JP2018096819A - Determination device, determination method and program - Google Patents

Abstract

Whether or not a flying device can reach a destination is determined before the flying device starts flying. A flight path determination device includes battery capacity information indicating a capacity of a battery that supplies power used by the flight apparatus for flight, position information indicating a position of at least a part of a flight schedule path of the flight apparatus, and In order to fly to the destination along the planned flight route based on the information acquisition unit 151 that acquires environmental information indicating the surrounding environment of the planned flight route specified based on the position information, and the environmental information and the planned flight route An output unit 154 that outputs a determination result as to whether or not it is possible to fly to the destination along the planned flight route based on the required power and the battery capacity information; Have [Selection] Figure 4

Description

  The present invention relates to a determination device, a determination method, and a program for determining flight operation of a flying device.

  Conventionally, a technique for flying an unmanned aerial vehicle along a predetermined route is known. Patent Document 1 discloses an unmanned aerial vehicle that autonomously flies based on desired travel route information received from an operation terminal.

Japanese Patent Laid-Open No. 2006-173722

  In the prior art, the environment in the route on which the flying device flies is not considered, and it has been assumed that the flying device can fly as planned. However, in the sky where the flying device flies, the surrounding environment such as wind, rain and snow changes. For example, when flying in a strong wind, power consumption is greater than when flying in the absence of wind, so the battery may run out during the flight. Therefore, if the flight plan is not created in consideration of the surrounding environment, there is a problem that the battery runs out before reaching the destination, and the flying device may not reach the destination.

  Accordingly, the present invention has been made in view of these points, and a determination device, a determination method, and a determination method that can determine whether or not the flying device can reach the destination before the flying device starts flying. The purpose is to provide a program.

  The determination apparatus according to the first aspect of the present invention includes battery capacity information indicating a capacity of a battery that supplies power used by the flying device for flight, and position information indicating a position of at least a part of a flight scheduled route of the flying device. And an information acquisition unit that acquires environmental information indicating a surrounding environment of the planned flight path specified based on the position information, and an object along the planned flight path based on the environmental information and the planned flight path. Based on the estimation unit that estimates the required power required to fly to the ground, and the required power and the battery capacity information, it is determined whether or not it is possible to fly to the destination along the scheduled flight route. And an output unit for outputting.

  The information acquisition unit further acquires model information indicating a model of the flying device, and the estimation unit estimates the required power further based on characteristics of the flying device associated with the model information. Good.

The information acquisition unit may further acquire article information related to the weight and shape of an article carried by the flying device, and the estimation unit may estimate the required power further based on the article information.
The information acquisition unit may further acquire speed information indicating a scheduled flight speed of the flying device, and the estimation unit may estimate the required power further based on the speed information.

  The output unit may output a recommended flight speed when it is determined that the flying device cannot fly to the destination along the planned flight route.

  The estimation unit may estimate a plurality of the required powers when flying at a plurality of different flight speeds, and the output unit may output a flight speed determined based on the plurality of required powers.

  The determination apparatus may further include a route information generation unit that generates route information indicating the planned flight route based on the position information. The output unit causes the route information generation unit to generate an alternative flight route different from the scheduled flight route when the flight device determines that the flight device cannot fly along the planned flight route, and outputs the alternative flight route. May be.

  The route information generation unit may generate the alternative flight route in which a base capable of exchanging or charging the battery exists on the route.

  The output unit may output, as the alternative flight route, an alternative flight route candidate that has the shortest time to reach the destination among the plurality of alternative flight route candidates generated by the route information generation unit. Good.

  The information acquisition unit may acquire information related to a surrounding environment from a plurality of flying devices that are flying within a predetermined range from the scheduled flight route.

  The determination method according to the second aspect of the present invention includes: battery capacity information indicating a capacity of a battery that supplies power used by the flying device for flight, which is executed by a computer; Obtaining the position information indicating the position, and the environment information indicating the surrounding environment of the scheduled flight path specified based on the position information; and based on the environment information and the scheduled flight path, Whether or not it is possible to fly to the destination along the planned flight route based on the step of estimating the required power required for flying along the flight destination and the required power and the battery capacity information Outputting a determination result.

  The program according to the third aspect of the present invention indicates, to a computer, battery capacity information indicating a capacity of a battery that supplies power used by the flying device for flight, and a position of at least a part of a planned flight route of the flying device. A step of obtaining environmental information indicating the surrounding information of the position information and the scheduled flight path specified based on the position information, and an object along the planned flight path based on the environmental information and the planned flight path Based on the step of estimating the required power required to fly to the ground and the required power and the battery capacity information, a determination result of whether or not it is possible to fly to the destination along the planned flight route And a step of outputting.

  According to the present invention, it is possible to determine whether or not the flying device can reach the destination before the flying device starts flying.

It is a figure which shows the structure of the flight system which concerns on 1st Embodiment. It is a figure for demonstrating the outline | summary of the simulation which a flight path determination apparatus performs. It is a figure for demonstrating the outline | summary of the determination process which a flight apparatus performs during flight. It is a figure which shows the structure of a flight route determination apparatus. It is a flowchart of operation | movement of a flight path determination apparatus. It is a figure which shows the structure of a flight apparatus. It is a flowchart of operation | movement of a flying device. It is a figure which shows the structure of the flight system which concerns on 2nd Embodiment. It is a figure which shows the structure of a control apparatus.

<First Embodiment>
[Outline of flight system S1]
FIG. 1 is a diagram showing a configuration of a flight system S1 according to the first embodiment. The flight system S1 includes a flight path determination device 1 and a flight device 2.

  The flight path determination device 1 is a device that determines the flight path of the flight device 2 and is, for example, a server, a computer, or a smartphone. The flight path determination device 1 acquires information necessary for determining the flight path, such as the departure point and destination of the flight apparatus 2 input by the user, and determines the scheduled flight path based on the acquired information. The flight route determination device 1 functions as a determination device that determines whether or not the flight device 2 can reach the destination along the planned flight route.

