Operation system, operation method, and operation program

Abstract

To make it possible to further improve the safety of operation of a remotely steered flying object.SOLUTION: An operation system supports or manages the operation of manned flying objects with pilots on board that fly in a predetermined airspace area and remotely steered unmanned flying objects that fly in an airspace area that is at least partially shared with that of the manned flying objects. The operation system includes: a flying object information acquisition unit that can acquire aircraft type information on a plurality of flying objects including the manned flying objects and the unmanned flying objects; and an integrated information generation unit that generates integrated information including the aircraft type information on the plurality of flying objects. The operation system transmits the integrated information to the plurality of flying objects or a remote steering device that remotely steers the unmanned flying objects.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an operation system, an operation method, and an operation program. [Background technology]

[0002] Patent Document 1 discloses a controller and control program for an autonomous drone that is easy to operate even for non-experts. In particular, it discloses that the controller's screen displays the flight status, aircraft status, flight path, etc. of the drone being controlled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Re-tabled publication No. 2020-171229 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there has been an increasing need to use unmanned aerial vehicles (UAVs (Unmanned aerial vehicles)) and other aerial vehicles for the purposes of on-site surveys in emergencies such as disasters, the collection of wide-area spatial information during normal times, and other logistics applications. In particular, in emergencies such as disasters, situations arise in which multiple manned and unmanned aerial vehicles are flying together within the airspace of the scene, but coordination between the ATM (Air Traffic Management) system, which controls manned aerial vehicles, and the UTM (UAS Traffic Management) system, which controls unmanned aerial vehicles, has not yet been achieved.

[0005] In addition, while both automatic and manual driving systems have been put into practical use as control systems for unmanned aerial vehicles, no method has been established for cooperation between unmanned aerial vehicles operated by automatic driving systems and unmanned aerial vehicles operated by manual driving systems.

[0006] Furthermore, while direct communication methods using VHF and UHF frequency bands have been established between manned aircraft and ATMs, and between pilots of manned aircraft, no communication method has been established between pilots in manned aircraft and remote pilots who operate unmanned aircraft from a remote location.

[0007] Patent Document 1 discloses that the flight status, aircraft status, flight path, etc. of the unmanned aerial vehicle (drone) being controlled are displayed on the screen of the control device. However, no consideration has been given to a method of cooperation with aerial vehicles other than the unmanned aerial vehicle being controlled.

[0008] The present invention has been made in consideration of at least one of the above-mentioned problems, and aims to provide an operation system that allows remotely controlled unmanned aerial vehicles to operate in coordination with other aircraft. [Means for solving the problem]

[0009] In order to achieve the above-mentioned objective, an operation system is provided that supports or manages the operation of a manned aerial vehicle with a pilot on board that flies in a specified airspace area and a remotely controlled unmanned aerial vehicle that flies in an airspace area that is at least partially shared with the manned aerial vehicle, and the operation system comprises an aerial vehicle information acquisition unit that can acquire aircraft type information for multiple aerial vehicles, including the manned aerial vehicle and the unmanned aerial vehicle, an integrated information generation unit that generates integrated information including the aircraft type information for the multiple aerial vehicles, and a remote control device that remotely controls the multiple aerial vehicles or the unmanned aerial vehicle. [Effects of the Invention]

[0010] According to the present invention, a remotely controlled unmanned aerial vehicle can operate in cooperation with other aircraft. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is an overall configuration diagram of an operation system according to one embodiment of the present invention. [Figure 2] FIG. 1 illustrates a first method for collecting and sharing information about air vehicles in an airspace. [Figure 3] FIG. 10 illustrates a second method for collecting and sharing information about air vehicles in an airspace. [Figure 4] FIG. 10 illustrates a third method for collecting and sharing information about air vehicles in an airspace. [Figure 5] FIG. 10 illustrates a fourth method for collecting and sharing information about air vehicles in an airspace. [Figure 6] FIG. 2 is a configuration diagram showing the main functions of the control base system 2000. [Figure 7a] FIG. 1 is a diagram illustrating an example of communication means between a control base system and an aircraft. [Figure 7b] FIG. 10 is a diagram illustrating another example of communication means between the control base system and the aircraft. [Figure 8a] FIG. 1 is a diagram illustrating an example of communication means between an operation base system and an aircraft via a communication satellite. [Figure 8b] FIG. 10 is a diagram showing another example of communication means between the control base system and the aircraft via a communication satellite. [Figure 9] FIG. 2 is a functional block diagram showing the main functions of the airspace monitoring system. [Figure 10] FIG. 2 is a functional block diagram showing the functions of the aircraft operation system. [Figure 11] FIG. 2 is a functional block diagram showing the main functions of the unmanned aerial vehicle. [Figure 12] FIG. 2 is a functional block diagram showing the main functions of the manned aircraft. [Figure 13] FIG. 1 is a configuration diagram showing the hardware configuration of an airspace monitoring system, etc. [Figure 14] FIG. 2 is a flowchart showing the operation of the operation system. [Figure 15] FIG. 10 is a flowchart illustrating the process of detecting an aircraft by the aircraft detection unit. [Figure 16] 10 is a table showing information about an aircraft acquired by an information acquisition unit. [Figure 17]FIG. 10 is a flowchart illustrating the process of determining a dangerous state in an airspace by the airspace safety determination unit. [Figure 18] FIG. 10 is a diagram showing an example of display of integrated information in an airspace monitoring system. [Figure 19] FIG. 10 is a diagram showing an example of the display of integrated information in a control base system or manned aircraft. [Figure 20] FIG. 10 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety determination unit 4300 determines that an aircraft approach warning is issued. [Figure 21] FIG. 10 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety determination unit determines that a pilot approach warning is required. [Figure 22] FIG. 10 is a diagram showing an example of a display screen displayed on a field terminal when an airspace safety determination unit determines that a worker approach warning is to be issued. [Figure 23] FIG. 10 is a diagram showing an example of a display screen displayed on an on-site terminal in AR when the airspace safety determination unit determines that a worker approach warning is required. [Figure 24] FIG. 10 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety determination unit determines that a visual range deviation warning has been issued. [Figure 25] FIG. 10 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety judgment unit determines that there is an aircraft requiring caution. [Figure 26] FIG. 10 is a sequence diagram showing an example of information exchange between systems when request information is input from a manned aircraft. [Figure 27] FIG. 10 is a sequence diagram showing another example of information exchange between systems when request information is input from a manned aircraft. [Figure 28] FIG. 10 is a diagram showing an example of a display screen displayed on the remote control unit when request information is input from a manned aircraft. [Figure 29a] 10A and 10B are diagrams illustrating locations where communication abnormalities occur and a first communication switching method. [Figure 29b] FIG. 10 is a control sequence diagram showing a first communication switching method. [Figure 30a]10A and 10B are diagrams illustrating locations where communication abnormalities occur and a second communication switching method. [Figure 30b] FIG. 10 is a control sequence diagram showing a second communication switching method. [Figure 31a] FIG. 10 is a diagram showing the location of a communication abnormality and a third communication switching method. [Figure 31b] FIG. 10 is a control sequence diagram showing a third communication switching method. DETAILED DESCRIPTION OF THE INVENTION

[0012] The present invention will be described below by listing the contents of the embodiments. The present invention has the following configuration. [Item 1] An operation system that supports or manages the operation of a pilot-operated manned aircraft that flies in a predetermined airspace area and a remotely controlled unmanned aircraft that flies in an airspace area that is at least partially shared with the manned aircraft, an aircraft information acquisition unit capable of acquiring aircraft type information of a plurality of aircraft including the manned aircraft and the unmanned aircraft; an integrated information generation unit that generates integrated information including the aircraft type information of the plurality of aircraft; An operation system that transmits the integrated information to a remote control device that remotely controls the multiple air vehicles or the unmanned air vehicle. [Item 2] The flight system according to item 1, An operation system in which the aircraft type information includes at least one of the following: information that can distinguish between manned and unmanned aircraft, information that can distinguish whether the aircraft is automatically piloted or manually piloted, and information that can distinguish the level of automatic operation of the autopilot. [Item 3] The flight system according to item 1 or 2, An operation system in which the integrated information is displayed on a map screen or together with a map screen on a display unit provided on the control devices of the multiple aircraft or the remote control device of the unmanned aircraft. [Item 4] The flight operation system according to any one of items 1 to 3, The aircraft information acquisition unit acquires operation status information of the plurality of aircraft, including at least one of during automatic operation, during manual operation intervention in automatic operation, and during manual operation; An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the operation status information of the multiple aircraft. [Item 5] An operation system according to any one of items 1 to 4, The aircraft information acquisition unit acquires work status information of the plurality of aircraft, including at least one of the following: measurement operation in progress, measurement operation interruption, temporary departure from the flight path, return flight to the flight path, waiting flight, flight to a work resumption point, preparation for landing, and return to a landing point; An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the work status information of the multiple flying vehicles. [Item 6] 6. The flight operation system according to any one of items 1 to 5, the aircraft information acquisition unit acquires future flight plan information of the plurality of aircraft, including at least one of a planned flight route and a planned landing position; An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the flight plan information of the multiple flying vehicles. [Item 7] Item 1 to 6: An operation system according to any one of items 1 to 6, The flying object information acquisition unit acquires flight position information including flight positions of the plurality of flying objects, An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the flight position information of the multiple flying vehicles. [Item 8] 8. The flight operation system according to any one of items 1 to 7, An operation system in which the flight position information includes at least one of the three-dimensional or two-dimensional flight position of the aircraft, the distance between the multiple aircraft, the flight position and direction of travel, and the flight position, direction of travel, and speed. [Item 9] An operation system according to any one of items 1 to 8, An operation system in which, when notification request information for another aircraft or flight plan change request information for another aircraft is received by a control device mounted on the manned aircraft or a remote control device that remotely controls the unmanned aircraft, the notification request information or change request information is transmitted to the control device or remote control device of the other aircraft. [Item 10] 10. The flight operation system according to any one of items 1 to 9, An operation system in which, when the control device or the remote control device receives the notification request information or the change request information, it notifies the user of the notification request information or the change request information by at least one of sound, light, vibration, and display on a display screen. [Item 11] The flight operation system according to any one of items 1 to 10, an airspace safety determination unit that determines a dangerous state within the airspace area based on the information acquired by the aircraft information acquisition unit; When the airspace safety determination unit determines that a dangerous state exists, information regarding the dangerous state is transmitted to a control device mounted on the manned aircraft or to the remote control device that remotely controls the unmanned aircraft; An operation system in which the control device or the remote control device notifies information about the dangerous situation by at least one of sound, light, vibration, and display on a display screen. [Item 12] 12. The flight system according to any one of items 1 to 11, The flying object information acquisition unit acquires flight position information including flight positions of the plurality of flying objects, The airspace safety determination unit determines whether or not there is a dangerous situation based on the flight position information. [Item 13] 13. The flight operation system according to any one of items 1 to 12, An operation system in which the airspace safety judgment unit judges that a dangerous situation has occurred when at least one of the following conditions is met: the distance between the multiple aircraft is less than a predetermined distance; the distance between predicted movement paths predicted based on the flight positions and directions of the multiple aircraft is less than a predetermined distance; the shortest distance between predicted movement positions in time series of the multiple aircraft is less than a predetermined distance; or the shortest distance between planned flight positions in time series based on the flight missions of the multiple aircraft is less than a predetermined distance. [Item 14] 14. The flight operation system according to any one of items 1 to 13, the airspace safety determination unit determines whether or not a dangerous state exists based on the aircraft type information, An operation system that determines a dangerous situation to be present when the plurality of aircraft include manned aircraft and unmanned aircraft, or when the plurality of aircraft include autopiloted unmanned aircraft and manually piloted unmanned aircraft. [Item 15] 15. The flight operation system according to any one of items 1 to 14, an airspace safety determination unit that determines whether there is a danger in the airspace area based on the piloting status information or the work status information acquired by the aircraft information acquisition unit, When the airspace safety determination unit determines that a dangerous state exists, information regarding the dangerous state is transmitted to a control device mounted on the manned aircraft or to the remote control device that remotely controls the unmanned aircraft; An operation system in which the control device or the remote control device notifies information about the dangerous situation by at least one of sound, light, vibration, and display on a display screen. [Item 16] 16. The flight operation system according to any one of items 1 to 15, an unmanned aircraft control system that wirelessly communicates with the unmanned aircraft; a manned aircraft control system that wirelessly communicates with the manned aircraft; an airspace monitoring system that is communicatively connected to the unmanned aircraft control system and the manned aircraft control system and includes the aircraft information acquisition unit and the integrated information generation unit; When wireless communication between the unmanned aerial vehicle and the unmanned aerial vehicle control system is interrupted, or when wireless communication between the manned aerial vehicle and the manned aerial vehicle control system is interrupted, The airspace monitoring system is an operation system that uses wireless communication means capable of wireless communication with the unmanned aerial vehicle or the manned aerial vehicle to obtain the aircraft type information of the unmanned aerial vehicle or the manned aerial vehicle, and transmits the integrated information to the unmanned aerial vehicle or the manned aerial vehicle. [Item 17] 17. The flight system according to any one of items 1 to 16, an unmanned aircraft control system that wirelessly communicates with the unmanned aircraft; a manned aircraft control system that wirelessly communicates with the manned aircraft; an airspace monitoring system that is communicatively connected to the unmanned aircraft control system and the manned aircraft control system and includes the aircraft information acquisition unit and the integrated information generation unit; When wireless communication between the unmanned aerial vehicle and the unmanned aerial vehicle control system is interrupted, The airspace monitoring system is an operation system that uses a communication means capable of communicating with the remote control device to obtain the aircraft type information of the unmanned aerial vehicle and transmits the integrated information to the remote control device. [Item 18] 18. The flight operation system according to any one of items 1 to 17, an unmanned aircraft control system that wirelessly communicates with the unmanned aircraft; a manned aircraft control system that wirelessly communicates with the manned aircraft; an airspace monitoring system that is communicatively connected to the unmanned aircraft control system and the manned aircraft control system and includes the aircraft information acquisition unit and the integrated information generation unit; When wireless communication between the unmanned aerial vehicle and the unmanned aerial vehicle control system is interrupted, or when wireless communication between the manned aerial vehicle and the manned aerial vehicle control system is interrupted, The airspace monitoring system is an operation system that uses wireless communication means capable of wireless communication between at least one of the remote control device and the unmanned aerial vehicle and the remote control device and the manned aerial vehicle to obtain the aircraft type information of the unmanned aerial vehicle or the manned aerial vehicle, and transmits the integrated information to the unmanned aerial vehicle or the manned aerial vehicle. [Item 19] An operation method for supporting or managing the operation of a manned aircraft with a pilot flying in a predetermined airspace area and a remotely controlled unmanned aircraft flying in a common airspace area with the manned aircraft, comprising: The computer an information acquisition step of acquiring aircraft type information of a plurality of aircraft including the manned aircraft and the unmanned aircraft; a generation step of generating integrated information including the aircraft type information of the plurality of aircraft; a transmitting step of transmitting the integrated information to a remote control device that remotely controls the plurality of air vehicles or the unmanned air vehicle; A method of operation. [Item 20] An operation program that supports or manages the operation of a pilot-operated manned aircraft flying in a predetermined airspace area and a remotely controlled unmanned aircraft flying in a common airspace area with the manned aircraft, On the computer, an information acquisition command to acquire aircraft type information of a plurality of aircraft including the manned aircraft and the unmanned aircraft; a generation command to generate integrated information including the aircraft type information of the plurality of aircraft; a transmission command to transmit the integrated information to a remote control device that remotely controls the plurality of air vehicles or the unmanned air vehicle; An operation program that executes the above.

