Information processing apparatus and display control method

Abstract

The invention provides an information processing device and a display control method, which can enable a monitor to easily grasp the operation conditions of an unmanned aerial vehicle in flight and an unmanned aerial vehicle at a base on a map screen. The UAV monitoring server (SA) displays a site object of the UAV site on a two-dimensional map screen, and displays the site object of the UAV site on the basis of the operation status of each of the plurality of UAVn. Information indicating UAVn during flight waiting, takeoff, or landing at the UAV site and information indicating UAVn during flight outside the UAV site are displayed on the two-dimensional map screen in different display modes.

Description

Technical Field

[0001] The present invention relates to a technical field such as a system capable of appropriately monitoring the operating status of an unmanned aerial vehicle by displaying information indicating the unmanned aerial vehicle on a map screen. Background Art

[0002] Conventionally, for example, as disclosed in Patent Document 1, there is a system that displays an icon representing an unmanned aerial vehicle in flight, the flight path of the unmanned aerial vehicle, and the takeoff and landing locations of the unmanned aerial vehicle on a map screen displayed on a remote terminal's display. This allows the user of the remote terminal to effectively monitor the flight status of the unmanned aerial vehicle in flight.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application No. 2017-509520

[0006] However, it is preferable that, in order for a single monitor (user) to manage the navigation of multiple UAVs while viewing a map screen, information not only indicating UAVs currently in flight but also indicating UAVs at locations with take-off and landing gates (e.g., UAVs waiting for flight) is displayed on the map screen. However, since there is a high probability that multiple UAVs will exist at the same time at such a location, displaying information indicating UAVs at the location in the same manner as information indicating UAVs currently in flight would be complex for the monitor, making it difficult for the monitor to grasp the operational status of the UAVs. Summary of the Invention

[0007] Therefore, one example of an object of the present invention is to provide an information processing device and a display control method that enable a supervisor to easily grasp the operating conditions of unmanned aerial vehicles in flight and at bases on a map screen.

[0008] (Application Example 1) In order to solve the above-mentioned problem, regarding the information processing device of this application example, the information processing device disclosed in the present invention has: a first acquisition unit, which acquires first position information, which indicates the position of a base for takeoff or landing of an unmanned aerial vehicle; a second acquisition unit, which acquires second position information, which indicates the position of each of a plurality of unmanned aerial vehicles; a third acquisition unit, which acquires operating status information, which indicates the operating status of each of the plurality of unmanned aerial vehicles; and a display control unit, which displays an object representing the base on a two-dimensional map screen based on the first position information, and displays information representing each of the plurality of unmanned aerial vehicles on the two-dimensional map screen based on the second position information, the display control unit displays information representing the unmanned aerial vehicles that are in flight waiting, taking off, or landing at the base, and information representing the unmanned aerial vehicles that are flying outside the base in different display modes according to the respective operating statuses of the plurality of unmanned aerial vehicles.

[0009] (Application Example 2) The display control method of this application example is executed by one or more computers, and is characterized in that the display control method includes the following steps: obtaining first position information, which indicates the position of a base for takeoff or landing of an unmanned aerial vehicle; obtaining second position information, which indicates the position of each of a plurality of unmanned aerial vehicles; obtaining operating status information, which indicates the operating status of each of the plurality of unmanned aerial vehicles; displaying an object representing the base on a two-dimensional map screen based on the first position information; and displaying information indicating that the unmanned aerial vehicle is in flight waiting, taking off, or landing at the base and information indicating that the unmanned aerial vehicle is flying outside the base in different display modes on the two-dimensional map screen based on the second position information and the operating status information of each of the plurality of unmanned aerial vehicles.

[0010] According to the present invention, a supervisor can easily grasp the operating conditions of unmanned aerial vehicles in flight and unmanned aerial vehicles at bases on a two-dimensional map screen. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 1 is a diagram showing a schematic configuration example of a UAV monitoring system S.

[0012] Figure 2 This is a diagram showing an example of the schematic structure of UAVn.

[0013] Figure 3 This is a diagram showing a schematic configuration example of the UAV monitoring server SA.

[0014] Figure 41 is a diagram showing an example of functional blocks in the control unit 23 .

[0015] Figure 5 1 is a diagram showing a display example of a two-dimensional map screen including a base object where the UAV base is arranged and a UAV object of the UAV 1 in the process of taking off.

[0016] Figure 6 1 is a diagram showing a display example of a two-dimensional map screen including a base object where the UAV base is arranged, a UAV object representing UAV1 in takeoff, and a UAV object representing UAV2 in flight.

[0017] Figure 7 1 is a diagram showing a display example of a two-dimensional map screen including a base object where the UAV base is arranged, a UAV object of the UAV 3 in landing operation, and a UAV object of the UAV 2 in flight.

[0018] Figure 8 The diagram shows a display example of a two-dimensional map screen including a base object where UAV bases are arranged, a UAV object representing UAV1 in takeoff, a UAV object representing UAV2 in flight, and a mark indicating the number of UAVs n in flight waiting.

[0019] Figure 9 This is a diagram showing an example of UAV objects corresponding to (i) takeoff start, (ii) ascending, and (iii) airborne stop (for takeoff).

[0020] Figure 10 This is a diagram showing an example of UAV objects corresponding to (i) overhead stop (for landing), (ii) descending, and (iii) landing.

[0021] Figure 11 1 is a diagram showing a schematic configuration example of a monitor terminal T.

[0022] Figure 12 This is a flowchart showing an example of the display control process of the control unit 23 in the UAV monitoring server SA.

[0023] Figure 13 It shows Figure 12 FIG. 1 is a flowchart showing an example of the overlap determination process in step S11 shown in FIG.

[0024] Figure 14 This is a schematic diagram showing a state in which the coordinate position is repeatedly shifted by the second predetermined value. DETAILED DESCRIPTION

[0025] An embodiment of the present invention will be described below with reference to the accompanying drawings. The following embodiment is an embodiment in which the present invention is applied to a UAV monitoring system for monitoring the operating status of unmanned aerial vehicles (UAVs) such as drones and multirotors.

[0026] [ 1. Overview of the Structure and Operation of the UAV Surveillance System S ]

[0027] First, refer to Figure 1 The configuration and operation overview of the UAV monitoring system S according to this embodiment will be described. Figure 1 : is a diagram showing an example of the schematic structure of a UAV monitoring system S. Figure 1 As shown, the UAV monitoring system S is configured to include multiple UAVs n (n = 1, 2, ...), a UAV monitoring server SA, and a monitor terminal T. The UAV monitoring server SA is an example of an information processing device according to the present invention. The UAVs n, the UAV monitoring server SA, and the monitor terminal T are each connected to a communication network NW. The communication network NW is comprised of, for example, the Internet, a mobile communication network, and its wireless base stations.

[0028] For example, a UAVn is controlled to depart from a landing gate and return to that gate or another landing gate for a specified purpose, such as transporting (e.g., delivering) or measuring items. Thus, a base with a landing gate for a UAVn to take off or land is referred to as a UAV base. For example, a UAV base includes a site (or a rooftop of a building) that is at least as large as the landing gate. The UAV base may also include a specified area above the site (or rooftop of a building).