  The flight route determination device 1 can fly the flight device 2 to the destination along the scheduled flight route based on the surrounding environment of the scheduled flight route and the capacity of the battery that supplies power used by the flying device 2 for flight. It functions as a determination device that simulates whether or not there is and outputs a determination result related to the availability of flight. The surrounding environment of the planned flight route is, for example, the direction of wind, the wind speed, the rainfall / snowfall state, and the temperature in the planned flight route.

  When the determination result of the flight path determination device 1 indicates that the flight cannot be made to the destination, the user can change the flight condition and perform the simulation again. When the flight path determination device 1 determines that it is not possible to fly to the destination along the scheduled flight path, the flight path determination apparatus 1 presents the alternative scheduled flight path candidates to the user.

  FIG. 2 is a diagram for explaining the outline of the simulation executed by the flight path determination device 1. When the user inputs the departure point, the destination, and the passage positions P1 to P8, the flight route determination device 1 displays the planned flight route as shown in FIG. The flight path determination device 1 determines whether or not it is possible to fly to the destination based on the wind direction and the wind speed at at least one of the passing positions P1 to P8. FIG. 2 shows that a southwest wind with a wind speed of 5 m is assumed at the position P2, and a west wind with a wind speed of 10 m is assumed at the position P4. Although the details will be described later, the flight path determination device 1 may determine whether or not the flight is possible based on other information such as the scheduled flight speed, the model of the flight device 2, and the weight and shape of the article carried by the flight device 2. Good.

  The user sets the scheduled flight route determined based on the simulation result in the flight route determination device 1 in the flight device 2. The flight route determination device 1 transmits the scheduled flight route to the flight device 2 via the network N, the base station 3 of the mobile phone network, and the wireless communication line W based on a user instruction, for example. The flight path determination device 1 may also transmit information related to the surrounding environment used when determining the flight schedule route to the flight device 2 together with the flight schedule route.

  The flying device 2 flies, for example, along the planned flight route received from the flight route determination device 1. The flying device 2 flies along the planned flight route based on control information received from the flight route determination device 1 configured by a server or a portable terminal such as a promo or a smartphone, for example. The flying device 2 may fly autonomously along the planned flight route. The flying device 2 may operate some functions autonomously and operate some functions based on control information received from the flight path determination device 1 or the portable terminal.

  The flying device 2 monitors the surrounding environment such as the direction of the wind, the speed of the wind, and the rain / snow condition during the flight. The flying device 2 estimates the required power for flying to the destination based on the surrounding environment, and determines whether the destination can be reached by comparing the estimated required power with the remaining battery level.

FIG. 3 is a diagram for explaining the outline of the determination process executed by the flying device 2 during the flight. FIG. 3 shows that the flying device 2 is flying in the vicinity of the position P4 and receives the northeast wind with a wind speed of 10 m. When the flight path determination device 1 simulates the west wind with a wind speed of 10 m at the position P4 when the simulation is performed, if the wind is receiving the northeast wind with a wind speed of 10 m during the flight, head to the east. The required power of the flying device 2 that is flying is larger than that during simulation. As a result, there is a possibility that the flying device 2 cannot reach the destination. When it is determined that the flight device 2 cannot reach the destination, the flying device 2 prevents a crash accident during the flight by changing the flight path or changing the flight conditions.
Hereinafter, configurations and operations of the flight path determination device 1 and the flight device 2 will be described in detail.

[Configuration of Flight Route Determination Apparatus 1]
FIG. 4 is a diagram illustrating a configuration of the flight path determination device 1. The flight path determination device 1 includes an operation unit 11, a communication unit 12, a display unit 13, a storage unit 14, and a control unit 15. The control unit 15 includes an information acquisition unit 151, a route information generation unit 152, an estimation unit 153, and an output unit 154.

  The operation unit 11 is a device for the user to input various information and to set processing contents to be executed by the flight path determination device 1. The operation unit 11 is constituted by, for example, a keyboard and a mouse. The operation unit 11 may be a touch panel provided on the display unit 13. The operation unit 11 notifies the route information generation unit 152 of a signal corresponding to the user operation content.

  The communication unit 12 is a communication interface for transmitting / receiving information to / from external devices including the flying device 2 via the network N. The communication unit 12 includes a LAN (Local Area Network) for connecting to the network N, for example.

  The display unit 13 is a device for displaying various information presented to the user. The display unit 13 is a display, for example. The display unit 13 displays information input from the output unit 154.

  The storage unit 14 includes a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a hard disk. The storage unit 14 stores a program executed by the control unit 15. The storage unit 14 temporarily stores various information input by the user and various information generated by the control unit 15.

  The control unit 15 is, for example, a CPU (Central Processing Unit), and executes various processes such as determination of a scheduled flight route of the flying device 2 and determination of whether or not the flying device 2 can reach the destination. The control unit 15 functions as an information acquisition unit 151, a route information generation unit 152, an estimation unit 153, and an output unit 154 by executing a program stored in the storage unit 14.

  The information acquisition unit 151 acquires information input from the operation unit 11 or information received by the communication unit 12. Specifically, the information acquisition unit 151 includes battery capacity information indicating a capacity of a battery that supplies power used by the flying device for flight, position information indicating a position of at least a part of a planned flight route of the flying device 2, Environmental information indicating the surrounding environment of the planned flight route specified based on the position information, and time information indicating the departure time and the arrival time at the destination are acquired.

  The information acquisition unit 151 acquires position information indicating at least the latitude and longitude of the departure place and the destination as the position information. The information acquisition unit 151 acquires position information indicating the latitude and longitude of a plurality of positions between the departure place and the destination, for example, positions P1 to P8 illustrated in FIG. In addition, the information acquisition unit 151 acquires a three-dimensional map including information on structures such as a flightable area, a flight prohibited area, and a building. The information acquisition unit 151 may display a map on the display unit 13 and acquire the position touched by the user on the displayed map as the position of at least a part of the scheduled flight route.

