a work process. The work processing unit 204 determines a place (transportation destination, surveying area, monitoring area, etc.) to perform work based on the position indicated by the sensor information, and performs each work processing.

The flight plan acquisition unit 101 of the server device 10 acquires a flight plan (flight plan for flying the drone 20) for the drone 20. If the flight plan is for transport purposes, for example, information indicating the flight route from the departure point to the destination and the period during which the flight route should be flown (the period from the departure time to the scheduled delivery time of the transported object). Is. Further, the flight plan is information indicating, for example, a flight path and a flight period in a round-trip flight to a survey area or a monitoring area, and a flight path and a flight period in each area if the flight is for a surveying purpose or a monitoring purpose.

Each flight plan is associated with identification information (for example, a drone ID (Identification)) of the drone 20 flying according to the flight plan, so that it is possible to know which drone 20 the flight plan is intended for. The flight plan acquisition unit 101 acquires a flight plan from, for example, a system of a business operator (hereinafter referred to as “drone operator”) that conducts business using the drone 20. The flight plan is designed to meet the conditions for achieving the flight objectives.

If the drone 20 for transportation is the target, a flight plan is created so as to satisfy the condition that, for example, the vehicle flies from the departure point to the destination by the scheduled delivery time of the transportation and the transportation is separated at the transportation destination. To. Further, if the drone 20 for surveying is the target, a flight plan is created so as to satisfy the condition that the surveying area is photographed by a visible light camera while flying over the surveying area during the permitted surveying period.

If the drone 20 for surveillance purposes is the target, a flight plan is created so as to satisfy the condition that the surveillance area is photographed with an infrared camera while flying in the surveillance area during the surveillance period specified for surveillance. .. These conditions are referred to as "flight conditions" below. Specifically, the flight conditions are information indicating the position of the destination, the scheduled delivery time, the range of the survey area, the start and end times of the survey period, the range of the monitoring area, the start and end times of the monitoring period, and the like.

The flight plan acquisition unit 101 acquires a flight plan that satisfies the flight conditions determined according to the flight purpose of the drone 20 in this way. Hereinafter, the flight plan acquired by the flight plan acquisition unit 101 is referred to as a "first flight plan", the flight path indicated by the first flight plan is referred to as a "first flight path", and the flight satisfied by the first flight plan is referred to. The conditions are called "first flight conditions". The first flight condition is an example of the "first condition" of the present invention, and the flight plan acquisition unit 101 is an example of the "acquisition unit" of the present invention. The flight plan acquisition unit 101 supplies the acquired first flight plan to the flight availability determination unit 102.

The flight availability determination unit 102 determines whether or not it is possible to fly the drone 20, which is the target of the first flight plan acquired by the flight plan acquisition unit 101, in addition to the first flight condition and at least a part of the second flight condition. To judge. The second flight condition is an example of the "second condition" of the present invention. The second flight condition is a flight condition different from the first flight condition, and is, for example, one of the flight conditions registered in advance by the drone operator described above.

For example, a drone operator can achieve a flight purpose by using a dedicated drone 20, but if the drone 20 can be used for other flight purposes, it can be achieved by those drones 20. The flight conditions for another flight purpose to be performed are registered (stored) in the server device 10 as the second flight conditions. It is assumed that the server device 10 stores one or more second flight conditions registered in this way.

On the other hand, it is assumed that the drone operator has consented to the fact that the drone 20 for which the first flight plan was created is also used to make the flight satisfy at least a part of the second flight conditions. It should be noted that this consent is a consent that the drone 20 may be used in combination even under the second flight conditions registered by another drone operator.

In this embodiment, as the second flight condition, a condition satisfied when the drone 20 flies in a predetermined area and a condition satisfied when the drone 20 flies in a predetermined area in a predetermined period are used. The predetermined area is, for example, a surveying area or a monitoring area. For transportation purposes, flight conditions can be met as long as the drone 20 reaches the destination no matter where it flies, but for surveying or monitoring purposes, flight conditions must be taken if the drone 20 does not fly in the surveying area or monitoring area. Is not satisfied.

The predetermined area may be one group area or a plurality of areas. The predetermined period is, for example, the above-mentioned survey period or monitoring period. This predetermined period may also be one continuous period or a plurality of periods. When the first flight plan is supplied, the flight availability determination unit 102 reads out the second flight conditions stored in the own device one by one and makes the above determination.

In this embodiment, the flight availability determination unit 102 determines the second flight condition in addition to the first flight condition when the drone 20 has a function necessary to satisfy at least a part of the second flight condition. Judge that it is possible to fly that meets at least part of the flight. Hereinafter, a flight that satisfies at least a part of the first flight condition and the second flight condition is referred to as a "combined flight" because it is a flight that is shared for two flight purposes.

The flight availability determination unit 102 requests the drone information acquisition unit 103 to provide information indicating the function of the drone 20 as information (drone information) regarding the drone 20 to be determined. The drone information acquisition unit 103 acquires the drone information of the requested drone 20. The drone information acquisition unit 103 acquires, for example, drone information indicating a function of the drone 20 from the system of the drone operator that manages the target drone 20. The drone information acquisition unit 103 supplies the acquired drone information to the flight availability determination unit 102.

