JP7364336B2 - computer system - Google Patents

Description

One aspect of the present disclosure relates to computer systems .

2. Description of the Related Art Techniques for controlling flying objects have been known from the past (for example, see Patent Document 1).

Japanese Patent Application Publication No. 2018-146946

One aspect of the present disclosure is directed to properly controlling a flying vehicle.

A computer system according to one aspect of the present disclosure includes at least one processor, and the at least one processor stores ground network data in which a ground network is associated with a feature , and a sky network and a ground network are associated with each other. A computer system that controls the flight of an aircraft in a sky network based on sky network data, wherein the ground network data includes associations between ground map elements and features that constitute the ground network, and the sky network data includes associations between ground map elements and features that constitute the ground network. , an association between a sky map element and a ground map element constituting the sky network, and the at least one processor identifies at least one sky map element in the sky network and refers to the sky network data. At least one ground map element corresponding to one aerial map element is identified, and at least one feature corresponding to the at least one ground map element is identified by referring to ground network data corresponding to the at least one ground map element. Identifying and controlling flight of an air vehicle in a sky network including at least one sky map element based on the at least one feature.

FIG. 1 is a diagram illustrating an example of a functional configuration of a flight control system according to an embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of a server according to an embodiment. FIG. 2 is a diagram showing an example of a ground network and an air network. FIG. 2 is a diagram illustrating an example of association between a ground network and an air network. FIG. 4 is a diagram showing an example of ground network data and sky network data (corresponding to FIG. 4). 5 is a diagram showing another example of ground network data and sky network data (corresponding to FIG. 4); FIG. FIG. 3 is a diagram showing another example of a terrestrial network and an air network. FIG. 7 is a diagram showing another example of association between a ground network and an air network. 9 is a diagram showing an example of ground network data and sky network data (corresponding to FIG. 8); FIG. FIG. 2 is a sequence diagram showing an example of the operation of the flight control system. 3 is a flowchart illustrating details of control of a flying object.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in the description of the drawings, the same or equivalent elements are given the same reference numerals, and redundant description will be omitted.

[System overview]
The flight control system 1 according to the embodiment is a computer system that controls a flying object. A flying object is an artificial object that can move through the air. The type of flying object is not limited, and may be a manned aircraft or an unmanned aircraft (drone), for example. The method of controlling the flying object is not limited. For example, the flight control system 1 may directly control the aircraft, or may indirectly control the aircraft via another device or computer. An example of indirect control of a flying object is support for controlling the flying object. "Control of the vehicle" may include both direct control and indirect control (eg, assisting in controlling the vehicle). The flight control system 1 may change the traveling direction or speed of the aircraft, cause the aircraft to take off or land, may stop the aircraft in mid-air, or direct the aircraft on a determined flight path. may be changed while moving. "Controlling the flying object" may include at least one of controlling the movement of the flying object and controlling equipment (for example, a camera) mounted on the flying object. In controlling the movement of the flying object, it is preferable to have a function of detecting the current position (three-dimensional position) of the flying object in the air. The purpose of controlling the flying object is not limited in any way, and the flight control system 1 can be used for any purpose such as transportation, investigation, monitoring, guidance related to guidance (for example, pacemaker, tourist information, etc.), and regulation related guidance.

The flight control system 1 controls the flight of the aircraft based on ground network data and sky network data. Both the ground network data and the air network data are electronic data that can be read by a computer, and are control data that includes digital information necessary for controlling the aircraft.

The terrestrial network data is data representing a terrestrial network that indicates routes that objects moving on the ground (for example, people, cars, trains, ships, etc.) can take. "Ground" in this disclosure means the surface of the earth, and therefore, is a concept that includes not only the ground but also the water surface. Specifically, the terrestrial network data is data in which a terrestrial network and a feature are associated.

A feature is any tangible or intangible object that exists on the ground. A feature may be a natural object or an artificial object. For example, the features may include mountains, farmland, residential areas, vacant land, rivers, lakes, oceans, tourist spots, roads, railroads, buildings, parks, towers, traffic lights, railroad crossings, crosswalks, pedestrian bridges, buoys, and the like. Examples of intangible features include areas set for arbitrary purposes (e.g. no-photography areas, temporary no-entry areas, etc.), areas where events are held, gathering places, photo spots, etc. . Naturally, the types of features are not limited to these.

The sky network data is data representing a sky network indicating a route that a flying object can take. Specifically, the sky network data is data in which a sky network and a ground network are associated.

The ground network data and air network data may be prepared in any manner. At least one of these two types of network data may be part of the map data. In other words, map data may function as at least one of ground network data and sky network data. Alternatively, at least one of the ground network data and the sky network data may be prepared independently of the map data.

[System configuration]
FIG. 1 is a diagram showing an example of the functional configuration of the flight control system 1. As shown in FIG. As shown in FIG. 1, in this embodiment, the flight control system 1 includes a server 10, a ground database 20, and an air database 30. The server 10 can be communicatively connected to a user terminal 40 and a route search system 50. The user terminal 40 is a computer owned or used by a user of the flight control system 1. The route search system 50 is a computer system that searches for a route on the ground based on conditions specified by a user. When guiding a user on a route on the ground, the user terminal 40 preferably has a function of detecting the user's current position on the ground.

