JP7124359B2 - Base station mobility control program, base station mobility control method, and information processing device - Google Patents

Description

The present invention relates to a mobile control program for a base station, a mobile control method for a base station, and an information processing apparatus.

For example, when information is shared during field activities of the Self-Defense Forces, terminals such as tablets and smartphones distributed to the unit are used to wirelessly communicate with the information sharing system. However, when the unit is in a combat situation, the communication environment becomes unstable due to the movement of the unit and jamming waves from the enemy, so it is assumed that the wireless communication range will be shortened. Therefore, when a unit communicates outdoors, a stable communication environment is ensured by deploying multiple relay radio base stations.

Japanese Patent Publication No. 2013-504943 JP 2014-179690 A JP 2010-226704 A

However, for example, in a combat situation, a base station that constantly emits radio waves is likely to be attacked by an enemy, and the actual situation is that it is required to move the base station flexibly according to the local situation. .

One aspect of the present invention is to provide a base station movement control program or the like that enables a base station to be flexibly moved according to local conditions.

In one aspect, a computer is caused to execute a process of accepting movement plan information of one or more terminals to be communicated with. A computer specifies a position to move an aircraft equipped with a base station communicating with one or more terminals based on the movement plan information, and transmits an instruction to the aircraft to move the aircraft to the specified position. Let the process run. After moving the flying object to a specific position, the computer is caused to execute processing for receiving image information or moving image information about the position received from the flying object. The computer is caused to execute a process of determining whether or not to transmit a position correction instruction to the flying object based on the received image information or moving image information.

As one aspect, it is possible to flexibly move base stations according to local conditions.

FIG. 1 is an explanatory diagram showing an example of the drone radio system of this embodiment. FIG. 2 is an explanatory diagram of an example of the hardware configuration of the server. FIG. 3 is an explanatory diagram showing an example of the hardware configuration of the drone. FIG. 4 is an explanatory diagram showing an example of the hardware configuration of the terminal device. FIG. 5 is an explanatory diagram of an example of the functional configuration of the server. FIG. 6 is an explanatory diagram showing an example of the record structure of the unit management table. FIG. 7 is an explanatory diagram showing an example of the record configuration of the drone management table. FIG. 8 is an explanatory diagram showing an example of the functional configuration of the drone. FIG. 9 is a sequence diagram showing an example of the processing operation of the drone radio system at the time of new deployment. FIG. 10 is a sequence diagram showing an example of the processing operation of the drone radio system at the time of new deployment. FIG. 11 is a sequence diagram showing an example of the processing operation of the drone radio system during troop movement. FIG. 12 is a sequence diagram showing an example of the processing operation of the drone radio system during troop movement. FIG. 13 is a sequence diagram illustrating an example of the processing operation of the drone radio system when there is no response. FIG. 14 is a sequence diagram illustrating an example of the processing operation of the drone radio system when there is no response. FIG. 15 is a sequence diagram showing an example of the processing operation of the drone radio system when there is no response. FIG. 16 is a sequence diagram illustrating an example of the processing operation of the drone radio system when the remaining power level is low. FIG. 17 is a sequence diagram showing an example of the processing operation of the drone radio system related to remaining amount monitoring processing. FIG. 18 is a flow chart showing an example of the processing operation of the server involved in non-reporting processing. FIG. 19 is an explanatory diagram showing an example of a computer that executes a mobile control program for a base station.

Hereinafter, embodiments of the mobile control program for the base station disclosed in the present application will be described in detail with reference to the drawings. Note that the disclosed technology is not limited by the present embodiment. Moreover, each embodiment described below may be appropriately combined within a range that does not cause contradiction.

FIG. 1 is an explanatory diagram showing an example of a drone radio system 1 of this embodiment. A drone radio system 1 shown in FIG. 1 has a plurality of terminal devices 2 , a plurality of drones 3 , and a server 4 . The terminal device 2 is, for example, a communication target terminal such as a tablet or a smart phone distributed to the unit. The drone 3 is a flying object that is equipped with an LTE (Long Term Evolution) base station (hereinafter simply referred to as a base station) 5 that wirelessly connects with the terminal device 2 and that can move to various areas. The server 4 is an information processing device that controls the entire drone radio system 1, for example, and is located at a base that supervises troops.

FIG. 2 is an explanatory diagram showing an example of the hardware configuration of the server 4. As shown in FIG. The server 4 shown in FIG. 2 includes a communication device 41, an output device 42, an input device 43, a ROM (Read Only Memory) 44, a RAM (Random Access Memory) 45, a CPU (Central Processing Unit) 46, a bus 47; The communication device 41 is, for example, a communication IF (Interface) that wirelessly connects with the base station 5 mounted on the drone 3 and communicates with a communication network (not shown). The output device 42 is an output interface such as a display device that outputs various information. The input device 43 is an input interface for inputting various commands. The ROM 44 is an area for storing various information, various programs, and the like. The RAM 45 is an area for storing various information. The CPU 46 controls the server 4 as a whole. The bus 47 is a data line, a control line, etc. for transmitting data and control information between the communication device 41, the output device 42, the input device 43, the ROM 44, the RAM 45 and the CPU 46. FIG.

FIG. 3 is an explanatory diagram showing an example of the hardware configuration of the drone 3. As shown in FIG. The drone 3 shown in FIG. 3 has a propeller 31, a drive device 32, a camera device 33, a GPS (Global Positioning System) device 34, a battery device 35, and a flight controller 36 in addition to the base station 5. . Drone 3 has ROM 37, RAM 38, CPU 39, and bus 31A. The propeller 31 is a device for flying and moving the drone 3 . The driving device 32 is an actuator that drives the propeller 31 . The camera device 33 is a device that captures an image of an area around the drone 3 . The flight controller 36 monitors and controls the flight state of the drone 3 . The battery device 35 is a battery that supplies power to the entire drone 3 . The ROM 37 is an area for storing various programs and the like. The RAM 38 is an area for storing various information. The CPU 39 controls the drone 3 as a whole. The bus 31A is a data line, a control line, etc. for transmitting data, control information, etc. between the driving device 32, the camera device 33, the GPS device 34, the flight controller 36, the battery device 35, the ROM 37, the RAM 38, and the CPU 39.