[0029] The monitor terminal T is used by monitors of multiple UAVn. The monitor can also act as an operator (operator) to give operation instructions (such as take-off instructions) to the UAVn from the monitor terminal T. Operation instruction information indicating the operation instructions for the UAVn is sent to the UAV monitoring server SA via the communication network NW together with the body ID of the UAVn. In addition, the staff who carry out the flight preparation of the UAVn stays at the UAV base. The flight preparation of the UAVn includes, for example, the pre-flight inspection of the UAVn. When the flight preparation of the UAVn is completed, the preparation completion information indicating that the flight preparation of the UAVn is completed is sent from the portable terminal of the staff at the UAV base to the UAV monitoring server SA together with the body ID of the UAVn via the communication network NW.

[0030] [ 1-1. Structure and Function of UAVn ]

[0031] Next, refer to Figure 2 The structure and functions of UAVn are explained. Figure 2 : is a diagram showing an example of the schematic structure of UAVn. Figure 2 As shown, the UAVn has a drive unit 11, a positioning unit 12, a communication unit 13, a sensor unit 14, a storage unit 15 and a control unit 16, etc. In addition, although not shown in the figure, the UAVn has a battery for supplying power to each part in the UAVn, and rotors (propellers) as multiple horizontal rotating wings. The power of the battery is supplied to each part in the UAVn by turning on (ON) the power switch provided in the UAVn. The power switch can be turned on by the staff of the UAV base, or by receiving a power-on signal from an external device. In addition, the UAVn may also have a holding component for holding the loaded items, etc. In addition, the UAVn may also be provided with a linear component such as a wire connected to the holding component, and a reel (winch) for sending out or winding the linear component.

[0032] The driving unit 11 has a motor and a rotating shaft, etc. The driving unit 11 rotates the multiple rotors by the motor and the rotating shaft driven by the control signal output from the control unit 16. The positioning unit 12 has a radio wave receiver and an altitude sensor, etc. The positioning unit 12 receives radio waves sent from GNSS (Global Navigation Satellite System) satellites by the radio wave receiver, for example, and detects the current horizontal position (latitude and longitude) of the UAVn based on the radio waves. In addition, the current horizontal position of the UAVn can also be corrected based on the image captured by the camera of the sensor unit 14. The position information indicating the current position detected by the positioning unit 12 is output to the control unit 16. In addition, the positioning unit 12 can also detect the current vertical position (altitude) of the UAVn by an altitude sensor such as an air pressure sensor. In this case, the position information output to the control unit 16 indicates the horizontal position and the vertical position of the UAVn.

[0033] The communication unit 13 has a wireless communication function and is responsible for controlling the communication via the communication network NW. The sensor unit 14 has various sensors for flight control of the UAVn, etc. The various sensors include, for example, optical sensors, speed sensors, 3-axis angular velocity sensors, 3-axis acceleration sensors, and geomagnetic sensors. The optical sensor is configured to include a camera (for example, an RGB camera, an infrared camera) that continuously captures the actual space within the range of the camera's field of view. The sensing information obtained by the sensing of the sensor unit 14 is output to the control unit 16. The storage unit 15 is composed of a non-volatile memory, etc., and stores various programs and data. In addition, the storage unit 15 stores the body ID of the UAVn. The body ID is identification information for identifying each UAVn.

[0034] The control unit 16 includes a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory), and executes various control functions based on programs stored in the ROM or storage unit 15. These functions include flight control (including takeoff and landing control). During flight control, the control unit 16 uses position information obtained from the positioning unit 12, sensor information obtained from the sensor unit 14, and flight path information to control the rotor speed, the position, posture, and direction of travel of the UAV n. This allows the control unit 16 to control the UAV n's autonomous flight.

[0035] Here, the flight path information is obtained from the UAV monitoring server SA, for example. The flight path information includes, for example, location information indicating the positions of multiple waypoints of the UAVn on the flight path. The position of the waypoint is represented by, for example, a horizontal position (latitude and longitude). Alternatively, the position of the waypoint can also be represented by, for example, a horizontal position (latitude and longitude) and a current position in the vertical direction (altitude). In addition, in the case where the UAVn is used for the delivery of items, the location information of the delivery destination of the items is included in the flight path information. In addition, the control unit 16 can also perform flight control of the UAVn based on the control information from the UAV monitoring server SA. The control information includes, for example, control information for making the UAVn take off at the UAV base or control information for making the UAVn land at the UAV base.

[0036] In addition, the control unit 16 obtains direction information indicating the front direction (travel direction) of the UAVn, position information indicating the position of the UAVn, and speed information indicating the speed of the UAVn (i.e., flight speed). The direction information, position information, and speed information thus obtained are sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the body ID of the UAV1. Here, the front direction of the UAVn is determined, for example, based on the sensing information from the three-axis acceleration sensor and the geomagnetic sensor included in the sensor unit 14. The front direction of the UAVn refers to, for example, the azimuth (direction) of the front of the UAVn. The front "face" is not limited to a plane and can also be a curved surface. The front of the UAVn is the face facing the direction of travel of the UAVn (i.e., the face facing the headwind) and is pre-set. The front direction of the UAVn is represented, for example, in a two-dimensional plane as east, west, south, north, east-west, or southeast. Alternatively, the front direction of the UAVn can be represented in a two-dimensional plane, for example, by an angle with north as the reference.

[0037] In addition, the speed of the UAVn is determined based on speed information from a speed sensor included in the sensor unit 14, for example. In addition, image information representing an image captured by the camera may also be sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the body ID of the UAVn. In addition, power-on information indicating that the power is on when the power of the UAVn is turned on may also be transmitted to the UAV monitoring server SA by the communication unit 13 together with the body ID of the UAVn. In addition, rotor start information indicating that the rotor of the UAVn has started rotating may also be sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the body ID of the UAVn. In addition, rotor stop information indicating that the rotation of the rotor of the UAVn has stopped may also be sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the body ID of the UAVn.

[0038] [ 1-2. Structure and Functions of the UAV Surveillance Server SA ]

[0039] Next, refer to Figure 3 The structure and functions of the UAV monitoring server SA are described. Figure 3 FIG. 1 is a diagram showing an example of the schematic structure of the UAV monitoring server SA. Figure 3 As shown, the UAV surveillance server SA includes a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 is responsible for controlling communications via the communication network NW. Position information, direction information, speed information, and power-on information transmitted from the UAV n are received by the communication unit 21. Furthermore, operation instruction information and other information transmitted from the monitor terminal T are received by the communication unit 21. Furthermore, preparation completion information and other information transmitted from the portable terminals of personnel at the UAV base are received by the communication unit 21. The storage unit 22 is composed of, for example, a hard disk drive or solid-state drive, and stores various programs including the operating system.