  The environmental information is, for example, information on the direction of wind, the wind speed, or the rain / snow condition that the user inputs using the operation unit 11. The information acquisition unit 151 may acquire environment information from an external server that distributes weather information via the communication unit 12. The information acquisition unit 151 may acquire environmental information related to the surrounding environment from a plurality of flying devices 2 that are flying within a predetermined range from the scheduled flight route between the departure point and the destination.

  The environment information is used by a route information generation unit 152 described later. The information acquisition unit 151 notifies the route information generation unit 152 of the environment information acquired within the predetermined time immediately before, and deletes the environment information acquired before the predetermined time. In this way, the route information generation unit 152 can generate route information based on new environment information.

  The information acquisition unit 151 may acquire model information indicating the model of the flying device 2. The model information is, for example, the model name of the flying device 2. The information acquisition unit 151 is necessary for flying a unit distance (for example, 100 m) in the battery capacity, weight, and no wind condition of the flying device 2 stored in the storage unit 14 in advance in association with the model name of the flying device 2. Information that affects flight performance such as power (hereinafter referred to as unit power consumption) may be acquired as model information.

  In addition, the information acquisition unit 151 may further acquire speed information indicating the scheduled flight speed of the flying device 2. The information acquisition unit 151 acquires, for example, a default flight speed specified based on the model information input by the user as the scheduled flight speed. The information acquisition unit 151 may acquire the flight speed input by the user using the operation unit 11 as the scheduled flight speed.

  The information acquisition unit 151 may further acquire article information related to the weight and shape of the article carried by the flying device 2. For example, the user inputs article information using the operation unit 11. The user may input an image of the article to be transported, and the information acquisition unit 151 may specify the shape of the article based on the input image.

  The route information generation unit 152 generates route information indicating the planned flight route based at least on the position information including the departure point and the destination acquired by the information acquisition unit 151. For example, when the user inputs only the departure point and the destination, the route information generation unit 152 defines a route connecting the departure point and the destination with a straight line as a candidate flight route candidate (hereinafter referred to as a scheduled flight route candidate). To do. When the user sets one or more passage positions between the departure point and the destination, the route information generation unit 152 sets a route passing the passage position as a planned flight route candidate. The route information generation unit 152 flies so as to be included in a range designated as an area where the flying device 2 can fly based on the three-dimensional map acquired by the information acquisition unit 151 between the departure point and the destination. Planned route candidates may be determined.

  Further, the route information generation unit 152 may determine a scheduled flight route candidate based on the environment information. For example, the route information generation unit 152 determines the planned flight route candidate so that the arrival time to the destination or the power consumption is minimized based on the environment information, and thus the probability that the planned flight route candidate is used as it is. Can be increased.

  The route information generation unit 152 notifies the estimation unit 153 and the output unit 154 of information indicating the passage position of the determined scheduled flight route candidate. When the route information generation unit 152 receives an instruction to request another flight planned route candidate from the output unit 154, the route information generation unit 152 determines an alternative flight planned route candidate different from the previously determined flight planned route candidate, and determines the determined alternative Information indicating the passage position of the scheduled flight route candidate is notified to the estimation unit 153 and the output unit 154.

  When determining an alternative flight planned route candidate, the route information generation unit 152 may select a route on which a base capable of battery replacement or charging exists. By doing in this way, even if it is difficult to go straight to the destination, the flight path determination device 1 presents the user with a method for achieving the purpose by replacing or charging the battery in the middle. It becomes possible.

  Based on the environment information acquired by the information acquisition unit 151 and the route information of the planned flight route candidate input from the route information generation unit 152, the estimation unit 153 is configured to fly along the planned flight route to the destination. Estimate the required power (required power). For example, the estimation unit 153 calculates the reference value of the required power by multiplying the unit power consumption by a value obtained by dividing the flight distance when flying along the planned flight path by the unit distance. Then, the estimation unit 153 corrects the calculated reference value based on the wind direction, the wind speed, and the rain / snow condition indicated by the environment information, thereby estimating the required power in consideration of the surrounding environment of the planned flight route. Is calculated.

  Specifically, the estimation unit 153 calculates the estimated value by multiplying the reference value by a coefficient determined in advance in association with the wind direction and the wind speed with respect to the direction in which the flying device 2 flies. For example, when it is assumed that a wind in the opposite direction to the direction in which the flying device 2 flies is estimated, the estimation unit 153 multiplies the reference value by a coefficient of 1.5 to obtain the required value in the no-wind state. An estimated value of 1.5 times the power reference value is calculated. On the other hand, when it is assumed that the wind in the same direction as the flight direction of the flying device 2 is blowing, the estimation unit 153 multiplies the reference value by a coefficient of 0.5, so that the required power in the windless state is obtained. An estimated value 0.5 times the reference value is calculated.

  When the information acquisition unit 151 acquires environment information corresponding to a plurality of positions on the planned flight route, the estimation unit 153 calculates an estimated value of the required power for each section between the positions where the environment information is acquired. . The estimation unit 153 calculates the estimated value of the required power when the flying device 2 flies along the planned flight route from the departure place to the destination by adding together the plurality of estimated values of the plurality of sections.

  The estimation unit 153 can further use various information other than the environment information when calculating the estimated value. The estimation unit 153 further uses the characteristics of the flying device 2 associated with the model information, such as the shape of the flying device 2 that affects the susceptibility to wind resistance, the flight performance when wet in the rain, and the like. . By doing in this way, the estimation part 153 can improve the precision of an estimated value.

  The estimation unit 153 may calculate an estimated value of the required power based further on the speed at which the flying device 2 flies. Specifically, the estimation unit 153 calculates the required power corresponding to the flight speed based on the relationship between the flight speed and the unit power consumption, which is stored in the storage unit 14 in advance, according to the flight speed. Calculate an estimate of the required power. The estimation unit 153 may specify a speed at which a long distance can be flew with good fuel consumption or low power consumption based on the past flight record stored in the storage unit 14. The estimation unit 153 can calculate the minimum required power when flying at a speed at which the required power can be reduced as much as possible by calculating the estimated value of the required power based on the speed thus identified.