FIG. 4 is an explanatory diagram showing an example of the hardware configuration of the terminal device 2. As shown in FIG. The terminal device 2 shown in FIG. 4 has a communication device 21 , an output device 22 , an input device 23 , a ROM 24 , a RAM 25 , a CPU 26 and a bus 27 . The communication device 21 is, for example, a communication IF that wirelessly connects with the base station 5 mounted on the drone 3 . The output device 22 is an output interface such as a display device that outputs various information. The input device 23 is an input interface for inputting various commands. The ROM 24 is an area for storing various information, various programs, and the like. The RAM 25 is an area for storing various information. The CPU 26 controls the terminal device 2 as a whole. The bus 27 is a data line, a control line, etc. for transmitting data and control information between the communication device 21, the output device 22, the input device 23, the ROM 24, the RAM 25 and the CPU 26. FIG.

FIG. 5 is an explanatory diagram showing an example of the functional configuration of the server 4. As shown in FIG. The server 4 shown in FIG. 5 has a control section 4A and a storage section 4B. The control unit 4A corresponds to the CPU 46, for example. The control unit 4A expands, for example, the mobility control program for the base station 5 stored in the ROM 44 onto the RAM 45. FIG. Then, the control unit 4A executes the mobility control program expanded on the RAM 45 as a mobility control process of the base station 5, so that, for example, the reception unit 51, the determination unit 52, the instruction unit 53, the reception unit 54, and the determination unit 55 as a function.

The reception unit 51 receives movement plan information from the terminal device 2 . The movement plan information includes the unit ID for identifying the unit, the planned movement position of the unit, and the report time of the unit. Based on the movement plan information, the determination unit 52 identifies the communication environment of the topography and structures of the deployment area of the unit at the movement plan position, the transmission power power of the base station 5 mounted on each drone 3, and the like. The determining unit 52 calculates the number of drones 3 to be dispatched at the planned movement position and the movement position of each drone 3 based on the communication environment at the planned movement position, the transmission power power of the base station 5, and the like. For convenience of explanation, among the plurality of drones 3, the drone 3 to be dispatched is called the dispatched drone 3, and the drone 3 on standby is called the drone 3 on standby. The instruction unit 53 instructs a movement start command for each dispatched drone 3 . The movement start command includes a drone ID that identifies the dispatched drone 3 and the movement position of the dispatched drone 3 . When communication is established between the dispatched drones 3 after the dispatched drones 3 that have received the movement start command move to the movement position, the reception unit 54 transmits the captured images of the surroundings photographed by the dispatched drones 3 and the position information from the dispatched drones 3 . receive. Note that the captured image is image information such as a still image around the drone 3, for example.

The determination unit 55 identifies the position and situation of the surrounding area of each dispatched drone 3 based on the photographed image and the positional information of each dispatched drone 3 . Furthermore, the determination unit 55 determines whether or not to correct the movement position of the dispatched drone 3 according to the situation in the surrounding area. In addition, when correcting the movement position of the dispatch drone 3, the current position of the dispatch drone 3 is, for example, in a friendly position, in an enemy position, in a battle or in a non-combat area, or when the dispatch drone 3 is regularly This is the case of non-response to the communication confirmation request, low battery level, and the like.

When the current positions of the dispatched drones 3 are within the teammate's territory, the determining unit 52 recalculates the number of dispatched drones 3 and their movement positions, for example, in order to increase the communication density within the teammate's territory. When the current position of the dispatched drones 3 is within the enemy's territory, for example, the determination unit 52 recalculates the number of dispatched drones 3 and their movement positions in order to reduce the dispatched number of dispatched drones 3 so as not to be detected by the enemy. . When the current positions of the dispatched drones 3 are in combat, the determining unit 52 recalculates the number of dispatched drones 3 and their movement positions, for example, in order to increase the communication density of the dispatched drones 3 . When the determination unit 52 does not respond to the communication confirmation request of the dispatched drones 3 , for example, to add a new drone 3 , the number of dispatched drones 3 and movement positions are recalculated. When the remaining battery level of the dispatched drones 3 is low, for example, the determination unit 52 determines the number of dispatched drones 3 and their movement positions in order to return the dispatched drones 3 with a low battery level and add new drones 3. recalculate.

The storage unit 4B corresponds to, for example, the ROM 44, the RAM 45, and the like. The storage unit 4B has a unit management table 61 and a drone management table 62. FIG. FIG. 6 is an explanatory diagram showing an example of the record configuration of the unit management table 61. As shown in FIG. The unit management table 61 shown in FIG. 6 associates and manages unit IDs 61A, position information 61B, and communication availability 61C. The troop ID 61A is an ID for identifying a troop. The position information 61B is information such as coordinate information that identifies the position where the unit is deployed. The communication enable/disable 61C is information for identifying whether or not the terminal device 2 of the unit is in a communicable state.

FIG. 7 is an explanatory diagram showing an example of the record configuration of the drone management table 62. As shown in FIG. The drone management table 62 shown in FIG. 7 associates and manages a drone ID 62A, position information 62B, dispatch status 62C, establishing communication 62D, and remaining battery capacity 62E. The drone ID 62A is an ID that identifies the drone 3 . The position information 62B is information such as coordinate information that identifies the current position of the drone 3 . The dispatch state 62C is information indicating whether the drone 3 is dispatched or on standby. Establishing communication 62D is information for identifying whether or not communication with the dispatched drone 3 has been established. The remaining battery level 62E is information indicating the remaining battery level of the drone 3, that is, the remaining battery level.