[0040] The storage unit 22 stores data constituting a two-dimensional map screen for assembling two-dimensional map image data. The data constituting the two-dimensional map screen is provided to the monitor terminal T. As a result, the two-dimensional map screen is displayed on the display (monitor) of the monitor terminal T. In addition, the storage unit 22 stores data on elements (for example, objects, graphics, etc. described later) displayed on the two-dimensional map screen. In addition, the storage unit 22 stores data constituting an operation screen for accepting operation instructions for UAVn from the monitor. The data constituting the operation screen is provided to the monitor terminal T. As a result, the operation screen is displayed on the display of the monitor terminal T. In addition, the storage unit 22 has a buffer memory that corresponds the position information, direction information, and speed information received from the UAVn to the body ID of the UAVn and updates and stores them in sequence for each UAVn.

[0041] Furthermore, the storage unit 22 includes a base management database (DB) 221 and a UAV management database (DB) 222. The base management database 221 manages information related to UAV bases. For example, the base ID and location information are stored in association with each UAV base. The base ID is identification information used to identify each base. The location information of a UAV base, for example, indicates the location (latitude and longitude) of any one (or multiple) locations within the UAV base.

[0042] The UAV management database 222 is a database used to manage information related to the monitored UAVn. For example, the UAV management database 222 stores information such as the aircraft ID, flight path information, and operational status information of the monitored UAVn, corresponding to each UAVn. The operational status information indicates the operational status of the UAVn. This operational status can be updated as appropriate, indicating whether the UAVn is stopped, in flight waiting, taking off, landing, or in flight. For example, "stopped" indicates that the UAVn is not powered on at the UAV base. "In flight waiting" indicates that the UAVn is powered on and waiting for flight at the UAV base. Alternatively, "in flight waiting" indicates that the UAVn has completed flight preparations at the UAV base and is waiting for flight. The base ID of the UAV base where the UAVn is in flight waiting can be associated with "in flight waiting." In other words, the base ID can be associated with the UAVn in flight waiting.

[0043] The take-off action, for example, refers to any situation from the time when the UAVn starts taking off by rotating the rotor of UAVn at the UAV base to the time when it rises in the vertical direction and stops by hovering above the specified height. In addition, the "altitude" in this specification refers to the height from the reference plane, for example, it can refer to the height from the take-off and landing gate (such as the ground or the roof of a building) that the UAVn is in contact with. The base ID of the UAV base where the UAVn is in the take-off action can correspond to the take-off action. In other words, the base ID can correspond to the UAVn in the take-off action. The landing action refers to any situation from the time when the UAVn that has arrived at the UAV base hovers in the air to the time when it descends in the vertical direction and lands at the take-off and landing gate and the rotation of the rotor of the UAVn stops. The base ID of the UAV base where the UAVn is in the landing action can correspond to the landing action. In other words, the base ID can correspond to the UAVn in the landing action.

[0044] "In flight" indicates a situation where a UAVn is flying outside a UAV base. Here, "outside a UAV base" refers to, for example, an area at least a predetermined distance (e.g., 5 meters) horizontally from the UAV base. Furthermore, "in flight" may also include a situation where a UAVn is hovering outside a UAV base. Furthermore, for example, the base ID of a UAV base may not correspond to a UAVn in flight. In this case, a UAVn without a corresponding base ID can be determined to be in flight outside the UAV base.

[0045] The control unit 23 includes a CPU, a ROM, a RAM, and the like. Figure 4 2 is a diagram showing an example of functional blocks in the control unit 23. Figure 4 As shown, the control unit 23 functions as a first position information acquisition unit 231 (an example of a first acquisition unit), a second position information acquisition unit 232 (an example of a second acquisition unit), a direction information acquisition unit 233, a speed information acquisition unit 234, an operating status determination unit 235, an operating status information acquisition unit 236 (an example of a third acquisition unit), a display control unit 237, and a flight control unit 238, for example, based on a program (program code group) stored in the ROM or storage unit 22.

[0046] The first location information acquisition unit 231 acquires location information (an example of first location information) indicating the location of a UAV base, which is a display target for an object representing a UAV base (also referred to as an icon, hereinafter referred to as a "base object"), from the base management database 221. Here, the base object is represented by a pattern, graphic, or photograph.

[0047] The second position information acquisition unit 232 acquires position information indicating the position of the UAV n being monitored (an example of the second position information). For example, the position information of the UAV base is acquired as the position information of a UAV n in flight waiting at the UAV base. Furthermore, the position information of a UAV n in the process of taking off or landing at the UAV base is acquired from the buffer memory in the storage unit 22. Alternatively, the position information of the UAV base may be acquired as the position information of a UAV n in the process of taking off or landing at the UAV base. Furthermore, the position information of a UAV n in flight outside the UAV base is acquired from the buffer memory in the storage unit 22.

[0048] The direction information acquisition unit 233 acquires direction information indicating the frontal direction of the monitored UAV n. For example, the direction information of a UAV n taking off or landing at the UAV base is acquired from the buffer memory in the storage unit 22. Furthermore, the position information of a UAV n flying outside the UAV base is acquired from the buffer memory in the storage unit 22. Alternatively, the direction information acquisition unit 233 may calculate the UAV n's travel direction based on two different positions of the UAV n. In this case, the direction information acquisition unit 233 acquires direction information indicating the calculated travel direction.

[0049] The speed information acquisition unit 234 acquires speed information indicating the speed of the monitored UAV n. For example, the speed information of a UAV n taking off or landing at the UAV base is acquired from the buffer memory in the storage unit 22. Furthermore, the speed information acquisition unit 234 acquires speed information indicating the calculated speed of a UAV n flying outside the UAV base. Alternatively, the speed information acquisition unit 234 may calculate the speed of the UAV n based on the change in the position of the UAV n per unit time. In this case, the speed information acquisition unit 234 acquires speed information indicating the calculated speed.

[0050] The operating status determination unit 235 determines the operating status of the UAVn being monitored. Furthermore, when the operating status determination unit 235 determines the operating status, the operating status information registered in correspondence with the aircraft ID of the UAVn in the UAV management database 222 is updated. For example, when the communication unit 21 receives power-on information from a UAVn whose operating status is stopped, the operating status determination unit 235 determines that the operating status of the UAVn has changed from stopped to flight-waiting. Alternatively, when the communication unit 21 receives preparation completion information for the UAVn from a portable terminal of a UAV base staff member, the operating status determination unit 235 may also determine that the operating status of the UAVn has changed from stopped to flight-waiting.

[0051] Furthermore, when the communication unit 21 receives operation instruction information indicating an operation instruction (takeoff instruction) for a UAVn whose operating status is flight waiting, the operating status determination unit 235 determines that the operating status of the UAVn has changed from flight waiting to taking off. Here, the takeoff action may be divided into at least the start of takeoff, ascending, and overhead stop (for takeoff). In this case, when the communication unit 21 receives operation instruction information indicating an operation instruction (takeoff instruction) for a UAVn, the operating status determination unit 235 determines that the operating status of the UAVn has changed from flight waiting to taking off. Alternatively, when the communication unit 21 receives rotor start information indicating that the rotor of the UAVn has started rotating, the operating status determination unit 235 may also determine that the operating status of the UAVn has changed from flight waiting to taking off.