  The estimation unit 153 may calculate an estimated value of the required power based further on the article information indicating the weight and shape of the article conveyed by the flying device 2. The estimation unit 153 calculates a reference value in a windless state based on the total weight obtained by adding the weight of the article conveyed by the flying device 2 to the own weight of the flying device 2. Then, the estimation unit 153 corrects the reference value based on the magnitude of the resistance received by the article based on the shape of the article, the direction of the wind, and the wind speed.

  The estimation unit 153 may correct the reference value based on the position where the article is mounted on the flying device 2 and the direction of the article. Thus, since the estimation unit 153 uses the position where the article is mounted and the direction of the article, it can calculate an estimated value reflecting the influence of the magnitude of the wind resistance that the article receives. The accuracy of the estimated value is improved. The estimation unit 153 notifies the output unit 154 of the calculated estimated value.

  In the above description, the example in which the estimation unit 153 determines the estimated value by multiplying the reference value by a coefficient corresponding to the environment information is shown. However, the method by which the estimation unit 153 determines the estimated value is described here. Not limited to. The storage unit 14 stores a table in which various information including environment information is associated with the estimated value, and the estimating unit 153 refers to the table stored in the storage unit 14 to obtain the estimated value. You may decide.

  The output unit 154 can fly the flying device 2 to the destination along the planned flight route based on the estimated value of the required power calculated by the estimation unit 153 and the battery capacity information acquired by the information acquisition unit 151. Whether or not is output. Specifically, when the estimated value of the required power is less than the battery capacity indicated by the battery capacity information, the output unit 154 determines that it is possible to fly to the destination, and the estimated value of the required power is the battery capacity information. When the battery capacity is greater than or equal to, it is determined that it is not possible to fly to the destination. Further, when it is determined that the flight can be made to the destination, the output unit 154 may output the arrival time to the destination.

  When the output unit 154 determines that the flight to the destination is not possible, the output unit 154 instructs the route information generation unit 152 to calculate an estimated value of the required power for the other candidate flight schedules. The output unit 154 may instruct the route information generation unit 152 to calculate estimated values of a plurality of required powers when flying at a plurality of different flight speeds. When the estimated value calculated by the route information generation unit 152 for the alternative flight planned route candidate is less than the battery capacity, the output unit 154 outputs the alternative flight planned route candidate as a recommended alternative flight route. Further, the output unit 154 outputs the flight speed determined based on a plurality of required powers corresponding to a plurality of different flight speeds.

  When the route information generation unit 152 generates a plurality of alternative flight planned route candidates that the flying device 2 can reach the destination, the output unit 154 is based on the flight distance and the flight speed of each of the plurality of candidates. Thus, the flight time from the departure point to the destination may be calculated. In this case, the output unit 154 outputs an alternative flight planned route candidate having the shortest arrival time to the destination among the plurality of candidates as an alternative flight planned route.

The output unit 154 may cause the display unit 13 to display information indicating the scheduled flight route and the information indicating the flight speed at which the flying device 2 can fly to the destination, and the flying device 2 via the communication unit 12. May be sent to. In addition, the output unit 154 transmits information indicating a plurality of scheduled flight route candidates to the user's terminal (for example, a promo or a smartphone), and causes the user to select one scheduled flight route candidate from the plurality of planned flight route candidates. May be. The output unit 154 may transmit the flight planned route candidate selected by the user to the flying device 2. When the output unit 154 determines that the flying device 2 cannot reach the destination due to the influence of the surrounding environment such as wind when using the planned flight route selected by the user, the output unit 154 transmits the fact to the user terminal, May be selected.
As described above, the user can simulate whether flight is possible using the flight path determination device 1 and can set a flight schedule in which the flight device 2 can reach the destination in the flight device 2. Probability of achieving the purpose of flying is improved.

[Operation Flowchart of Flight Route Determination Apparatus 1]
FIG. 5 is a flowchart of the operation of the flight path determination device 1. First, the information acquisition unit 151 acquires the battery capacity information input by the user via the operation unit 11 or the battery capacity information received from the flying device 2 via the communication unit 12 (S11). Moreover, the information acquisition part 151 acquires the positional information which shows the position of the at least one point of the flight scheduled path | route which the user input via the operation part 11 (S12). Further, the information acquisition unit 151 acquires environmental information around the position corresponding to the position information input from the operation unit 11 or the communication unit 12 (S13). The processing order from steps S11 to S13 is arbitrary.

  Subsequently, the route information generation unit 152 determines a candidate flight planned route based on the position information acquired by the information acquisition unit 151 (S14). Subsequently, the estimation unit 153 estimates the required power when the flying device 2 flies along the planned flight route determined by the route information generation unit 152 (S15).

  When the required power estimated by the estimation unit 153 is smaller than the battery capacity indicated by the battery capacity information acquired by the information acquisition unit 151 (YES in S16), the output unit 154 can fly to the destination together with the scheduled flight route. A determination result indicating the presence is output (S17). When the required power estimated by the estimation unit 153 is greater than or equal to the battery capacity indicated by the battery capacity information acquired by the information acquisition unit 151 (NO in S16), the output unit 154 sends an alternative scheduled flight route to the route information generation unit 152. Is requested to be determined (S18).

  The control part 15 repeats the process from step S14 to S18, and outputs the determination result which shows that it can fly to the destination, when there exists a flight schedule route which can fly. In step S14, when the route information generation unit 152 cannot determine an alternative flight planned route candidate (NO in S14), the output unit 154 outputs a determination result indicating that flight is not possible (S19).

[Configuration of the flying device 2]
Next, the configuration of the flying device 2 will be described. FIG. 6 is a diagram illustrating a configuration of the flying device 2. The flying device 2 includes a GPS receiver 20, a surrounding environment sensor 21, a communication unit 22, a battery 23, a flight mechanism 24, a storage unit 25, and a control unit 26. The control unit 26 includes a position specifying unit 261, an environment specifying unit 262, a remaining amount specifying unit 263, an estimating unit 264, a determining unit 265, and a flight condition changing unit 266.

  The GPS receiver 20 receives a radio wave transmitted from a GPS (Global Positioning System) satellite, and notifies the position specifying unit 261 of information used for specifying the latitude and longitude included in the received radio wave.