In this embodiment, as described above, the condition that the visible light camera is indispensable for the purpose of surveying and the infrared camera is indispensable for the purpose of monitoring is defined. When the flight availability determination unit 102 reads out the second flight condition for achieving the survey purpose, it indicates that the acquired drone information has a shooting function by a visible light camera (this embodiment). Then, it is judged that the combined flight is possible in the case of drones 20-1 and 20-3).

Further, when the flight availability determination unit 102 reads out the second flight condition for achieving the monitoring purpose, it indicates that the acquired drone information has a shooting function by an infrared camera (this implementation). In the example, when the drone is 20-2 or 20-3), it is judged that the combined flight is possible. In addition to the above-mentioned shooting function, the flight availability determination unit 102 can perform combined flight when it indicates that the acquired drone information has a recording function for recording an image or a transmission function for transmitting an image. You may judge that.

Further, for example, when a high-resolution image is required for surveying purposes, the drone information acquisition unit 103 acquires drone information indicating the performance of the camera, and the flight availability determination unit 102 has a shooting function by the camera having the required performance. If the drone information indicates that the aircraft has, it is judged that the combined flight is possible. When the flight availability determination unit 102 determines that the combined flight is not possible, the flight possibility determination unit 102 supplies the first flight plan to the flight instruction unit 105.

Further, when the flight availability determination unit 102 determines that the combined flight is possible, the flight plan generation unit 104 is supplied with the first flight plan. When the flight possibility determination unit 102 determines that the combined flight is possible, the flight plan generation unit 104 determines a flight route capable of the combined flight and generates a new flight plan to fly along the determined flight route. do. Hereinafter, the flight path defined by the flight plan generation unit 104 is referred to as a "second flight path", and a new flight plan indicating the second flight path is referred to as a "second flight plan".

FIG. 6 shows an example of the second flight path. FIG. 6A shows a first flight plan for transport purposes targeting the drone 20-1. The first flight plan is a plan to fly a flight path C1 (first flight path) from a departure point A1 to a destination A2 to transport a transported object. In front of the destination A2, there is a survey area B1 whose range is indicated by the registered second flight condition.

Since the drone 20-1 is equipped with a visible light camera as described in the explanation of FIG. 3, the flight availability determination unit 102 determines that it is possible to perform a combined flight of photographing the survey area B1 while transporting the transported object. Since the flight plan generation unit 104 has determined that the combined flight is possible, the flight plan generation unit 104 generates the second flight plan shown in FIG. 6 (b). The flight plan generation unit 104 has a flight path C21 from the departure point A1 to the survey area B1 and a flight path C22 that flies all over the survey area B1 so as to satisfy both the first flight condition and the second flight condition. And the flight path C2 connecting the flight path C23 from the survey area B1 to the destination A2 is defined as the second flight path.

In this example, since the entire survey area B1 is photographed, all the second flight conditions are satisfied. The flight plan generation unit 104 generates information indicating the flight path C2 thus determined and the flight period (duration to be flown) of the flight path C2 as the second flight plan. In this case, the flight plan generation unit 104 has a longer flight time than the first flight plan, so the second flight plan is set earlier than the first flight plan so as to be in time for the scheduled delivery time of the transported object. Generate. The flight plan generation unit 104 supplies the second flight plan thus generated to the flight instruction unit 105.

The flight instruction unit 105 instructs the drone 20 to fly according to the supplied flight plan. When the first flight plan is supplied from the flight permission determination unit 102, the flight instruction unit 105 for flying the first flight path indicated by the first flight plan during the flight period indicated by the first flight plan. Information (flight control information) such as flight direction, flight altitude, flight speed, flight start time and flight end time, and instruction data indicating the work position and work content for satisfying the first flight condition are transmitted to the drone 20. .. For example, in the example of FIG. 6A, instruction data indicating the work position and the work content of performing the separation process for separating the transported object at the destination A2 is transmitted.

Further, when the second flight plan is supplied from the flight plan generation unit 104, the flight instruction unit 105 flies on the second flight path indicated by the second flight plan during the flight period indicated by the second flight plan. The flight control information for the purpose and the instruction data indicating the work position and the work content for satisfying at least a part of the first flight condition and the second flight condition are transmitted to the drone 20. For example, in the example of FIG. 6B, instruction data indicating the work position and the work content of performing the photographing process in the survey area B1 and performing the separation process of separating the conveyed object at the destination A2 is transmitted.

The instruction data transmitted in this way is supplied to the flight control unit 201 and the work processing unit 204 of the drone 20. The flight control unit 201 controls the flight of its own aircraft according to the first flight plan or the second flight plan based on the flight control information indicated by the received instruction data. The work processing unit 204 performs processing (separation processing, photographing processing, etc.) of the work content indicated by the instruction data at the work position indicated by the received instruction data.

As described above, the flight availability determination unit 102, the drone information acquisition unit 103, and the flight plan generation unit 104 add to the first flight conditions for the drone 20 which is the target of the first flight plan acquired by the flight plan acquisition unit 101. Flight plan change unit 106 that changes the first flight plan to the second flight plan that can be used for combined flight when it is possible to fly that satisfies at least a part of the second flight condition (all in the example of FIG. 6). Functions as.