FIG. 8 is an explanatory diagram showing an example of the functional configuration of the drone 3. As shown in FIG. The drone 3 shown in FIG. 8 has a control section 3A and a storage section 3B. The control unit 3A corresponds to the CPU 39, for example. The control unit 3A, for example, expands the program stored in the ROM 37 onto the RAM 38, and executes the program expanded on the RAM 38 as a process, for example, the movement control unit 81, the communication control unit 82, and the imaging control unit. 83 as a function. The storage unit 3B corresponds to, for example, the ROM 37, the RAM 38, and the like. The storage unit 3B has a position information memory 71 and a remaining amount memory 72 . The position information memory 71 is an area that stores the current position of the own drone 3 as well as the current positions of other drones 3 that have established communication with the own drone 3 . The movement control unit 81 controls the flight controller 36 to move the own drone 3 to the movement position within the movement start instruction in response to the movement start instruction. The communication control unit 82 controls the base station 5 to control communication with other drones 3 and the server 4 in response to the communication start command. After communication is established, the imaging control unit 83 controls the camera device 33 to capture an image of the ground around the own drone 3 .

The remaining amount memory 72 is an area for storing the remaining battery amount of the own drone 3 . It should be noted that the CPU 39 periodically accesses the battery device 35 to collect the remaining battery amount of the own drone 3 and stores the remaining battery amount in the remaining amount memory 72 .

Next, the operation of the drone radio system 1 of this embodiment will be described. 9 and 10 are sequence diagrams showing an example of the processing operation of the drone radio system 1 at the time of new deployment. Assume that a new unit is deployed. The terminal device 2 shown in FIG. 9 notifies the server 4 of the movement plan information, which is the input action plan of the unit (step S11). Note that the terminal device 2 is in a state in which wireless connection with the server 4 is possible. The movement plan information is information including a unit ID for identifying a unit, a movement plan position to which the unit newly deploys, a report time, and the like.

The reception unit 51 in the server 4 receives the movement plan information. Based on the movement plan information, the decision unit 52 in the server 4 identifies the position to which the unit will newly move and the communication environment of the area around the position, and dispatches the drone 3 equipped with the base station 5 used in the area. The number and movement position of each drone 3 are calculated (step S12). For convenience of explanation, the drone radio system 1 shown in FIG. 9 includes three drones #1 to #3, of which the dispatched drones 3 are #1 and #2.

The instruction unit 53 in the server 4 transmits a movement start command including a movement position and a drone ID to each of the dispatched drones 3 #1 and #2 (step S13). Note that the movement position differs for each dispatched drone 3 . When the movement control unit 81 in the #1 drone 3 receives the movement start command (step S14A), it moves to the movement position in the movement start command based on the GPS information of the GPS device 34 (step S15A). Similarly, when the movement control unit 81 in the #2 drone 3 receives the movement start command (step S14B), it moves to the movement position in the movement start command based on the GPS information of the GPS device 34 (step S15B). ).

The communication control unit 82 in the #1 drone 3 notifies the #2 drone 3 of a communication confirmation request (step S16). When receiving the communication confirmation request, the communication control unit 82 in the #2 drone 3 notifies the #1 drone 3 of a communication confirmation response in response to the communication confirmation request (step S17). In addition, the communication confirmation response includes the position information of the drone 3 of #2. When the drone 3 of # 1 receives the communication confirmation response, it stores the position information of the drone 3 that has transmitted the communication confirmation response in the position information memory 71 .

When the communication control unit 82 in the #1 drone 3 receives the communication confirmation response from the #2 drone 3, the communication with the #2 drone 3 is established (step S18), and the communication establishment information is transmitted. It is transmitted to the server 4 (step S19). Note that the communication establishment information includes the position information of all dispatched drones 3 that are stored in the position information memory 71 and have received communication confirmation responses. An arbitrary drone 3 in the dispatched drone 3 transmits a communication confirmation request to the other drones 3 in the dispatched drone 3, and when receiving a communication confirmation response to the communication confirmation request from all the dispatched drones 3, all the dispatched drones 3 is established. Then, the communication establishment information is transmitted to the server 4 .

When the control unit 4A in the server 4 receives the communication establishment information (step S20), it registers the position information of each dispatched drone 3 in the drone management table 62 (step S21). The control unit 4A updates the position information 62B, dispatch status 62C, and established communication 62D in the drone management table 62 in association with the drone ID 62A of the dispatched drone 3. Furthermore, the control unit 4A transmits a communication start command to each dispatched drone 3 (step S22), and shifts to the processing operation shown in FIG.

When the photographing control unit 83 in the #1 drone 3 shown in FIG. 10 receives a communication start command from the server 4 (step S31A), the camera device 33 photographs the ground around the #1 drone 3 (step S32A). Further, the #1 drone 3 transmits the captured image and position information to the server 4 (step S33A). The position information is information indicating the current position of the drone 3 #1. Similarly, when the photographing control unit 83 in the #2 drone 3 receives a communication start command from the server 4 (step S31B), the camera device 33 photographs the ground around the #2 drone 3 (step S32B). ). Then, the #2 drone 3 transmits the captured image and position information to the server 4 (step S33B). The position information is information indicating the current position of the drone 3 #2.