  The surrounding environment sensor 21 is a sensor for detecting the state of the surrounding environment such as wind direction, wind speed, and rainfall conditions. The surrounding environment sensor 21 notifies the environment specifying unit 262 of information indicating the detected state of the surrounding environment.

The communication unit 22 is a wireless communication module for transmitting and receiving information via a wireless communication line. The communication unit 22 is a wireless communication module for connecting to, for example, an LTE (Long Term Evolution) line, and transmits / receives information to / from the flight path determination device 1, another flight device, or an external device. The communication unit 22 notifies the environment specifying unit 262 of environmental information regarding the surrounding environment received from the flight path determination device 1, another flight device, or an external device.
The battery 23 supplies electric power for causing the flying device 2 to fly. The battery 23 supplies power to each part of the flying device 2.

  The flight mechanism 24 includes a propeller, a motor that rotates the propeller, and a rudder. The flight mechanism 24 can change the flight speed and the flight direction by operating these mechanisms based on the control of the flight control unit 267.

  The storage unit 25 is a storage medium including a ROM and a RAM. The storage unit 25 stores a program executed by the control unit 26. Moreover, the memory | storage part 25 has memorize | stored the route information which shows the scheduled flight route to the destination received from the flight route determination apparatus 1, for example. The storage unit 25 may further store, for example, reference environment information indicating the surrounding environment of the planned flight path used when the flight path determination device 1 determines the planned flight path.

  The control unit 26 is, for example, a CPU, and controls each unit of the flying device 2. The control unit 26 executes the program stored in the storage unit 25, thereby the position specifying unit 261, the environment specifying unit 262, the remaining amount specifying unit 263, the estimating unit 264, the determining unit 265, the flight condition changing unit 266, and the flight. It functions as the control unit 267.

  The position specifying unit 261 specifies the current position where the flying device 2 is flying based on the information for specifying the latitude / longitude input from the GPS receiver 20. The position specifying unit 261 notifies the estimating unit 264 of position information indicating the specified current position.

  The environment specifying unit 262 specifies the state of the surrounding environment during the flight based on the information input from the surrounding environment sensor 21 or the communication unit 22. Specifically, the environment specifying unit 262 specifies the direction of wind, the wind speed, and the rain / snow condition at the position where the flying device 2 is flying. The environment specifying unit 262 notifies the estimation unit 264 of information related to the specified surrounding environment. The environment specifying unit 262 plans to fly from the current position to the destination based on the environmental information corresponding to at least a part of the position from the current position to the destination received by the communication unit 22 from another flight device or an external device. The state of the surrounding environment around the route may be specified.

  The remaining amount identifying unit 263 monitors the voltage output from the battery 23 and identifies the remaining amount of the battery 23 based on the voltage value. The remaining amount identifying unit 263 notifies the estimating unit 264 of the identified remaining amount of the battery 23.

  The estimation unit 264 estimates the power required for the flying device 2 to fly to the destination based on the scheduled flight route from the current position to the destination and the surrounding environment specified by the environment specifying unit 262. The estimation unit 264 can estimate the required power by the same method as the estimation unit 153, for example.

  The estimation unit 264, for example, unit power consumption per unit distance of the flying device 2 to a value obtained by dividing the flight distance from the current position to the destination when flying along the planned flight route by a unit distance (for example, 100 m). Is used to calculate the required power reference value. Then, the estimation unit 264 corrects the calculated reference value based on the wind direction, the wind speed, and the rain / snow condition specified by the environment specification unit 262, thereby taking into account the power required in consideration of the surrounding environment of the planned flight route. The estimated value of is calculated.

  Specifically, the estimation unit 264 calculates the estimated value by multiplying the reference value by a coefficient determined in advance in association with the wind direction and the wind speed with respect to the direction in which the flying device 2 flies. For example, when the environment specifying unit 262 specifies that the wind of the flying device 2 is blowing in the direction opposite to that in flight, the estimating unit 264 multiplies the reference value by a factor of 1.5. Thus, an estimated value that is 1.5 times the reference value of the required power in the windless state is calculated. Conversely, when the environment specifying unit 262 specifies that the wind of the flying device 2 is blowing in the same direction as the flight, the estimation unit 264 multiplies the reference value by a coefficient of 0.5. Then, an estimated value that is 0.5 times the reference value of the required power in the windless state is calculated.

  The estimation unit 264 may calculate an estimated value of the required power based on environmental information corresponding to at least a part of the position from the current position to the destination received by the communication unit 22 from another flight device or an external device. Good. When the environment specifying unit 262 acquires environment information corresponding to a plurality of positions on the planned flight route from the current position to the destination, the estimation unit 264 is configured for each section between the positions where the environment information is acquired. Then, an estimated value of the required power is calculated. The estimation unit 264 calculates an estimated value of required power when the flying device 2 flies along the planned flight route from the current position to the destination by adding a plurality of estimated values of a plurality of sections.

  The estimation unit 264 can use various environment information. The estimation unit 264 can use, for example, weather information collected in real time from sensors for obtaining weather information installed in various places as environmental information. The estimation unit 264 may use environmental information collected from other flying devices or environmental information estimated based on past flight history.

  The estimation unit 264 can further use various information other than the environment information in calculating the estimated value. The estimation unit 264 further uses the characteristics of the flying device 2 associated with the model information, such as the shape of the flying device 2 that affects the susceptibility to wind resistance, the flight performance when wet in the rain, and the like. Thus, the accuracy of the estimated value can be improved.

  The estimation unit 264 may calculate an estimated value of the required power based further on the speed at which the flying device 2 flies. Specifically, the estimation unit 264 calculates the required power corresponding to the flight speed based on the relationship between the flight speed and the unit power consumption, which is stored in the storage unit 25 in advance, according to the flight speed. Calculate an estimate of the required power.