[0052] Moreover, when the vertical speed of the UAVn whose operating condition is taking off becomes above the first threshold, the operating condition determination unit 235 determines that the operating condition of the UAVn has changed from taking off to ascending. Alternatively, when the altitude of the UAVn whose operating condition is taking off becomes above the second threshold, the operating condition determination unit 235 may also determine that the operating condition of the UAVn has changed from taking off to ascending. Moreover, when the vertical speed of the UAVn whose operating condition is ascending becomes below the third threshold, the operating condition determination unit 235 determines that the operating condition of the UAVn has changed from ascending to being stopped in the air (for takeoff). Alternatively, when the altitude of the UAVn whose operating condition is ascending reaches the fourth threshold, the operating condition determination unit 235 may also determine that the operating condition of the UAVn has changed from ascending to being stopped in the air (for takeoff).

[0053] Furthermore, when the distance (i.e., the horizontal distance) between the horizontal position of a UAV n in the process of taking off (or stopped in the air) and the position of the UAV base becomes greater than or equal to the fifth threshold value (i.e., the distance in the horizontal direction exceeds the predetermined distance), the operating status determination unit 235 determines that the operating status of the UAV n has changed from taking off (or stopped in the air) to flying. Alternatively, when the horizontal speed of a UAV n in the process of taking off (or stopped in the air) becomes greater than or equal to the sixth threshold value, the operating status determination unit 235 may also determine that the operating status of the UAV n has changed from taking off (or stopped in the air) to flying.

[0054] Furthermore, when the communication unit 21 receives operation instruction information indicating an operation instruction (landing instruction) for a UAV n in flight, the operation status determination unit 235 determines that the operation status of the UAV n has changed from flight to landing. Alternatively, when the distance between the horizontal position of the UAV n in flight and the position of the UAV base falls below a seventh threshold (for example, when the UAV n has arrived at the UAV base), the operation status determination unit 235 may determine that the operation status of the UAV n has changed from flight to landing.

[0055] Here, the landing operation can be divided into at least three types: stop in the air (for landing), descending, and landing. In this case, when the communication unit 21 receives operation instruction information indicating an operation instruction (landing instruction) for a UAV n in flight, the operating status determination unit 235 determines that the operating status of the UAV n has changed from flight to stop in the air (for landing). Alternatively, when the distance between the horizontal position of the UAV n in flight and the position of the UAV base falls below the seventh threshold, the operating status determination unit 235 may determine that the operating status of the UAV n has changed from flight to stop in the air (for landing).

[0056] Moreover, when the vertical speed of the UAVn whose operating status is stopped in the air (for landing) becomes greater than the 8th threshold value, the operating status determination unit 235 determines that the operating status of the UAVn has changed from stopped in the air (for landing) to descending. Alternatively, when the altitude of the UAVn whose operating status is stopped in the air (for landing) becomes less than the 9th threshold value, the operating status determination unit 235 may also determine that the operating status of the UAVn has changed from stopped in the air (for landing) to descending. Moreover, when the vertical speed of the UAVn whose operating status is descending becomes less than the 10th threshold value, the operating status determination unit 235 determines that the operating status of the UAVn has changed from descending to landing. Alternatively, when the altitude of the UAVn whose operating status is descending reaches the 11th threshold value (i.e., has already landed), the operating status determination unit 235 may also determine that the operating status of the UAVn has changed from descending to landing. Alternatively, when the communication unit 21 receives rotor stop information indicating that the rotation of the rotor of the UAVn has stopped, the operating status determination unit 235 may determine that the operating status of the UAVn has changed from descending to landing.

[0057] The operating status information acquisition unit 236 acquires, for example, operating status information indicating the operating status of each of the monitored UAVs n, as determined by the operating status determination unit 235, from the UAV management database 222. As described above, this operating status may indicate, for example, "stationary," "flying in standby," "taking off," "landing," or "flying." Furthermore, the operating status of a UAV n in takeoff may also indicate "starting takeoff," "ascending," or "stationary in mid-air (for takeoff). Furthermore, the operating status of a UAV n in landing may also indicate "stationary in mid-air (for landing), "descending," or "landing."

[0058] The display control unit 237 displays a base object on the two-dimensional map screen of the monitor terminal T based on the location information of the UAV base, and displays information indicating UAVn on the two-dimensional map screen based on the location information of UAVn. Displaying a base object on the two-dimensional map screen based on the location information of the UAV base means displaying the base object at the coordinate position corresponding to the position (latitude and longitude) indicated by the location information of the UAV base. This coordinate position is the coordinate position (x1, y1) on the two-dimensional map screen, for example, the coordinate position where the center of the upper left pixel of the two-dimensional map screen is set as the origin (x0, y0). UAV bases whose coordinate positions corresponding to the location information of the UAV base converge within the two-dimensional map screen become display objects.

[0059] On the other hand, displaying information representing the UAVn on the two-dimensional map screen based on the UAVn's location information means displaying the information representing the UAVn at the coordinate position (x2, y2) corresponding to the location (latitude and longitude) indicated by the UAVn's location information, or at the coordinate position (x3, y3) offset (i.e., shifted) from the coordinate position (x2, y2). Furthermore, the UAVn whose coordinate position (x2, y2) corresponding to the UAVn's location information or the coordinate position (x3, y3) offset from the coordinate position (x2, y2) is within the two-dimensional map screen is displayed. For example, the display control unit 237 displays a base object for a UAV base at the coordinate position (x1, y1) corresponding to the UAV base's location information. Furthermore, the display control unit 237 displays information representing a UAVn in the process of taking off or landing at the UAV base at the coordinate position (x3, y3) offset from the coordinate position (x2, y2) corresponding to the UAVn's location information, so that it does not overlap with the base object for the UAV base. At this time, the extent of the offset may be calculated based on, for example, the display size (area) of the base object and the display size of the information indicating the UAVn.

[0060] Here, the information indicating the UAVn in the process of taking off or landing is, for example, an object representing the UAVn (also referred to as an icon, hereinafter referred to as a "UAV object"), represented by a pattern, a graphic, or a photo. Figure 5 : is a diagram showing a display example of a two-dimensional map screen of a base object where a UAV base is arranged and a UAV object of UAV1 in a takeoff operation. Figure 5 In the example of FIG. 5 , a UAV object O1 of a UAV1 in the process of taking off is displayed on the two-dimensional map screen Sc so as not to overlap with the base object Op of the UAV base. In addition, the UAV object O1 includes a graphic D1 indicating that the UAV is in the process of taking off. Figure 5 The figure D1 shown is an isosceles triangle, and the direction indicated by the vertex (obtuse angle) of the triangle represents the ascending direction. In addition, the figure D1 is not limited to a triangle, and can be any figure (for example, a figure of an arrow) as long as it can indicate a direction.