When the determination unit 55 in the server 4 receives the captured image and the position information from each dispatched drone 3 (step S34), the deployment position of the unit is specified from the captured image from each dispatched drone 3 and the analysis result of the position information. (step S35). The determination unit 55 identifies enemies and allies of the unit from the captured images and position information of the dispatched drones 3, and identifies, for example, enemy positions, friendly positions, non-combat areas, and the like during battle. Furthermore, when the control unit 4A in the server 4 identifies the deployment position of the troop, it registers the position information related to the deployment position of the troop in the troop management table 61 (step S36). The control unit 4A updates the position information 61B and communication availability 61C in the unit management table 61 corresponding to the unit ID 61A for identifying the unit. The server 4 notifies the communication permission to the terminal device 2 of the unit (step S37). The unit's terminal device 2 displays that communication is possible on the output device 22 in response to the communication permission (step S38), and communication via the dispatched drones 3 of #1 and #2 becomes possible (step S39). . As a result, the unit of the terminal device 2 can recognize the communication enabled state by visually recognizing the communication enabled display.

In FIG. 9, the server 4 flexibly deploys the base station 5 in the area where the unit is deployed in order to move the drone 3 equipped with the base station 5 to the area where the unit is deployed based on the movement plan information of the unit. As a result, it is possible to flexibly secure a stable wireless communication environment in the deployment area of the unit.

Since the server 4 receives the captured images and positional information from each drone 3, it identifies the situation of the deployment area of the unit based on the captured images and the positional information. The server 4 can determine whether or not to correct the movement position of the drone 3 in the deployment area according to the situation of the deployment area of the unit. As a result, the server 4 flexibly moves the base station 5 according to the situation of the deployment area.

FIG. 11 is a sequence diagram showing an example of the processing operation of the drone radio system 1 during troop movement. Assume that the terminal device 2 is in a state of being able to communicate using the drones 3 #1 and #2, and the unit of the terminal device 2 is moving.

The imaging control unit 83 in the #1 drone 3 images the ground around the #1 drone 3 with the camera device 33 (step S41), and transmits the captured image and position information to the server 4 (step S42). When the determination unit 55 in the server 4 receives the photographed image and position information from the #1 drone 3 (step S43), it specifies the movement position of the unit and the situation in the deployment area based on the photographed image and the position information. (step S44).

When the movement position of the unit and the situation of the area are specified, the determining unit 52 in the server 4 recalculates the number of dispatched drones 3 and the movement position from the specified unit position (step S45). The instruction unit 53 in the server 4 transmits a movement start command including the movement position of each drone 3 to the recalculated dispatched drones 3 (step S46).

When the movement control unit 81 in the #1 drone 3 receives the movement start command from the server 4 (step S47A), it moves to the movement position in the movement start command based on the GPS information of the GPS device 34 (step S48A). ). Similarly, when the movement control unit 81 in the #2 drone 3 receives the movement start instruction (step S47B), it moves to the movement position in the movement start instruction based on the GPS information of the GPS device 34 (step S48B). ).

The communication control unit 82 in the #1 drone 3 notifies the #2 drone 3 of a communication confirmation request (step S49). When receiving the communication confirmation request, the communication control unit 82 in the #2 drone 3 notifies the #1 drone 3 of a communication confirmation response in response to the communication confirmation request (step S50). When the communication control unit 82 in the #1 drone 3 receives the communication confirmation response from the #2 drone 3, the communication with the #2 drone 3 is established (step S51), and the communication establishment information is transmitted. It is transmitted to the server 4 (step S52). The communication establishment information includes position information of all the drones 3 with which communication has been established with the #1 drone 3 .

When the control unit 4A in the server 4 receives the communication establishment information (step S53), it registers the position information of each target drone 3 in the drone management table 62 (step S54). The control unit 4A updates the position information 62B, the dispatch state 62C, and the communication establishment 62D in association with the drone ID 62A in the drone management table 62. FIG. The control unit 4A in the server 4 transmits a communication start command to each dispatched drone 3 (step S55). Each dispatch drone 3 will perform the processing operation shown in FIG. 10, when a communication start command is received.

In FIG. 11, the server 4 identifies the movement positions of the troops based on the captured images and position information received from the drones 3, and recalculates the number of dispatched drones 3 and their positions at the identified movement positions. As a result, even if the unit moves, a stable wireless communication environment can be secured flexibly in the area where the unit is deployed.

FIG. 12 is a sequence diagram showing an example of the processing operation of the drone radio system 1 during troop movement. It is assumed that the terminal device 2 is in a state of being able to communicate using the #1 drone 3, and the unit of the terminal device 2 is moving between friendly and enemy positions.

The imaging control unit 83 in the #1 drone 3 images the ground around the #1 drone 3 with the camera device 33 (step S61), and transmits the captured image and position information to the server 4 (step S62). When the determination unit 55 in the server 4 receives the captured image and position information from the #1 drone 3 (step S63), it identifies the movement positions of the enemy and ally units based on the captured image and position information ( step S64). Note that the determining unit 55 identifies the situation of the area such as the enemy camp from the movement position of the enemy unit and the friendly camp from the movement position of the allied unit.

When the movement position of the ally unit is specified, the determination unit 52 in the server 4 recalculates the number and positions of the dispatched drones 3 in the ally territory so as to increase the air communication density over the ally territory (step S65). ). In addition, when the positions of the enemy's units are specified, the determination unit 52 recalculates the number and positions of the dispatched drones 3 in the enemy's camp so as to reduce the number of the drones 3 above the enemy's camp.

The server 4 transmits a movement start command including the movement position of each drone 3 to the recalculated dispatched drones 3 (step S66). When each drone 3 receives a movement start command including a movement position, each drone 3 executes processing operations after step S15A shown in FIG.

In FIG. 12, the server 4 identifies the moving positions of the enemy unit and the friendly unit based on the captured images and the positional information received from the dispatch drone 3, and identifies the enemy unit from the moving position of the enemy unit and the friendly unit from the moving position of the friendly unit. identify. As a result, it is possible to identify the local conditions such as friendly camps and enemy camps.

When the ally territory is identified, the server 4 recalculates the number and positions of dispatched drones 3 in the ally territory so as to increase the air communication density over the ally territory. As a result, it is possible to secure a wireless communication environment suitable for the allied base.