The flight plan change unit 106 is an example of the "change unit" of the present invention. The flight plan change unit 106 determines a second flight path (flight path C2 in the example of FIG. 6) capable of combined flight, and changes the flight plan to fly along the second flight path as the second flight plan. .. If the flight plan change unit 106 does not change the flight plan, the drone 20 will fly in the acquired first flight plan, and only the first flight condition will be satisfied. Further, when the flight plan change unit 106 changes the flight plan, the drone 20 flies under the changed second flight plan, and at least a part of the first flight condition and the second flight condition (in the example of FIG. 6). All) is satisfied.

Each device included in the drone management system 1 performs flight instruction processing for instructing the drone 20 to fly according to the flight plan based on the above configuration.
FIG. 7 shows an example of the operation procedure of each device in the flight instruction processing. This operation procedure is started, for example, when a flight plan is transmitted from the drone operator. First, the server device 10 (flight plan acquisition unit 101) acquires the flight plan (first flight plan) of the drone 20 (step S11).

Next, the server device 10 (drone information acquisition unit 103) acquires the drone information of the drone 20 which is the target of the first flight plan (step S12). Subsequently, the server device 10 (flight availability determination unit 102) is capable of flying (combined flight) that satisfies at least a part of the second flight condition in addition to the first flight condition based on the acquired drone information. (Step S13). If it is determined in step S13 that the combined flight is possible (YES), the server device 10 (flight plan changing unit 106) uses the first flight plan acquired in step S11 as the second flight capable of the combined flight. Change to the plan (step S14).

When the server device 10 (flight instruction unit 105) is changed to the second flight plan in step S14, the server device 10 generates instruction data instructing the flight according to the second flight plan, and the combined flight is not possible in step S13 (the combined flight is not possible). If it is determined to be NO), instruction data instructing flight according to the first flight plan is generated (step S15). The server device 10 (flight instruction unit 105) transmits the generated instruction data to the drone 20 (step S16).

The drone 20 (flight control unit 201 and flight unit 202) starts a flight according to the flight plan indicated by the received instruction data (step S21). Subsequently, the drone 20 (work processing unit 204) executes work processing (shooting processing, separation processing, etc.) for work according to the flight purpose of the own aircraft (step S22). Then, when the drone 20 achieves the flight purpose (transportation purpose, surveying purpose, monitoring purpose, etc.) of its own aircraft, the drone 20 ends the flight (step S23).

In this embodiment, by making the drone 20 also fly as described above, at least a part of other conditions (second flight condition) using the drone 20 that satisfies a certain condition (first flight condition) and flies. It is possible to make a flight that meets the requirements. For example, in the case of FIG. 6, the drone 20-1 that meets the flight conditions for achieving the transport purpose is used to fly the flight that meets the flight conditions for achieving at least a part of the survey purpose. be able to.

Further, in this embodiment, it is determined that the combined flight is possible when the flight has a function necessary for satisfying at least a part of the second flight condition (such as a shooting function by a visible light camera). As a result, not only the flight route for satisfying the second flight condition but also the processing (shooting processing, recording processing, communication processing, etc.) that must be performed there can be performed by the drone 20 that also performs the combined flight. Can be done.

Further, in this embodiment, the condition satisfied when flying in a predetermined area or when flying in a predetermined area for a predetermined period is used as the second flight condition. As a result, for purposes achieved by flying in a predetermined area, such as surveying purposes and monitoring purposes, the drone 20 can be used for other flight purposes without using a dedicated drone 20. It can be achieved by flying.

[2] Modifications The above-mentioned examples are merely examples of the implementation of the present invention, and may be modified as follows.

[2-1] Cruising range The method of determining whether or not the combined flight is possible by the flight availability determination unit 102 (flight plan change unit 106) is not limited to the method described in the embodiment. The flight availability determination unit 102 may make a determination based on, for example, the cruising range of the drone 20. For example, the drone 20 is supplied with electric power from a battery and flies, and the cruising range means the distance that the drone 20 can fly before the battery runs out of electric power.

FIG. 8 shows the functional configuration realized by this modification. In FIG. 8, in addition to each unit shown in FIG. 5, a server device 10a including a power remaining amount acquisition unit 107 and a drone 20a including a power remaining amount detecting unit 205 are shown. In this modification, the flight availability determination unit 102 inquires of the electric power remaining amount acquisition unit 107 of the electric power remaining amount of the drone 20 to be determined. Upon receiving this inquiry, the power remaining amount acquisition unit 107 transmits request data requesting the remaining amount information indicating the remaining power amount to the drone 20 to be determined.

Upon receiving this request data, the power remaining amount detection unit 205 of the drone 20 detects the power remaining amount of the battery of the own machine. A well-known technique may be used for detecting the remaining amount of electric power. When the remaining power detection unit 205 detects the remaining power, the remaining power detecting unit 205 transmits the remaining amount information indicating the detected remaining power to the server device 10a. The power remaining amount acquisition unit 107 acquires the remaining amount information transmitted in this way and supplies it to the flight availability determination unit 102.

