WO2020255373A1 - Serveur de gestion de vol et système de gestion de vol pour véhicule aérien sans pilote - Google Patents

Serveur de gestion de vol et système de gestion de vol pour véhicule aérien sans pilote Download PDF

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Publication number
WO2020255373A1
WO2020255373A1 PCT/JP2019/024691 JP2019024691W WO2020255373A1 WO 2020255373 A1 WO2020255373 A1 WO 2020255373A1 JP 2019024691 W JP2019024691 W JP 2019024691W WO 2020255373 A1 WO2020255373 A1 WO 2020255373A1
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WIPO (PCT)
Prior art keywords
flight
information
unmanned aerial
management server
aerial vehicle
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Ceased
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PCT/JP2019/024691
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English (en)
Japanese (ja)
Inventor
太郎 吉井
智史 岡村
兼太郎 深見
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Sensyn Robotics Inc
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Sensyn Robotics Inc
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Priority to PCT/JP2019/024691 priority Critical patent/WO2020255373A1/fr
Priority to JP2019555056A priority patent/JP6765738B1/ja
Publication of WO2020255373A1 publication Critical patent/WO2020255373A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft

Definitions

  • the present invention relates to a flight management server and a flight management system for an unmanned aerial vehicle.
  • Patent Document 1 discloses a system for creating a flight route of an unmanned aerial vehicle that acquires inspection data from a wind turbine, reflecting the control state of the wind turbine.
  • one flight route is given to each area for an object including a plurality of independent areas divided by an administrator, a number, an ID, or the like.
  • the time and effort will increase due to the preparatory work such as setting the flight route and the number of flights themselves, and if one flight route is given to a plurality of areas, it will be done after that.
  • Data will be sorted and managed by work, and it is expected that human work will be enormous.
  • no particular consideration was given to the sharing of work by multiple aircraft.
  • no particular consideration was given to changes over time at the inspection points.
  • the present invention has been made in view of such a background, and in particular, a technique capable of setting an optimum flight route and highly efficient sorting and management of information in work on an object including a plurality of regions independent of each other.
  • the purpose is to provide technology that can confirm changes over time.
  • the main invention of the present invention for solving the above problems is a flight management server for an unmanned aircraft, which is connected to a user terminal and an unmanned aircraft via a network, and has at least two or more regions independent of each other.
  • a reception unit that receives a flight request including area information including the area information
  • a generation unit that generates a flight mission including a flight route that flies in the plurality of areas based on the flight request from the user terminal, and a generated flight mission.
  • a sorting unit that sorts the information acquired from the unmanned aviator into each region, and the above. It is a flight management server for unmanned aircraft equipped with a storage unit for storing sorted unmanned aircraft acquisition information.
  • the present invention it is possible to set an optimum flight route, sort and manage highly efficient information, and confirm changes over time, especially in work on an object including a plurality of regions independent of each other.
  • FIG. 1 It is a figure which shows the structure of the flight management system by embodiment of this invention. It is a block diagram which shows the hardware configuration of the management server of FIG. It is a block diagram which shows the hardware configuration of the user terminal of FIG. It is a block diagram which shows the hardware composition of the flying object of FIG. It is a block diagram which shows the function of the management server of FIG. It is a block diagram which shows the function of the user terminal of FIG. This is a configuration example of a flight application for each purpose. It is a flow chart of the flight management system by one Embodiment of this invention. It is a figure which shows the use image of the flight management system by one Embodiment of this invention. It is an example of the information acquired by the flying object of FIG.
  • the flight management server and flight management system have the following configurations.
  • a reception unit that accepts flight requests that include area information that includes at least two or more areas out of multiple areas that are independent of each other.
  • a generator that generates a flight mission including a flight route that flies over at least two or more regions based on the flight request from the user terminal.
  • a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives information acquired by the unmanned aerial vehicle from the unmanned aerial vehicle.
  • a sorting unit that sorts information acquired from the unmanned aerial vehicle for each area, and a storage unit that stores the sorted information.
  • the storage unit stores a bird's-eye view image from the sky as the two-dimensional image data.
  • the storage unit stores three-dimensional image data as the sorted information.
  • the flight management server according to items 1 to 5, further comprising a report generation unit that generates a report based on the sorted information stored in the storage unit.
  • the report generation unit generates a report comparing information at at least two different time points as the report.
  • the report generation unit generates a report in which information at at least two different time points is arranged at positions close to each other for the comparison.
  • the report generation unit generates a report in which information at at least two different time points can be switched to the same position and displayed for the comparison.
  • the flight management server is: Accepts flight requests that include area information that includes at least two areas out of multiple areas that are independent of each other; Based on the flight request, generate a flight mission containing flight routes that fly over at least two or more areas; Send the generated flight mission to the unmanned aerial vehicle; Receives information acquired by the unmanned aerial vehicle by performing the flight mission; Information acquired from the unmanned aerial vehicle is sorted by the area; Memorize the sorted information; Flight management system for unmanned aerial vehicles.
  • the flight management device and the flight management system for an unmanned aircraft will be described in particular, the embodiment of the flight management system (hereinafter referred to as “the present system”).
  • the present system the embodiment of the flight management system
  • the same or similar elements are given the same or similar reference numerals and names, and duplicate description of the same or similar elements may be omitted in the description of each embodiment.