When the enemy camp is identified, the server 4 recalculates the number and positions of dispatched drones 3 within the enemy camp in order to reduce the number of drones 3 above the enemy camp. As a result, it is possible to secure a wireless communication environment suitable for the enemy's position so as not to be detected by the enemy.

13 to 15 are sequence diagrams showing an example of the processing operation of the drone radio system 1 during non-response. Assume that the terminal device 2 is in a state of being able to communicate using the drones 3 #1 and #2, and suddenly there is no periodic response from the drone 3 #2.

In FIG. 13, the communication control unit 82 in the #1 drone 3 periodically notifies the #2 drone 3 of a communication confirmation request (step S71). Note that “regularly” means, for example, timing at predetermined intervals such as 10-second intervals. If there is no communication confirmation response from the #2 drone 3 in response to the communication confirmation request (step S72), the communication control unit 82 in the #1 drone 3 transmits a non-response report to the server 4 (step S73). . The case where there is no communication confirmation response is, for example, a state in which a response to the communication confirmation request cannot be made due to factors such as radio wave interference when the drone 3 is shot down or affected by an enemy. The non-response report includes a drone ID that identifies the drone 3 that has not responded. The imaging control unit 83 in the #1 drone 3 images the ground around the #1 drone 3 with the camera device 33 (step S74), and transmits the captured image and position information to the server 4 (step S75).

When the control unit 4A in the server 4 receives the non-response report, the captured image, and the location information (step S76), it identifies the non-response drone 3 based on the drone ID of the non-response drone 3 in the non-response report. (Step S77). The server 4 identifies the #2 drone 3 as the non-responding drone 3 based on the non-response report. The determination unit 55 in the server 4 identifies the movement positions of the enemy and ally units based on the captured video and position information (step S78). Note that the determining unit 55 identifies the situation of the area such as the enemy camp from the movement position of the enemy unit and the friendly camp from the movement position of the allied unit.

After identifying the positions of the enemy and ally units, the determination unit 52 in the server 4 recalculates the number and positions of dispatched drones 3 within the ally territory so as to increase the air communication density over the ally territory (step S79). In addition, when the positions of the enemy's units are specified, the determination unit 52 recalculates the number and positions of the dispatched drones 3 in the enemy's camp so as to reduce the number of the drones 3 above the enemy's camp. Note that the server 4 sets the drones 3 #1 and #3 as dispatched drones 3 . The server 4 transmits a movement start command for the dispatched drone 3 (step S80), and shifts to the processing operation of FIG.

In FIG. 14, when the movement control unit 81 in the #1 drone 3 receives the movement start instruction (step S81A), it moves to the movement position in the movement start instruction based on the GPS information of the GPS device 34 (step S82A). ). Similarly, when the movement control unit 81 in the #3 drone 3 receives the movement start instruction (step S81B), it moves to the movement position in the movement start instruction based on the GPS information of the GPS device 34 (step S82B). ).

The communication control unit 82 in the #1 drone 3 notifies the #3 drone 3 of a communication confirmation request (step S83). When receiving the communication confirmation request, the communication control unit 82 in the #3 drone 3 notifies the #1 drone 3 of a communication confirmation response in response to the communication confirmation request (step S84). When the communication control unit 82 in the #1 drone 3 receives the communication confirmation response from the #3 drone 3, the communication with the #3 drone 3 is established (step S85), and the communication establishment information is transmitted. It is transmitted to the server 4 (step S86), and the processing operation shown in FIG. 15 is performed.

In FIG. 15, when the control unit 4A in the server 4 receives the communication establishment information (step S91), it registers the position information of each dispatched drone 3 in the drone management table 62 (step S92). Note that the control unit 4A updates the position information 62B, the dispatch state 62C, and the communication establishing state 62D in the drone management table 62 in association with the drone ID 62A that identifies the dispatched drone 3. Furthermore, the control unit 4A transmits a communication start command to each dispatched drone 3 (step S93). When the photographing control unit 83 in the #1 drone 3 receives the communication start command from the server 4 (step S94A), the camera device 33 photographs the ground around the #1 drone 3 (step S95A), and photographing is performed. The image and position information are transmitted to the server 4 (step S96A). When the photography control unit 83 in the #3 drone 3 receives the communication start command from the server 4 (step S94B), the camera device 33 photographs the ground around the #3 drone 3 (step S95B). The image and position information are transmitted to the server 4 (step S96B).

When the determination unit 55 in the server 4 receives the captured image and the position information from each dispatched drone 3 (step S97), the deployment position of the unit is specified from the captured image from each dispatched drone 3 and the analysis result of the position information. (step S98). Furthermore, when the control unit 4A in the server 4 identifies the deployment position of the troop, it registers the position information related to the deployment position of the troop in the troop management table 61 (step S99). The control unit 4A updates the position information 61B and communication availability 61C in the unit management table 61 in association with the unit ID 61A that identifies the unit. The server 4 notifies the terminal device 2 of the unit of communication permission (step S100).

The unit's terminal device 2 displays that communication is possible on the output device 22 in response to the communication permission (step S101), and communication via the dispatched drones 3 of #1 and #3 becomes possible (step S102). .

When the server 4 detects the non-response report of the dispatched drone 3, the server 4 identifies the non-response drone 3, and identifies the movement position of the enemy unit and the movement position of the friendly unit based on the received captured image and position information. Then, the server 4 identifies the situation of the area such as the enemy camp from the movement position of the enemy unit and the friendly camp from the movement position of the allied unit.

When the ally territory is identified, the server 4 recalculates the number and positions of dispatched drones 3 in the ally territory so as to increase the air communication density over the ally territory. As a result, it is possible to ensure wireless communication quality that is suitable for allied positions.

When the enemy camp is identified, the server 4 recalculates the number and positions of dispatched drones 3 within the enemy camp in order to reduce the number of drones 3 above the enemy camp. As a result, wireless communication quality suitable for enemy positions can be ensured so as not to be detected by the enemy.