The flight availability determination unit 102 calculates the cruising range of the drone 20 from the remaining electric power indicated by the supplied remaining amount information and the drone information of the drone 20 to be determined. In this modification, the drone information acquisition unit 103 acquires drone information indicating the power consumption and flight speed of the drone 20. This drone information is obtained from, for example, the homepage of the product of the drone 20 or the system of the drone operator.

The flight availability determination unit 102 calculates the cruising time based on the value obtained by dividing the remaining power of the drone 20 by the power consumption, and multiplies the calculated cruising time by the flight speed of the drone 20 as the cruising distance. calculate. The flight availability determination unit 102 determines that the combined flight is possible when the cruising range of the drone 20 calculated in this way is equal to or longer than the length of the flight path for performing the combined flight.

The length of the flight path for performing the combined flight is, for example, the length of the flight path C2 in the example of FIG. If the cruising range is shorter than this length, the drone 20 runs out of power in the middle of the combined flight and stops the flight. According to this modification, since it is determined from the cruising range of the drone 20 whether or not the combined flight is possible, the drone 20 that performs the combined flight may stop flying as compared with the case where the determination is made regardless of the cruising range. It can be made difficult.

The cruising range fluctuates due to the influence of the environment such as wind power, wind direction, and temperature (the head wind becomes stronger and the lower the temperature, the shorter the cruising range). In addition, the cruising range is also affected by the weight of the transported object when the drone 20 transports the transported object (the heavier the weight, the shorter the cruising range). For the cruising range, the above-mentioned environmental information indicating the environment is acquired from the Internet or the like. When the first flight plan includes the weight information of the transported object, the flight availability determination unit 102 acquires the weight information via the flight plan acquisition unit 101.

Even if the flight availability determination unit 102 calculates the cruising distance that reflects the influence of the environmental values (wind power, wind direction, air temperature, etc.) indicated by the environmental information acquired in this way and the influence of the weight of the transported object indicated by the acquired weight information. Good (stronger headwinds, lower temperatures, and heavier weights reduce cruising range). As a result, even if the cruising range of the drone 20 fluctuates due to the influence of the above environment and weight, it is possible to make it difficult for the drone 20 to make a combined flight to stop flying.

[2-2] Importance of the first flight condition The flight availability determination unit 102 (flight plan change unit 106) may make a determination based on, for example, the importance of the first flight condition. For example, the first flight condition to achieve the transport purpose is more important than the first flight condition to achieve the other flight purpose because the recipient of the cargo will complain if the transport purpose is not achieved. It shall be.

Further, even for the same transportation purpose, if the scheduled delivery time is the designated time of the recipient, the importance of the first flight condition is higher than that in the case where it is not. In this modification, the flight possibility determination unit 102 determines whether or not the combined flight is possible by using the determination criteria that the higher the importance of satisfying the first flight condition is, the less likely it is that the combined flight is possible. conduct. For example, the flight availability determination unit 102 uses as a determination criterion a criterion for shortening the flight distance allowed in the combined flight as the importance of satisfying the first flight condition becomes higher.

The flight availability determination unit 102 makes a determination using an importance table in which the importance of the first flight condition and the allowable flight distance are associated with each other.
FIG. 9 shows an example of the importance table. In the example of FIG. 9, the importance of "Lv1", "Lv2", and "Lv3" (assuming that Lv3 has the highest importance) is "less than D1", "less than D2", and "less than D3". "(D1>D2> D3) are associated with each other.

In this example, in the flight for the purpose of transportation, the importance when the scheduled delivery time is the designated time of the recipient is Lv3, the importance when it is not the designated time is Lv2, and the importance for the flight purpose other than the transportation purpose is Lv1. .. In this modification, it is assumed that the first flight plan indicates whether or not the flight purpose and the scheduled delivery time when the flight purpose is the transportation purpose are the designated times of the recipient.

For example, in the example of FIG. 6, it is assumed that the flight distance of the flight path C2 is D3 or more and less than D2. In the example of FIG. 6, since the first flight plan indicating the flight purpose is acquired, the flight availability determination unit 102 is associated with Lv2 in the importance table if the scheduled delivery time is not the designated time of the recipient. Since it is possible to carry out a combined flight on the flight path C2 having a flight distance of "less than D2", it is determined that the combined flight is possible.

Further, if the scheduled delivery time is the designated time of the recipient, the flight availability determination unit 102 does not indicate that the flight distance of the flight path C2 is "less than D3" associated with Lv3 in the importance table, so that the flight is also used. Is not possible. When a combined flight is performed, the flight distance and flight time are usually longer than when the combined flight is not performed, so that there is a high possibility that an unexpected situation will occur on the way.

In this modification, as described above, the more important the drone 20 that satisfies the first flight condition is, the more difficult it is for the combined flight to be performed, so that the possibility that the first flight condition is not satisfied due to an unexpected situation is reduced. Can be done. The judgment criteria are not limited to the above-mentioned allowable flight distance. For example, the criteria of the function necessary for the drone 20 described in the embodiment to satisfy at least a part of the second flight condition may be used as a criterion.

For example, when the function required to satisfy at least a part of the second flight condition is the shooting function, the flight possibility determination unit 102 is allowed in the combined flight as the importance of satisfying the first flight condition becomes higher. The criteria for improving the performance of the shooting function are used as the criteria. In this case, if the flight possibility determination unit 102 can shoot a 4K (horizontal 4000 x vertical 2000 resolution) image with the shooting function, for example, the importance of satisfying the first flight condition is Lv3, but the flight can be combined. Judge that it is possible.