[0013] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions are omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0014] <A. First Embodiment> [A-1. Configuration] (A-1-1. Overview) FIG. 1 is an overall configuration diagram of an operation system 1 (hereinafter also referred to as "system 1") according to an embodiment of the present invention. As shown in FIG. 1, the operation system 1 includes an unmanned aircraft 1000, a control base system 2000, a manned aircraft 3000, an airspace monitoring system 4000, an unmanned aircraft operation management system (UAS Traffic Management (hereinafter also referred to as "UTM")) 5000, an air traffic control system (Air Traffic Management (hereinafter also referred to as "ATM")) 6000, a spatial information data utilization system 7000, and a field terminal 9000. At this time, the operation system I further includes a remote control terminal Also, when a plurality of manned aircraft 3000 are flying in the airspace, they are described as manned aircraft 3001 and 3002, respectively.

[0015] The unmanned aircraft 1000 is an unmanned aircraft or other unmanned flying object. When a plurality of unmanned aircraft 1000 are flying in the airspace, the unmanned aircraft controlled by the control base system 2000 is described as "unmanned aircraft 1001", and other unmanned aircraft are described as "unmanned aircraft 1002". The unmanned aircraft 1001 is flight-controlled based on a control command received from the control base system 2000 by wireless communication. Also, the unmanned aircraft 1002 is flight-controlled based on a control command received from the remote control terminal 2002 by wireless communication.

[0016] Furthermore, the unmanned aerial vehicle 1001 is equipped with sensors such as an optical camera, an infrared camera, and a laser sensor including LiDAR, and uses these sensors to acquire information on the measurement area from the sky as measurement data. The unmanned aerial vehicle 1001 also wirelessly transmits the measurement data to the control base system 2000 during flight. Note that the unmanned aerial vehicle 1001 is not limited to acquiring information on the measurement area, but may also be an aerial vehicle that acquires weather data and environmental data, tracks suspicious ships, etc., or performs other tasks. Furthermore, the unmanned aerial vehicle 1001 does not necessarily have to be an aerial vehicle, but may also be a vehicle, ship, or other moving object equipped with the above-mentioned sensors, etc.

[0017] The control base system 2000 receives flight status information from the unmanned aerial vehicle 1001 via control communication, and transmits flight control commands to the unmanned aerial vehicle 1001 to remotely control the flight of the unmanned aerial vehicle 1001. The control base system 2000 also has the function of receiving measurement data acquired by the unmanned aerial vehicle 1001 via measurement data communication, and transmitting the received measurement data to the spatial information data utilization system 7000 described below. Note that the control base system 2000 is not limited to a fixed building, and can also be configured as a mobile vehicle, ship, etc.

[0018] The manned aircraft 3000 is a manned aircraft or other manned aircraft, and is a manned aircraft that flies within the airspace monitored by the airspace monitoring system 4000 described below. When multiple manned aircraft 3000 are flying within the airspace, they are referred to as "manned aircraft 3001" and "manned aircraft 3002."

[0019] The airspace monitoring system 4000 is a system that monitors in real time the airspace in which the unmanned aerial vehicle 1001, which is the target of control by the control base system 2000, is flying. The airspace monitoring system 4000 has a function of constantly detecting aerial vehicles flying in the airspace using an aerial vehicle detection unit 4100 such as radar, laser, or sonar. It also has a function of communicating with the UTM and ATM (Universal Telemetry Model) described below to acquire information on the control information (position, speed, control type (autopilot / manual pilot), etc.) of unmanned aerial vehicles and manned aerial vehicles in the airspace, including flight plan, flight mission, landing position, and aircraft type information (unmanned / manned, etc.). It also has a function of integrating the acquired or detected information and transmitting it to the control base system 2000, the on-site terminal 9000, or each aerial vehicle in the airspace via wired or wireless communication. Furthermore, the airspace monitoring system 4000 can constantly communicate wirelessly (direct communication, LTE communication, communication via communication satellite, etc.) with the unmanned aerial vehicles 1000 and manned aerial vehicles 3000 in the airspace to directly acquire control information (position, speed, control type (autopilot / manual control), etc.), operational information (flight plan, flight mission, landing position, etc.), and aircraft type information (unmanned / manned, etc.) from the unmanned aerial vehicles 1000 and manned aerial vehicles 3000 in the airspace. Detailed functions of the airspace monitoring system 4000 will be described later.

[0020] The UTM5000 is a system generally referred to as an unmanned aircraft traffic management system (UAS Traffic Management), and in order to ensure the safe and efficient operation of unmanned aircraft in the target airspace under the jurisdiction of the UTM, the system wirelessly communicates with unmanned aircraft in the target airspace to acquire information about the unmanned aircraft, weather information, and other information, and shares the acquired information with the unmanned aircraft via wireless communication to prevent accidents involving the unmanned aircraft. In this embodiment, the UTM5000 can further share the acquired information with the airspace monitoring system 4000. Detailed functions of the UTM5000 will be described later.

[0021] The ATM6000 is a system generally called an Air Traffic Management system, and is a system that acquires information about manned aircraft in the airspace, weather information, and other information, and shares the acquired information with manned aircraft via wireless communication to prevent accidents involving manned aircraft, in order to ensure safe and efficient operation of manned aircraft in the airspace under the ATM's jurisdiction. In this embodiment, the ATM6000 can further share the acquired information with the airspace monitoring system 4000. The detailed functions of the ATM6000 will be described later.

[0022] The spatial information data utilization system 7000 is connected to the control base system 2000 via wired or wireless communication and receives measurement data acquired by the unmanned aerial vehicle 1001 from the control base system 2000. The spatial information data utilization system 7000 processes the received measurement data to convert it into data that makes it easier for the user to understand the condition of the measurement area, and provides the processed data to a user terminal, etc. For example, if the measurement data is images measured with an optical camera or an infrared camera, the system generates a wide-area image by stitching together multiple images, a wide-area orthoimage by stitching together multiple images after orthogonal transformation, or a map image by integrating the wide-area image or wide-area orthoimage with geographic information. Furthermore, if the measurement data is point cloud data acquired by a laser sensor, the system processes the point cloud data to generate three-dimensional spatial data expressed in a digital surface model (DSM) or digital elevation model (DEM), or a map image by integrating the three-dimensional spatial data with geographic information.

[0023] The on-site terminal 9000 is a terminal device operated by an on-site person in charge of the operation of aircraft at takeoff and landing points, etc. The on-site terminal 9000 acquires control information (position, speed, operation type (autopilot / manual pilot), etc.) of each aircraft in the airspace, operation information (flight plan, flight mission, landing position, etc.), and aircraft type information (unmanned aircraft / manned aircraft, etc.) via the airspace monitoring system 4000, and displays the information on the display unit, thereby providing the user of the on-site terminal 9000 with information on the latest operation status and landing plan of aircraft in the airspace.

[0024] The components of the flight operation system 1 shown in FIG. 1 (unmanned aerial vehicle 1000, control base system 2000, manned aerial vehicle 3000, airspace monitoring system 4000, UTM 5000, ATM 6000, spatial information data utilization system 7000, and on-site terminal 9000) may be connected to each other via a communication network such as the Internet or a communication method such as LTE, via wired or wireless communication. The wireless communication between the components may form a dedicated wireless communication network or may utilize an existing wireless infrastructure. The control communication (e.g., command and control link) for transmitting and receiving the above-mentioned control-related information and the measurement data communication (e.g., payload link) for transmitting and receiving measurement data are each assigned a different communication frequency band or a different communication path, and are communicated via a different wireless communication link.

[0025] (A-1-2. Explanation of information sharing methods for aircraft) Next, a method for collecting information about each flying object flying in the airspace and sharing the collected information with each flying object or each system in the operation system 1 will be described with reference to FIGS.

[0026] (A-1-2-1. First method of sharing information about aircraft) 2 is a diagram illustrating a first method for collecting and sharing information about air vehicles in an airspace. In the example shown in this figure, first, the UTM 5000 acquires control information, flight information, and aircraft type information from the unmanned air vehicles 1001 and 1002 in the airspace, and the ATM 6000 similarly acquires control information, flight information, and aircraft type information from the manned air vehicles 3001 and 3002 in the airspace. Next, the UTM 5000 and the ATM 6000 transmit the control information, flight information, and aircraft type information they have acquired to the airspace monitoring system 4000. The airspace monitoring system 4000 integrates various information acquired from the UTM 5000 and the ATM 6000 with detection information about air vehicles in the airspace it has detected, and generates shared information, which it then transmits to the control base system 2000 and the on-site terminal 9000.

[0027] The sharing method shown in Figure 2 allows the pilot of the unmanned aerial vehicle 1001, who is a user of the control base system 2000, to understand the status of all aerial vehicles, including unmanned and manned aerial vehicles, within the airspace in which the unmanned aerial vehicle 1001 he or she controls flies, thereby enabling the operation of the unmanned aerial vehicle 1001 to be carried out more safely.

[0028] (A-1-2-2. First method of sharing information about aircraft) FIG. 3 illustrates a second method for collecting and sharing information about air vehicles in an airspace. In the example shown in this figure, the airspace monitoring system 4000 acquires control information, operation information, and aircraft type information for unmanned air vehicles 1001 and 1002 in the airspace and manned air vehicles 3001 and 3002 in the airspace via the UTM 5000 and the ATM 6000, in a manner similar to the first method shown in FIG. 2. The airspace monitoring system 4000 then integrates the various information acquired from the UTM 5000 and the ATM 6000 with the detection information of air vehicles in the airspace it has detected, and transmits the generated shared information to the control base system 2000 and the on-site terminal 9000. Furthermore, the control base system 2000 transmits the shared information to each air vehicle in the airspace (unmanned air vehicles 1001 and 1002, manned air vehicles 3001 and 3002) via wireless communication. The unmanned air vehicle 1002 further transmits the shared information to the remote control terminal 2002.

[0029] As shown in the sharing method in Figure 3, shared information can be provided to the pilots of each aircraft in the airspace via the control base system 2000, allowing each pilot to grasp the status of all aircraft in the airspace, regardless of whether they are unmanned or manned, thereby enabling them to operate the aircraft they control more safely.

[0030] (A-1-2-3. First method of sharing information about aircraft) FIG. 4 is a diagram illustrating a third method for collecting and sharing information about air vehicles in an airspace. In the example shown in this figure, first, the airspace monitoring system 4000 acquires control information, operation information, and aircraft type information about the unmanned air vehicles 1001 and 1002 in the airspace and the manned air vehicles 3001 and 3002 in the airspace via the UTM 5000 and the ATM 6000, in a manner similar to the first method shown in FIG. 2. The airspace monitoring system 4000 then generates shared information by integrating the various information acquired from the UTM 5000 and the ATM 6000 with the detection information about the air vehicles in the airspace that it has detected. Next, the airspace monitoring system 4000 transmits the shared information to each air vehicle in the airspace (the unmanned air vehicles 1001 and 1002, the manned air vehicles 3001 and 3002) via wireless communication. The airspace monitoring system 4000 also transmits the shared information to the control base system 2000 and the on-site terminal 9000. Unmanned aerial vehicle 10001 and unmanned aerial vehicle 1002 that receive the shared information transmit the shared information to control base system 2000 and remote control terminal 2002, respectively.

[0031] The sharing method shown in Figure 4 allows shared information to be provided to the pilots of each aircraft in the airspace via the airspace monitoring system 4000, allowing each pilot to grasp the status of all aircraft in the airspace, whether unmanned or manned, and thereby allowing them to operate the aircraft they pilot more safely.