[0061] If a UAV object for a UAVn in the process of taking off or landing at a UAV base is displayed at the coordinate position (x2, y2) corresponding to the position information of the UAVn, it will overlap with the base object of the UAV base, making the objects difficult to visually identify. Therefore, by displaying the UAV object at the coordinate position (x3, y3) offset from the coordinate position (x2, y2) corresponding to the position information of the UAVn in the process of taking off or landing at the UAV base, the visual recognition of the base object and the UAV object can be improved. Alternatively, the coordinate position (x1, y1) corresponding to the position information of the UAV base can be used as the coordinate position (x2, y2) corresponding to the position information of the UAVn in the process of taking off or landing at the UAV base.

[0062] Furthermore, if a UAVn is in flight outside a UAV base, the display control unit 237 displays the UAV object of the in-flight UAVn at the coordinate position (x4, y4) corresponding to the position information of the in-flight UAVn. In this case, the display control unit 237 may display the UAV object of the UAVn in takeoff or landing at the coordinate position (x5, y5) offset from the coordinate position (x2, y2) corresponding to the position information of the in-flight UAVn, so that the UAV object does not overlap with the base object of the UAV base and the UAV object of the in-flight UAVn. This improves the visibility of the UAV object of the in-flight UAVn.

[0063] Figure 6 : This is a diagram showing a display example of a two-dimensional map screen including a base object where a UAV base is configured, a UAV object of UAV1 in takeoff, and a UAV object of UAV2 in flight. Figure 6In the example shown in FIG. 1 , the UAV object O1 of UAV1 in the process of taking off is displayed on the two-dimensional map screen Sc so as not to overlap with the base object Op of the UAV base and the UAV object O2 of UAV2 in flight. Specifically, the UAV object O1 of UAV1 in the process of taking off is displayed at the coordinate position (x5, y5) offset from the coordinate position (x2, y2) corresponding to the position information of UAV1 in the process of taking off.

[0064] In addition, Figure 6 In the example shown in FIG2 , a graphic D2 indicating the front direction is displayed correspondingly (additionally) to the UAV object O2 of the flying UAV 2. Specifically, the display control unit 237 displays the graphic indicating the front direction of UAV 2 on the two-dimensional map screen in correspondence with the UAV object on the two-dimensional map screen based on the direction information (the direction information of UAV 2) acquired by the direction information acquisition unit 233. Figure 6 The figure D2 shown is an isosceles triangle, and the direction indicated by the vertex (obtuse angle) of the triangle is the front direction. In addition, the figure D2 is not limited to a triangle, and can be any figure (for example, a figure of an arrow) as long as it can indicate a direction.

[0065] As another example, the display control unit 237 may display a UAV object of a UAVn in the process of taking off or landing at a UAV base at a coordinate position (x6, y6) offset from the coordinate position (x2, y2) corresponding to the position information of the UAVn in the process of taking off or landing, so as not to overlap with the base object of the UAV base and the flight path of the UAVn in flight. This can improve the visibility of the flight path of the UAVn in flight. Figure 7 1 is a diagram showing a display example of a two-dimensional map screen including a base object for configuring a UAV base, a UAV object for UAV3 in a landing operation, and a UAV object for UAV2 in flight. Figure 7 In the example shown in FIG. 1 , the UAV object O3 of the landing UAV3 is displayed on the two-dimensional map screen Sc so as not to overlap with the base object Op of the UAV base and the flight path R of the UAV object O2 of the flying UAV2. In other words, the UAV object O2 of the landing UAV3 is displayed at the coordinate position (x6, y6) offset from the coordinate position (x2, y2) corresponding to the position information of the landing UAV3.

[0066] In addition, the display control unit 237 can display information (for example, UAV objects) representing UAVn at the UAV base (that is, UAVn in flight waiting, taking off, or landing at the UAV base) and UAV objects of UAVn in flight outside the UAV base on the two-dimensional map screen in different display modes according to the respective operating conditions of the UAVn as display objects. In this way, the monitor can easily grasp the operating conditions of the flying UAVn and the UAVn at the UAV base on the two-dimensional map screen. In addition, different display modes refer to, for example, display modes that can identify the difference between the two through the monitor's vision. Displaying the UAV object in a different display mode refers to, for example, displaying it in at least one different mode of the pattern, shape, size (size), color, and number of the UAV object. In Figure 6 In the example shown in FIG, the display color and display size of the UAV object 01 of the UAV1 in the takeoff operation and the UAV object 02 of the UAV2 in flight are different.

[0067] Furthermore, the information indicating the number of UAVs waiting for flight at a UAV base can be the number of UAVs waiting for flight (the number of aircraft), rather than the UAV object. In this case, the number of UAVs waiting for flight at the UAV base is counted and displayed in association with the base object of the UAV base. This allows the observer to understand the number of UAVs waiting for flight at the UAV base at a glance on the two-dimensional map screen.

[0068] Figure 8 This is a diagram showing a display example of a two-dimensional map screen including a base object for configuring a UAV base, a UAV object for UAV1 in takeoff, a UAV object for UAV2 in flight, and a mark indicating the number of UAVn in flight waiting. Figure 8 In the example shown, a marker M indicating the number of UAVs in flight waiting, "3," is displayed in addition to (partially overlapping) the base object Op. This indicates that three UAVs are in flight waiting at the UAV base. If there are no UAVs in flight waiting at the UAV base, the information indicating the number of UAVs in flight waiting may not be displayed, or "0" may be displayed as the number of UAVs.

[0069] Furthermore, the display control unit 237 may display the UAV object of the UAVn in the takeoff operation at the UAV base in different display modes when starting takeoff, ascending, and stopping in the air. Figure 9This is a diagram showing an example of a UAV object corresponding to (i) takeoff start, (ii) ascending, and (iii) overhead stop (for takeoff). This can further improve the visual recognition of the UAV object, making it easier for the observer to understand which stage of the UAVn's takeoff action is at the UAV base. For example, Figure 6 The UAV object O1 shown is displayed as follows according to the operation status divided in the take-off action. Figure 9 The UAV object corresponds to any one of the following states: (i) start of takeoff, (ii) ascending, and (iii) stopped in the air (for takeoff).

[0070] Furthermore, the display control unit 237 may display the UAV object of the UAVn in the process of landing at the UAV base in different display modes when the UAV object is stopped in the air (for landing), descending, and landing. Figure 10 This is a diagram showing an example of a UAV object corresponding to (i) overhead stop (for landing), (ii) descending, and (iii) landing. This can further improve the visual recognition of the UAV object and make it easier for the observer to understand which stage of the landing action the UAVn is in at the UAV base. For example, Figure 7 The UAV object O3 shown is displayed as follows according to the operation status divided in the take-off action. Figure 10 The UAV object corresponds to any one of the following states: (i) stopped in the air (for landing), (ii) descending, and (iii) landing.

[0071] Furthermore, the display control of the base object and UAV object is performed by the display control unit 237 transmitting display control data for displaying the base object and UAV object to the monitor terminal T via the communication unit 21. This display control data includes, for example, image data of the base object, image data of the UAV object, and data indicating the coordinate positions of these objects. Furthermore, the display control data may also include text data indicating the number of UAVs n in flight waiting at the UAV base.