The server 10 can control the aircraft 60 by transmitting instruction data to the aircraft 60 via the user terminal 40. The instruction data is electronic data that can be read by a computer, and is control data that includes digital information necessary to control the flying object 60. The flying object 60 can fly based on the instruction data. The ground database 20 is a device that stores ground network data 21, and the sky database 30 is a device that stores sky network data 31. The server 10 prepares instruction data by referring to these databases as necessary.

Each device shown in FIG. 1 can send and receive data via a wired or wireless communication network. For example, the server 10 can read data from the ground database 20 or the air database 30, send and receive data to and from the route search system 50, and send instruction data to the user terminal 40 via the communication network. The specific configuration of the communication network is not limited, and for example, the communication network may be configured to include at least one of the Internet and an intranet.

The configuration of the flight control system 1 is not limited to the example shown in FIG. For example, the ground database 20 may be managed by a computer system separate from the flight control system 1, or may be included in the server 10. Similar to the ground database 20, the configuration or management of the sky database 30 is not limited either. Ground database 20 and air database 30 may be integrated into one database. Route searching system 50 may be implemented within server 10 as a functional module. The server 10 may transmit the instruction data to the aircraft 60 without going through the user terminal 40.

In this embodiment, the server 10 sets a ground route for the user in response to a request from the user terminal 40, and sets an air route corresponding to the ground route for the aircraft 60. Further, the server 10 controls the aircraft 60 as necessary during the flight of the aircraft 60. A ground route refers to a route set on the ground to guide a user from one point to another. The aerial route refers to a route set in the air to guide the flying object 60 from a certain point to another point. In this embodiment, the server 10 includes a route setting section 11, an instruction generation section 12, and a communication section 13 as functional modules. The route setting unit 11 is a functional module that searches for a ground route for the user and an air route for the flying object 60, and prepares route data indicating the searched route. The instruction generation unit 12 is a functional module that prepares instruction data for controlling the flying object 60. The communication unit 13 is a functional module that outputs route data or instruction data.

FIG. 2 shows an example of the hardware configuration of the server 10. For example, the server 10 has a control circuit 100. In one example, control circuit 100 includes one or more processors 101, memory 102, storage 103, communication port 104, and input/output port 105. Processor 101 executes an operating system and application programs. The storage 103 is configured with a storage medium such as a hard disk, a nonvolatile semiconductor memory, or a removable medium (eg, a magnetic disk, an optical disk, etc.), and stores an operating system and application programs. The memory 102 temporarily stores programs loaded from the storage 103 or results of calculations performed by the processor 101. In one example, the processor 101 functions as each of the above functional modules by cooperating with the memory 102 and executing a program. The communication port 104 performs data communication with other devices via the communication network NW according to instructions from the processor 101. The input/output port 105 inputs and outputs electrical signals to and from input/output devices (user interfaces) such as a keyboard, mouse, and monitor according to instructions from the processor 101.

Server 10 may be composed of one or more computers. When a plurality of computers are used, one logical server 10 is configured by connecting these computers to each other via a communication network.

The computer that functions as the server 10 is not limited. For example, the server 10 may be configured with a large computer such as a business server, or may be configured with a small computer such as a personal computer or a mobile terminal (for example, a smartphone, a tablet terminal, etc.).

[data structure]
A sky network indicating a flight path is associated with a ground network by sky network data 31, and the ground network is associated with a feature by ground network data 21. With such a data structure, the sky network is also associated with terrestrial features via the ground network. Therefore, the flight control system 1 can control the flying object 60 based on the terrestrial features.

The attributes of the terrestrial features used to control the flying object 60 are not limited. A feature attribute is any type of information that represents the nature, characteristics, or situation of a feature. Examples of feature attributes include, but are not limited to, name, location, shape, size, configuration, structure, and dynamically changing conditions. A "dynamically changing situation" refers to a situation that changes over time. The length of time required for a change in the situation is not limited, and may be arbitrary, such as 1 second, 10 seconds, 30 seconds, 1 minute, 10 minutes, 30 minutes, 1 hour, 2 hours, 3 hours, 12 hours, or 1 day. may be the value of The type of situation is not limited in any way; for example, it may be a natural phenomenon, a situation caused by an artificial object, or a situation based on a rule established by a person. For example, the situation to be dynamically transformed may be weather, traffic regulations, degree of road congestion, position of obstacles, density of people, etc.

If the sky network and the feature are directly associated without going through the ground network, the structure of the sky network data 31 becomes complicated, and the management (for example, design, generation, and update) of the sky network data 31 becomes complicated. Since features exist on the ground, data management will be easier if information about features is associated with the ground network rather than with the sky network. By associating the sky network and features through the ground network, it becomes easier to manage (e.g. design, design, update) the sky network data, and the flight vehicle can be appropriately controlled based on the features. .

FIG. 3 is a diagram showing an example of a ground network and an air network. In this example, the features are a road 70, a sidewalk 71, a crosswalk 72, and a traffic light 73, a ground network 80 is set along the sidewalk 71 or a crosswalk 72, and a sky network 90 corresponds to the ground network 80. It is set.