[0032] (A-1-2-4. First method of sharing information about aircraft) FIG. 5 is a diagram illustrating a fourth method for collecting and sharing information about air vehicles in an airspace. In the example shown in this figure, first, the airspace monitoring system 4000 acquires control information, flight information, and aircraft type information from the unmanned air vehicles 1001 and 1002 and the manned air vehicles 3001 and 3002 in the airspace. The airspace monitoring system 4000 generates shared information by integrating the acquired information with detection information of the air vehicles in the airspace that it has detected. Next, the airspace monitoring system 4000 transmits the shared information to each air vehicle in the airspace (the unmanned air vehicles 1001 and 1002, the manned air vehicles 3001 and 3002) via wireless communication. The airspace monitoring system 4000 also transmits the shared information to the control base system 2000 and the on-site terminal 9000. Unmanned aerial vehicle 10001 and unmanned aerial vehicle 1002 that receive the shared information transmit the shared information to control base system 2000 and remote control terminal 2002, respectively.

[0033] The sharing method shown in Figure 5 allows shared information to be provided to the pilots of each aircraft in the airspace via the airspace monitoring system 4000, allowing each pilot to grasp the status of all aircraft in the airspace, whether unmanned or manned, and thereby allowing the aircraft they pilot to operate more safely.

[0034] (A-1-3. Overview of the Control Base System 2000) Next, we will explain the main functions of the control base system 2000 and the communication connection relationships with other systems. Figure 6 is a configuration diagram showing the main functions of the control base system 2000. The control base system 2000 includes a communication infrastructure management system 2100, an aircraft flight operation system 2200, a flight management system 2300, and an acquired data management system 2400.

[0035] The communication infrastructure management system 2100 has a communication function for transmitting and receiving control-related information, including control command information and flight status information, and other information, such as measurement data, between the control base system 2000 and the unmanned aerial vehicle 1001, which is the object of control of the control base system 2000, directly or via a communication satellite 8000 or an internet line. The communication infrastructure management system 2100 also has a communication function for receiving shared information, including control information, operation information, and aircraft type information, of each aerial vehicle in the monitored airspace from the airspace monitoring system 4000. The communication infrastructure management system 2100 also has a function for transmitting the received shared information to the manned aerial vehicle 3001 and other aerial vehicles in the airspace (unmanned aerial vehicle 1002, manned aerial vehicle 3002). The communication infrastructure management system 2100 also has a communication function for transmitting information, such as measurement data acquired from the unmanned aerial vehicle 1001, to the spatial information data utilization system 7000.

[0036] The communication infrastructure management system 2100 also has a function for determining the connection status of communication and a means for switching communication means. Specifically, it monitors the state of communication loss, communication strength, and communication speed, and determines the most appropriate communication means based on the stability and speed required for communication, and switches to that communication means. The communication processing may be, for example, parallel transmission or switched transmission. Variations of the multiple communication means that can be switched by the communication infrastructure management system 2100 will be explained later with reference to Figures 7 and 8.

[0037] The aircraft flight operating system 2200 is a system that generates a flight mission for the unmanned aerial vehicle 1001 to be remotely controlled, acquires the real-time flight status (including position and speed) of the unmanned aerial vehicle 1001, and controls the target aerial vehicle by transmitting control target values ​​to the aerial vehicle as control commands. The flight mission is, for example, a movement plan that includes the movement route and movement speed of the unmanned aerial vehicle 1001.

[0038] The flight management system 2300 is a system that makes decisions and gives instructions regarding the operation of the unmanned aerial vehicle 1001. The flight management system 2500 prepares plans for operations of the unmanned aerial vehicle 1001, including, for example, measurement work and flight, transmits the plans to the vehicle flight operating system 2200, and causes the vehicle flight operating system 2200 to generate flight missions and the like in accordance with the plans. In addition, when managing the operations of multiple unmanned aerial vehicles, the flight management system 2300 can prepare plans for the multiple unmanned aerial vehicles that it manages the operations of, and transmit information about the plans to the vehicle flight operating system 2200 that controls each of the aerial vehicles.

[0039] The acquired data management system 2400 is a system that manages the measurement data acquired by the unmanned aerial vehicle 1001. Specifically, for the vast amount of measurement data acquired via the communication infrastructure management system 2100, it determines whether the measurement data contains defective data, records the measurement data, and determines whether to send the measurement data to the spatial information data utilization system 7000.

[0040] (A-1-4. Multiple communication means patterns of the control base system 2000) Next, communication means between the communication infrastructure management system 2100 of the control base system 2000 and the unmanned air vehicle 1001 will be described. Figures 7a, 7b, 8a, and 8b are diagrams showing examples of communication means between the communication infrastructure management system 2100 and the unmanned air vehicle 1001 or the manned air vehicle 3001. Communication between the communication infrastructure management system 2100 and the unmanned air vehicle 1001 or the manned air vehicle 3001 can be achieved by direct wireless communication, or by communication via a terrestrial Internet line. Furthermore, communication between the communication infrastructure management system 2100 and the unmanned air vehicle 1001 or the manned air vehicle 3001 can also be achieved by satellite relay communication via a communication satellite 8000. In this case, communication between the communication satellite 8000 and the communication infrastructure management system 2100 can be achieved by direct wireless communication, or by communication via a terrestrial Internet line.

[0041] 7a is a diagram showing an example of communication means between an operation base system and an aircraft. This diagram shows an example of direct wireless communication between an unmanned aircraft 1001 or a manned aircraft 3001 and a communication infrastructure management system 2100. The example of communication means shown in this diagram particularly shows an example of direct wireless communication between the unmanned aircraft 1001 or the manned aircraft 3001 using wireless communication equipment for direct communication (including a wireless communication antenna, etc.) provided in the communication infrastructure management system 2100. The direct wireless communication can utilize wireless communication bands such as, but not limited to, the 2.4 GHz band and the 5.7 GHz band. Wireless communication using ultra-long waves in the 3 kHz to 30 kHz band, long waves in the 30 kHz to 300 kHz band, medium waves in the 300 kHz to 3 MHz band, short waves in the 3 MHz to 30 MHz band, ultra-short waves in the 30 MHz to 300 MHz band, ultra-short waves in the 300 MHz to 3 GHz band, microwaves in the 3 GHz to 30 GHz band, millimeter waves in the 30 GHz to 300 GHz band, and submillimeter waves in the 300 GHz to 3 THz band can also be applied.

[0042] Next, Figure 7b is a diagram showing another example of communication means between the control base system and the aircraft. This figure shows an example in which the unmanned aircraft 1001 and the communication infrastructure management system 2100 communicate via an Internet line. In the example of communication means shown in this figure, communication between the communication infrastructure management system 2100 and the unmanned aircraft 1001 or the manned aircraft 3001 is particularly performed via an Internet line such as LTE (Long Term Evolution) or public wireless equipment. Wireless communication between public wireless communication equipment (including base stations for aircraft communication, wireless communication antennas, etc.) and the unmanned aircraft 1001 or the manned aircraft 3001 can appropriately use wireless in the various bands described above.

[0043] Next, a communication means via a communication satellite 8000 will be described. FIG. 8a is a diagram showing an example of a communication means between a control base system and an air vehicle via a communication satellite. The example of the communication means shown in this figure shows an example in which the communication infrastructure management system 2100 of the control base system 2000 communicates with the unmanned air vehicle 1001 or the manned air vehicle 3001 via the communication satellite 8000, and in particular shows an example in which direct wireless communication is performed with the communication satellite 8000 using wireless communication equipment (including a wireless communication antenna, etc.) for direct communication with the communication satellite, which is installed in the communication infrastructure management system 2100. Note that the direct wireless communication can use, for example, a wireless communication band in the 2.4 GHz band or the 5.7 GHz band, but is not limited to this.

[0044] 8b is a diagram showing another example of communication means between a control base system and an aircraft via a communication satellite. The example of communication means shown in this figure shows an example in which a communication infrastructure management system 2100 of a control base system 2000 communicates with an unmanned aircraft 1001 or a manned aircraft 3001 via a communication satellite 8000. In particular, communication between the communication infrastructure management system 2100 and the communication satellite 8000 is performed via an Internet line such as LTE (Long Term Evolution) and public wireless facilities (including base stations for satellite communications, wireless communication antennas, etc.).

[0045] In addition, communication between the unmanned aerial vehicle 1001 or manned aerial vehicle 3001 and the communication infrastructure management system 2100 may be configured using any one of the four communication means described above, but it can also be redundant communication using multiple of these communication means.

[0046] (A-1-5. Overview of the Airspace Monitoring System) Next, the airspace monitoring system 4000 will be described. Fig. 9 is a functional block diagram showing the main functions of the airspace monitoring system 4000. The airspace monitoring system 4000 includes an airborne object detection unit 4100, an information acquisition unit 4200, an airspace safety determination unit 4300, an in-airspace information integrating unit 4400, an information sharing unit 4500, an inter-pilot communication unit 4600, and a communication switching unit 4700. The airspace monitoring system 4000 may be equipment installed in a fixed position on the ground, but is not limited to this, and may also be implemented in a vehicle that moves on the ground, or a ship that moves on water or the sea.

[0047] (A-1-5-1. Aircraft detection unit 4100) The flying object detection unit 4100 is a functional unit that searches a predetermined airspace area to be monitored and detects flying objects (including unmanned flying objects 1000 and manned flying objects 1000) flying within the airspace area. It includes an flying object detection sensor 4110 and an flying object determination unit 4120.

[0048] The flying object detection sensor 4110 can be configured with a radar sensor or a laser sensor. When a radar sensor is used, radar waves (electromagnetic waves) are emitted from the ground or sea where the airspace monitoring system 4000 is installed toward the airspace being monitored by the airspace monitoring system 4000, and the reflected waves reflected by the flying objects present in the airspace are detected, thereby detecting objects including flying objects in the monitored airspace. On the other hand, when a laser sensor is used, laser light is emitted from the ground or sea where the airspace monitoring system 4000 is installed toward the airspace being monitored by the airspace monitoring system 4000, and the reflected light reflected by the flying objects present in the airspace is detected, thereby detecting objects such as flying objects in the monitored airspace.

[0049] The flying object determination unit 4120 determines at least one of the position, altitude, moving direction, moving speed, moving acceleration, and distance between flying objects based on the detection information of the reflected radar waves or the reflected laser light obtained by the flying object detection sensor 4110. The flying object determination unit 4130 may also have a function to determine whether or not a flying object to be detected is present in the monitored airspace. For example, if the size of an object identified by the detection information is smaller than a predetermined size, it can be determined to be noise information such as a bird rather than a flying object. Furthermore, the flying object may be given unique characteristics in its body shape (curvature, reflection intensity) and the unique characteristics may be identified by the reflected laser light or reflected radar waves, thereby identifying the flying object in addition to detecting its presence.

[0050] (A-1-5-2. Information acquisition section 4200) The information acquisition unit 4200 is a functional unit that acquires information from other systems other than the airspace monitoring system 4000 (ATM 6000, UTM 5000, flying vehicles 1000, 3000, control base system 2000, on-site terminal 9000).

[0051] When acquiring information from the ATM 6000, the information acquisition unit 4200 receives, for example, information about the manned air vehicle 3000 in the airspace (aircraft type information, piloting status information, work status information, flight schedule information, flight position information, etc.). Similarly, when acquiring information from the UTM 5000, the information acquisition unit 4200 receives, for example, information about the unmanned air vehicle 1000 in the airspace (aircraft type information, piloting status information, work status information, flight schedule information, flight position information, etc.).

[0052] Furthermore, even when acquiring information directly via wireless communication from the unmanned aerial vehicle 1000 or manned aerial vehicle 3000 flying within the airspace, the information acquisition unit 4200 similarly receives information about the unmanned aerial vehicle 1000 or manned aerial vehicle 3000 within the airspace (aircraft type information, piloting status information, work status information, flight schedule information, flight position information, etc.). Furthermore, when acquiring information from the control base system 2000 or the on-site terminal 9000, the information acquisition unit 4200 may acquire, for example, location information of the takeoff and landing point of the aircraft or a field worker (user of the on-site terminal 9000) at the flight site, or location information of the control base system from the control base system 2000 or the on-site terminal 9000.

[0053] Here, the aircraft type information includes aircraft type information indicating whether the aircraft is a manned aircraft with a pilot on board or a remotely controlled unmanned aircraft. Alternatively, the aircraft type information may include aircraft type information indicating whether the aircraft is an autopilot aircraft or a manually controlled aircraft. Alternatively, if the aircraft is an autopilot aircraft, the aircraft type information may include aircraft type information indicating the autopilot level of the autopilot. Here, the autonomous driving level is information divided into multiple levels ranging from manual driving assistance to fully autonomous driving. For example, if the autonomous driving level is divided into five levels, it can be divided as follows: Level 1: Manual driving assistance Level 2: Partially automated driving under specific conditions Level 3: Conditional Autonomy (pilot required) Level 4: Fully autonomous driving under certain conditions Level 5: Fully autonomous driving

[0054] In addition, the piloting status information is information that indicates the piloting status of the current aircraft, and includes at least one of "in automatic operation," "manual piloting intervening in automatic operation," and "in manual operation."