[0072] When an operation instruction is issued to a UAV n via the operation screen displayed on the monitor terminal T (i.e., when operation instruction information indicating the operation instruction is received via the communication unit 21), the flight control unit 238 transmits control information corresponding to the operation instruction to the UAV n that is the target of the operation instruction. As described above, this control information includes control information for taking off the UAV n at the UAV base or control information for landing the UAV n at the UAV base.

[0073] [ 1-3. Structure and Function of Monitor Terminal T ]

[0074] Next, refer to Figure 11The structure and function of the monitor terminal T will be described. Figure 11 : is a diagram showing an example of the schematic structure of the monitor terminal T. Figure 11 As shown, the monitor terminal T has a display unit 31, an operating unit 32, a communication unit 33, a storage unit 34, and a control unit 35. The display unit 31 has a display (monitor) for displaying a two-dimensional map screen and an operating screen. The display can be physically divided into a display for a two-dimensional map screen and a display for an operating screen. In addition, the display can also be a touch panel that can accept operating instructions based on the user's fingers, pen, etc. The operating unit 32 has a keyboard and mouse operated by the monitor. The communication unit 33 has a wireless communication function and is responsible for controlling the communication via the communication network NW.

[0075] The storage unit 34 is composed of, for example, a hard disk drive or solid-state drive, and stores various installed programs and data. These programs include an operating system (OS), applications, and a web browser. Applications include a UAVn monitoring application and a UAVn control application. Monitoring applications can also be embedded with data that constitutes a two-dimensional map screen, image data of base objects and UAV objects, and so on for management. Furthermore, control applications can also be embedded with data that constitutes an operation screen for management.

[0076] The control unit 35 has a CPU, a ROM, a RAM, and the like. The control unit 35 displays the above-mentioned two-dimensional map screen on the display according to the monitoring application. The data constituting the two-dimensional map screen can also be appropriately received from the UAV monitoring server SA. The display range of the two-dimensional map image within the two-dimensional map screen is changed according to the instruction from the operation unit 32. Moreover, the information indicating the display range of the two-dimensional map image can be sent to the UAV monitoring server SA. In addition, the control unit 35 can also receive the web page containing the data constituting the two-dimensional map screen from the UAV monitoring server SA by specifying the URL (Uniform Resource Locator) of the web page from the web browser, so that the two-dimensional map screen is displayed on the display of the display unit 31. Then, when the above-mentioned display control data is received from the UAV monitoring server SA, for example, Figures 5 to 8 As shown, the control unit 35 displays the base object, UAV object, etc. on the two-dimensional map screen.

[0077] Furthermore, the control unit 35 displays the aforementioned operation screen on the display in accordance with the control application. The data constituting the operation screen may also be appropriately received from the UAV monitoring server SA. Alternatively, the control unit 35 may display the operation screen on the display of the display unit 31 by specifying the URL of a web page containing the data constituting the operation screen via a web browser, thereby receiving the web page from the UAV monitoring server SA. Furthermore, when an operation instruction related to flight control of the UAV n is received from the monitor via the operation unit 32 while the operation screen is displayed, control information corresponding to the instruction is transmitted to the UAV monitoring server SA.

[0078] [ 2. Operation of UAV surveillance system S ]

[0079] Next, refer to Figure 12 and Figure 13 The operation of the UAV monitoring system S will be described. Figure 12 This is a flowchart showing an example of the display control process of the control unit 23 in the UAV monitoring server SA. Figure 13 It shows Figure 12 Flowchart of an example of the overlap determination process in step S11 shown in FIG. Figure 12 The processing shown in the figure is performed in parallel with the processing of determining the operating status of the UAVn to be monitored by the operating status determination unit 235. The operating status thus determined is stored in the UAV management database 222. Figure 12 In addition, as Figure 12 The premise of the processing shown is that the monitoring terminal T starts the monitoring application and displays the above-mentioned two-dimensional map screen on the display for the two-dimensional map screen. Figure 12 For convenience of explanation, the illustrated processing assumes a case where the coordinate position corresponding to the position information of one UAV base is located within the two-dimensional map screen.

[0080] When to start Figure 12 In the process shown, the control unit 23 obtains positional information indicating the location of the UAV base to be displayed via the first positional information acquisition unit 231 (step S1). Next, the control unit 23 displays the base object of the UAV base at the coordinate position (x1, y1) corresponding to the positional information acquired in step S1 (step S2). For example, as described above, the display control unit 237 transmits display control data for displaying the base object to the monitor terminal T. As a result, the base object is displayed on the two-dimensional map screen at the coordinate position (x1, y1) corresponding to the positional information of the UAV base.

[0081] Next, the control unit 23 obtains operating status information indicating the operating status of each UAV n to be monitored by the operating status information acquisition unit 236 (step S3). Next, the control unit 23 obtains position information indicating the position of each UAV n to be monitored (excluding UAV n whose operating status is stopped) by the second position information acquisition unit 232 (step S4).

[0082] Next, the control unit 23 determines whether a UAVn in flight, which is a display target, is included among the multiple UAVn being monitored, based on the operating status indicated by the operating status information obtained in step S3 (step S5). Here, a UAVn in flight, which is a display target, refers to a UAVn whose coordinate position corresponding to the position information obtained in step S4 is within the two-dimensional map screen. If it is determined that a UAVn in flight is included as a display target (step S5: Yes), the process proceeds to step S6. On the other hand, if it is determined that a UAVn in flight is not included as a display target (step S5: No), the process proceeds to step S10.

[0083] In step S6, the control unit 23 selects a flying UAVn as a display object (e.g., selects an aircraft ID). Next, the control unit 23 uses the direction information acquisition unit 233 to obtain direction information indicating the frontal orientation of the UAVn selected in step S6 (step S7). The control unit 23 then displays the UAV object of the UAVn at the coordinate position (x4, y4) corresponding to the position information acquired in step S4, and displays a graphic indicating the frontal orientation indicated by the direction information acquired in step S7 in association with the UAV object (step S8). For example, as described above, the display control unit 237 transmits display control data for displaying the UAV object of the flying UAVn and the graphic to the monitor terminal T. As a result, the UAV object of the UAVn and the graphic are displayed on the two-dimensional map screen at the coordinate position (x4, y4) corresponding to the position information of the flying UAVn. The display control data also includes the aircraft ID of the UAVn corresponding to the UAV object.

[0084] Next, the control unit 23 determines whether there is a UAVn for which a UAV object is not yet displayed among the UAVn in flight that are displayed (step S9). If it is determined that there is a UAVn for which a UAV object is not yet displayed (step S9: Yes), the process returns to step S6 and the same process as above is performed. On the other hand, if it is determined that there is no UAVn for which a UAV object is not yet displayed (step S9: No), the process proceeds to step S10.

[0085] In step S10, the control unit 23 determines whether a UAVn in the process of taking off or landing, which is a display target, is included among the multiple UAVn being monitored based on the operating status indicated by the operating status information acquired in step S3. Here, a UAVn in the process of taking off or landing, which is a display target, refers to a UAVn in the process of taking off or landing at the display target UAV base. If it is determined that a UAVn in the process of taking off or landing is included (step S10: Yes), the process proceeds to step S11. On the other hand, if it is determined that a UAVn in the process of taking off or landing is not included (step S10: No), the process proceeds to step S13.