Both the air network 90 and the ground network 80 can be represented by map elements such as nodes and links. A node is a position that is set to control the movement of a mobile object (in the case of a sky network, the flight of a flying object), and more specifically, it refers to a position that is set to control the movement of a mobile object (for example, the direction, speed, etc.). etc.) refers to a position that can be changed. A link is a virtual line set to indicate a moving route of a mobile object (or a flight path of an aircraft in the case of an air network), and connects adjacent nodes. The shape of the link may be a straight line, a curve, or a combination of a straight line and a curve. In this disclosure, the nodes and links that make up the terrestrial network are referred to as terrestrial nodes and terrestrial links, respectively, and the nodes and links that make up the air network are referred to as sky nodes and air links, respectively.

In FIG. 3, a ground network 80 is configured to include a plurality of ground nodes 81 and a plurality of ground links 82, and an air network 90 is configured to include a plurality of air nodes 91 and a plurality of air links 92. Note that in FIG. 3, the sky network 90 is shown separated from the ground network 80 for the purpose of clear illustration, but even if the sky network 90 is defined so that at least a portion of the sky network 90 overlaps with the ground network 80, good.

FIG. 4 is a diagram showing an example of the association between the ground network 80 and the air network 90. In this example, the terrestrial network 80 includes four terrestrial links, PNW001, PNW002, PNW003, and PNW004, and five terrestrial nodes, PN001, PN002, PN003, PN004, and PN005. On the other hand, the empty network 90 includes four empty links SNW001, SNW002, SNW003, and SNW004, and five empty nodes SN001, SN002, SN003, SN004, and SN005. FIG. 4 further shows two traffic lights OBJ001 and OBJ002, a stop area OBJ003, and two crosswalks OBJ004 and OBJ005 as examples of features.

Map elements of the air network (eg, air nodes and links) are directly or indirectly associated with map elements of the terrestrial network (eg, terrestrial nodes and links). The method of association is not limited in any way and may be realized according to any policy. For example, both air nodes and air links may be associated with at least one of ground nodes and ground links. The correspondence relationship between the map elements of the sky network and the map elements of the ground network may be one-to-one, one-to-many, or many-to-one. In this disclosure, the map elements of the sky network are also referred to as "air map elements", and the map elements of the ground network are also referred to as "ground map elements".

The terrestrial network and the air network may be statically or dynamically associated. "Statically associated" means that the association between the ground network and the air network is set in advance and will not be changed unless there is human intervention. On the other hand, "dynamically associated" means that the association between the ground network and the air network can be changed in response to any event without human intervention. Dynamic association is realized by executing a program that controls association on a predetermined computer. Dynamic association may be performed by flight control system 1 or by another computer system.

The data structure of the air network data 31 is not limited as long as the air network and the ground network are associated. In other words, the data structure of the sky network data 31 may be arbitrarily designed as long as one sky map element and at least one ground map element are associated with each other. Similarly, the data structure of the terrestrial network data 21 is not limited as long as the terrestrial network and the terrestrial features are associated. In other words, the data structure of the ground network data 21 may be arbitrarily designed as long as a certain ground map element and a feature are associated. In any case, since the sky network and the terrestrial feature are associated through the ground network, the flight control system 1 can control the flying object based on the terrestrial feature.

FIG. 5 is a diagram showing an example of ground network data 21 and air network data 31 corresponding to the ground network 80 and air network 90 shown in FIG. 4. In this example, the ground network data 21 includes ground link data 211 indicating a ground link and feature information 212 indicating a feature. The empty network data 31 includes empty link data 311 indicating an empty link.

Terrestrial link data 211 indicating one terrestrial link includes a terrestrial link ID that uniquely identifies a terrestrial link, a start node ID and an end node ID that uniquely identify terrestrial nodes at both ends of the terrestrial link, and the type of terrestrial link. and at least one corresponding feature. The feature information 212 indicating one feature includes a feature ID that uniquely identifies the feature, a type of feature, and coordinates indicating the geographic location of the feature. The ground link data 211 and the feature information 212 are associated with each other by the feature ID. Note that there may be ground links that are not associated with features.

Empty link data 311 indicating one empty link includes an empty link ID that uniquely identifies an empty link, a start node ID and an end node ID that uniquely identify empty nodes at both ends of the empty link, and a corresponding ground link. It includes an ID and information on one or more control sections related to control of the flying object 60. The control section information includes a network direction indicating the traveling direction of the flying object 60 on the sky link, and coordinates indicating the geographical positions of the start point and end point of the control section. Note that an empty link without a control section may exist.

The ground network data 21 and the sky network data 31 are associated with each other by the ground link ID of the ground link data 211 and the ground link ID of the sky link data 311. The flight control system 1 controls the aircraft 60 based on terrestrial objects by referring to a data structure that includes ground network data 21, sky network data 31, and an association between these two pieces of data. be able to.

FIG. 6 is a diagram showing another example of the ground network data 21 and air network data 31 corresponding to the ground network 80 and air network 90 shown in FIG. 4. In this example, terrestrial network data 21 includes terrestrial link data 211 and terrestrial node data 213. The ground node data 213 includes the ground node ID, the coordinates indicating the geographical position of the ground node, and the two ground links connected via the ground node (the approach link leading to the ground node and the exit link leaving the ground node). a set of one or more link connections. The terrestrial link data 211 and the terrestrial node data 213 are associated with each other by the terrestrial node ID.