[0055] The work status information includes information indicating the status of work performed by the aircraft. For example, the following work status information is included for measurement work and operational work. In addition to the work status information for measurement work and operational work listed below, the work status information may also include status information such as "low battery level" that indicates the internal state of the aircraft. Measurement status: Measurement in progress, Measurement interrupted Operation status: Temporarily leaving the flight path, returning to the flight path, waiting, flying to the resumption point, preparing to land, avoiding obstacles, returning to the landing point Here, "temporarily deviating from the flight path" refers to an operational operation in which the aircraft temporarily deviates from the flight path and then returns to the flight path, such as during obstacle avoidance flight. Also, "returning to the landing site" refers to both a return according to the original flight plan and a return due to reasons outside the original flight plan, such as a low battery level, and can be defined as different operational statuses in some cases.

[0056] Furthermore, flight schedule information is information relating to the future flight plan of the aircraft, and includes, for example, information on at least one of the planned flight route and the planned landing location.

[0057] In addition, flight position information includes information regarding the flight position of the aircraft, such as the three-dimensional or two-dimensional flight position of the aircraft, the distance between multiple aircraft, the flight position and direction of travel, or the flight position, direction of travel, and speed.

[0058] (A-1-5-3.Airspace Safety Judgment Department 4300) The airspace safety determination unit 4300 is a functional unit that determines a dangerous state or a state that may be dangerous in the airspace as a dangerous state based on information acquired by the information acquisition unit 4200 or information detected by the flying object detection unit 4100. The airspace safety determination unit 4300 determines whether or not a dangerous state (approach warning) exists based on, for example, flight position information of multiple flying objects. Specifically, the airspace safety determination unit 4300 can determine a dangerous state (aircraft approach warning) when any of the following conditions is met: When the distance between multiple aircraft is less than a specified distance When the distance between the predicted movement paths based on the flight positions and directions of multiple aircraft is less than a predetermined distance When the shortest distance between the predicted time-series movement positions of multiple flying objects is less than a predetermined distance The shortest distance between flight plan positions over time based on the flight missions of multiple aircraft is less than a specified distance.

[0059] In addition to the above, the airspace safety determination unit 4300 may determine a dangerous state (pilot approach warning) when the distance between the aircraft and the remote control unit 2230 of the control base system becomes equal to or less than a predetermined distance, or may determine a dangerous state (worker approach warning) when the distance between the aircraft and a field worker becomes equal to or less than a predetermined distance. Furthermore, if the body orientation of the pilot or worker can be detected by a sensor or the like, a dangerous state may be determined when the pilot or worker is approaching from behind, in addition to the distance information from the aircraft.

[0060] As another example, the airspace safety determination unit 4300 determines whether or not there is a dangerous state (there is an aircraft requiring caution) based on the aircraft type information of multiple aircraft. Specifically, the airspace safety determination unit 4300 can determine that there is a dangerous state (there is an aircraft requiring caution) when any of the following conditions is met: - When manned and unmanned aircraft are included in the airspace - When multiple aircraft in the airspace include both automated and manually piloted unmanned aircraft.

[0061] The airspace safety determination unit 4300 may determine whether or not there is a dangerous state (requires piloting with caution) according to the piloting status and work status of multiple aircraft. In this case, for example, if there is an aircraft that is returning with a piloting status of "manual piloting intervention in automatic driving" or a work status of "low battery level," the airspace safety determination unit 4300 may determine that the airspace around the aircraft is in a dangerous state (requires piloting with caution) and notify aircraft flying in the airspace around the aircraft of information about the dangerous state.

[0062] Furthermore, the airspace safety judgment unit 4300 may judge that a dangerous situation (visual departure warning) has occurred when the unmanned aerial vehicle 1000 is flying or is expected to fly in an airspace that is a blind spot for the control base system or in a location outside the visual distance range, and notify the control base system of information about the dangerous situation.

[0063] (A-1-5-4. Airspace Information Integration Unit 4400) The airspace information integrator 4400 has a function of generating integrated information including aircraft type information for multiple aircraft within the airspace. For example, the integrated information may be generated by integrating at least one of the following: information acquired by the information acquisition unit 4200 (aircraft type information, piloting status information, work status information, flight schedule information, flight position information, etc.); detection information for aircraft within the airspace detected by the aircraft detection unit 4100 (aircraft position, movement direction, movement speed, movement acceleration, etc.); and crisis state information determined by the airspace safety determination unit 4300 (approach warning, piloting caution, etc.). The integrated information may be information associated with map information based on the aircraft position information, etc.

[0064] (A-1-5-5. Information sharing department 4500) The information sharing unit 4500 is a functional unit that transmits the integrated information generated by the airspace information integration unit 4400 to an aircraft within the airspace (unmanned aircraft 1000 or manned aircraft 3000), or to the control base system 2000 (or remote control terminal 2002) that remotely controls the unmanned aircraft, or to the on-site terminal 9000.

[0065] Here, the information sharing unit 4500 has multiple communication methods for transmitting the integrated information from the airspace monitoring system 4000 to the air vehicle and the control base system 2000, and transmits the integrated information using any of the communication methods. As a communication method for transmitting the integrated information to the control base system 2000, for example, as shown in Figure 2, the integrated information can be transmitted directly using an internet line connecting the airspace monitoring system 4000 and the control base system 2000. Alternatively, as shown in Figures 4 and 5, the integrated information can be transmitted to the control base system 2000 via an unmanned air vehicle 1001 connected to the airspace monitoring system 4000 via wireless communication.

[0066] Next, as a communication method for transmitting the integrated information to unmanned air vehicles and manned air vehicles, for example, the integrated information can be transmitted from the airspace monitoring system 4000 to each unmanned air vehicle and manned air vehicle via wireless communication, as shown in Figures 4 and 5. As another communication method, as shown in Figure 3, the integrated information can be transmitted to the control base system 2000 via the unmanned air vehicle 1001 connected to the airspace monitoring system 4000 via wireless communication, and the integrated information can be transmitted from the control base system 2000 to each unmanned air vehicle and manned air vehicle via wireless communication.

[0067] Next, as a communication method for transmitting the integrated information to the on-site terminal 9000, it can be transmitted directly using an internet line connecting the airspace monitoring system 4000 and the on-site terminal 9000, as shown in Fig. 2. As another communication method, it is also possible to transmit the integrated information to the on-site terminal 9000 via the control base system 2000.

[0068] (A-1-5-6. Pilot Communication Unit 4600) The inter-operator communication unit 4600 has a function to enable communication between operators of multiple unmanned aerial vehicles, or a function to enable communication between operators of unmanned aerial vehicles and operators of manned aerial vehicles. In particular, when a pilot inputs notification request information or flight plan change request information for a specific aerial vehicle, the inter-operator communication unit 4600 transmits the input information to the specific aerial vehicle or the remote control device of the aerial vehicle. The inter-operator communication unit 4600 includes a pilot request information acquisition unit 4610 and an inter-operator information relay unit 4620.

[0069] The pilot request information acquisition unit 4610 is a functional unit that acquires pilot input information accepted by the remote control unit 2230 that remotely controls the unmanned aerial vehicle 1001 or the control unit 3500 of the manned aerial vehicle 3001, and in particular acquires notification request information and flight plan change request information for a specific aerial vehicle input by the pilot. Information input by the pilot at the control base system 2000 can be acquired via the unmanned aerial vehicle 1001 and the UTM 5000. Alternatively, it may be acquired directly from the control base system 2000 via an Internet line. Information input by the pilot at the manned aerial vehicle 3001 can be acquired via the ATM 6000.

[0070] The pilot-to-pilot information relay unit 4620 transmits the acquired notification request information and flight plan change request information to the identified aircraft or its remote control device. The communication means for transmitting this information can be any of the communication means shown in Figures 2 to 5. Furthermore, response information input by the pilot of the manned aircraft or piloting base system 2000 that has received the notification request information or flight plan change request information is transmitted from the piloting base system 2000 directly or via the airspace monitoring system 4000 to the original manned aircraft or piloting base system 2000.

[0071] (A-1-5-7. Communication switching unit 4700) The communication switching unit 4700 includes a communication loss determination unit 4710 and a switching execution unit 4720. The communication loss determination unit 4710 is a functional unit that determines that a communication loss has occurred, in which either the wireless communication between the unmanned air vehicle 1000 and the UTM 5000 or the wireless communication between the manned air vehicle 3000 and the ATM 6000 has been interrupted. The communication loss determination unit 4710 determines that a communication loss has occurred, for example, when detection information of a communication loss detected in the UTM 5000, the ATM 6000, the unmanned air vehicle 1000, or the manned air vehicle 3000 is received from the UTM 5000, the ATM 6000, the unmanned air vehicle 1000, or the manned air vehicle 3000.

[0072] A method for determining communication loss in the UTM5000, ATM6000, unmanned aerial vehicle 1000, or manned aerial vehicle 3000 is, for example, to continuously or periodically send and receive communication signals (so-called heartbeat signals) with the communication partner, and determine that communication loss has occurred if no communication signal is received for a predetermined period of time or longer.

[0073] The switching execution unit 4720 is a functional unit that, when communication loss occurs, switches communication to another alternative communication means in place of the communication means in which communication loss occurred. Details of the communication switching method performed by the switching execution unit 4720 will be described later.

[0074] (A-1-5-8. User interface unit 4800) The user interface unit 4800 includes a display unit 4810 and a request input unit 4820, and displays and outputs to the user and receives input from the user via the display unit 4810 and the request input unit 4820.

[0075] The display unit 4810 outputs various information to the user of the airspace monitoring system 4000 on a display screen. For example, it displays integrated information generated by the intra-airspace information integrator 4400, information on the determination results by the airspace safety determiner 4300, and input buttons and input fields for inputting notification request information and flight plan change request information from the request input unit 4820 (described later). In particular, this integrated information may be displayed on a map screen or may be displayed alongside a map image. By displaying information in this manner, the user of the airspace monitoring system 4000 can grasp the operational status of each flying object within the monitored airspace.

[0076] The request input unit 4820 is a functional unit that accepts input of notification request information and flight plan change request information from a user of the airspace monitoring system 4000. The request input unit 4820 accepts input from the user via hardware such as a touch panel, a control lever, or an input button. Notification request information is information that urges other aerial vehicles to be careful about interference with the user's own aircraft (unmanned aerial vehicle 1001), or information that the user wishes to be notified of to other aerial vehicles on a priority or urgent basis. Flight plan change request information is information that requests other aerial vehicles to change their flight plans (including planned flight route, planned landing point, planned landing time, etc.).

[0077] (A-1-6. Overview of Aircraft Flight Operation System 2200) Next, we will explain the aircraft flight operating system 2200 of the control base system 2000. Figure 10 is a functional block diagram showing the functions of the aircraft flight operating system. The aircraft flight operating system 2200 includes a command unit 2210, a communication unit 2220, and a remote control unit 2230.

[0078] (A-1-6-1. Command Department 2210) The command unit 2210 includes a mission generation unit 2211, a control target value generation unit 2212, and a command output unit 2213. The mission generation unit 2211 generates a flight mission including planned information on the movement path and movement speed of the unmanned aerial vehicle 1001 based on the operation plan of the unmanned aerial vehicle 1001 obtained from the operation management system 2300. In addition, when the mission generation unit 2211 receives input from the remote control unit 2230 (described later) to change the operation plan by the pilot, it generates a flight mission based on that information.

[0079] The control target value generation unit 2212 generates a control target value based on the generated flight mission and control status information (including flight position, attitude information, movement direction, movement speed, etc. measured by the unmanned aerial vehicle 1001) acquired from the unmanned aerial vehicle 1001. The command output unit 2213 transmits command information for the generated control target value to the unmanned aerial vehicle 1001, which is the target of control, via the communication infrastructure management system 2100.

[0080] (A-1-6-2. Communications Department 2220) The communication unit 2220 is a functional unit that controls information communicated between the control base system 2000 and external systems. It includes an air vehicle communication unit 2221, a monitoring system communication unit 2222, and an other air vehicle communication unit 2223.

[0081] The aircraft communication unit 2221 controls communication information with the unmanned aircraft 1001, which is the object to be controlled. For example, it receives control status information from the unmanned aircraft 1001 and transmits command information generated by the command output unit 2213 to the unmanned aircraft.

[0082] Next, the monitoring system communication unit 2222 controls communication information with the airspace monitoring system 4000. For example, it receives integrated information, notification request information, and flight plan change request information from the airspace monitoring system 4000, and transmits control status information, notification request information, and flight plan change request information of the unmanned aerial vehicle 1001 to the airspace monitoring system 4000.

[0083] Next, the other aircraft communication unit 2223 controls communication information with other aircraft (unmanned aircraft 1002, manned aircraft 3001, 3002) in the airspace other than the unmanned aircraft 1001 being controlled. For example, it receives control status information from the other aircraft and transmits integrated information, notification request information, and flight plan change request information to the other aircraft.

[0084] (A-1-6-3. Remote control unit 2230) The remote control unit 2230 includes a display unit 2231, a speaker 2232, a control command input unit 2233, and a request input unit 2234.

[0085] The display unit 2231 outputs various information to the pilot who controls the unmanned aerial vehicle 1001 using the remote control unit 2230 on a display screen. For example, it displays integrated information, notification request information, and flight plan change request information received from the airspace monitoring system 4000. In particular, this integrated information may be displayed on a map screen or displayed alongside a map image. By displaying the integrated information, the pilot who controls the unmanned aerial vehicle 1001 can understand the operating status of other aerial vehicles in the same airspace as the unmanned aerial vehicle 1001.

[0086] The display unit 2231 also has the function of displaying control status information received from the unmanned aerial vehicle 1001, information on the flight mission generated by the mission generation unit 2211, and input information input by the pilot command input unit 2233 described below.

[0087] The speaker 2232 outputs various information by voice to the pilot who controls the unmanned aerial vehicle 1001 using the remote control unit 2230. For example, it outputs integrated information, notification request information, and flight plan change request information received from the airspace monitoring system 4000 by voice.