[0086] In step S11, the control unit 23 executes the overlap determination process by the display control unit 237. The overlap determination process described below is applied to the case of a UAVn in a takeoff operation as an example, but can also be applied to the case of a UAVn in a landing operation. Figure 13 In the overlap determination process shown, the display control unit 237 adds or subtracts a first predetermined value from the coordinate position (x2, y2) corresponding to the position information of the UAVn in takeoff so that the UAV object of the UAVn in takeoff does not overlap with the base object displayed in step S2 (step S111). As a result, the coordinate position (x2, y2) corresponding to the position information of the UAVn in takeoff is shifted to the coordinate position (x3, y3).

[0087] Next, the display control unit 237 determines whether there is a UAVn in flight whose display range overlaps with the UAVn in the takeoff action after the coordinate position offset in step S111 (step S112). Here, the overlapping display ranges of the UAV objects refer to, for example, that the display range based on the coordinate position (x3, y3) of the UAV object of UAV1 in the takeoff action overlaps with at least a portion of the display range based on the coordinate position (x4, y4) of the UAV object of UAV2 in flight. The display range can be pre-set, for example, based on the display size of the UAV object. In addition, the upper limit of the number of processing times of step S112 can also be determined. In this case, when the number of processing times reaches the upper limit, a small mark indicating that there is a UAVn in the takeoff action can also be displayed instead of displaying the UAV object of UAVn in the takeoff action on the two-dimensional map screen.

[0088] If it is determined that there is a UAV n in flight whose display range overlaps with a UAV object (step S112: Yes), the process proceeds to step S113. In step S113, the display control unit 237 adds or subtracts the second predetermined value from the coordinate position (x3, y3) offset in step S111. As a result, the coordinate position (x3, y3) of the UAV object of the UAV n in takeoff is offset to the coordinate position (x5, y5). The process then returns to step S112, where the coordinate position is repeatedly offset by the second predetermined value (i.e., the same distance) until it is determined that there is no UAV n in flight whose display range overlaps. Figure 14 Schematic diagram showing a situation where the coordinate position is repeatedly shifted by the second predetermined value. Figure 14 In the example, the coordinate position (x3, y3) is offset downward by the second predetermined value, then the coordinate position (x5, y5) is offset leftward by the second predetermined value, and finally the coordinate position (x7, y7) is offset upward by the second predetermined value. By changing the direction each time the coordinate position is offset by the second predetermined value, the CPU processing load can be reduced compared to searching for an empty area on the two-dimensional map screen for a UAV object displaying the takeoff UAVn.

[0089] On the other hand, if it is determined that there is no UAV n in flight whose display range overlaps with the UAV object (step S112: No), the process returns to Figure 12 The processing shown. In addition, it is possible to consider a situation where multiple UAVn are performing take-off and landing actions at the same time at one UAV base (for example, a UAV base such as a hub airport) (for example, the UAVn of both parties are in the process of taking off, the UAVn of both parties are in the process of landing, or the UAVn of one party is in the process of taking off and the UAVn of the other party is in the process of landing). In this case, the display control unit 237 may also additionally display a mark indicating the number of UAVn in the take-off action to the UAV object of the UAVn in the take-off action. In addition, the display control unit 237 may also additionally display a mark indicating the number of UAVn in the landing action to the UAV object of the UAVn in the landing action. Alternatively, the display control unit 237 may also display a mark indicating the total number of UAVn in the take-off action and the number of UAVn in the landing action in correspondence with the base object of the UAV base.

[0090] return Figure 12, the control unit 23 displays the UAV object of the UAVn in the takeoff action or the landing action in a display method different from that of the UAV object of the UAVn in flight at the coordinate position (for example, the offset coordinate position (x5, y5)) finally determined in the overlap determination process of step S11 (step S12). For example, as described above, the display control unit 237 sends display control data for displaying the UAV object of the UAVn in the takeoff action or the landing action to the monitor terminal T. As a result, on the above-mentioned two-dimensional map screen, the UAV object of the UAVn is displayed at the coordinate position finally determined for the UAVn in the takeoff action or the landing action. In addition, the display control data includes the body ID of the UAVn corresponding to the UAV object. After the UAV object is displayed in step S12, the processing enters step S13.

[0091] Here, the UAV object displayed in step S12 is the same as the operating status indicated by the operating status information obtained in step S3. Figure 9 Alternatively, the UAV object displayed in step S12 is the one corresponding to any one of the following: (i) takeoff start, (ii) ascending, and (iii) air stop (for takeoff). Alternatively, the UAV object displayed in step S12 is the one corresponding to the operating status indicated by the operating status information obtained in step S3. Figure 10 The UAV object may correspond to any one of the following states: (i) stopped in the air (for landing), (ii) descending, and (iii) landing.

[0092] In step S13, the control unit 23 determines whether a UAV n in flight waiting to be displayed is included among the multiple UAV n being monitored, based on the operating status indicated by the operating status information acquired in step S3. Here, a UAV n in flight waiting to be displayed refers to a UAV n in flight waiting at the UAV base being displayed. If it is determined that a UAV n in flight waiting to be displayed is included (step S13: Yes), the process proceeds to step S14. On the other hand, if it is determined that a UAV n in flight waiting to be displayed is not included (step S13: No), the process proceeds to step S16.

[0093] In step S14, the control unit 23 counts (accumulates) the number of UAVs (aircraft) in flight waiting at the UAV base. Next, the control unit 23 displays the number of aircraft counted in step S14 in association with the base object of the UAV base (step S15). For example, the display control unit 237 transmits display control data for displaying the counted number of aircraft to the monitor terminal T. As a result, the number of aircraft is displayed in association with the base object of the UAV base on the two-dimensional map screen. After the number of aircraft is displayed in step S15, the process proceeds to step S16.

[0094] In step S16, the control unit 23 determines whether a preset display update timing has arrived. Here, the display update timing is set to occur at a predetermined time interval (e.g., 0.01 to 1 second). If it is determined that the preset display update timing has arrived (step S16: Yes), the process returns to step S1. The display of the base object, UAV object, etc. is thereby updated.

[0095] As described above, according to the above embodiment, the UAV monitoring server SA is configured to display a UAV base object on a two-dimensional map screen, and to display information indicating UAVs in flight, taking off, or landing at the UAV base, and information indicating UAVs in flight outside the UAV base, in different display formats, depending on the operational status of each of the plurality of UAVs. This allows a monitor to easily understand the operational status of the UAVs in flight and at the UAV base on the two-dimensional map screen. Specifically, according to the above embodiment, even when a plurality of UAVs are present at the UAV base, the information indicating the UAVs at the UAV base and the information indicating the UAVs in flight can be displayed separately, thereby preventing the monitor from having difficulty understanding the operational status of the UAVs.