FIG. 16 is a sequence diagram showing an example of the processing operation of the drone radio system 1 when the remaining capacity is low. It is assumed that the terminal device 2 is in a state of being able to communicate using the drones 3 #1 and #2, and the remaining battery level of the drone 3 #1 is low.

In FIG. 16, the control unit 3A in the drone 3 #1 notifies the server 4 of a low battery level report (step S112) when the remaining battery level becomes equal to or less than a predetermined level (step S111). The predetermined amount is, for example, the remaining amount of the battery that allows the vehicle to return to a return position such as a charging station. The low battery level report includes the drone ID that identifies the drone 3 with the low battery level.

When the control unit 4A in the server 4 receives the low remaining capacity report (step S113), it identifies the #1 drone 3 with low remaining capacity based on the drone ID in the low remaining capacity report (step S114). When the determination unit 52 in the server 4 identifies the #1 drone 3 with a low remaining amount, it excludes the #1 drone 3 and recalculates the number of dispatched drones 3 and their positions (step S115).

After recalculating the number and positions of the dispatched drones 3, the control unit 4A in the server 4 transmits a movement start command to each drone 3 (step S116). The server 4 transmits a movement start command including the movement position to the drones 3 #2 and #3, and a movement start command including the return position to the drone 3 #1.

When the movement control unit 81 in the #1 drone 3 receives the movement start command (step S117A), it moves to the return position within the movement start command (step S118A), and, for example, charges the battery after returning to the return position. (Step S119).

When the movement control unit 81 in the #2 drone 3 receives the movement start command (step S117B), it moves to the movement position in the movement start command based on the GPS information of the GPS device 34 (step S118B). Similarly, when the movement control unit 81 in the #3 drone 3 receives the movement start instruction (step S117C), it moves to the movement position in the movement start instruction based on the GPS information of the GPS device 34 (step S118C). ).

The communication control unit 82 in the #2 drone 3 notifies the #3 drone 3 of a communication confirmation request (step S120). When receiving the communication confirmation request, the communication control unit 82 in the #3 drone 3 notifies the #2 drone 3 of a communication confirmation response in response to the communication confirmation request (step S121). Incidentally, the communication confirmation response includes the position information of the drone 3 of #3.

When the communication control unit 82 in the #2 drone 3 receives the communication confirmation response from the #3 drone 3, the communication with the #3 drone 3 is established (step S122), and the communication establishment information is transmitted. It is transmitted to the server 4 (step S123). When receiving the communication establishment information, the server 4 registers the position information of each dispatched drone 3 in the drone management table 62 and transmits a communication start command to each dispatched drone 3 .

In FIG. 16, the server 4 recalculates the number of dispatched drones 3 and their positions, excluding the dispatched drones 3 with a reduced residual capacity, when receiving the report of the remaining residual capacity reduction from the dispatched drones 3 . As a result, even if there is a dispatched drone 3 with a low remaining capacity, for example, by adding an alternative drone 3, it is possible to secure the wireless communication environment in the deployment area.

Since the server 4 has transmitted the instruction to start moving to the return position to the dispatch drone 3 with a low remaining capacity, the commuting drone 3 with a low remaining capacity can return to the return position.

FIG. 17 is a sequence diagram showing an example of the processing operation of the drone radio system 1 related to remaining amount monitoring processing. It is assumed that the terminal device 2 is in a state of being able to communicate using the drones 3 #1 and #2, and the remaining battery level of the drone 3 #1 is low.

In FIG. 17, the drones 3 #1 and #2 periodically notify the remaining battery level to the server 4 (steps S131A and 131B). When the server 4 receives the remaining battery levels from the drones 3 of #1 and #2 (step S132), it identifies the drones 3 whose remaining battery levels are equal to or less than a predetermined amount (step S133). Note that the server 4 identifies the #1 drone 3 whose remaining battery level is equal to or less than a predetermined amount among the #1 and #2 drones 3 .

The server 4 recalculates the number of dispatched drones 3 and their positions, excluding the #1 drone 3 (step S134). After recalculating the number of dispatched drones 3 and their positions, the server 4 transmits a movement start command to each drone 3 (step S135). The server 4 transmits a movement start command including the movement position to the drones 3 #2 and #3, and a movement start command including the return position to the drone 3 #1.

When the movement control unit 81 in the #1 drone 3 receives the movement start command (step S136A), it moves to the return position within the movement start command (step S137A), and charges the battery after returning to the return position (step S138A).

When the movement control unit 81 in the #2 drone 3 receives the movement start instruction (step S136B), it moves to the movement position in the movement start instruction based on the GPS information of the GPS device 34 (step S137B). Similarly, when the movement control unit 81 in the #3 drone 3 receives the movement start instruction (step S136C), it moves to the movement position in the movement start instruction based on the GPS information of the GPS device 34 (step S137C). ).

The communication control unit 82 in the #2 drone 3 notifies the #3 drone 3 of a communication confirmation request (step S139). When receiving the communication confirmation request, the communication control unit 82 in the #3 drone 3 notifies the #2 drone 3 of a communication confirmation response in response to the communication confirmation request (step S140). Incidentally, the communication confirmation response includes the position information of the drone 3 of #3.

When the communication control unit 82 in the #2 drone 3 receives the communication confirmation response from the #3 drone 3, the communication with the #3 drone 3 is established (step S141), and the communication establishment information is transmitted. It is transmitted to the server 4 (step S142). When receiving the communication establishment information, the server 4 registers the position information of each dispatched drone 3 in the drone management table 62 and transmits a communication start command to each dispatched drone 3 .