[0088] Furthermore, when the remote control unit 2230 receives notification request information or flight plan change request information for the unmanned aerial vehicle 1001, the notification request information or flight plan change request information is notified to the pilot. As a notification method, for example, the notification request information or flight plan change request information is output by voice, light, or display via the display unit 2231 and speaker 2232. Notification output may also be by vibration, which vibrates the pilot command input unit 2233 described below. By notifying the unmanned aerial vehicle 1001 of notification request information or flight plan change request information from other aerial vehicles in this way, the requests of the pilots of the other aerial vehicles can be more reliably conveyed to the pilot.

[0089] Furthermore, if the airspace safety determination unit 4300 determines that there is a dangerous condition regarding the unmanned aerial vehicle 1001 and the remote control unit 2230 receives information about the dangerous condition regarding the unmanned aerial vehicle 1001, the information about the dangerous condition is notified to the pilot. As a method of notification, for example, the information about the dangerous condition is output by voice, light, or display via the display unit 2231 and speaker 2232. Notification output may also be by vibration, which vibrates the pilot command input unit 2233 described below. By notifying the pilot of the dangerous condition information regarding the unmanned aerial vehicle 1001 in this manner, the dangerous condition in the airspace can be more reliably communicated to the pilot, and collisions between aircraft can be prevented in advance.

[0090] The control command input unit 2233 is a functional unit that accepts control commands input by the operator of the remote control unit 2230 to the unmanned aerial vehicle 1001. The control command input unit 2233 accepts control command input from the operator using hardware such as a touch panel, control lever, or input button. The control command input unit 2233 can input commands such as the movement direction, attitude, and speed of the unmanned aerial vehicle 1001, and can also input corrections to the flight mission displayed as a control command.

[0091] The request input unit 2234 is a functional unit that receives notification request information and flight plan change request information from the pilot regarding a specific other aerial vehicle. Notification request information is information that urges the other aerial vehicle to be careful about interference with the pilot's own aircraft (unmanned aerial vehicle 1001). Flight plan change request information is information that requests the other aerial vehicle to change its flight plan (including planned flight route, planned landing point, planned landing time, etc.).

[0092] (A-1-7. Overview of Unmanned Aerial Vehicle 1001) Next, an unmanned aerial vehicle 1001 will be described. FIG. 11 is a functional block diagram showing the main functions of the unmanned aerial vehicle. In this specification, the term "aerial vehicle" refers to any aerial vehicle with flight capabilities, regardless of the power source (electric power, prime mover, etc.), the control method (wireless or wired, and whether fully autonomous or partially manual), and whether manned or unmanned. Aerial vehicles may also be referred to as unmanned aerial vehicles (UAVs), aircraft, multicopters, RPASs (remote piloted aircraft systems), or UASs (unmanned aircraft systems), etc.

[0093] The unmanned aerial vehicle 1001 is an unmanned aircraft or other aerial vehicle that transmits measurement data to the control base system 2000 via wireless communication or transports a recording medium on which the measurement data is recorded. The unmanned aerial vehicle 1001 may be a fixed-wing aircraft, a rotary-wing aircraft, or a vertical take-off and landing aircraft (VTOL) with fixed wings and rotary wings. The unmanned aerial vehicle 1001 includes a flight unit 1100, a measurement unit 1200, a communication unit 1300, an aircraft information acquisition unit 1400, and an information output unit 1500.

[0094] (A-1-7-1. Flight section 1100) The flying unit 1100 is a functional unit that flies the unmanned aerial vehicle 1001, and includes a self-position measuring unit 1110, an attitude measuring unit 1120, a flight control unit 1130, and an obstacle detection unit 1140.

[0095] The self-location measurement unit 1110 measures the position (absolute position) of the aircraft. The self-location measurement unit 1110 measures its current position using, for example, a Global Navigation Satellite System (GNSS) or a Global Positioning System (GPS), although this is not particularly limited. For example, a Real Time Kinematic - Global Navigation Satellite System (RTK-GNSS) can also be used as a method for measuring the self-location. The position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Note that the self-location measurement unit 1110 is not limited to measuring the position of the aircraft, and may also measure information on speed and acceleration.

[0096] The attitude measurement unit 1120 measures the attitude (orientation) of the aircraft. The self-location measurement unit 1110 measures the current orientation of the aircraft using, for example, a geomagnetic sensor, a GNSS compass, or the like. The attitude information includes at least an attitude angle (orientation) in a planar view around the Z axis, and preferably includes attitude information around three axes: the X axis, the Y axis, and the Z axis. Note that the attitude measurement unit 1120 is not limited to measuring the attitude of the aircraft, and may also measure information on angular velocity and angular acceleration.

[0097] Flight control unit 1130 is a mechanism and function that controls the flight operation of unmanned aerial vehicle 1001, generating thrust for unmanned aerial vehicle 1001 to lift and move in a desired direction. Flight control unit 1130 includes a processing unit, also referred to as a flight controller. The processing unit may include one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP). The processing unit has access to memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.

[0098] The processing unit includes a control module configured to control the airframe state of the unmanned aerial vehicle 1001. For example, the control module adjusts the spatial configuration, attitude angle, angular velocity, angular acceleration, angular jerk rate, and / or acceleration of the unmanned aerial vehicle 1001, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). That is, the flight control unit 1130 controls the unmanned aerial vehicle 1001 to perform various operations such as liftoff, forward movement, turning, and landing, and controls the attitude angle control and flight operations of the unmanned aerial vehicle 1001 from takeoff to flight and landing.

[0099] The flight control unit 1130 can control the flight of the unmanned aerial vehicle 1001 based on, for example, an autonomous flight program acquired from the aircraft flight operating system 2200. The flight control unit 1130 can also control the flight of the unmanned aerial vehicle 1001 by controlling the motor based on various information such as the measurement target area, flight permitted / prohibited areas, information on the corresponding flight geofences, map information including two-dimensional or three-dimensional map data, the current position information of the unmanned aerial vehicle 1001, attitude information (heading information), speed information, and acceleration information, and any combination of these.

[0100] The obstacle detection unit 1140 is a functional unit that detects other flying objects (unmanned flying object 1002, manned flying objects 3001, 3002) flying in the airspace around the host aircraft. The obstacle detection unit 1140 detects other flying objects around the host aircraft using sensors such as radar and laser (LiDAR). When the obstacle detection unit 1140 detects another flying object, it notifies the remote control unit 2230 of the control base system 2000 of the detection of an obstacle as warning information via the base communication unit 1310 described below.

[0101] (A-1-7-2. Measurement unit 1200) The measurement unit 1200 is a functional unit that acquires information about a measurement target area using a measurement sensor 1210. The measurement unit 1200 includes the measurement sensor 1210, a sensor attitude control unit 1220, and a sensor control unit 1230.

[0102] The measurement sensor 1210 is composed of, for example, an optical camera that acquires optical images, an infrared camera that acquires infrared images, a laser sensor such as LiDAR that acquires point cloud data, etc. The measurement sensor 1210 acquires optical images, infrared images, point cloud data, etc. of the ground surface of the measurement target area from the sky above the measurement target area as measurement data.

[0103] The sensor attitude control unit 1220 controls at least one of the attitude angles of the measurement sensor 1210 around three axes relative to the body of the unmanned aerial vehicle 1001 by operating an attitude change device such as a gimbal that supports the measurement sensor. The sensor attitude control unit 1220 may control either or both of the pitch angle relative to the horizontal attitude of the body and the yaw angle relative to a predetermined reference direction. The sensor attitude control unit 1220 adjusts the sensor attitude change device to control the orientation of the measurement sensor 1210 so that the measurement target area can be photographed from a predetermined flight path.

[0104] The sensor control unit 1230 controls measurement parameters of the measurement sensor 1210, such as the timing of data acquisition by the measurement sensor 1210 and the zoom amount. The sensor control unit 1230 controls the measurement sensor 1210 so that an image is captured according to measurement conditions, such as the data acquisition timing and zoom amount, which are set in advance. For example, if the measurement sensor is an optical camera, the sensor control unit 1230 may control the image acquisition timing, shutter speed, resolution, etc.

[0105] (A-1-7-3. Communications Department 1300) The communication unit 1300 includes a radio wave communication module capable of radio wave communication. The communication unit 1300 also includes a base communication unit 1310 that communicates with the piloting base system 2000 directly or via a communication satellite 8000, a UTM communication unit 1320 that communicates with the UTM 5000, and a monitoring system communication unit 1330 that communicates with the airspace monitoring system 4000. Each of these communication units can use wireless communication via a communication network NW or direct wireless communication using Wi-Fi, 2.4 GHz, or a frequency band of 5.6 to 5.8 GHz. The communication unit 1300 can use a communication network NW that uses a communication standard such as LTE (Long Term Evolution) as the communication network NW.

[0106] The base communication unit 1310 transmits to the control base system 2000, for example, information about the unmanned aerial vehicle 1001 acquired by the aircraft information acquisition unit 1400 described below, such as piloting status information, work status information, measurement information such as the self-position measured by the self-position measurement unit 1110, control status information such as measurement information of the aircraft attitude measured by the attitude measurement unit 1120, or obstacle detection information detected by the obstacle detection unit 1140. Furthermore, the base communication unit 1310 receives flight control commands for the flight control unit 1130, sensor attitude control commands for the sensor attitude control unit 1220, sensor control commands for the sensor control unit 1230, aircraft type information of the unmanned aerial vehicle 1001, flight schedule information, and the like. The base communication unit 1310 also transmits measurement data measured by the measurement unit 1200 of the unmanned aerial vehicle (optical images, infrared images, point cloud data, etc. of the ground surface of the measurement target area) to the control base system 2000.

[0107] The UTM communication unit 1320 transmits to the UTM5000, for example, control status information such as aircraft type information, operation status information, work status information, and flight schedule information acquired by the aircraft information acquisition unit 1400 described below, or measurement information such as the aircraft's position measured by the self-position measurement unit 1110, and measurement information of the aircraft's attitude measured by the attitude measurement unit 1120, and receives operational commands, etc. from the UTM5000.

[0108] The monitoring system communication unit 1330 transmits to the airspace monitoring system 4000, for example, control status information such as aircraft type information, piloting status information, work status information, and flight schedule information acquired by the aircraft information acquisition unit 1400 described below, or measurement information such as the aircraft's position measured by the self-position measurement unit 1110, and measurement information of the aircraft's attitude measured by the attitude measurement unit 1120, and receives operation information of aircraft within the monitored airspace from the airspace monitoring system 4000.

[0109] (A-1-7-4. Aircraft information acquisition unit 1400) The aircraft information acquisition unit 1400 has the function of acquiring information to be transmitted outside the unmanned aerial vehicle 1001 via the communication unit 1300. The aircraft information acquisition unit 1400 includes an aircraft type information recording unit 1410, an operation status acquisition unit 1420, an operation status acquisition unit 1430, and a flight plan acquisition unit 1440.

[0110] The aircraft type information recording unit 1410 is a functional unit that records aircraft type information related to the aircraft type of the host aircraft. The aircraft type information is, for example, information that can distinguish between a manned aircraft and an unmanned aircraft, information that can distinguish whether the aircraft is automatically piloted or manually piloted, and information that can distinguish the level of autopilot. This aircraft type information is obtained from the piloting base system 2000 via the base communication unit 1310 or is preset information, and is recorded in the aircraft type information recording unit 1410.

[0111] The control status acquisition unit 1420 is a functional unit that acquires control status information of the aircraft itself. The control status information is information that includes at least one of the following: automatic driving, manual intervention in automatic driving, and manual driving. This control status information can be acquired from the control base system 2000 via the base communication unit 1310, or determined by the aircraft itself.

[0112] The operation status acquisition unit 1430 acquires operation status information including the status of the measurement operation by the measurement unit 1200 or the status of the flight operation. The operation status information includes at least one of the following: measurement operation in progress, measurement operation interruption, temporary departure from the flight path, returning to the flight path, waiting flight, flying to the operation resumption point, preparing to land, flying to avoid an obstacle, and returning to the landing point. This operation status information can be acquired from the operation base system 2000 via the base communication unit 1310, or determined by the aircraft itself.

[0113] The flight plan acquisition unit 1440 is a functional unit that acquires information about the flight plan of the aircraft. The flight plan information includes, for example, a planned flight route, a planned landing point, a planned landing time, etc. The flight plan information can be acquired from the piloting base system 2000 via the base communication unit 1310.

[0114] (A-1-7-5. Information output unit 1500) The information output unit 1500 has a display unit 1510, an audio output unit 1520, and a behavior output unit 1530. The information output unit 1500 outputs the above-mentioned aircraft type information, piloting status information, work status information, flight schedule information, or control status information such as measurement information such as the aircraft's own position and aircraft attitude. The display unit 1510 outputs this information by displaying or emitting light, the audio output unit 1520 outputs this information by audio, and the behavior output unit 1530 notifies this information by flight behavior (for example, two Yaw rotations and three up and down movements while hovering).

[0115] (A-1-8. Overview of Manned Flight Vehicle 3001) Next, manned air vehicles 3001 and 3002 will be described. FIG. 12 is a functional block diagram showing the main functions of the manned air vehicle. In this specification, the term "manned air vehicle" refers to an air vehicle in which a pilot boards the aircraft, regardless of the power source (electric power, prime mover, etc.) or the control method (wireless or wired, fully autonomous flight type or partially manual flight type, etc.), and refers to all air vehicles with flight capabilities. Furthermore, the manned air vehicle 3001 may be a fixed-wing aircraft, a rotary-wing aircraft, or a vertical take-off and landing aircraft (VTOL) with fixed wings and rotary wings. The manned air vehicle 3001 includes a flight unit 1100, a measurement unit 1200, a communication unit 1300, an aircraft information acquisition unit 3400, and a control unit 3500.