Further, the flight availability determination unit 102 determines that if the 4K image cannot be captured, the combined flight is not possible if the importance is Lv3. In addition, the flight availability determination unit 102 determines that if a 2K image can be captured by the shooting function, it is possible to fly in combination even if the importance of satisfying the first flight condition is Lv2, and the flight is 2K (width 2000 x length 1000). (Resolution) If the image cannot be taken, it is judged that the combined flight is possible only when the importance is Lv1.

In this case, for the drone 20 in which it is highly important to satisfy the first flight condition, if the performance of the photographing function is low, the combined flight is not performed so that the first flight condition is more reliably satisfied. However, if the performance of the shooting function of the drone 20 is high, a high-resolution image can be utilized by performing a combined flight. On the other hand, for the drone 20, which is less important to satisfy the first flight condition, it is easy to satisfy at least a part of the second flight condition by actively performing the combined flight regardless of the performance of the shooting function. Can be done.

The above-mentioned importance is only an example, and the importance determined by the drone operator, the provider of the drone management system 1, or the like may be used. For example, when the flight satisfying the first flight condition is a flight for the purpose of transportation, the higher the price of the transported material or the faster the deterioration (frozen food, fresh food, etc.), the higher the importance. good. Also, in the case of a flight for surveying purposes, public surveying may be more important than private surveying, or the shorter the surveying period or deadline, the higher the importance.

[2-3] Change two or more flight plans The flight plan acquisition unit 101 acquires two or more first flight plans for two or more drones 20 as shown in FIG. Therefore, for example, one drone 20 cannot perform combined flight satisfying all of the second flight conditions, but if two or more drones 20 cooperate, it may be possible to perform combined flight satisfying all of the second flight conditions.

If the flight plan change unit 106 can change the acquired two or more first flight plans to enable dual-purpose flight that satisfies all the second flight conditions, the flight plan change unit 106 applies the flight plan to each of the two or more first flight plans. You may make changes to the second flight plan to reflect the changes.
FIG. 10 shows an example of a change in the flight plan of this modified example. FIG. 10A shows a flight path C1 when flying according to the first flight plan of the drone 20-1, and a flight path C3 when flying according to the first flight plan of the drone 20-3.

The flight path C1 is a flight path from the departure point A1 to the destination A2, and the flight path C3 is a flight path from the departure point A3 to the destination A4. A survey area B2 exists between the flight paths C1 and C3. The flight plan change unit 106 changes the flight path of the drone 20-1 to the flight path C2 shown in FIG. 10 (b) and the flight path of the drone 20-3 to the flight path C4 shown in FIG. 10 (b). , Drones 20-1 and 20-3 are judged to be capable of combined flight that satisfies all the second flight conditions while satisfying the first flight conditions.

In the example of FIG. 10, two drones 20 satisfy all the second flight conditions, but three or more drones 20 may satisfy all the second flight conditions. Further, one drone 20 may perform the combined flight a plurality of times (for example, the combined flight is performed in the transport flight for transporting another transported object), so that all the second flight conditions may be satisfied. In this case, the flight plan acquisition unit 101 may acquire two or more first flight plans for one drone 20.

The method of satisfying the second flight condition is not limited to that described in the example of FIG. For example, in the case of monitoring purposes, one drone 20 cannot make a combined flight throughout the monitoring period, but two or more drones 20 can cooperate in a combined flight in order to make a combined flight throughout the monitoring period. It may be possible to monitor. Further, two or more drones 20 satisfying all the second flight conditions may depart from the same departure point.

FIG. 11 shows an example of a change in the flight plan of this modified example. FIG. 11 shows a flight path when four drones 20 departing from the departure point A11 make a round trip to and from the destinations A12, A13, A14, and A15, respectively. Further, FIG. 11 shows the survey area B11. Each drone 20 can reach the destination without passing through the survey area B11, but in the example of FIG. 11, any drone 20 passes through the survey area B11 and arrives at the destination. Flying at.

Further, the route through which each drone 20 passes through the survey area B11 when heading for the destination does not overlap with the route through which the surveying area B11 passes when returning from the destination. Further, the routes through which the drones 20 pass through the survey area B11 do not overlap with each other. The flight plan change unit 106 changes the flight path indicated by the first flight plan of each drone 20 as shown in FIG. 11, so that the flight of each drone 20 satisfies all the second flight conditions. The flight path shown in FIG. 11 may be a flight path in which one drone 20 makes four round trips, or may be a flight path in which two or three drones 20 make a round trip.

According to this modification, even if one drone 20 cannot satisfy all the second flight conditions, all the second flight conditions can be satisfied by having two or more drones 20 make a combined flight. In addition, even if one flight of one drone 20 does not satisfy all the second flight conditions, it is possible to satisfy all the second flight conditions by making two or more flights of the drone 20 a combined flight. can.