  The estimation unit 264 may calculate an estimated value of the required power based further on the article information indicating the weight and shape of the article conveyed by the flying device 2. The estimation unit 264 calculates a reference value in a windless state based on the total weight obtained by adding the weight of the article conveyed by the flying device 2 to the weight of the flying device 2. And the estimation part 264 correct | amends a reference value based on the magnitude | size of the resistance which an article | item receives based on the shape of an article | item, a wind direction, and a wind speed. The estimation unit 264 may correct the reference value based on the position where the article is mounted on the flying device 2 and the direction of the article. The estimation unit 264 notifies the determination unit 265 of the calculated estimated value.

  The determination unit 265 determines whether or not the destination can be reached along the planned flight route based on the relationship between the required power and the remaining battery level. The determination unit 265 determines that it is possible to fly to the destination when the required power estimated by the estimation unit 264 is less than the remaining battery level, and cannot fly to the destination when the required power is equal to or higher than the remaining battery level. Is determined. The determination unit 265 notifies the determination result to the flight condition change unit 266 and the flight control unit 267.

  The determination unit 265 has a predetermined difference between the surrounding environment in flight specified by the environment specifying unit 262 and the surrounding environment indicated by the reference environment information used for determining the scheduled flight route stored in the storage unit 25. When the size becomes larger than the size, it may be determined whether or not the destination can be reached along the planned flight route. For example, if the determination unit 265 receives a headwind at a position where a tailwind is assumed when the scheduled flight path is determined, the determination unit 265 may determine an actual wind speed than the wind speed of the tailwind assumed when the planned flight path is determined. Whether or not the destination can be reached along the planned flight path when the actual wind speed is higher than the wind speed of the head wind that was assumed when determining the planned flight path Determine. By doing in this way, the determination unit 265 can quickly determine whether or not the destination can be reached when a risk that the destination cannot be reached occurs.

  When the determination unit 265 determines that the destination can be reached, the time until the destination is reached is estimated based on the scheduled flight route from the current position to the destination and the surrounding environment specified by the environment specifying unit 262. May be. When the determination unit 265 determines that the destination cannot be reached by the target arrival time based on the preset scheduled departure time, the target arrival time, and the time required for arrival, the determination unit 265 sends a flight route to the flight condition change unit 266. Instruct to change.

  When the determination unit 265 determines that the flying device 2 cannot fly to the destination, or the flight condition changing unit 266 determines that the destination cannot be reached by the target arrival time, the flight condition changing unit 266 is different from the originally scheduled flight route. Determine an alternate flight path. When the flight condition changing unit 266 determines an alternative flight planned route candidate, the flight condition changing unit 266 instructs the estimation unit 264 to calculate an estimated value of the required power. When the estimated value calculated by the estimation unit 264 with respect to the alternative flight planned route candidate is less than the remaining battery level, the flight condition changing unit 266 sets the alternative flight planned route candidate as the recommended alternative flight route as the flight control unit. 267 is notified.

  The flight condition changing unit 266 generates a plurality of alternative scheduled flight routes that the flying device 2 can reach to the destination, and based on the respective flight distances and flight speeds of the plurality of candidates, The flight time to the destination may be calculated. In this case, the flight condition changing unit 266 notifies the flight control unit 267 of the alternative flight planned route candidate having the shortest arrival time to the destination among the plurality of candidates as the alternative flight planned route.

  The flight condition changing unit 266 may determine an alternative flight path in which a base capable of battery replacement or charging exists on the path. By doing in this way, even if it is difficult to go straight to the destination, the flying device 2 can reach the destination by exchanging or charging the battery on the way.

  Further, the flight condition changing unit 266 may change the flight speed to an alternative speed that can reduce the required power, compared to the required power required to fly to the destination at the speed during the flight. Prior to changing the flight speed, the flight condition changing unit 266 instructs the estimation unit 264 to calculate a plurality of estimated values of required power when flying at a plurality of different flight speeds. When the estimation unit 264 estimates a plurality of required powers when the estimation unit 264 flies at a plurality of different flight speeds, the estimation value calculated by the estimation unit 264 is less than the remaining battery level. The maximum flight speed is determined as the alternative flight speed. The flight condition changing unit 266 notifies the flight control unit 267 of the changed alternative flight speed.

  The flight control unit 267 causes the flying device 2 to fly along the planned flight path by controlling the flight mechanism 24. When the determination unit 265 determines that the destination cannot be reached along the planned flight path, the flight control unit 267 determines the flight condition based on the alternative flight path and the alternative flight speed notified from the flight condition change unit 266. change.

[Operation Flowchart of Flight Device 2]
FIG. 7 is a flowchart of the operation of the flying device 2. When the flying device 2 starts flying, the position specifying unit 261 specifies the current position during the flight (S21). The environment specifying unit 262 specifies the state of the surrounding environment at the current position during the flight (S22). Further, the remaining amount specifying unit 263 specifies the remaining amount of the battery 23 (S23). The estimation unit 264 estimates the power required for the flight from the current position to the destination based at least on the surrounding environment (S24).

  Subsequently, the determination unit 265 determines whether the required power is smaller than the remaining battery level (S25). When determining that the required power is smaller than the remaining battery level (YES in S25), determining unit 265 instructs flight control unit 267 to continue the flight (S26). When determining that the required power is equal to or greater than the remaining battery level (NO in S25), determining unit 265 instructs flight condition changing unit 266 to change the flight condition (S27). The flight condition change unit 266 changes the flight path or flight speed, and the flight control unit 267 flies based on the changed flight path or flight speed.

  Control unit 26 repeats the processing from steps S21 to S27 until it reaches the destination (NO in S28). When controller 26 arrives at the destination (YES in S28), the process is terminated.

[Modification]
In the above description, when the flying device 2 cannot reach the destination, the method of the flying device 2 changing the flight path or the flight speed to reach the destination has been described. Instead, you may return to your departure location. In order to allow the flying device 2 to return to the departure place, the storage unit 25 further stores history information indicating the history of the surrounding environment in the flight route from the departure place to the current position.

  Based on the history information stored in the storage unit 25, the estimation unit 264 estimates the power required to return from the current position to the departure place. Specifically, the estimation unit 264 estimates the power required to return from the current position to the departure point based on the wind directions and wind speeds at a plurality of positions from the current position to the departure point indicated by the history information.