  • the features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.
  • this system includes a management server 1, a plurality of user terminals 2 and 3, one or more flying objects 4, and one or more flying object storage devices 5.
  • the management server 1, the user terminals 2, 3 and the flying object 4 and the flying object storage device 5 are connected to each other so as to be able to communicate with each other via a network.
  • the illustrated configuration is an example, and is not limited to this. For example, a configuration may be carried by a user without having the flying object storage device 5.
  • FIG. 2 is a diagram showing a hardware configuration of the management server 1.
  • the illustrated configuration is an example, and may have other configurations.
  • the management server 1 is connected to a plurality of user terminals 2 and 3, an air vehicle 4, and an air vehicle storage device 5, and constitutes a part of this system.
  • the management server 1 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing.
  • the management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception unit 13, an input / output unit 14, and the like, and these are electrically connected to each other through a bus 15.
  • the processor 10 is an arithmetic unit that controls the operation of the entire management server 1, controls the transmission and reception of data between each element, and performs information processing necessary for application execution and authentication processing.
  • the processor 10 is a CPU (Central Processing Unit), and executes each information processing by executing a program or the like for the system stored in the storage 12 and expanded in the memory 11.
  • CPU Central Processing Unit
  • the memory 11 includes a main storage composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary storage composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). ..
  • the memory 11 is used as a work area of the processor 10, and also stores a BIOS (Basic Input / Output System) executed when the management server 1 is started, various setting information, and the like.
  • BIOS Basic Input / Output System
  • the storage 12 stores various programs such as application programs.
  • a database storing data used for each process may be built in the storage 12.
  • the transmission / reception unit 13 connects the management server 1 to the network and the blockchain network.
  • the transmission / reception unit 13 may be provided with a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).
  • the input / output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.
  • the bus 15 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.
  • the user terminals 2 and 3 shown in FIG. 3 also include a processor 20, a memory 21, a storage 22, a transmission / reception unit 23, an input / output unit 24, and the like, which are electrically connected to each other through a bus 25. Since the functions of each element can be configured in the same manner as the management server 1 described above, detailed description of each element will be omitted.
  • FIG. 4 is a block diagram showing a hardware configuration of the air vehicle 4.
  • the flight controller 41 can have one or more processors such as a programmable processor (eg, a central processing unit (CPU)).
  • a programmable processor eg, a central processing unit (CPU)
  • the flight controller 41 has a memory 411 and can access the memory.
  • Memory 411 stores logic, code, and / or program instructions that the flight controller can execute to perform one or more steps.
  • the flight controller 41 may include sensors 412 such as an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (for example, rider) and the like.
  • the memory 411 may include, for example, a separable medium such as an SD card or a random access memory (RAM) or an external storage device.
  • the data acquired from the cameras / sensors 42 may be directly transmitted and stored in the memory 411. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory.
  • the camera 42 is installed on the aircraft 4 via the gimbal 43.
  • the flight controller 41 includes a control module (not shown) configured to control the state of the flying object.
  • the control module adjusts the spatial placement, velocity, and / or acceleration of an air vehicle with six degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z ).
  • ESC44 Electric Speed Controller
  • the propulsion mechanism (motor 45, etc.) of the flying object.
  • the propeller 46 is rotated by the motor 45 supplied from the battery 48 to generate lift of the flying object.
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the flight controller 41 is configured to transmit and / or receive data from one or more external devices (eg, a transmitter / receiver (propo) 49, a terminal, a display device, or another remote control). It is possible to communicate with unit 47.
  • the transmitter / receiver 49 can use any suitable communication means such as wired communication or wireless communication.
  • the transmission / reception unit 47 uses one or more of a local area network (LAN), a wide area network (WAN), infrared rays, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, and cloud communication. can do.
  • LAN local area network
  • WAN wide area network
  • infrared rays wireless
  • WiFi wireless
  • P2P point-to-point
  • telecommunications network telecommunications network
  • cloud communication can do.
  • the transmission / reception unit 47 transmits and / or receives one or more of the data acquired by the sensors 42, the processing result generated by the flight controller 41, the predetermined control data, the user command from the terminal or the remote controller, and the like. be able to.
  • Sensors 42 may include an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
  • inertial sensor accelerelerometer, gyro sensor
  • GPS sensor GPS sensor
  • proximity sensor eg, rider
  • vision / image sensor eg, camera
  • FIG. 5 is a block diagram illustrating the functions implemented in the management server 1.
  • the management server 1 includes a communication unit 110, a flight mission generation unit 130, a report generation unit 150, an application unit 170, and a storage unit 190.
  • the flight mission generation unit 130 includes a route generation unit 132, an application selection unit 134, an evaluation unit 136, and a correction unit 138.
  • the storage unit 190 includes various databases of flight route information 191 and purpose-specific flight application 193, flight log 195, and interface information 197.
  • the communication unit 110 communicates with the user terminal 2 and the flying object 4.
  • the communication unit 110 also functions as a reception unit that receives a flight request including at least a flight location (including, for example, area information such as an administrator, a number, and an ID) from the user terminal 2.
  • the flight request may include the purpose of flight and the number of flying objects.
  • the flight mission generation unit 130 generates a flight mission. Flight missions are applications selected from flight route and purpose-specific flight applications 193.
  • the flight route is generated by the route generation unit 132 with reference to the flight route information 191.