In the example of FIG. 6 as well, the ground network data 21 and the air network data 31 are associated with each other by the ground link ID of the ground link data 211 and the ground link ID of the air link data 311. Therefore, the flight control system 1 can control the flying object 60 based on the terrestrial features.

FIG. 7 is a diagram showing another example of a ground network and an air network. In this example, the features are a photography spot 171 and a photography prohibited area 172, a ground network 180 is set along the tourist route 170, and an air network 190 is set corresponding to the ground network 180. The terrestrial network 180 includes a plurality of terrestrial nodes 181 and a plurality of terrestrial links 182, and the air network 190 includes a plurality of air nodes 191 and a plurality of air links 192. In order to photograph a person at a photographing spot 171, the flying object 60 may take a photographing route 196 whose base point is an intermediate point 195 of the sky network 190. Note that although the sky network 190 is shown separated from the ground network 180 in FIG. 7 for the purpose of clear illustration, the sky network 190 may be defined so that at least a portion of the sky network 190 overlaps the ground network 180. good.

FIG. 8 is a diagram showing an example of the association between the ground network 180 and the air network 190. In this example, terrestrial network 180 includes three terrestrial links, PNW101, PNW102, and PNW103, and four terrestrial nodes, PN101, PN102, PN103, and PN104. On the other hand, the empty network 190 includes three empty links called SNW101, SNW102, and SNW103, and four empty nodes called SN101, SN102, SN103, and SN104.

FIG. 9 is a diagram showing an example of ground network data 21 and air network data 31 corresponding to the ground network 180 and air network 190 shown in FIG. 8. In this example, the terrestrial network data 21 includes terrestrial link data 221 indicating a terrestrial link and photographing spot information 222 indicating a photographing spot. The sky network data 31 includes sky link data 321 indicating a sky link and control information 322 indicating a method of controlling the flying object 60.

The ground link data 221 indicating one ground link includes a ground link ID that uniquely identifies the ground link, a start node ID and an end node ID that indicate ground nodes at both ends of the ground link, and corresponding feature information. include. In the example of FIG. 9, the feature corresponding to the ground link PNW101 is a photography spot, and the feature corresponding to the ground link PNW102 is a photography prohibited area. The shooting spot information 222 indicating one shooting spot is an example of feature information, and includes a shooting spot ID that uniquely identifies the shooting spot, a gathering area indicating the geographical range of the shooting spot, the number of people allowed, and each time period. including the degree of congestion. The ground link data 221 and the photographing spot information 222 are associated with each other by the photographing spot ID. Information on the photography-prohibited area is embedded in the ground link data 221, and includes a plurality of coordinates representing the geographical range of the area.

The empty link data 321 indicating one empty link includes an empty link ID, a start node ID and an end node ID indicating empty nodes at both ends of the empty link, a corresponding ground link ID, and the starting point of the route to the shooting spot. The event point information shown in FIG. The event point information includes coordinates indicating the geographic location of the event point and a control ID that uniquely identifies a control related to the event point. The control information 322 corresponding to one event point includes a control ID, a corresponding photographing spot ID, information on at least one guiding point indicating a position to guide a person, and at least one photographing point indicating the position of the flying object 60. and point information. The guidance point information includes a guidance point ID that uniquely identifies the guidance point, and coordinates that indicate the geographical location of the guidance point. The information on the photographing point includes a photographing point ID that uniquely identifies the photographing point, area information indicating the geographical range of the photographing point, a direction indicating the orientation of the flying object 60, and an angle of the camera of the flying object 60. . The empty link data 321 and the control information 322 are associated with each other by a control ID.

The ground network data 21 and the air network data 31 are associated with each other by the ground link ID of the ground link data 221 and the ground link ID of the air link data 321. The flight control system 1 controls the aircraft 60 based on terrestrial objects by referring to a data structure that includes ground network data 21, sky network data 31, and an association between these two pieces of data. be able to.

The data structures shown in FIGS. 5, 6, and 9 are examples. As long as the sky network and the terrestrial features are associated via the ground network, the data structures of the ground network data 21 and the sky network data 31 may be designed according to any policy. For example, at least one of the data items shown in FIG. 5, FIG. 6, or FIG. 9 may be omitted, or other data items may be added. In any case, since the sky network and the feature are associated via the ground network, it is possible to efficiently prepare the ground network data 21 and the sky network data 31 and control the flying object 60 based on the feature. becomes possible.

[System processing procedure]
The operation of the flight control system 1 will be described with reference to FIGS. 10 and 11, and the method for controlling the flying object according to this embodiment will be described. FIG. 10 is a sequence diagram showing an example of the operation of the flight control system 1. FIG. 11 is a flowchart illustrating details of control of the aircraft 60.

First, the overall operation of the flight control system 1 will be described with reference to FIG. 10. In step S11, the user terminal 40 requests the server 10 to search for a route based on a user operation. The user can input various conditions related to route searching. The conditions are not limited, and may include, for example, at least one of the destination, current location, number of people, departure time, arrival time, required time, and time limit. At least some of the route search conditions may be input by the user or may be automatically set by any computer or computer system. The user terminal 40 generates a request signal based on the conditions, and sends the signal to the server 10 to request the server 10 to perform a route search.