Further, even if all the second flight conditions cannot be satisfied, if more parts of the second flight conditions can be satisfied as compared with the case of combined flight with one drone 20, this modification Changes to the example may be made. In that case, if the flight plan change unit 106 can change the acquired two or more first flight plans to enable combined flight that satisfies more parts of the second flight conditions, the two or more first flight plans thereof. 1 Make changes to the second flight plan by reflecting the changes in each of the flight plans. As a result, more parts of the second flight condition can be satisfied as compared with the case where one drone 20 is allowed to make a combined flight.

[2-4] Drone selection part 1
As shown in FIG. 1, the flight plan acquisition unit 101 acquires two or more first flight plans for two or more drones 20. Therefore, it may be possible to fly for both of two or more drones 20. In that case, the drone 20 for the combined flight may be selected as follows.

When it is determined that any of the two or more first flight plans can be changed to perform combined flight, the flight plan change unit 106 also serves as a flight path (first flight path) for satisfying the first flight condition. The first flight plan having a smaller difference from the flight path (second flight path) in is changed to the second flight plan. The determination of this change will be described with reference to FIG.

FIG. 12 shows an example of a change in the flight plan of this modified example. In FIG. 12, the flight paths C1 and C3 when flying according to the first flight plan of the drone 20-1 and the drone 20-3 shown in FIG. 10 are changed so that the second flight conditions are satisfied, respectively (FIG. 12). 12 (a)) and flight path C6 (FIG. 12 (b)) are represented as the second flight path. These are flight paths that satisfy the second flight condition, which is satisfied by performing the photographing process in the survey area B3 existing closer to the flight path C3 than the flight path C1.

Since the survey area B3 is closer to the flight path C3 than the flight path C1, the drone 20-is more than the difference between the length of the flight path C1 before the change of the drone 20-1 and the length of the flight path C5 after the change. The difference between the length of the flight path C3 before the change and the length of the flight path C6 after the change of 3 is smaller. In this case, the flight plan change unit 106 changes the first flight plan for the drone 20-3 to the second flight plan indicating the flight path C6.

Further, when one drone 20 flies sequentially according to a plurality of first flight plans, the flight route may be different in each flight plan (for example, when the departure point or the destination changes one after another). In that case, the flight plan change unit 106 has the smaller difference between the flight path for satisfying the first flight condition (first flight path) and the flight path in the combined flight (second flight path), as described above. The first flight plan of the above may be changed to the second flight plan.

Normally, the flight path will be extended when making a combined flight, but by selecting the first flight plan to be changed as described above, compared to the case of selecting the first flight plan regardless of the above difference. , The extended flight path for dual-purpose flight can be shortened. As a result, it is possible to reduce the possibility of unforeseen circumstances when flying on an extended flight path for dual-purpose flight.

In the above example, the difference between the length of the first flight path and the length of the second flight path was used, but the difference between the flight time of the first flight path and the flight time of the second flight path was used. May be good. For example, in the example of FIG. 12, the flight speed of the drone 20-1 is faster than that of the drone 20-3, and the flight time of the flight path C3 before the change and the flight time of the flight path C6 after the change of the drone 20-3. The difference between the flight time of the flight path C1 before the change of the drone 20-1 and the flight time of the flight path C5 after the change may be smaller than the difference between the two.

In that case, the flight plan change unit 106 changes the first flight plan for the drone 20-1 to the second flight plan indicating the flight path C5. In this case, the extended flight time for the dual-purpose flight can be shortened as compared with the case of selecting the first flight plan regardless of the above difference, and as a result, the extended flight time for the dual-purpose flight can be shortened. It is possible to reduce the possibility of unforeseen circumstances in flight time.

[2-5] Drone selection part 2
The method of selecting the drone 20 for the combined flight is not limited to the above. The drone 20 does not always fly according to the flight plan, and if an unexpected situation such as a strong wind, a light rain, or a breakdown occurs, the drone 20 may not fly according to the flight plan.

That is, the first flight condition to be satisfied in the flight in the first flight plan may not be satisfied when a predetermined situation occurs. However, the high possibility depends on the performance of the drone 20. For example, even when a strong wind blows, the heavier the drone 20 is, the less susceptible it is to the wind, and if the drone 20 has a waterproof function, it is less susceptible to the influence of rain. In addition, if the parts are duplicated, they are less susceptible to failure.

Therefore, when the flight plan change unit 106 determines that any of the two or more first flight plans can be changed so that the combined flight is possible, the above-mentioned possibility (first flight when a predetermined situation occurs) Change the first flight plan of the drone 20 with the lower possibility that the conditions will not be met) to the second flight plan. Specifically, the flight plan change unit 106 selects a drone 20 that is heavier, has a waterproof function, or has duplicate parts, and secondly performs a first flight plan targeting the selected drone 20. Change to a flight plan.

When there are a plurality of drones 20 having these performances, the flight plan changing unit 106 gives points to each performance, for example, and the total value of the points given to the performances of each drone 20 becomes the maximum. You can select the drone 20. According to this modification, a situation occurs in which the first flight condition is not satisfied because the combined flight is performed, as compared with the case where the drone 20 that changes the first flight plan is selected regardless of the above possibility. It can be made difficult.

[2-6] Flight Purpose In the embodiment, an example of changing the first flight plan for achieving the transport purpose to the second flight plan for achieving both the transport purpose and the survey purpose has been described. Not limited to. The flight plan change unit 106 may change the first flight plan for achieving the survey purpose to the second flight plan for achieving both the survey purpose and the transport purpose.