  • the flight application is selected by the application selection unit 134 and executed by the application unit 170 with reference to the purpose-specific flight application 193.
  • the flight route is based on the information of the flight object storage device 5 managed by the management server 1 (for example, position information, storage state information, storage device information, etc.), and the flight body storage device 5 at the departure destination or the return destination. It may be generated as a flight route including the position of. At that time, the information of the aircraft capable of executing the selected application may be further considered.
  • an evaluation unit 136 for evaluating whether or not the generated flight mission is appropriate may be provided.
  • the evaluation unit 136 may evaluate the appropriateness of the flight mission by a score or the like by, for example, an operation from the user for the flight mission, machine learning based on the flight mission accumulated in the past, or the like. If the score is not within the predetermined range, the flight mission is corrected by the correction unit 138.
  • the information (still image, moving image, sound, and other information) acquired by the flying object 4 is accumulated in the flight log 195.
  • the report generation unit 150 generates report information to be transmitted to the user terminal 2 based on the flight log.
  • the report according to the present embodiment can exemplify, for example, the inspection result of the facility to be inspected, the security result of the facility to be guarded, and the like, and may be various reports according to the needs.
  • the interface information 197 stores various control information for display on the display unit (display or the like) of the user terminal 2 together with the application unit 170.
  • FIG. 6 is a functional block diagram implemented on the user terminal 2.
  • the user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and interacts with each other.
  • the purpose-specific flight application 193 is prepared for each work purpose (use) of the flying object 4 to work by this system.
  • Examples include, but are not limited to, application 1931 for security / monitoring, application 1932 for equipment inspection, application 1933 for surveying, and application 1934 for disaster countermeasures.
  • information on flight control (altitude, speed, range, etc.) suitable for the purpose, acquisition conditions (camera resolution, shooting angle, overlap rate, presence / absence of filters, scheduled flight time, battery requirement) Quantity, etc.) and other control information of the flying object 4 necessary for accomplishing the purpose are included.
  • the user transmits a flight request from the user terminal 2 (SQ101).
  • the flight request includes at least information on the flight location (including, for example, area information such as the administrator name, number, and ID), the purpose of the flight, and the number of flying objects.
  • the management server 1 refers to the storage unit 190 (see FIG. 5) (SQ102) and generates a flight mission (SQ104).
  • the generated flight mission is transmitted directly (or indirectly via a terminal, a radio, etc.) to the aircraft 4 (SQ106).
  • the aircraft 4 transmits (reports) the information acquired during the flight mission to the management server 1 in real time (or after the fact) (SQ108).
  • the management server 1 generates a report based on the information (flight log) acquired from the aircraft (SQ110).
  • the flight start position of the flight body 4 may be, for example, a place installed by the user, or the flight body storage device 5 selected by the management server 1. The same applies to the flight end position of the flying object 4.
  • Figure 9 is an example of flight mission (flight route) generation for a photovoltaic power generation facility.
  • a route may be generated on the premise of inspection by a plurality of flying objects in consideration of the power source (battery) of the flying object, the inspection time, and the like.
  • flight areas A1 and A2 are set for each area information such as an administrator name, number, and ID, and flight routes R1 and R2 by flight bodies 4a and 4b are generated for the flight areas A1 and A2. ing.
  • the information acquired by the aircraft 4a and 4b see, for example, Table 1001 and Table 1002 in FIG.
  • 10) includes reference information (for example, position information, time information, etc.) associated with the information acquired on the management server 1 side. It is sorted and managed for each area based on the area information or the like (see, for example, Table 1101 in FIG. 11 and Table 1201 in FIG. 12), and is used for generating a report for each area, for example.
  • reference information for example, position information, time information, etc.
  • a report may be created (that is, 10 image reports) for each of the inspection targets, or the plurality of areas may be grouped together.
  • areas 1 to 3 are regarded as one unit
  • areas 4 to 7 are regarded as another unit
  • areas 8 to 10 are regarded as yet another unit, and a total of three large unit areas are inspected and managed). It may be that.
  • Position information for example, coordinate information by GPS etc.
  • time information for example, time when information was acquired, elapsed time from the start of flight, etc.
  • area information for example, administrator name, number, ID
  • the information is sorted and managed for each area (for example, Table 1101 in FIG. 11 and Table 1201 in FIG. 12). reference).
  • Flight routes of a plurality of aircraft may be generated, for example, by sending a flight request for each aircraft. Further, as shown in FIG. 13, based on the flight route R3 generated in response to the flight request of one aircraft 4a, as shown in FIG. 14, each of the aircraft (for example, two aircraft 4a and 4b). ) Flight routes R4 and R5 may be assigned. In this case, for example, when the flight routes R4 and R5 are in the same area (for example, the area where the area ID is set as A001), the information acquired by the flying objects 4a and 4b is collectively managed. It can be generated as a report for one area.
  • the flight order of a plurality of flying objects may be flown at the same time, or a time difference may be provided. It can be changed as appropriate according to the mutual distance and radio wave conditions.
  • flight control is performed in consideration of the influence of wakes when the aircraft are close to each other and the possibility that another aircraft may enter the imaging / detection range of one (when the altitude is different). can do.
  • the flying objects do not have to always fly at a constant speed, and may appropriately wait for each other to approach or pass on or between waypoints.
  • the other aircraft may supplement the continuation part.
  • progress information such as imaging by one aircraft may be directly or indirectly shared with the other aircraft.
  • a series of flight routes R6 by one aircraft 4 may be generated for a plurality of flight routes in the flight areas A1 and A2 which are originally performed by two units (plural units). ..