In step S12, the route setting unit 11 searches for a ground route based on the request. For example, the route setting unit 11 instructs the route search system 50 to search for a route by transmitting the conditions received from the user terminal 40 to the route search system 50, and selects at least one candidate route sent from the route search system 50. It may also be received as a ground route.

In step S13, the route setting unit 11 searches for an air route corresponding to the ground route. For example, the route setting unit 11 may generate a sky route corresponding to the ground route by searching the sky database 30. When a plurality of ground routes are acquired, the route setting unit 11 may generate a sky route for each ground route.

In step S14, the communication unit 13 transmits route data indicating a ground route and an air route to the user terminal 40 as a search result. The user terminal 40 displays the search results on the monitor, allowing the user to visually recognize the ground route and proceed along the ground route. If the search result includes a plurality of ground routes, the user can operate the user terminal 40 to select one ground route. In this case, the flying object 60 will fly on an air route corresponding to the selected ground route.

In step S15, the user terminal 40 transmits to the aircraft 60 data on an air route corresponding to the ground route that the user intends to follow. The flying object 60 can fly according to this sky route data. Therefore, it can be said that this empty route data is also instruction data.

In step S16, the instruction generation unit 12 and the communication unit 13 cooperate to control the flight of the aircraft 60 in the sky network based on the ground network data 21 and the sky network data 31.

For example, when specifying at least one sky map element in the sky network, the instruction generation unit 12 identifies at least one ground map element corresponding to the at least one sky map element by referring to the sky network data 31. do. Subsequently, the instruction generation unit 12 specifies a feature corresponding to the at least one ground map element by referring to the ground network data 21 corresponding to the at least one ground map element. Then, the instruction generation unit 12 controls the flight of the aircraft 60 in the sky network including at least one sky map element based on the at least one feature.

In another example, when the instruction generating unit 12 identifies at least one ground map element in the ground network, the instruction generation unit 12 references the ground network data 21 to identify at least one feature corresponding to the at least one ground map element. Identify. Subsequently, the instruction generation unit 12 refers to the sky network data 31 to identify at least one sky map element corresponding to the at least one ground map element. Then, the instruction generation unit 12 controls the flight of the flying object 60 in the sky network including at least one sky map element based on at least one terrestrial feature.

In this way, the flight control system 1 may refer to the sky network data 31 after referring to the ground network data 21, or may refer to the ground network data 21 after referring to the sky network data 31. That is, the order in which the flight control system 1 refers to the data structures is not limited.

An example of step S16 will be described in more detail with reference to FIG. 11. As shown in step S161, the flight control system 1 may perform the following series of processes when the flying object 60 reaches the position (coordinates) of a processing point on the sky network. The processing point refers to a point where processing for controlling the flying object 60 is executed. The processing points may be defined within the air network data 31 or within the terrestrial network data 21. When defined in the terrestrial network data 21, the following series of processes may be performed when the user reaches the position (coordinates) of a processing point on the terrestrial network. The processing point is indicated by the control section of the empty link data 311, 312 in the examples of FIGS. 5 and 6, and is indicated by the event point of the empty link data 321 in the example of FIG. If the aircraft 60 is located at the processing point, the process proceeds to step S162.

In step S162, the instruction generation unit 12 refers to the sky network data 31 and identifies sky map elements necessary for controlling the aircraft 60. The specified sky map element is not limited, and for example, the instruction generation unit 12 may specify the sky link where the aircraft 60 is currently located, or may specify that the aircraft 60 is located next to the current sky link. You may also specify an empty link. The method of identifying blank map elements is not limited. For example, the instruction generation unit 12 may sequentially search for sky links along the flight route until it can identify a sky link in which information necessary for controlling the flying object exists.

In step S163, the instruction generation unit 12 refers to the sky network data 31 and identifies the ground map element corresponding to the identified sky map element. When referring to the sky link data 311, 312, or 321, the instruction generation unit 12 specifies the ground link corresponding to the sky link. For example, the instruction generating unit 12 specifies the ground link PNW002 when the air link SNW002 is specified, and specifies the ground link PNW101 when the air link SNW101 is specified.

In step S164, the instruction generation unit 12 refers to the ground network data 21 and identifies a feature corresponding to the identified ground map element. For example, the instruction generating unit 12 specifies the traffic light OBJ002 as a feature when the ground link PNW002 is specified, and specifies the photographing spot SS001 as the feature when the ground link PNW101 is specified.

In step S165, the instruction generation unit 12 refers to the ground network data 21 and obtains information on the identified feature. For example, the instruction generating unit 12 can obtain information about the traffic light OBJ002 by referring to the feature information 212, and obtain information about the photographing spot SS001 by referring to the photographing spot information 222. Alternatively, the instruction generation unit 12 may acquire information on the identified feature from the aircraft 60, for example, information obtained by a sensor mounted on the aircraft 60 (for example, information captured by a camera on the aircraft 60). (still images or moving images) may be acquired as feature information. Alternatively, the instruction generation unit 12 may acquire feature information from a computer system other than the flight control system 1. For example, the instruction generation unit 12 may obtain road information as feature information from a traffic control system that manages ground traffic. good.