In this case, the second flight plan is a plan including, for example, a flight route in which the transported object is picked up at a distribution center or the like and transported to the transport destination. Further, the flight plan change unit 106 may change the first flight plan for achieving the monitoring purpose to the second flight plan for achieving both the monitoring purpose and the survey purpose. In this case, the second flight plan is, for example, a plan to fly in the survey area before, after, or between monitoring periods.

In addition, the flight plan change unit 106 changes the first flight plan for achieving the survey purpose to the second flight plan for achieving both the survey purpose and other survey purposes (survey purposes with different survey areas). You may. In this case, the second flight plan is, for example, a plan to fly one survey area and then the other survey area. As described above, the flight objectives achieved in the first flight plan and the second flight plan may be any of the shooting purpose, the surveying purpose, the inspection purpose, the search purpose, the monitoring purpose, the transporting purpose of the transported object, and the like. ..

[2-7] Flight Plan Change Method In the embodiment, the flight plan generation unit 104 newly generates the second flight plan to change the first flight plan to the second flight plan, but the present invention is not limited to this. .. For example, a processed or edited version of the first flight plan may be used as the second flight plan. Further, the second flight plan may be a description of the first flight plan and the changed parts of the first flight plan. In short, the flight plan may be changed in any way as long as the combined flight instruction can be given based on the second flight plan.

[2-8] Flight Plan Acquisition Method In the embodiment, the flight plan acquisition unit 101 has acquired the first flight plan from the system of the drone operator, but the present invention is not limited to this. For example, the server device itself may generate the flight plan. In that case, the drone operator's system requests the server device from the generation of the flight plan. The server device acquires information indicating the flight schedule from, for example, the system of the drone operator, and generates a flight plan for flying according to the flight plan as the first flight plan. The flight plan acquisition unit 101 acquires the first flight plan thus generated.

[2-9] Change of flight plan during flight In the embodiment, the flight plan change unit 106 changes the flight plan before the drone 20 starts the flight, but the flight plan is not limited to this, and the flight plan change unit 106 changes the flight plan during the flight of the drone 20. You may change the flight plan. For example, suppose that the second flight condition is registered after the drone 20 starts flying. In that case, when the flight plan change unit 106 determines that the second flight condition can be satisfied by changing the first flight plan of the drone 20 in flight, the flight plan change unit 106 changes the first flight plan to the second flight plan.

Then, the flight instruction unit 105 transmits the instruction data based on the modified second flight plan to the drone 20, so that the drone 20 switches to the flight according to the second flight plan from the middle. As a result, when a sudden second flight condition (for example, a flight condition for photographing the accident site) occurs, the second flight condition is satisfied earlier than when the flight plan is not changed during the flight. be able to.

[2-10] Required Functions The functions required to satisfy at least a part of the second flight condition are not limited to those described in the examples. For example, when the second flight condition is a condition for achieving the search purpose of a forest fire, a measurement function by a sensor for detecting a heat source is required. Further, when the second flight condition is a condition for achieving the purpose of expanding the communication area, a communication relay function is required. Further, for example, even for the purpose of surveying, the surveying period is limited to a short time, and a flight function having the ability to fly in the surveying area during the surveying period may be required. Thus, any function may be used as long as it is necessary to satisfy at least a part of the second flight condition.

[2-11] Flying Body In the embodiment, a rotorcraft type flying body is used as a flying body that performs autonomous flight, but the present invention is not limited to this. For example, it may be an airplane type flying object or a helicopter type flying object. In addition, the function of autonomous flight is not essential, and if the assigned flight airspace can be flown during the assigned flight permission period, for example, a radio control type (radio control type) operated remotely by the operator. Aircraft may be used.

[2-12] Device for Realizing Each Part The device for realizing each function shown in FIG. 5 and the like may be different from those figures. For example, the drone may have all or a part of the functions of the server device. For example, the drone may acquire the flight plan and the drone information by itself and change the flight plan. In that case, the drone is an example of the "information processing device" of the present invention. Further, the operation performed by each function may be performed by another function or may be performed by a new function.

For example, the flight availability determination unit 102 may perform an operation (a drone information acquisition operation) performed by the drone information acquisition unit 103. Further, a function for performing a transmission operation among the operations (generation and transmission of instruction data) performed by the flight instruction unit 105 may be newly provided. Further, each of the two or more devices may realize each function of the server device. For example, the flight plan acquisition unit 101 and the flight instruction unit 105 may be realized by the system of the drone operator. In short, as long as these functions are realized in the drone management system as a whole, the drone management system may be equipped with any number of devices.

[2-13] Category of Invention The present invention includes an information processing device such as the server device described above, a flying object such as a drone (the drone may also serve as an information processing device), and their devices and flight. It can also be regarded as an information processing system such as a drone management system equipped with a body. Further, the present invention can be regarded as an information processing method for realizing the processing performed by each device, and also as a program for operating a computer that controls each device. This program may be provided in the form of a recording medium such as an optical disk that stores it, or may be provided in the form of being downloaded to a computer via a network such as the Internet and installed and made available. May be done.