[0116] (A-1-8-1. Flight Section 3100) Flight unit 3100 is a functional unit that flies manned aircraft 3001 and can have a configuration similar to that of flight unit 1100 of unmanned aircraft 1001.

[0117] (A-1-8-2. Measurement unit 3200) The measurement unit 3200 is a functional unit that acquires information about the measurement target area using the measurement sensor 1210, and can have the same configuration as the measurement unit 3200 of the unmanned aerial vehicle 1001.

[0118] (A-1-8-3. Communications Department 3300) The communication unit 3300 includes a radio wave communication module capable of radio wave communication. The communication unit 3300 also includes a base communication unit 3310 that communicates with the piloting base system 2000 directly or via a communication satellite 8000, an ATM communication unit 3320 that communicates with the ATM 6000, and a monitoring system communication unit 3330 that communicates with the airspace monitoring system 4000. Each of these communication units can use wireless communication via a communication network NW or direct wireless communication using Wi-Fi, 2.4 GHz, or a frequency band of 5.6 to 5.8 GHz. The communication unit 1300 can use a communication network NW that uses a communication standard such as LTE (Long Term Evolution) as the communication network NW.

[0119] The base communication unit 3310 can transmit to the control base system 2000, for example, information about the manned air vehicle 3001 acquired by the aircraft information acquisition unit 3400 described below, such as piloting status information, work status information, measurement information such as the self-position measured by the self-position measurement unit 1110, measurement information about the aircraft attitude measured by the attitude measurement unit 1120, or obstacle detection information detected by the obstacle detection unit 1140. Furthermore, the control base system 2000 acquires integrated information generated by the airspace monitoring system 4000 and response information to notification request information and flight plan change request information output from the manned air vehicle 3001 to the unmanned air vehicle 1001.

[0120] (A-1-8-4. Aircraft information acquisition unit 3400) The aircraft information acquisition unit 3400 has a function of acquiring information to be transmitted outside the manned aircraft 3001 via the communication unit 3300. The aircraft information acquisition unit 3400 includes an aircraft type information recording unit 3410, an operation status acquisition unit 3420, an operation status acquisition unit 3430, and a flight plan acquisition unit 3440.

[0121] The aircraft type information recording unit 3410 is a functional unit that records aircraft type information related to the aircraft type of the host aircraft. The aircraft type information is, for example, information that can distinguish between a manned aircraft and an unmanned aircraft, information that can distinguish whether the aircraft is automatically piloted or manually piloted, and information that can distinguish the level of autopilot operation. This aircraft type information is, for example, preset information, and is recorded in the aircraft type information recording unit 3410.

[0122] The control status acquisition unit 3420 is a functional unit that acquires control status information of the aircraft itself. The control status information is information that includes at least one of the following: automatic driving, manual intervention in automatic driving, and manual driving. This control status information can be determined by the aircraft itself based on information input by the pilot via the control unit 3500, which will be described later.

[0123] The work status acquisition unit 3430 acquires work status information including the status of measurement work by the measurement unit 3200 or the status of operational work. The work status information includes at least one of: measurement work in progress, measurement work interrupted, temporary departure from the flight path, returning to the flight path, waiting flight, flying to the work resumption point, preparing to land, flying to avoid an obstacle, and returning to the landing point. This piloting status information can be determined by the aircraft itself based on information input by the pilot via the piloting unit 3500, which will be described later.

[0124] The flight plan acquisition unit 3440 is a functional unit that acquires information about the flight plan of the aircraft. The flight plan information includes, for example, a planned flight route, a planned landing point, a planned landing time, etc. The flight plan information can be determined based on information input by the pilot via the control unit 3500 (described later) or information acquired from an external system.

[0125] (A-1-8-5. Control Unit 3500) The control unit 3500 includes a display unit 3510, a speaker 3520, a control command input unit 3530, and a request input unit 3540.

[0126] The display unit 3510 outputs various information to the pilot who controls the manned aircraft 3001 using the remote control unit 2230 on a display screen. For example, it displays integrated information, notification request information, and flight plan change request information received from the airspace monitoring system 4000 or the control base system 2000. In particular, this integrated information may be displayed on a map screen or displayed alongside a map image. Displaying the integrated information allows the pilot who controls the manned aircraft 3001 to understand the operational status of other aircraft in the same airspace as the manned aircraft 3001.

[0127] The display unit 3510 also has the function of displaying control status information of the manned aircraft 3001 and input information input by the operation command input unit 3530 described later.

[0128] The speaker 3520 outputs various types of information by voice to the pilot who is operating the manned aircraft 3001 using the remote control unit 2230. For example, the speaker 3520 outputs integrated information, notification request information, and flight plan change request information received from the airspace monitoring system 4000 or the control base system 2000 by voice.

[0129] Furthermore, when the control unit 3500 receives notification request information or flight plan change request information for the manned aircraft 3001, the notification request information or flight plan change request information is notified to the pilot. As a notification method, for example, the notification request information or flight plan change request information is output by voice, light, or display via the display unit 3510 and speaker 3520. Notification output may also be performed by vibration, which vibrates the pilot command input unit 3530, which will be described later. By notifying the manned aircraft 3001 of notification request information or flight plan change request information from another aircraft in this way, the requests of the pilot of the other aircraft can be more reliably conveyed to the pilot.

[0130] Furthermore, when the airspace safety determination unit 4300 determines that there is a dangerous condition related to the manned air vehicle 3001 and the remote control unit 2230 receives information about the dangerous condition related to the manned air vehicle 3001, the information about the dangerous condition is notified to the pilot. As a method of this notification, for example, the information about the dangerous condition is output by sound, light, or display via the display unit 3510 and speaker 3520. The notification output may also be by vibration, which vibrates the pilot command input unit 3530, which will be described later. By notifying the pilot of the dangerous condition related to the manned air vehicle 3001 in this manner, the dangerous condition in the airspace can be more reliably communicated to the pilot, and collisions between aircraft can be prevented in advance.

[0131] The control command input unit 3530 is a functional unit that accepts control commands input by the operator of the remote control unit 2230 to the manned aircraft 3001. The control command input unit 3530 accepts control command input from the operator using hardware such as a touch panel, control lever, or input button. The control command input unit 3530 can input commands such as the movement direction, attitude, and speed of the manned aircraft 3001, and can also input corrections to the flight mission displayed as a control command.

[0132] The request input unit 3540 is a functional unit that receives notification request information and flight plan change request information for a specific other aircraft from the pilot. Notification request information is information that urges the other aircraft to be careful about interference with the pilot's aircraft (manned aircraft 3001). Flight plan change request information is information that requests the other aircraft to change its flight plan (including planned flight route, planned landing point, planned landing time, etc.).

[0133] (A-1-9. Hardware Configuration) 13 is a block diagram showing the hardware configuration of an airspace monitoring system, etc. Here, the airspace monitoring system 4000, the control base system 2000, the remote control terminal 2002, the UTM 5000, the ATM 6000, the spatial information data utilization system 7000, and the on-site terminal 9000, which constitute the flight operation system 1 of the present invention, are information processing devices such as a server device or a PC. As shown in the figure, the airspace monitoring system 4000, the control base system 2000, the remote control terminal 2002, the UTM 5000, the ATM 6000, the spatial information data utilization system 7000, and the on-site terminal 9000 each include an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0134] The input device 100 is a device for inputting information and instructions by users of each system constituting the operation system 1. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0135] The output device 200 is a device that outputs information from the information display unit of the airspace monitoring system 4000, the control base system 2000, the remote control terminal 2002, the UTM 5000, the ATM 6000, the spatial information data utilization system 7000, and the on-site terminal 9000. Specifically, the output device 200 is a display device (including eyewear, AR, VR display devices, etc.), a printer, or a speaker.

[0136] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing arithmetic processing.

[0137] The main storage device 400 is a memory device such as a RAM that temporarily stores various types of read information and a ROM that stores programs, application programs, and other various information executed by the processing device 300. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

[0138] The communication device 600 is a device that performs wireless or wired information communication with an external device.

[0139] (A-1-10. Flowchart) Next, we will explain the operation flow of the operation system 1. Fig. 14 is a flowchart showing the operation of the operation system.

[0140] First, the flying object detection unit 4100 detects flying objects flying within the airspace and acquires information such as the flying position of the flying object (step 101).

[0141] Next, the information acquisition unit 4200 acquires information from other systems (ATM 6000, UTM 5000, aircraft 1000, 3000, control base system 2000, on-site terminal 9000) other than the airspace monitoring system 4000 (step 102).

[0142] Next, the airspace safety determination unit 4300 determines a dangerous state or a state that may be dangerous in the airspace based on the information acquired by the information acquisition unit 4200 (step 103).

[0143] Next, the airspace information integration unit 4400 generates integrated information including aircraft type information of multiple aircraft within the airspace (step 104).

[0144] Next, the information sharing unit 4500 transmits the integrated information generated by the airspace information integration unit 4400 to an aircraft within the airspace (unmanned aircraft 1000 or manned aircraft 3000), or to the control base system 2000 (or remote control terminal 2002) that remotely controls the unmanned aircraft, or to the on-site terminal 9000 (step 105).

[0145] Next, the inter-operator communication unit 4600 performs communication between operators of a plurality of unmanned air vehicles, or between the operator of an unmanned air vehicle and the operator of a manned air vehicle (step 106).

[0146] Next, the communication switching unit 4700 determines that a communication loss has occurred, in which either the wireless communication between the unmanned aerial vehicle 1000 and the UTM 5000 or the wireless communication between the manned aerial vehicle 3000 and the ATM 6000 has been interrupted, and switches communication to another alternative communication means in place of the communication means where the communication loss has occurred (step 107).

[0147] (A-1-11. Methods for detecting flying objects) Next, a description will be given of an example of a method for detecting an air vehicle by the air vehicle detection unit 4100. Fig. 15 is a flowchart showing how the air vehicle detection unit detects an air vehicle.

[0148] First, the flying object detection sensor 4110 detects an object in the airspace monitored by the flying object detection unit 4100 (step 201).

[0149] Next, if an object is detected in step 201, the process proceeds to processing step 203, and if an object is not detected, the process shown in this flowchart is terminated (step 202).

[0150] Next, the flying object determination unit 4120 analyzes the detected object and determines whether it is a flying object or not (step 203).

[0151] Next, if the object detected in step 203 is determined to be an air vehicle, the process proceeds to processing step 205, and if it is determined not to be an air vehicle, the process shown in this flowchart ends (step 204).

[0152] Next, at least one of the position, altitude, moving direction, moving speed, moving acceleration, and distance between the aircraft is determined (step 205).

[0153] (A-1-12. Contents of collected information) Next, a description will be given of an example of the content of information relating to flying objects in an airspace acquired by the information acquisition unit 4200. Fig. 16 is a table showing information relating to flying objects acquired by the information acquisition unit.

[0154] As shown in Table T101 in this figure, information about the aircraft includes information on the aircraft type, pilot status, operation status, flight state, and flight plan. The operation status further includes measurement operation status, operational operation status, aircraft internal status, and VTOL flight mode status. The flight plan also includes the planned flight route and landing plan.

[0155] The information on the aircraft type includes, for example, identification information for manned or unmanned aircraft, identification information for whether the aircraft is automatically or manually controlled, or identification information for the level of automatic control. The information on the operation status includes, for example, information on whether the aircraft is automatically controlled, manually controlled, partially automatically controlled, under flight assistance (manual control), or manually controlled.

[0156] The measurement status information includes, for example, any of the following: measurement in progress, measurement interrupted, measurement stopped, or no measurement in progress. The operational status information includes, for example, any of the following: taking off, flying on the flight path, temporarily leaving the flight path, waiting, returning to the flight path, avoiding an obstacle, making a soft landing, returning to the landing point, preparing for landing, or landing. The aircraft internal status information includes, for example, any of the following: low battery, motor abnormality, power abnormality, fault detected, no memory capacity, or no abnormality. The VTOL flight mode information includes either fixed-wing mode or multicopter mode.

[0157] The flight status information includes at least one of the following: position, altitude, speed, heading, distance between aircraft, remaining flight distance or remaining flight time, and geofence position. Here, the remaining flight distance can be calculated based on, for example, information on wind, planned flight route, and battery charge level. The planned flight route information includes at least one of the following: planned flight position, altitude, speed, heading, and time. The landing plan information includes at least one of the landing position and landing time.

[0158] (A-1-13. Safety assessment method) Next, a description will be given of an example of a method for determining whether or not there is a dangerous state in the airspace by the airspace safety determination unit 4300. Fig. 17 is a flowchart when the airspace safety determination unit determines whether or not there is a dangerous state in the airspace.

[0159] First, the airspace safety judgment unit 4300 judges whether the current or future distance between the aircraft will be less than a predetermined distance (step 301), and if the distance is less than the predetermined distance, it makes an aircraft approach warning judgment (step 302), and then notifies the pilots of the approaching aircraft of an approaching warning.

[0160] Next, if the distance is longer than the predetermined distance in step 301, or after processing in step 302, it is determined whether the current or future position of the aircraft will be within a predetermined distance from the control base system (step 303), and if the distance is within the predetermined distance, a pilot approach warning determination is made (step 304), and then an approach warning is sent to both the aircraft and the pilot that are approaching each other.