In step S166, the instruction generation unit 12 prepares instruction data based on the acquired feature information. The instruction generation unit 12 may prepare instruction data by reading instruction data stored in advance in a memory, or may dynamically generate instruction data. The contents and data structure of the instruction data are not limited at all. For example, the instruction data may include information for changing the speed or position of the flying object 60, or may include information for stopping the flying object 60 in the air. Alternatively, the instruction data may include information for controlling equipment (for example, a camera, a light source, a speaker, etc.) mounted on the aircraft 60.

In step S167, the communication unit 13 transmits instruction data to the aircraft 60. In this embodiment, the communication unit 13 transmits instruction data to the user terminal 40, and the user terminal 40 transfers the instruction data to the aircraft 60. However, the method of transmitting instruction data to the aircraft 60 is not limited to this. For example, the communication unit 13 may transmit the instruction data to the aircraft 60 directly, or may transmit the instruction data to the aircraft 60 via a device other than the user terminal 40 (for example, a remote controller). The instruction data is used to control the aircraft 60. For example, a control circuit of the aircraft 60 may receive and process instruction data to control components of the aircraft (eg, power, rudder, camera, speaker, or light source). Alternatively, a computer other than the aircraft 60 (for example, the user terminal 40 or a remote controller) transmits control data to the aircraft 60 based on the instruction data, and the control circuit of the aircraft 60 configures its own aircraft based on the control data. May control elements. In any case, the flying object 60 can fly based on the instruction data provided from the server 10.

Various specific examples of step S16 corresponding to the examples of FIGS. 3 to 6 will be described below. Here, it is assumed that the user walks along these three ground links in the order of PNW001, PNW003, and PNW004, and the flying object 60 flies along these three sky links in the order of SNW001, SNW003, and SNW004.

For example, if the aircraft 60 reaches the processing point of the sky link SNW001 of the sky network 90 (YES in step S161), the instruction generation unit 12 specifies the sky link SNW003 where the aircraft 60 will be located next. (Step S162). Subsequently, the instruction generation unit 12 refers to the air network data 31 and specifies the ground link PNW003 corresponding to the air link SNW003 (step S163). Subsequently, the instruction generation unit 12 refers to the ground network data 21 and identifies the feature corresponding to the ground link PNW003 (step S164). Since the user proceeds along the ground link PNW003 from the starting point PN002 to the ending point PN003, the instruction generation unit 12 specifies the traffic light OBJ001 corresponding to the forward direction as a feature.

Subsequently, the instruction generation unit 12 acquires information about the traffic light OBJ001 (step S165), and prepares instruction data based on the information (step S166). For example, the instruction generation unit 12 acquires information indicating the current state of the traffic light (which color is lit), and based on the current state, the state of the traffic light OBJ001 at the time the user reaches the stop area OBJ003. Predict. Then, the instruction generation unit 12 determines the flight method of the aircraft 60 based on the prediction, and prepares instruction data based on the determination. For example, the instruction generation unit 12 may prepare instruction data for adjusting the speed and position of the flying object 60 so that the user can cross the crosswalk OBJ004 without stopping at the stop area OBJ003. In this case, the instruction generation unit 12 may obtain the position of the person passing through the crosswalk OBJ004, identify a less crowded area, and set the position of the flying object 60 so that the user passes through that area. . Alternatively, the instruction generation unit 12 may prepare instruction data for stopping the user at the stop area OBJ003. In this case, the instruction generation unit 12 may acquire the position of the person within the stop area OBJ003, identify an area with low congestion, and set the position of the flying object 60 to guide the user to that area. good.

Finally, the communication unit 13 transmits the instruction data to the aircraft 60 (step S167). By operating according to the instruction data, the flying object 60 can appropriately guide the user toward the destination.

After that, if the flying object 60 reaches the processing point (i.e., control section) of the sky link SNW003 of the sky network 90 (YES in step S161), the instruction generation unit 12 determines that the flying object 60 will be located next. The empty link SNW004 is identified by tracing the empty link SNW004 in the order from the end node SN003 corresponding to the empty link SNW003 to the start node SN003 corresponding to the empty link SNW004 (step S162). Subsequently, the instruction generation unit 12 refers to the air network data 31 and specifies the ground link PNW004 corresponding to the air link SNW004 (step S163). Subsequently, the instruction generation unit 12 refers to the ground network data 21 and specifies the crosswalk OBJ005 corresponding to the ground link PNW004 as a feature (step S164).

Subsequently, the instruction generation unit 12 acquires information about the crosswalk OBJ005 (step S165), and prepares instruction data based on the information (step S166). For example, the instruction generation unit 12 obtains information indicating the current state of the crosswalk (for example, whether a vehicle is passing or not), and determines when to allow the user to pass based on the current state. Then, the instruction generation unit 12 determines the flight method of the aircraft 60 based on the determination, and prepares instruction data based on the determination.

Finally, the communication unit 13 transmits the instruction data to the aircraft 60 (step S167). By operating according to the instruction data, the flying object 60 can appropriately guide the user toward the destination.

Various specific examples of step S16 corresponding to the examples of FIGS. 7 to 9 will be described below. Here, it is assumed that the user walks along these three ground links in the order of PNW101, PNW102, and PNW103, and the flying object 60 flies along these three sky links in the order of SNW101, SNW102, and SNW103.