[2-14] Processing procedure, etc. The order of the processing procedures, sequences, flowcharts, etc. of each embodiment described in the present specification may be changed as long as there is no contradiction. For example, the methods described herein present elements of various steps in an exemplary order and are not limited to the particular order presented.

[2-15] Handling of input / output information and the like The input and output information and the like may be stored in a specific location (for example, a memory) or may be managed by a management table. Information to be input / output may be overwritten, updated, or added. The output information and the like may be deleted. The input information or the like may be transmitted to another device.

[2-16] Software Software, whether referred to as software, firmware, middleware, microcode, hardware description language, or by any other name, is an instruction, instruction set, code, code segment, program code, program. , Subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc. should be broadly interpreted.

Further, software, instructions, and the like may be transmitted and received via a transmission medium. For example, the software may use wired technology such as coaxial cable, fiber optic cable, twisted pair and digital subscriber line (DSL) and / or wireless technology such as infrared, wireless and microwave to website, server, or other. When transmitted from a remote source, these wired and / or wireless technologies are included within the definition of transmission medium.

[2-17] Information, Signals The information, signals and the like described herein may be represented using any of a variety of different techniques. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description are voltages, currents, electromagnetic waves, magnetic fields or magnetic particles, light fields or photons, or any of these. It may be represented by a combination of.

[2-18] System, Network The terms "system" and "network" used herein are used interchangeably.

[2-19] Meaning of "based on" The term "based on" as used herein does not mean "based on" unless otherwise stated. In other words, the statement "based on" means both "based only" and "at least based on".

[2-20] "and", "or"
In the present specification, for configurations that can be implemented by either "A and B" or "A or B", the configuration described in one expression may be used as the configuration described in the other expression. For example, when "A and B" are described, they may be used as "A or B" as long as they are not inconsistent with other descriptions and can be carried out.

[2-21] Variations of Aspects, etc. Each of the examples described in the present specification may be used alone, in combination, or may be switched and used according to the execution. Further, the notification of predetermined information (for example, the notification of "being X") is not limited to the explicit one, but is performed implicitly (for example, the notification of the predetermined information is not performed). May be good.

Although the present invention has been described in detail above, it is clear to those skilled in the art that the present invention is not limited to the examples described herein. The present invention can be implemented as modifications and modifications without departing from the spirit and scope of the present invention as determined by the description of the scope of claims. Therefore, the description of the present specification is for the purpose of illustration and does not have any limiting meaning to the present invention.

Claims (6)

The acquisition department that acquires the first flight plan that satisfies the first condition,
If it is possible to fly the acquired flight object that is the target of the first flight plan that satisfies at least a part of the second condition in addition to the first condition, the flight can be performed on the first flight plan. With the change part to change to the second flight plan
Equipped with
The changing unit, intends row said determined using criteria likely decreases to a determination that can be the flying higher importance of the first condition is satisfied
Information processing apparatus. The changing unit, the information processing apparatus according to claim 1 used the higher the degree of importance of the first condition is satisfied, the reference to shorten the flight distance allowed in the flight as the criterion. The acquisition department that acquires the first flight plan that satisfies the first condition,
If it is possible to fly the acquired flight object that is the target of the first flight plan that satisfies at least a part of the second condition in addition to the first condition, the flight can be performed on the first flight plan. With the change part to change to the second flight plan
Equipped with
The second condition is Ru conditions der which the flying body is filled when flying or if the area to fly a predetermined area in a predetermined time period
Information processing apparatus. The acquisition department that acquires the first flight plan that satisfies the first condition,
If it is possible to fly the acquired flight object that is the target of the first flight plan that satisfies at least a part of the second condition in addition to the first condition, the flight can be performed on the first flight plan. With the change part to change to the second flight plan
Equipped with
The acquisition unit acquires two or more of the first flight plans and obtains them.
When the change unit can change the acquired two or more first flight plans to enable the flight to satisfy more parts of the second condition, each of the two or more first flight plans. It intends make changes to the second flight plan to reflect the changes to the
Information processing apparatus. The acquisition department that acquires the first flight plan that satisfies the first condition,
If it is possible to fly the acquired flight object that is the target of the first flight plan that satisfies at least a part of the second condition in addition to the first condition, the flight can be performed on the first flight plan. With the change part to change to the second flight plan
Equipped with
The acquisition unit acquires two or more of the first flight plans and obtains them.
When the change unit determines that any of the two or more first flight plans can be changed to perform the flight, the difference between the flight path for satisfying the first condition and the flight path in the flight is to change the smaller the first flight plan of the second flight plan
Information processing apparatus. The acquisition department that acquires the first flight plan that satisfies the first condition,
If it is possible to fly the acquired flight object that is the target of the first flight plan that satisfies at least a part of the second condition in addition to the first condition, the flight can be performed on the first flight plan. With the change part to change to the second flight plan
Equipped with
The acquisition unit acquires the first flight plan of two or more flight objects, and obtains the first flight plan.
The first condition may not be met in the event of a given situation.
When it is determined that any of the first flight plans of the two or more aircraft can be changed to perform the flight, the change unit determines the first flight plan of the less likely aircraft. If you change to the second flight plan
Information processing apparatus.

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