  • the information acquired by the aircraft 4 includes reference information (for example, position information, time information, etc.), area information, and the like associated with the information acquired on the management server 1 side. Based on, for example, it is sorted and managed by region (see, for example, Table 1701 in FIG. 17 and Table 1801 in FIG. 18), and is used for generating a report for each region, for example.
  • the above-mentioned association method may be used. This eliminates the need to manually sort and manage the information obtained by flying over multiple independent areas even when one flying object is prepared as in the past. Highly efficient sorting and management of information becomes possible.
  • the replacement battery 5 is replaced in the middle of the flight route R6.
  • the flight route R7 for this purpose may be set.
  • the optimum flight route (for example, the flight route shown in FIGS. 9, 13, 14, 15, 19) is selected based on the area information, the number of flying objects, the type of application, the battery status, and the like. It becomes possible.
  • FIG. 20 is a display example in which the report generated based on the still image information acquired by the flying object is displayed on the display DP of the user terminal 2.
  • the still image information P1 acquired by the flying object is displayed on the map image M acquired in advance (for example, an ortho image based on separately acquired information or a map image acquired through the Internet or the like).
  • location information such as GPS information
  • a report is displayed so that the latest information at the relevant location can be easily confirmed.
  • the information displayed on the display DP of the user terminal 2 as a report is not limited to the superimposed still image information, but indicates useful information for inspection (for example, date and time, information on the flying object, number of abnormal parts, and abnormal parts).
  • map image M may be displayed by being grayed out or simplified by lines, figures, or the like.
  • the map image M may be acquired at any timing according to the data acquisition frequency, user request, etc., and may be, for example, at a time close to the latest still image information P1, and the still image information P2, It may be a time point close to P3 or a time point further in the past.
  • the relationship between the still image information P1-P3 and the time series is not limited to the illustrated relationship, and the still image information at a plurality of different time points may be displayed according to the convenience of the user.
  • FIG. 21 illustrates a display example in which information at at least two different time points is arranged at positions close to each other, but the present invention is not limited to such an example.
  • a report capable of switching and displaying information at at least two different time points to the same position is generated. May be good. This makes it possible to confirm the change with time at the time of inspection without changing the relative positional relationship between the map image M and the still image information P1-P3.
  • the still image information used for comparison is sorted and managed as described above (see, for example, FIGS. 11, 12, 17, and 18), and over time based on, for example, position information and time information.
  • a report that confirms the changes is generated.
  • the air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the present invention can be suitably used as an air vehicle for aerial photography equipped with a camera or the like. It can also be used in various industries such as security, agriculture, infrastructure monitoring, surveying, inspection of sports venues such as golf courses and tennis courts, and inspection of roofs of buildings such as factories and warehouses.
  • the flight management server and the flight management system may have the following configurations in consideration of the industry and the like targeted by the present invention.
  • An unmanned aerial vehicle flight management server that is connected to a user terminal and an unmanned aerial vehicle via a network.
  • a reception section that accepts flight requests that include area information that includes at least two or more roof areas of a building that can be divided into multiple areas.
  • a generator that generates a flight mission including a flight route that flies over at least two or more roof areas based on the flight request from the user terminal.
  • a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives an image of the roof taken by the unmanned aerial vehicle from the unmanned aerial vehicle.
  • a sorting unit that sorts roof images acquired from the unmanned aerial vehicle for each roof area, and a storage unit that stores the sorted roof images.
  • An unmanned aerial vehicle flight management server that is connected to a user terminal and an unmanned aerial vehicle via a network.
  • a reception department that accepts flight requests that include area information that includes at least two or more field areas out of multiple field areas,
  • a generator that generates a flight mission including a flight route that flies over at least two or more field areas based on the flight request from the user terminal.
  • a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives an image of a field taken by the unmanned aerial vehicle from the unmanned aerial vehicle.
  • a sorting unit that sorts the images of the fields acquired from the unmanned aerial vehicle for each field area, and a storage unit that stores the images of the sorted fields.
  • An unmanned aerial vehicle flight management server that is connected to a user terminal and an unmanned aerial vehicle via a network.
  • a reception section that accepts flight requests that include area information that includes at least two or more tennis court areas out of multiple tennis court areas.
  • a generator that generates a flight mission including a flight route that flies over at least two or more tennis court areas based on the flight request from the user terminal.
  • a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives an image of a tennis court taken by the unmanned aerial vehicle from the unmanned aerial vehicle.
  • a sorting unit that sorts the image of the tennis court acquired from the unmanned flying object for each tennis court area, and a storage unit that stores the image of the sorted tennis court.
  • An unmanned aerial vehicle flight management server that is connected to a user terminal and an unmanned aerial vehicle via a network.
  • a reception unit that accepts flight requests that include area information that includes at least two or more golf hole areas out of a plurality of golf hole areas.
  • a generator that generates a flight mission including a flight route that flies over at least two or more golf hole areas based on the flight request from the user terminal.
  • a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives an image of a golf hole taken by the unmanned aerial vehicle from the unmanned aerial vehicle.
  • a sorting unit that sorts golf hole images acquired from the unmanned aerial vehicle for each golf hole area, and a storage unit that stores images of the sorted golf holes.