In FIG. 17, the server 4 periodically collects the remaining battery levels from the dispatched drones 3, and when detecting the dispatched drones 3 whose remaining battery levels are less than a predetermined amount, the dispatched drones 3 except for the dispatched drones 3 with low remaining Recalculate the number and position of 3. As a result, even if there is a dispatched drone 3 with a low remaining capacity, for example, by adding an alternative drone 3, it is possible to ensure the wireless communication quality in the deployment area.

Since the server 4 has transmitted the instruction to start moving to the return position to the dispatch drone 3 with a low remaining capacity, the commuting drone 3 with a low remaining capacity can return to the return position.

FIG. 18 is a flowchart showing an example of the processing operation of the server 4 related to non-reporting processing. In FIG. 18, the reception unit 51 in the server 4 determines whether or not the movement plan information has been received from the terminal device 2 (step S151). As described above, the movement plan information includes, in addition to the unit ID and movement position of the unit, the reporting time indicating the time at which the unit reports to the server 4 .

When the movement plan information is received (Yes at step S151), the reception unit 51 acquires the report time from the movement plan information (step S152). The control unit 4A determines whether or not the current time is the report time (step S153). If the current time is the reporting time (Yes at step S153), the control unit 4A determines whether or not there was a report from the unit at the reporting time (step S154).

If there is a report from the unit at the report time (Yes at step S154), the control unit 4A ends the processing operation shown in FIG. If there is no report from the unit at the reporting time (No at step S154), the control unit 4A instructs to search for the corresponding unit (step S155). Then, the control unit 4A transmits to the drone 3 a movement start command with the position of the unit obtained from the search instruction result of the corresponding unit as the movement position (step S156), and ends the processing operation shown in FIG.

If the control unit 4A does not receive the movement plan information (No at step S151), the processing operation shown in FIG. 18 ends. If the current time is not the report time (No at step S153), the controller 4A proceeds to step S153 to determine whether the current time is the report time.

The server 4 that executes the non-reporting process shown in FIG. 18 instructs a search for the corresponding unit when there is no report from the unit at the reporting time in the movement plan information. Furthermore, the server 4 moves the drone 3 to the unit position obtained from the search result of the corresponding unit. As a result, a stable wireless communication environment for non-reporting units can be ensured.

In this embodiment, by using a plurality of drones 3 on which base stations 5 are mounted, the base stations 5 are moved flexibly. As a result, since the drones 3 are used to expand the wireless area, human damage is small even in combat situations, and an efficient and stable wireless communication environment can be secured flexibly.

Since the server 4 receives the captured images and positional information from each drone 3, it identifies the situation of the deployment area of the unit based on the captured images and the positional information. The server 4 can determine whether or not to correct the movement position of the drone 3 in the deployment area according to the situation of the deployment area of the unit. As a result, the server 4 can flexibly move the base station 5 according to the situation of the deployment area.

The server 4 calculates the number of dispatched drones 3 to be moved to a specific position based on the movement plan information. As a result, it is possible to change the number of dispatched drones 3 suitable for the movement plan position of the unit.

If there is no report from the unit at the reporting time in the movement plan information, the server 4 instructs search for the corresponding unit. Furthermore, the server 4 moves the drone 3 to the unit position obtained from the search result of the corresponding unit. As a result, a stable wireless communication environment can be ensured for non-reporting units.

The server 4 recalculates the number of drones 3 to be moved to a specific position in order to move a new drone 3 to the specific position when the regular response of the drone 3 is not detected. As a result, even if a drone 3 for which a regular response has not been detected occurs, the wireless communication environment can be secured by, for example, introducing an additional drone 3 .

When the remaining battery amount of the drone 3 is determined to be a predetermined amount or less, the server 4 moves the drone 3 whose remaining battery amount is less than the predetermined amount to the return position and the new drone 3 to a specific position. Recalculate the number of drones 3 to be moved to a specific position. As a result, even if a drone 3 with a low battery level occurs, for example, by returning the drone 3 with a low battery level and inserting an additional drone 3, a wireless communication environment is secured according to the local situation. can.

When it is determined that the drones 3 exist in the enemy territory, the server 4 reduces the number of the drones 3 in the enemy territory compared to when the drones 3 exist in the friendly territory. Recalculate the number of 3. As a result, it is possible to secure a wireless communication environment suitable for the enemy's position so as not to be detected by the enemy.

The server 4 recalculates the number of drones 3 in the combat zone so that the number of drones 3 in the combat zone increases when it is determined that the drones 3 are present in the combat zone. do. As a result, for example, by increasing the number of drones 3 in the battle zone, a wireless communication area suitable for the battle zone can be secured.

Note that the server 4 of the above embodiment receives the captured image and the position information captured by the dispatched drones 3 after the communication between the dispatched drones 3 is established, and sets the captured image as a still image. is not limited to, and may be a moving image, and can be changed as appropriate.

The server 4 reduces the number of dispatched drones 3 so as to reduce the number of drones 3 in the enemy's territory when the dispatched drones 3 are present in the enemy's territory, but the number of dispatched drones 3 is not limited to this, and the number of dispatched drones is reduced. You may make it move to the optimal position without carrying out. Conversely, the number of dispatched vehicles may be increased, and can be changed as appropriate. Although the server 4 controls the number of dispatched drones 3 so that the communication density of the drones 3 in the allied territory is high when the dispatched drones 3 exist in the allied territory, the number of dispatched drones 3 is not limited to this. The number of units may be reduced and can be changed as appropriate.

In the drone radio system 1, the drone 3 having the base station 5 mounted thereon is exemplified as a flying object, but the drone is not limited to the drone 3, and any movable flying object may be used, and can be changed as appropriate.

In addition, in the above embodiment, the flying object is exemplified, but the object is not limited to the flying object, and may be a mobile object such as a movable vehicle, and can be changed as appropriate.