  The determination unit 265 determines whether the destination can be reached along the planned flight route while the electric power required to return from the current position to the departure point is smaller than the remaining amount of the battery. When the determination unit 265 determines that the destination cannot be reached along the scheduled flight route, the flight condition change unit 266 changes the flight condition so as to return to the departure point, and sets the flight route to return to the departure point. Decide on an alternate flight path. By doing in this way, the flying device 2 can prevent the occurrence of a crash that occurs during the flight by returning to the departure place when the destination cannot be reached.

[Effects of the flight path determination device 1 and the flight device 2 according to the first embodiment]
As described above, in the flight route determination device 1, the estimation unit 153 calculates the power required for the flight device 2 to fly to the destination along the planned flight route based on the environment information and the route information. presume. Then, the output unit 154 outputs a determination result as to whether or not it is possible to fly to the destination along the scheduled flight route based on the required power estimated by the estimation unit 153 and the battery capacity information. By doing in this way, since the user who flies the flying device 2 can confirm whether or not the destination can be reached before the flying device 2 flies, an accident that crashes during the flight is prevented. it can.

  Further, the output unit 154 presents an alternative flight schedule route candidate to the user when the destination flight cannot be reached using the flight schedule route input by the user. By doing in this way, the flight route determination device 1 is a flight device that can reach the destination even when it cannot reach the destination using the planned flight route assumed by the user. Allows 2 to fly.

  Further, in the flying device 2 according to the present embodiment, the estimation unit 264 is required for the flying device 2 to fly to the destination based on the planned flight route from the position in flight to the destination and the surrounding environment. Estimate the required power. Then, the determination unit 265 determines whether or not the destination can be reached along the planned flight route based on the relationship between the required power and the remaining battery level. When the determination unit 265 determines that the destination cannot be reached, the flight condition change unit 266 changes the flight condition so that the flight device 2 falls to the destination or departure point, so that the flying device 2 crashes during the flight. Can be prevented.

<Second Embodiment>
FIG. 8 is a diagram illustrating a configuration of a flight system S2 according to the second embodiment. The second embodiment is different from the first embodiment in that a user can control the flying device 2 using the control device 4. The control device 4 has a function of determining whether or not the flying device 2 can reach the destination. The flying device 2 of the present embodiment is different from the flying device 2 of the first embodiment. It may not be possible to determine whether or not it can be reached.

  The control device 4 is a flight control device capable of transmitting control information for operating the flight device 2 via a wireless communication line, such as a propo, a smartphone, and a tablet. When the user operates the control device 4, the control device 4 transmits control information corresponding to the operation content to the flying device 2.

  The control device 4 estimates the power required for the flight device 2 to fly to the destination based on the planned flight route from the position in flight to the destination and the surrounding environment, and when the flight device 2 cannot reach the destination , Display warning information. The user can change the flight path based on the warning display. Hereinafter, the configuration and operation of the control device 4 will be described.

  FIG. 9 is a diagram illustrating a configuration of the control device 4. The control device 4 includes a communication unit 41, a display unit 42, an operation unit 43, a storage unit 44, and a control unit 45. The control unit 45 includes a position specifying unit 451, an environment specifying unit 452, a remaining amount specifying unit 453, an estimating unit 454, a determining unit 455, a flight condition changing unit 456, and a control information generating unit 457.

  The communication unit 41 is a wireless communication module for transmitting and receiving information to and from the flying device 2 and other devices via the wireless communication line W. The communication unit 41 acquires flight information indicating the position in flight, the surrounding environment, and the remaining battery level from the flying device 2 via the wireless communication line W. The communication unit 41 transmits control information for controlling the flying device 2.

  The display unit 42 is a display that displays various types of information. The display unit 42 displays the flight information received from the flying device 2, displays the determination result regarding whether or not flight to the destination is possible, and displays the changed flight condition.

  The operation unit 43 is a device for performing an operation for maneuvering the flying device 2, and includes, for example, a joystick or a volume for controlling the flight direction and the flight speed. The operation unit 11 may further include a touch panel provided on the surface of the display unit 13.

The storage unit 44 is a storage medium including a ROM and a RAM. The storage unit 44 stores a program executed by the control unit 45.
The control unit 45 is a CPU, and by executing a program stored in the storage unit 44, the position specifying unit 451, the environment specifying unit 452, the remaining amount specifying unit 453, the estimating unit 454, the determining unit 455, and the flight condition change Functions as a unit 456 and a control information generation unit 457.

  The position specifying unit 451 corresponds to the position specifying unit 261 shown in FIG. 6, and specifies the current position of the flying device 2 based on the position information received from the flying device 2 via the communication unit 41. The environment specifying unit 452 corresponds to the environment specifying unit 262 and specifies the state of the surrounding environment of the flying device 2 based on the environment information received from the flying device 2 via the communication unit 41. The environment specifying unit 452 corresponds to the remaining amount specifying unit 263 and specifies the remaining battery level of the flying device 2 based on the remaining battery level information received from the flying device 2.

  The estimation unit 454 corresponds to the estimation unit 264, and estimates the required power when flying from the current position to the destination based on the position information and the environment information. The determination unit 455 corresponds to the determination unit 265, and the flying device 2 can reach the destination based on the required power estimated by the estimation unit 454 and the battery remaining amount specified by the remaining amount specifying unit 453. It is determined whether or not. The determination unit 455 displays the determination result on the display unit 42.

  The flight condition change unit 456 corresponds to the flight condition change unit 266, and determines an alternative flight path or an alternative flight speed or the like when the determination unit 455 determines that the flying device 2 cannot reach the destination. And change the flight conditions. The flight condition change unit 456 displays the changed flight condition on the display unit 42 and notifies the control information generation unit 457 of it.

  The control information generation unit 457 generates control information including the user operation content input from the operation unit 43 or the changed flight condition input from the flight condition change unit 456. The control information generation unit 457 transmits control information to the flying device 2 via the communication unit 41. By doing in this way, the flying device 2 flies according to the changed flight conditions based on the control information.