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  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
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Abstract

La présente invention a pour objet de régler automatiquement un itinéraire de vol optimal, simplement en sélectionnant diverses cibles de fonctionnement. À cet effet, l'invention concerne un serveur de gestion de vol qui est connecté par l'intermédiaire d'un réseau à un terminal d'utilisateur et à un véhicule aérien sans pilote. Ce serveur de gestion de vol comprend : une unité d'acceptation pour accepter une demande de vol comprenant des informations de région comprenant au moins deux régions parmi une pluralité de régions mutuellement indépendantes ; une unité de génération pour générer une mission de vol comprenant un itinéraire de vol pour survoler les au moins deux régions, sur la base de la demande de vol provenant de l'équipement utilisateur ; une unité de communication pour transmettre la mission de vol générée au véhicule aérien sans pilote, et recevoir des informations acquises par le véhicule aérien sans pilote à partir du véhicule aérien sans pilote ; une unité de tri pour trier les informations acquises à partir du véhicule aérien sans pilote par région ; et une unité de stockage pour stocker les informations triées.
PCT/JP2019/024691 2019-06-21 2019-06-21 Serveur de gestion de vol et système de gestion de vol pour véhicule aérien sans pilote Ceased WO2020255373A1 (fr)

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JP2019555056A JP6765738B1 (ja) 2019-06-21 2019-06-21 無人飛行体のフライト管理サーバ及びフライト管理システム

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025022572A1 (fr) * 2023-07-25 2025-01-30 日本電信電話株式会社 Système de commande de vol et procédé de commande de vol

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