For example, when the aircraft 60 reaches the processing point (ie, event point) of the sky link SNW 101 of the sky network 190 (YES in step S161), the instruction generation unit 12 specifies the sky link SNW 101 (step S162). Subsequently, the instruction generation unit 12 refers to the air network data 31 and identifies the ground link PNW 101 corresponding to the air link SNW 101 (step S163). Subsequently, the instruction generation unit 12 refers to the ground network data 21 and identifies the photographing spot SS001 corresponding to the ground link PNW101 as a feature (step S164).

Subsequently, the instruction generation unit 12 refers to the ground network data 21 and obtains information about the photographing spot SS001 (step S165). Further, the instruction generation unit 12 refers to the sky network data 31 and obtains control information 322 corresponding to the event point (control information 322 corresponding to the photographing spot SS001). The instruction generation unit 12 then prepares instruction data based on the acquired information (step S166). For example, the instruction generating unit 12 controls the flying object 60 to guide the user to the guidance point L001, photograph the user from the photographing point SP001, further photograph the user from the photographing point SP002, and finally return to the event point. Prepare instruction data to do so. The instruction generation unit 12 can also determine the operation of the flying object 60 at each shooting point based on the control information 322. The instruction generation unit 12 may adjust the number of photographing points according to the degree of crowding indicated by the photographing spot information 222.

Finally, the communication unit 13 transmits the instruction data to the aircraft 60 (step S167). By operating according to the instruction data, the flying object 60 can guide the user to a photographing spot and take a photograph.

As another example, the process of step S16 may be executed in response to the server 10 receiving a shooting instruction from the user terminal 40. In this case, the processing point is the position of the aircraft 60 when the instruction from the user terminal 40 is received. The instruction generation unit 12 identifies the sky link where the flying object 60 is currently located (step S162). In this example, the instruction generation unit 12 assumes that the empty link SNW 102 has been identified. Subsequently, the instruction generation unit 12 refers to the air network data 31 and identifies the ground link PNW 102 corresponding to the air link SNW 102 (step S163). Next, the instruction generation unit 12 refers to the ground network data 21, identifies the photography prohibited area corresponding to the ground link PNW 102 as a feature (step S164), and generates information on the photography prohibited area (starting point and ending point). (step S165). Then, the instruction generation unit 12 prepares instruction data based on the information (step S166). For example, the instruction generation unit 12 determines whether the current position of the flying object 60 is within a photography prohibited area. Then, the instruction generation unit 12 prepares instruction data for photographing the user when the flying object 60 is located outside the photographing prohibited area, and prepares instruction data for photographing the user when the flying object 60 is located within the photographing prohibited area. , prepare instruction data to inform the user that photography is not allowed.

Finally, the communication unit 13 transmits the instruction data to the aircraft 60 (step S167). By operating according to the instruction data, the flying object 60 either photographs the user or sends a message to the user that photography is not possible.

[program]
A program for causing a computer to function as a server 10 includes a program code for causing the computer to function as an instruction generation section 12 and a communication section 13. This program may be provided after being permanently recorded on a tangible recording medium such as a CD-ROM, DVD-ROM, or semiconductor memory. Alternatively, the program may be provided via a communication network as a data signal superimposed on a carrier wave. The provided program is stored in the storage 103, and the processor 101 executes the program in cooperation with the memory 102, thereby realizing each of the above functional modules.

[effect]
As described above, a computer system according to one aspect of the present disclosure includes at least one processor, and the at least one processor processes ground network data in which a ground network and a feature are associated, a sky network, and a ground network. control the flight of the aircraft in the sky network based on the sky network data associated with the air network;

In such aspects, the sky network is associated with the features via the ground network. Since the sky network and the features are associated indirectly rather than directly, the sky network data can be easily managed and the aircraft can be appropriately controlled based on the features.

In the computer system according to another aspect, the ground network data includes associations between ground map elements and features that make up the ground network, and the sky network data includes associations between the sky map elements and ground map elements that make up the sky network. It may also include an association. Since the sky map elements and the features that constitute the sky network are associated through the ground map elements, it is possible to control the flying object more closely based on the features.

In a computer system according to another aspect, at least one processor identifies at least one sky map element in a sky network, and identifies at least one sky map element corresponding to the at least one sky map element by referring to sky network data. By identifying the ground map element and referring to the ground network data corresponding to the at least one ground map element, at least one feature corresponding to the at least one ground map element is identified, and the at least one feature is identified. Based on the above information, flight of an air vehicle in a sky network including at least one sky map element may be controlled. Through such a procedure, the flight of the aircraft can be appropriately controlled.

In a computer system according to another aspect, at least one processor identifies at least one terrestrial map element in a terrestrial network and identifies at least one terrestrial map element corresponding to the at least one terrestrial map element by referring to terrestrial network data. By identifying the feature and referring to the sky network data, at least one sky map element corresponding to the at least one ground map element is identified, and the at least one sky map element is determined based on the at least one feature. The flight of the air vehicle in the sky network may be controlled. Through such a procedure, the flight of the aircraft can be appropriately controlled.