Also, each constituent element of each part illustrated does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution and integration of each part is not limited to the one shown in the figure, and all or part of it can be functionally or physically distributed and integrated in arbitrary units according to various loads and usage conditions. can be configured as

Furthermore, the various processing functions performed by each device are implemented on a CPU (Central Processing Unit) (or a microcomputer such as an MPU (Micro Processing Unit) or MCU (Micro Controller Unit)), in whole or in part. You can make it run. In addition, various processing functions may be executed in whole or in part on a program analyzed and executed by a CPU (or a microcomputer such as an MPU or MCU) or on hardware based on wired logic. Needless to say.

By the way, various kinds of processing described in the present embodiment can be realized by executing a program prepared in advance by a computer. Therefore, an example of a computer that executes a program having functions similar to those of the above embodiments will be described below. FIG. 19 is an explanatory diagram showing an example of a computer 100 that executes a mobile control program for a base station.

Computer 100 for executing the mobile control program for the base station shown in FIG. The communication device 110 wirelessly connects with a base station mounted on an aircraft (not shown).

The ROM 150 pre-stores a mobile control program for the base station that performs the same functions as in the above embodiment. The mobile control program for the base station does not necessarily have to be stored in the ROM 150 from the beginning, and the mobile control program for the base station may be recorded in a recording medium readable by a drive (not shown). The recording medium may be, for example, a flexible disk (FD), a CD-ROM, a DVD disk, a USB memory, a portable recording medium such as an SD card or an IC card, or a semiconductor memory such as a flash memory. The computer 100 may read and execute the mobile control program of the base station stored in the recording medium. Also, as shown in FIG. 19, the mobile control program of the base station includes a reception program 150A, an instruction program 150B, a reception program 150C and a judgment program 150D. Incidentally, the programs 150A to 150D may be integrated or distributed as appropriate.

Then, the CPU 170 reads out these programs 150A to 150D from the ROM 150 and develops the read programs on the work area of the RAM 160. FIG. The RAM 160 functions the developed programs 150A to 150D as a reception process 160A, an instruction process 160B, a reception process 160C and a determination process 160D.

CPU 170 accepts plan information of one or more terminals to be communicated with. Based on the movement plan information, the CPU 170 identifies a position to move the flying object equipped with a base station that communicates with one or more terminals, and transmits an instruction to the flying object to move the flying object to the identified position. . After moving the flying object to a specific position, the CPU 170 receives image information or moving image information about the position received from the flying object. Based on the received image information or moving image information, the CPU 170 determines whether to transmit a position correction instruction to the flying object. As a result, the base station can be flexibly moved according to the local situation.

1 drone radio system 2 terminal device 3 drone 4 server 5 base station 51 reception unit 52 determination unit 53 instruction unit 54 reception unit 55 determination unit

Claims (9)

distributed to troops, Receiving movement plan information of one or more terminals to be communicated,
based on the movement plan information, specifying a position to move the flying object equipped with a base station communicating with the one or more terminals, and instructing the flying object to move the flying object to the specified position send and
After moving the flying object to the specific position, receiving image information or moving image information about the position around the position received from the flying object,
Received image information or video informationIdentify enemies and allies in the deployment area of the unit from the identification result in the deployment areadetermining whether to send a position correction instruction to the vehicle based on
A mobile control program for a base station, characterized by causing a computer to execute processing. 2. The movement control program for a base station according to claim 1, causing said computer to execute a process of calculating the number of said flying objects to be moved to said specific position based on said movement plan information. When the movement plan information includes the time at which the terminal transmits a report, and the report cannot be received from the terminal at that time after the flying object is moved to the specific position, the terminal's direct the search
3. The movement control program for a base station according to claim 1, causing the computer to execute a process of instructing movement of the flying object to a position where communication with the terminal found by the search instruction is possible. recalculating the number of the aircraft to be moved to the specified location, so as to move a new aircraft to the specified location if the regular response of the aircraft is not detected; 4. The base station mobility control program according to any one of claims 1 to 3, characterized in that: When it is determined that the remaining battery level of the flying object is equal to or less than a predetermined amount, the flying object with the remaining battery amount equal to or less than the predetermined amount leaves the flying object from the specific position and moves a new flying object to the specific position. 5. The movement of the base station according to any one of claims 1 to 4, wherein the computer executes a process of recalculating the number of the aircraft to be moved to the specific position in order to move the base station to the control program. When it is determined that the flying objects are present in enemy territory, the number of flying objects in enemy territory is reduced compared to when the flying objects are present in friendly territory. 6. The mobile control program for a base station according to claim 1, causing the computer to execute a process of recalculating the number of flying objects. and causing the computer to execute a process of recalculating the number of flying objects in battle so that the number of flying objects in battle increases when it is determined that the flying objects exist in battle. The mobility control program for a base station according to any one of claims 1 to 6. distributed to troops, Receiving movement plan information of one or more terminals to be communicated,
based on the movement plan information, specifying a position to move the flying object equipped with a base station communicating with the one or more terminals, and instructing the flying object to move the flying object to the specified position; send and
After moving the flying object to the specific position, receiving image information or moving image information about the position around the position received from the flying object,
Received image information or video informationIdentify enemies and allies in the deployment area of the unit from the identification result in the deployment areadetermining whether to send a position correction instruction to the vehicle based on
A mobile control method for a base station, characterized by executing processing. distributed to troops, a reception unit that receives movement plan information of one or more terminals to be communicated;
based on the movement plan information, specifying a position to move the flying object equipped with a base station communicating with the one or more terminals, and instructing the flying object to move the flying object to the specified position and
a receiving unit that receives image information or moving image information about the vicinity of the position received from the flying object after the flying object is moved to the specific position;
Received image information or video informationIdentify enemies and allies in the deployment area of the unit from the identification result in the deployment areaa determination unit that determines whether to transmit a position correction instruction to the flying object based on
An information processing apparatus characterized by comprising:

Images