[0161] Next, if the distance is longer than the predetermined distance in step 303, or after processing in step 304, it is determined whether the current or future position of the aircraft will be within a predetermined distance from the on-site worker (step 305), and if the distance is within the processing distance, a worker approach warning determination is made (step 306), and then an approach warning is sent to both the approaching aircraft and the on-site worker.

[0162] Next, if the distance is longer than the predetermined distance in step 305, or after processing in step 306, it is determined whether the current or future position of the aircraft is outside the visual range from the control base system (step 307), and if it is outside the visual range, a visual deviation warning determination is made (step 308), and then a visual deviation warning is notified to the pilot.

[0163] Next, if it is determined in step 307 that the aircraft are within visual range, or after the processing of step 308, it is determined whether the aircraft type, etc. of the aircraft whose inter-aircraft distance is less than a predetermined distance satisfies predetermined conditions (step 309), and if the aircraft type, etc. satisfies the predetermined conditions, a caution state is determined (step 310), and then caution information is notified to the pilot. Here, the predetermined condition is, for example, when manned and unmanned aircraft are mixed among multiple aircraft whose mutual distance is less than a predetermined distance.

[0164] The above-mentioned approach warnings, visual deviation warnings, and cautionary information notifications can be notified not only by display output, audio output, light emission, and vibration output on the control device or on-site terminal, but also by display output, audio output, light emission, or other specific behavior from the aircraft.

[0165] (A-1-14. Example of integrated information display) Next, the display contents of the integrated information generated by the airspace information integration unit 4400 and shared by each device by the information sharing unit 4500 will be described with reference to FIGS. 18 and 19. FIG. 18 is a diagram showing an example of the integrated information displayed in the airspace monitoring system 4000. As shown in this figure, the display unit 4810 of the airspace monitoring system 4000 displays on a map screen the flight positions, headings, altitudes, speeds, and manned / unmanned identification information of multiple aircraft (A01, U01, U02) within the monitored airspace. Detailed information about any aircraft selected by the user, such as that shown in FIG. 16, is displayed. The request input unit 4820 can also be realized by displaying notification request and plan change request buttons on a display screen with a touch panel function. The system may also have a function for accepting detailed notification request and plan change request input by voice or text after the notification request or plan change request button is operated.

[0166] FIG. 19 is a diagram showing an example of a display on the remote control unit 2230 of the integrated information control base system or the control unit 3500 of a manned aircraft. In this figure, as in FIG. 18, the display unit 2231 of the control base system 2000 or the display unit 3510 of the manned aircraft 3001 displays on a map screen the flight position, heading, altitude, speed, and manned / unmanned identification information of multiple aircraft (A01, U01, A02) within the monitored airspace. Detailed information about the aircraft, such as that shown in FIG. 16, is displayed for any aircraft selected by the user. Among the multiple displayed aircraft, the aircraft being controlled is highlighted for easy identification. The location information of the control base system, which indicates the pilot's location, may also be displayed on the map screen.

[0167] (A-1-15. Display example of dangerous state judgment result in airspace safety judgment unit 4300) Next, examples of displays on the display units when the airspace safety determination unit 4300 of the airspace monitoring system 4000 determines that there is a dangerous state will be described with reference to FIGS.

[0168] Fig. 20 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety determination unit 4300 determines that an aircraft approach warning has been issued. As with Fig. 19, the display screen shown in this figure displays on a map screen the flight positions, headings, altitudes, speeds, and manned / unmanned identification information of multiple aircraft (A01, U01, U02) within the monitored airspace, and the information related to the aircraft approach warning, which is the determination result of the airspace safety determination unit 4300, is highlighted at the bottom of the screen. In addition, the information related to the aircraft approach warning displays information on the direction, distance, and type of other approaching aircraft, such as "Unmanned aircraft approaching from 13 km east-northeast."

[0169] 21 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety determination unit determines that a pilot approach warning has been issued. The display screen shown in this figure displays the flight positions, headings, altitudes, speeds, manned / unmanned identification information, and pilot positions of multiple aircraft (A01, U01, U02) within the monitored airspace on a map screen, and information related to the pilot approach warning, which is the determination result of the airspace safety determination unit 4300, is highlighted at the bottom of the screen. In addition, the information related to the pilot approach warning displays information on the direction, distance, and aircraft type of other approaching aircraft, such as "Unmanned aircraft approaching from 3 km east-southeast."

[0170] 22 is a diagram showing an example of a display screen that is displayed on an on-site terminal when the airspace safety determination unit determines that a worker approach warning has been issued. The display screen shown in this figure displays on a map screen the flight positions, headings, altitudes, speeds, manned / unmanned identification information, and worker positions of multiple aircraft (A01, U01, U02) within the monitored airspace, and highlights information about the worker approach warning, which is the determination result of the airspace safety determination unit 4300, at the bottom of the screen. In addition, the information about the worker approach warning displays information about the direction, distance, and type of other approaching aircraft, such as "Unmanned aircraft approaching from 3 km east-southeast."

[0171] 23 is a diagram showing an example of a display screen displayed in AR on an on-site terminal when the airspace safety determination unit determines that a worker approach warning has been issued. The display screen shown in this figure displays the flight position, heading, altitude, speed, manned / unmanned identification information, flight path, and flight geofence of the aircraft (U02) approaching the worker on an image captured by the on-site terminal's camera, and information related to the worker approach warning, which is the determination result of the airspace safety determination unit 4300, is highlighted at the bottom of the screen. In addition, information related to the worker approach warning, such as "Unmanned aircraft approaching from 3 km east-southeast," is displayed, including information on the direction, distance, and aircraft type of other approaching aircraft.

[0172] 24 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety determination unit determines that a visual deviation warning has been issued. The display screen shown in this figure displays on a map screen the flight positions, headings, altitudes, speeds, manned / unmanned identification information, pilot positions, and visual ranges (dotted lines) from the pilot positions of multiple aircraft (A01, U01, U02) within the monitored airspace, and the information related to the visual deviation warning, which is the determination result of the airspace safety determination unit 4300, is highlighted at the bottom of the screen. In addition, the information related to the visual deviation warning displays information indicating that the piloted aircraft will depart from the visual range, such as "The piloted aircraft will soon depart from the visual range."

[0173] 25 is a diagram showing an example of a display screen displayed on the remote control unit when the airspace safety judgment unit has determined that there is an aircraft requiring caution. The display screen shown in this figure displays the flight position, heading, altitude, speed, manned / unmanned identification information, work status information, and autonomous driving level information of multiple aircraft (A01, U01, U02) within the monitored airspace on a map screen, and information regarding the presence of an aircraft requiring caution, which is the result of the airspace safety judgment unit 4300's judgment, is highlighted at the bottom of the screen. In addition, as information regarding the presence of an aircraft requiring caution, information conveying the identification information of the aircraft requiring caution, such as "There is an aircraft U02 nearby that requires caution," is displayed.

[0174] (A-1-16. Communication methods between pilots) Next, a communication method used by the inter-operator communication unit 4600 to communicate between operators of multiple unmanned air vehicles, or between an unmanned air vehicle operator and an operator of a manned air vehicle, will be described with reference to FIGS.

[0175] 26 is a sequence diagram showing an example of information exchange between the systems when request information is input from a manned aircraft. First, when the request input unit 3540 of the manned aircraft 3001 receives request information (notification request information or flight plan change request information) from the pilot of the manned aircraft, the request information is transmitted to the airspace monitoring system 4000 via the ATM 6000, and further transmitted from the airspace monitoring system 4000 to the control base system 2000 via a ground-based internet line or the like.

[0176] Next, the control base system 2000 displays the request information on the display unit 2231 of the remote control unit 2230, receives response information from the remote pilot of the unmanned aerial vehicle 1001, and transmits the response information to the manned aerial vehicle 3001. Thereafter, re-request information and re-response information are transmitted and received between the manned aerial vehicle 3001 and the control base system 2000.

[0177] 27 is a sequence diagram showing another example of information exchange between the systems when request information is input from a manned aircraft. First, when the request input unit 3540 of the manned aircraft 3001 receives request information (notification request information or flight plan change request information) from the pilot of the manned aircraft, the request information is transmitted to the airspace monitoring system 4000 via the ATM 6000, and further transmitted from the airspace monitoring system 4000 to the control base system 2000 via a ground-based internet line or the like.

[0178] Next, the control base system 2000 displays the request information on the display unit 2231 of the remote control unit 2230, receives response information from the remote pilot of the unmanned aerial vehicle 1001, and transmits the response information to the airspace monitoring system 4000. The airspace monitoring system 4000 transmits the response information to the manned aerial vehicle 3001. Thereafter, the manned aerial vehicle 3001 and the control base system 2000 transmit and receive re-request information and re-response information via the airspace monitoring system 4000.

[0179] Next, as shown in Figures 26 and 27, we will explain the contents of the display screen in the control base system when request information and the like is exchanged between the manned aircraft 3001 and the control base system 2000. Figure 28 is a diagram showing an example of the display screen displayed on the remote control unit when request information is input from the manned aircraft.

[0180] The example shown in Figure 28 shows a display screen that is displayed on the remote control unit 2230 of the unmanned aerial vehicle 1001 when a flight plan change request for the unmanned aerial vehicle 1001 is received from the manned aerial vehicle 3001 (A02). In this figure, the information about the flight plan change request, such as the aircraft identification information (A02) that entered the flight plan change request, is displayed. In addition, detailed information about the flight plan change request is output as audio information or text information. Examples of detailed information include, "Preparing for landing due to equipment abnormality. Landing will be 3 km east of U01, so please wait until A02 has landed."

[0181] Detailed information about the manned aircraft 3001 (A02) may also be displayed in table format. The display screen may also display operation buttons for inputting a response to the flight plan change request, or operation buttons for making a direct call (or contact information for the source of the requested information). The flight plan change request or notification request information may be output as display information as shown in this figure, but the presence of the notification request or flight plan change request may also be signaled by sound, light, or vibration in the remote control unit 2230 or in the room where the remote control unit is installed.

[0182] (A-1-17. How to switch communication when communication is abnormal) Next, a method for switching communication means in the communication switching unit 4700 when a communication abnormality occurs will be described with reference to FIGS.

[0183] (A-1-17-1. First communication switching method in case of communication abnormality) Figure 29a is a diagram showing the location of a communication abnormality and a first communication switching method. Also, Figure 29b is a control sequence diagram showing the first communication switching method. As shown in Figures 29a and 29b, if an abnormality occurs in communication between the UTM 5000 and the unmanned aerial vehicle (1001, 1002) or between the ATM 6000 and the manned aerial vehicle (3001, 3002), resulting in a communication loss in which communication is no longer possible, the UTM 5000 and the ATM 6000 each detect the communication loss state and transmit a communication loss signal to the airspace monitoring system 4000.

[0184] Next, when the airspace monitoring system 4000 receives a communication lost signal from the ATM 6000, it sends an aircraft information request signal to the manned aircraft 3001, 3002 requesting that they transmit aircraft information related to the manned aircraft (aircraft type information, piloting status information, work status information, flight schedule information, flight position information, etc.), and acquires each of the above information from the manned aircraft 3001, 3002.

[0185] On the other hand, when the airspace monitoring system 4000 receives a communication lost signal from the UTM 5000, it sends an aircraft information request signal to the unmanned aerial vehicles 1001 and 1002 requesting that they transmit each aircraft information related to the unmanned aerial vehicles (aircraft type information, piloting status information, work status information, flight schedule information, flight position information, etc.), and receives each of the above information from the unmanned aerial vehicles 1001 and 1002.

[0186] Next, the airspace monitoring system 4000 transmits integrated information that integrates the information obtained from the manned aerial vehicles 3001, 3002 and the unmanned aerial vehicles 1001, 1002 to the manned aerial vehicles 3001, 3002 and the unmanned aerial vehicle control base system 2000 (or the unmanned aerial vehicles 1001, 1002).

[0187] (A-1-17-2. Second communication switching method in case of communication abnormality) Figure 30a is a diagram showing the location of a communication abnormality and a second communication switching method. Also, Figure 30b is a control sequence diagram showing the second communication switching method. As shown in Figures 30a and 30b, when an abnormality occurs in communication between the UTM 5000 and the unmanned aerial vehicle (1001) and a communication loss occurs, in which communication is no longer possible, the UTM 5000 detects that a communication loss state has occurred and transmits a communication loss signal to the airspace monitoring system 4000.

[0188] Next, when the airspace monitoring system 4000 receives a communication lost signal from the UTM 5000, it sends an aircraft information request signal to the control base system 2000 requesting that it transmit each aircraft information related to the unmanned aircraft 1001 (aircraft type information, operation status information, work status information, flight schedule information, flight position information, etc.), and obtains aircraft information related to the unmanned aircraft 1001 from the control base system 2000.

[0189] Next, the airspace monitoring system 4000 transmits integrated information that combines the aircraft information of the manned aircraft 3001 and 3002 obtained via the ATM 6000 and the aircraft information of the unmanned aircraft 1001 obtained from the control base system 2000 to the manned aircraft 3001 and 3002 and the unmanned aircraft control base system 2000 (or the unmanned aircraft 1001).

[0190] (A-1-17-3. Third communication switching method in case of communication abnormality) Figure 31a is a diagram showing the location of a communication abnormality and a third communication switching method. Also, Figure 31b is a control sequence diagram showing the third communication switching method. As shown in Figures 31a and 31b, if an abnormality occurs in communication between the UTM 5000 and the unmanned aerial vehicles (1001, 1002) and between the ATM 6000 and the manned aerial vehicles (3001, 3002), and a communication loss occurs, in which communication is no longer possible, the UTM 5000 and the ATM 6000 each detect the communication loss state and transmit a communication loss signal to the airspace monitoring system 4000.