[Effects of the control device 4 of the second embodiment]
As described above, in the control device 4, the estimation unit 454 estimates the required power to the destination based on the current position of the flying device 2 and the surrounding environment, and the determination unit 455 determines the required power and the remaining battery level. Based on the above, it is determined whether or not the flying device 2 can fly to the destination. When the determination unit 455 determines that the flying device 2 cannot fly to the destination, the determination unit 455 displays the determination result on the display unit 42. By doing in this way, even if it is a case where the flying device 2 cannot determine whether or not it can fly to the destination as in the first embodiment, the flying device 2 is controlled using the control device 4. The user who steers can recognize that the flying device 2 cannot reach the destination. The user can prevent the flying device 2 from crashing by changing the flight path or changing the flight speed.

  In addition, when the determination unit 455 determines that the flying device 2 cannot fly to the destination, the control information generation unit 457 generates control information including the changed contents of the flight condition, and sends the generated control information to the flying device 2. It can also be sent. By doing in this way, since the control apparatus 4 can transmit the control information including the changed flight condition to the flying apparatus 2 even in a state where the user cannot perform the operation, the flying apparatus 2 is prevented from crashing. be able to.

(Modification)
In the above description, a case has been described in which it is determined whether or not the flying device 2 can fly to the destination based on the required power and the remaining battery level. You may perform with apparatuses other than the apparatus 4. FIG. For example, the server receives position information, remaining battery level, environmental information, aircraft information, speed / direction information from the flying device 2, calculates whether or not the destination can be reached, and the time when the destination can be reached, and determines the optimal flight route. You may make recommendations to the flying device 2 or the control device 4. Thus, the execution subject of the determination process based on the required power and the remaining battery level is not limited to the example described in the above description.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. In particular, the specific embodiments of the distribution / integration of the devices are not limited to those illustrated above, and all or a part thereof may be added in arbitrary units according to various additions or according to functional loads. It can be configured functionally or physically distributed and integrated.

DESCRIPTION OF SYMBOLS 1 Flight route determination apparatus 2 Flight apparatus 3 Base station 4 Control apparatus 11 Operation part 12 Communication part 13 Display part 14 Storage part 15 Control part 20 GPS receiver 21 Ambient environment sensor 22 Communication part 23 Battery 24 Flight mechanism 25 Storage part 26 Control Unit 41 communication unit 42 display unit 43 operation unit 44 storage unit 45 control unit 151 information acquisition unit 152 route information generation unit 153 estimation unit 154 output unit 261 position identification unit 262 environment identification unit 263 remaining amount identification unit 264 estimation unit 265 determination unit 266 Flight condition change unit 267 Flight control unit 451 Position specification unit 452 Environment specification unit 453 Remaining amount specification unit 454 Estimation unit 455 Determination unit 456 Flight condition change unit 457 Control information generation unit

Claims (13)

Battery capacity information indicating the capacity of a battery that supplies power to be used by the flying device for flight, position information indicating the position of at least a part of the planned flight path of the flying device, and the flight specified based on the position information An information acquisition unit that acquires environmental information indicating the surrounding environment of the planned route;
Based on the environment information and the planned flight route, an estimation unit that estimates power required for flying to the destination along the planned flight route;
Based on the required power and the battery capacity information, an output unit that outputs a determination result as to whether or not it is possible to fly to the destination along the planned flight route;
A determination apparatus having The information acquisition unit further acquires model information indicating a model of the flying device,
The estimation unit estimates the required power based on the characteristics of the flying device associated with the model information.
The determination apparatus according to claim 1. The information acquisition unit further acquires article information relating to the weight and shape of an article carried by the flying device,
The estimation unit estimates the required power based further on the article information.
The determination apparatus according to claim 1 or 2. The information acquisition unit further acquires speed information indicating a scheduled flight speed of the flying device,
The estimation unit estimates the required power further based on the speed information.
The determination apparatus according to any one of claims 1 to 3. The output unit outputs a recommended flight speed when it is determined that the flying device cannot fly to the destination along the planned flight route.
The determination apparatus according to claim 4. The estimation unit estimates a plurality of the required power when flying at a plurality of different flight speeds,
The output unit outputs a flight speed determined based on the plurality of required powers.
The determination apparatus according to claim 5. A route information generating unit that generates route information indicating the planned flight route based on the position information;
The determination apparatus according to any one of claims 1 to 6. The output unit causes the route information generation unit to generate an alternative flight route different from the planned flight route and outputs the alternative flight route when it is determined that the flying device cannot fly along the planned flight route. ,
The determination apparatus according to claim 7. The route information generation unit generates the alternative flight route in which a base capable of exchanging or charging the battery exists on the route.
The determination apparatus according to claim 8. The output unit outputs, as the alternative flight route, an alternative flight route candidate that has the shortest time to reach the destination among the plurality of alternative flight route candidates generated by the route information generation unit.
The determination apparatus according to claim 8 or 9. The information acquisition unit acquires information on the surrounding environment from a plurality of flying devices in flight within a predetermined range from the scheduled flight route.
The determination apparatus according to any one of claims 1 to 10. The computer runs,
Battery capacity information indicating the capacity of a battery that supplies power to be used by the flying device for flight, position information indicating the position of at least a part of the planned flight path of the flying device, and the flight specified based on the position information Obtaining environmental information indicating the surrounding environment of the planned route;
Estimating the power required to fly to the destination along the planned flight path based on the environmental information and the planned flight path;
Based on the required power and the battery capacity information, outputting a determination result as to whether or not it is possible to fly to the destination along the planned flight route;
Determination method. On the computer,
Battery capacity information indicating the capacity of a battery that supplies power to be used by the flying device for flight, position information indicating the position of at least a part of the planned flight path of the flying device, and the flight specified based on the position information Obtaining environmental information indicating the surrounding environment of the planned route;
Estimating the power required to fly to the destination along the planned flight path based on the environmental information and the planned flight path;
Based on the required power and the battery capacity information, outputting a determination result as to whether or not it is possible to fly to the destination along the planned flight route;
A program for running

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