A data structure according to one aspect of the present disclosure includes ground network data in which ground map elements and features are associated with each other that constitute a ground network, and sky network data in which air map elements and ground map elements that constitute a sky network are associated with each other. network data, and causes the processor to identify at least one ground map element corresponding to the at least one sky map element by referring to the sky network data, and to specify the ground network data corresponding to the at least one ground map element. By referencing, at least one feature corresponding to the at least one ground map element is identified, and based on the at least one feature, the flight of the aircraft in the sky network including the at least one air map element is controlled. let

A data structure according to one aspect of the present disclosure includes ground network data in which ground map elements and features are associated with each other that constitute a ground network, and sky network data in which air map elements and ground map elements that constitute a sky network are associated with each other. network data, the processor identifies at least one feature corresponding to the at least one ground map element by referring to the ground network data, and the processor identifies at least one feature corresponding to the at least one ground map element by referring to the sky network data. At least one sky map element corresponding to the element is identified, and flight of an aircraft in a sky network including the at least one sky map element is controlled based on the at least one feature.

In such aspects, the sky network is associated with the features via the ground network. Since the sky network and features are indirectly associated rather than directly, the sky network data can be easily managed and the aircraft can be appropriately controlled based on dynamically changing conditions. Further, by operating the processor according to the above procedure, the flight of the aircraft can be appropriately controlled.

[Modified example]
The present disclosure has been described above in detail based on the embodiments thereof. However, the present disclosure is not limited to the above embodiments. The present disclosure can be modified in various ways without departing from the gist thereof.

The system configuration for controlling the aircraft is not limited. For example, the server 10 may include at least one of the ground database 20 and the air database 30. Alternatively, the aircraft 60 may have the function of the server 10, and in this case, the aircraft 60 can access the ground network data 21 and the air network data by accessing the ground database 20 and the air database 30 via the communication network. Read out 31. Alternatively, the aircraft 60 may have the functions of the server 10 and at least one of the functions of the ground database 20 and the air database 30. When the flying object 60 has the functions of the server 10, the ground database 20, and the sky database 30, the flying object 60 can fly as if it were a standalone machine without relying on other information processing devices. Neither the user terminal 40 nor the route search system 50 are essential components. For example, the server 10 may further include the functions of at least one of the user terminal 40 and the route search system 50.

The procedure for controlling the flying object executed by at least one processor is not limited to the example in the above embodiment. For example, some of the steps (processes) described above may be omitted, or each step may be executed in a different order. Furthermore, any two or more of the steps described above may be combined, or some of the steps may be modified or deleted. Alternatively, other steps may be performed in addition to each of the above steps.

The aspects described in all or part of the above embodiments include appropriate control of a flying object, improvement of processing speed, improvement of processing accuracy, improvement of usability, improvement of functions using data, or provision of appropriate functions. Providing appropriate data, programs, recording media, devices and/or systems, such as providing other functional improvements or appropriate functions, reducing the capacity of data and/or programs, and miniaturizing devices and/or systems; , reducing production/manufacturing costs of programs, devices, or systems, facilitating production/manufacturing, shortening production/manufacturing time, or optimizing the production/manufacturing of data, programs, recording media, devices, and/or systems. or solve one problem.

1...Flight control system, 10...Server, 11...Route setting unit, 12...Instruction generation unit, 13...Communication unit, 20...Ground database, 21...Ground network data, 30...Sky database, 31...Sky network data, 40 ...User terminal, 50...Route search system, 60...Aircraft, 80,180...Ground network, 81,181...Ground node, 82,182...Ground link, 90,190...Sky network, 91,191...Sky node, 92, 192... Sky link, 211, 221... Ground link data, 212... Feature information, 213... Ground node data, 222... Shooting spot information, 311, 312, 321... Sky link data, 322... Control information.

Claims (2)

comprising at least one processor;
The at least one processor controls the flight of the aircraft in the sky network based on ground network data in which a ground network and features are associated, and sky network data in which a sky network is associated with the ground network. Control,
is a computer system,
the terrestrial network data includes an association between terrestrial map elements constituting the terrestrial network and the terrestrial feature;
The sky network data includes an association between the sky map elements and the ground map elements that constitute the sky network,
the at least one processor,
identifying at least one of the sky map elements in the sky network;
identifying at least one ground map element corresponding to the at least one sky map element by referring to the sky network data;
identifying at least one feature corresponding to the at least one ground map element by referring to the ground network data corresponding to the at least one ground map element;
controlling the flight of the aircraft in the sky network including the at least one sky map element based on the at least one feature;
computer system. comprising at least one processor;
The at least one processor controls the flight of the aircraft in the sky network based on ground network data in which a ground network and features are associated, and sky network data in which a sky network is associated with the ground network. Control,
is a computer system,
the terrestrial network data includes an association between terrestrial map elements constituting the terrestrial network and the terrestrial feature;
The sky network data includes an association between the sky map elements and the ground map elements that constitute the sky network,
the at least one processor,
identifying at least one of the terrestrial map elements in the terrestrial network;
identifying at least one feature corresponding to the at least one ground map element by referring to the ground network data;
identifying at least one of the sky map elements corresponding to the at least one ground map element by referring to the sky network data;
controlling the flight of the aircraft in the sky network including the at least one sky map element based on the at least one feature;
computer system.

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