[0191] Next, the airspace monitoring system 4000 sends an aircraft information request signal to the control base system 2000 requesting that it send aircraft information (aircraft type information, piloting status information, work status information, flight schedule information, flight position information, etc.) regarding all aircraft in the airspace (manned aircraft 3001, 3002 and unmanned aircraft 1001, 1002).

[0192] Next, the control base system 2000 transmits an aircraft information request signal to each aircraft in the airspace (the manned aircraft 3001, 3002 and the unmanned aircraft 1001, 1002), acquires aircraft information from each aircraft, and transmits the acquired aircraft information to the airspace monitoring system 4000.

[0193] Next, the airspace monitoring system 4000 integrates the aircraft information regarding each aircraft in the airspace obtained from the control base system 2000 with detection information such as the flight position of the aircraft detected by the aircraft detection unit 4100 in the airspace monitoring system 4000 to generate integrated information.

[0194] The airspace monitoring system 4000 then transmits the integrated information to the control base system 2000, which then transmits the received integrated information to each air vehicle (manned air vehicles 3001, 3002 and unmanned air vehicles 1001, 1002) within the airspace.

[0195] In the above-described embodiment, an example was described in which the control base system 2000 and the airspace monitoring system 4000 are implemented in different devices, but all or part of the functions of the airspace monitoring system 4000 can be implemented in the control base system 2000.

[0196] [A-2. Effects of this embodiment] According to this embodiment, a remotely controlled unmanned aerial vehicle and other aircraft can operate in cooperation with each other. More specifically, the operational status of aircraft within an airspace, including manned and unmanned aerial vehicles, can be integrated and provided to each pilot. Communication can also be achieved between a pilot in a manned aerial vehicle and a remote pilot who remotely controls an unmanned aerial vehicle. Communication can also be achieved between pilots of unmanned aerial vehicles.

[0197] The present invention is not limited to the above-described embodiment, and it goes without saying that various configurations can be adopted based on the contents of the present specification.

[0198] The series of processes described in connection with the above embodiment may be realized using software, hardware, or a combination of software and hardware. A computer program for realizing each function of the operation system 1 according to this embodiment may be created and installed on a PC or the like. A computer-readable recording medium storing such a computer program may also be provided. Examples of the recording medium include a magnetic disk, an optical disk, a magneto-optical disk, and a flash memory. The computer program may also be distributed, for example, via a communication network NW without using a recording medium.

[0199] The flowcharts used in the above embodiments do not necessarily have to be executed in the order shown in the drawings. Some processing steps may be executed in parallel. In addition, additional processing steps may be employed, and some processing steps may be omitted. [Explanation of symbols]

[0200] 1...Operation system (system) 100...input device 200...output device 300...Processing device 400...Main storage device 500...Auxiliary storage device 600...Communication device 700...bus 1000, 1001, 1002...Unmanned Aerial Vehicles 1100...Flight unit 1110...Self-position measurement unit 1120: Attitude measurement unit 1130: Flight control unit 1140...Obstacle detection unit 1200... Measuring unit 1210... Measurement sensor 1220: Sensor attitude control unit 1230: Sensor control unit 1300...Communications Department 1310...Base Communications Department 1320...UTM communication unit 1330...Monitoring system communication unit 1400...Aircraft information acquisition unit 1410...Aircraft type information recording unit 1420: Operation status acquisition unit 1430: Work status acquisition unit 1440...Flight Plan Acquisition Department 1500: Information output unit 1510: Display unit 1520: Audio output unit 1530: Behavior output unit 2000: Control base system 2002: Remote control terminal 2100...Communication Infrastructure Management System 2200...Aircraft Operation System 2210...Command unit 2211...Mission generation unit 2212...Control target value generation unit 2213...Command output unit 2220...Communication Department 2221...Aircraft Communication Department 2222...Monitoring system communication unit 2223...Other aircraft communication unit 2230... Remote control unit 2231... Display unit 2232...Speaker 2233...Operation command input unit 2234...Request input section 2300...Flight Management System 2400...Acquisition data management system 3000, 3001, 3002...manned aircraft 3100...Flight unit 3110...Self-position measurement unit 3120: Attitude measurement unit 3130: Flight control unit 3140...Obstacle detection unit 3200... Measuring unit 3210... Measurement sensor 3220: Sensor attitude control unit 3230: Sensor control unit 3300: Communications Department 3310: Base Communications Department 3320: ATM communication unit 3330: Monitoring system communication unit 3400...machine information acquisition unit 3410...machine type information recording unit 3420: Operation status acquisition unit 3430: Work status acquisition unit 3440...Flight Plan Acquisition Department 3500...Control unit 3510...Display unit 3520...Speaker 3530...Operation command input unit 3540...Request input section 4000...Airspace monitoring system 4100...Flying object detection unit 4110...Flying object detection sensor 4120...Aircraft determination section 4200…Information acquisition department 4300...Airspace Safety Judgment Department 4400…Airspace Information Integration Division 4500…Information sharing department 4600: Pilot communication unit 4610: Pilot request information acquisition unit 4620...Pilot Information Relay Unit 4700: Communication switching unit 4710: Communication loss determination unit 4720...Switching execution unit 4800...User interface section 4810...Display unit 4820...Request input unit 5000...UTM 6000...ATM 7000…Spatial information data utilization system 8000…Communications satellite 9000...On-site terminal

Claims

1. An operation system that supports or manages the operation of a pilot-operated manned aircraft that flies in a predetermined airspace area and a remotely controlled unmanned aircraft that flies in an airspace area that is at least partially shared with the manned aircraft, an aircraft information acquisition unit capable of acquiring aircraft type information of a plurality of aircraft including the manned aircraft and the unmanned aircraft; an integrated information generation unit that generates integrated information including the aircraft type information of the plurality of aircraft; An operation system that transmits the integrated information to a remote control device that remotely controls the multiple air vehicles or the unmanned air vehicle.

2. 2. The operation system according to claim 1, An operation system in which the aircraft type information includes at least one of the following: information that can distinguish between manned and unmanned aircraft, information that can distinguish whether the aircraft is automatically piloted or manually piloted, and information that can distinguish the level of automatic operation of the autopilot.

3. 2. The operation system according to claim 1, An operation system in which the integrated information is displayed on a map screen or together with a map screen on a display unit provided on the control devices of the multiple aircraft or the remote control device of the unmanned aircraft.

4. 2. The operation system according to claim 1, The aircraft information acquisition unit acquires operation status information of the plurality of aircraft, including at least one of during automatic operation, during manual operation intervention in automatic operation, and during manual operation; An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the operation status information of the multiple aircraft.

5. 2. The operation system according to claim 1, The aircraft information acquisition unit acquires work status information of the plurality of aircraft, including at least one of the following: measurement operation in progress, measurement operation interruption, temporary departure from the flight path, return flight to the flight path, waiting flight, flight to a work resumption point, preparation for landing, and return to a landing point; An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the work status information of the multiple flying vehicles.

6. 2. The operation system according to claim 1, the aircraft information acquisition unit acquires future flight plan information of the plurality of aircraft, including at least one of a planned flight route and a planned landing position; An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the flight plan information of the multiple flying vehicles.

7. 2. The operation system according to claim 1, The flying object information acquisition unit acquires flight position information including flight positions of the plurality of flying objects, An operation system in which the integrated information generated by the integrated information generation unit includes the aircraft type information and the flight position information of the multiple flying vehicles.

8. 8. The navigation system according to claim 7, An operation system in which the flight position information includes at least one of the three-dimensional or two-dimensional flight position of the aircraft, the distance between the multiple aircraft, the flight position and direction of travel, and the flight position, direction of travel, and speed.

9. 2. The operation system according to claim 1, An operation system in which, when notification request information for another aircraft or flight plan change request information for another aircraft is received by a control device mounted on the manned aircraft or a remote control device that remotely controls the unmanned aircraft, the notification request information or change request information is transmitted to the control device or remote control device of the other aircraft.

10. 10. The operation system according to claim 9, An operation system in which, when the control device or the remote control device receives the notification request information or the change request information, it notifies the user of the notification request information or the change request information by at least one of sound, light, vibration, and display on a display screen.

11. 2. The operation system according to claim 1, an airspace safety determination unit that determines a dangerous state within the airspace area based on the information acquired by the aircraft information acquisition unit; When the airspace safety determination unit determines that a dangerous state exists, information regarding the dangerous state is transmitted to a control device mounted on the manned aircraft or to the remote control device that remotely controls the unmanned aircraft; An operation system in which the control device or the remote control device notifies information about the dangerous situation by at least one of sound, light, vibration, and display on a display screen.

12. The operation system according to claim 11, The flying object information acquisition unit acquires flight position information including flight positions of the plurality of flying objects, The airspace safety determination unit determines whether or not the dangerous state exists based on the flight position information.

13. 13. The navigation system according to claim 12, An operation system in which the airspace safety judgment unit judges that the dangerous state exists when at least one of the following conditions is met: the distance between the multiple aircraft is less than a predetermined distance; the distance between predicted movement paths predicted based on the flight positions and directions of the multiple aircraft is less than a predetermined distance; the shortest distance between predicted movement positions in time series of the multiple aircraft is less than a predetermined distance; and the shortest distance between planned flight positions in time series based on the flight missions of the multiple aircraft is less than a predetermined distance.

14. The operation system according to claim 11, the airspace safety determination unit determines whether or not the dangerous state exists based on the aircraft type information; An operation system that determines that the dangerous situation exists when at least one of the following cases is true: when the plurality of aircraft includes manned aircraft and unmanned aircraft, and when the plurality of aircraft includes autopiloted unmanned aircraft and manually piloted unmanned aircraft.

15. 6. The operation system according to claim 4 or 5, an airspace safety determination unit that determines whether or not there is a danger in the airspace area based on the piloting status information or the work status information acquired by the aircraft information acquisition unit, When the airspace safety determination unit determines that a dangerous state exists, information regarding the dangerous state is transmitted to a control device mounted on the manned aircraft or to the remote control device that remotely controls the unmanned aircraft; An operation system in which the control device or the remote control device notifies information about the dangerous situation by at least one of sound, light, vibration, and display on a display screen.

16. 2. The operation system according to claim 1, an unmanned aircraft control system that wirelessly communicates with the unmanned aircraft; a manned aircraft control system that wirelessly communicates with the manned aircraft; an airspace monitoring system that is communicatively connected to the unmanned aircraft control system and the manned aircraft control system and includes the aircraft information acquisition unit and the integrated information generation unit; When wireless communication between the unmanned aerial vehicle and the unmanned aerial vehicle control system is interrupted, or when wireless communication between the manned aerial vehicle and the manned aerial vehicle control system is interrupted, The airspace monitoring system is an operation system that uses wireless communication means capable of wireless communication with the unmanned aerial vehicle or the manned aerial vehicle to obtain the aircraft type information of the unmanned aerial vehicle or the manned aerial vehicle, and transmits the integrated information to the unmanned aerial vehicle or the manned aerial vehicle.

17. 2. The operation system according to claim 1, an unmanned aircraft control system that wirelessly communicates with the unmanned aircraft; a manned aircraft control system that wirelessly communicates with the manned aircraft; an airspace monitoring system that is communicatively connected to the unmanned aircraft control system and the manned aircraft control system and includes the aircraft information acquisition unit and the integrated information generation unit; When wireless communication between the unmanned aerial vehicle and the unmanned aerial vehicle control system is interrupted, The airspace monitoring system is an operation system that uses a communication means capable of communicating with the remote control device to obtain the aircraft type information of the unmanned aerial vehicle and transmits the integrated information to the remote control device.

18. 2. The operation system according to claim 1, an unmanned aircraft control system that wirelessly communicates with the unmanned aircraft; a manned aircraft control system that wirelessly communicates with the manned aircraft; an airspace monitoring system that is communicatively connected to the unmanned aircraft control system and the manned aircraft control system and includes the aircraft information acquisition unit and the integrated information generation unit; When wireless communication between the unmanned aerial vehicle and the unmanned aerial vehicle control system is interrupted, or when wireless communication between the manned aerial vehicle and the manned aerial vehicle control system is interrupted, The airspace monitoring system is an operation system that uses wireless communication means capable of wireless communication between at least one of the remote control device and the unmanned aerial vehicle and the remote control device and the manned aerial vehicle to obtain the aircraft type information of the unmanned aerial vehicle or the manned aerial vehicle, and transmits the integrated information to the unmanned aerial vehicle or the manned aerial vehicle.

19. An operation method for supporting or managing the operation of a manned aircraft with a pilot flying in a predetermined airspace area and a remotely controlled unmanned aircraft flying in a common airspace area with the manned aircraft, comprising: The computer an information acquisition step of acquiring aircraft type information of a plurality of aircraft including the manned aircraft and the unmanned aircraft; a generation step of generating integrated information including the aircraft type information of the plurality of aircraft; a transmitting step of transmitting the integrated information to a remote control device that remotely controls the plurality of air vehicles or the unmanned air vehicle; A method of operation.

20. An operation program that supports or manages the operation of a pilot-operated manned aircraft flying in a predetermined airspace area and a remotely controlled unmanned aircraft flying in a common airspace area with the manned aircraft, On the computer, an information acquisition command to acquire aircraft type information of a plurality of aircraft including the manned aircraft and the unmanned aircraft; a generation command to generate integrated information including the aircraft type information of the plurality of aircraft; a transmission command to transmit the integrated information to a remote control device that remotely controls the plurality of air vehicles or the unmanned air vehicle; An operation program that executes the above.

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