[0096] The above embodiment is merely one embodiment of the present invention, and the present invention is not limited to the above embodiment. Various structural modifications may be made to the above embodiment without departing from the spirit of the present invention, and such modifications are also within the technical scope of the present invention. In the above embodiment, the UAV monitoring server SA is used as an example of an information processing device of the present invention. However, the monitor terminal T may also be an information processing device. In this case, the control unit 35 of the monitor terminal T communicates with the UAV monitoring server SA via the communication network NW and functions similarly to the first position information acquisition unit 231, the second position information acquisition unit 232, the direction information acquisition unit 233, the speed information acquisition unit 234, the operating status determination unit 235, and the display control unit 237 described above. For example, the control unit 35 of the monitor terminal T obtains the position information of the UAV base, the position information of each of the plurality of UAVs n, and the operating status information of each of the plurality of UAVs n from the UAV monitoring server SA. Furthermore, the control unit 35 of the monitor terminal T displays the UAV base object on the two-dimensional map screen based on the UAV base's location information. Furthermore, based on the location information and operational status information of multiple UAVs, the control unit 35 of the monitor terminal T displays information on the two-dimensional map screen in different display formats, indicating UAVs in flight waiting, taking off, or landing at the UAV base, and information indicating UAVs in flight outside the UAV base. For example, the control unit 35 of the monitor terminal T may display information indicating UAVs in flight waiting, corresponding to the number of UAVs and the UAV base object.

[0097] Furthermore, the control unit 35 of the monitor terminal T may display a base object for a UAV base at a coordinate position corresponding to the position information of the UAV base, and display information representing a UAVn in a takeoff or landing maneuver at a coordinate position offset from the coordinate position corresponding to the position information of the UAVn in a takeoff or landing maneuver, so as not to overlap with the base object for the UAV base. Furthermore, before displaying the information representing a flying UAVn at the coordinate position corresponding to the position information of the flying UAVn and displaying the information representing a UAVn in a takeoff or landing maneuver at the offset coordinate position, the control unit 35 of the monitor terminal T may determine whether a flying UAVn overlaps with the display range of the information representing the UAVn in a takeoff or landing maneuver. If such a flying UAVn is found, the control unit 35 may display the information representing the UAVn in a takeoff or landing maneuver at a coordinate position further offset from the offset coordinate position. Furthermore, in the above embodiment, while a UAV is used as an example of an unmanned aerial vehicle, the present invention is also applicable to flying robots and the like.

[0098] <Notes>

[0099] [1] The information processing device disclosed in the present invention comprises: a first acquisition unit that acquires first position information indicating the position of a base for takeoff or landing of an unmanned aerial vehicle; a second acquisition unit that acquires second position information indicating the position of each of a plurality of unmanned aerial vehicles; a third acquisition unit that acquires operating status information indicating the operating status of each of the plurality of unmanned aerial vehicles; and a display control unit that displays an object indicating the base on a two-dimensional map screen based on the first position information and displays information indicating each of the plurality of unmanned aerial vehicles on the two-dimensional map screen based on the second position information, wherein the display control unit displays information indicating the unmanned aerial vehicles in flight waiting, taking off, or landing at the base and information indicating the unmanned aerial vehicles in flight outside the base in different display modes based on the operating status of each of the plurality of unmanned aerial vehicles. Thus, a monitor can easily grasp the operating status of unmanned aerial vehicles in flight and at the base on the two-dimensional map screen.

[0100] [2] In the information processing device described in [1] above, the display control unit displays the object representing the base as a coordinate position on the two-dimensional map screen at the coordinate position corresponding to the first position information, and displays the information representing the unmanned aerial vehicle in the takeoff or landing operation at the coordinate position offset from the coordinate position corresponding to the second position information of the unmanned aerial vehicle in the takeoff or landing operation so as not to overlap with the object representing the base. This improves the visual recognition of the object representing the base and the information representing the unmanned aerial vehicle in the takeoff or landing operation.

[0101] [3] In the information processing device described in [2] above, the display control unit is characterized in that, before displaying the information indicating the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight and displaying the information indicating the unmanned aerial vehicle in takeoff or landing at the offset coordinate position, the display control unit determines whether there is an unmanned aerial vehicle in flight whose display range overlaps with the unmanned aerial vehicle in takeoff or landing, and, if it is determined that there is such an unmanned aerial vehicle in flight, the display control unit displays the information indicating the unmanned aerial vehicle in takeoff or landing at the coordinate position further offset from the offset coordinate position. This improves the visual recognition of the information indicating the unmanned aerial vehicle in flight.

[0102] [4] In the information processing device described in any one of [1] to [3] above, the display control unit displays an object representing the base as a coordinate position on the two-dimensional map screen at the coordinate position corresponding to the first position information, displays information representing the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and displays information representing the unmanned aerial vehicle in a takeoff or landing operation at the coordinate position offset from the coordinate position corresponding to the second position information of the unmanned aerial vehicle in a takeoff or landing operation so as not to overlap with the object representing the base and the information representing the unmanned aerial vehicle in flight. Thus, the visual recognition of the information representing the unmanned aerial vehicle in flight can be improved.

[0103] [5] In the information processing device described in any one of [1] to [4] above, it is characterized in that

[0104] The display control unit displays an object representing the base point as a coordinate position on the two-dimensional map screen at the coordinate position corresponding to the first position information, displays information representing the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and displays information representing the unmanned aerial vehicle in a takeoff or landing maneuver at a coordinate position offset from the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight so as not to overlap with the object representing the base point and the flight path of the unmanned aerial vehicle in flight. Thus, the visibility of the flight path of the unmanned aerial vehicle in flight can be improved.

[0105] [6] In the information processing device described in any one of [1] to [5] above, the takeoff operation is divided into at least the start of takeoff, the ascent, and the stop in the air, and the display control unit displays information indicating the UAV in the takeoff operation in different display modes for the start of takeoff, the ascent, and the stop in the air. This allows the observer to easily understand which stage of the takeoff operation the UAV at the base is in on the two-dimensional map screen.

[0106] [7] In the information processing device described in any one of [1] to [6] above, the landing operation is divided into at least three stages: a stop in the air, a descent, and landing; and the display control unit displays information indicating the UAV in the landing operation in different display modes for the stages of the stop in the air, the descent, and the landing. This allows the observer to easily understand which stage of the landing operation the UAV is in at the base on the two-dimensional map screen.

[0107] [8] In the information processing device described in any one of [1] to [7] above, the display control unit displays the number of UAVs as information indicating the UAVs in flight waiting, in association with an object representing the base. This allows a monitor to grasp at a glance the number of UAVs in flight waiting at the base on a two-dimensional map screen.

[0108] [9] The display control method disclosed in the present invention is executed by one or more computers, and is characterized in that the display control method includes the following steps: obtaining first position information indicating the position of a base for takeoff or landing of an unmanned aerial vehicle; obtaining second position information indicating the positions of each of a plurality of unmanned aerial vehicles; obtaining operating status information indicating the operating status of each of the plurality of unmanned aerial vehicles; displaying an object representing the base on a two-dimensional map screen based on the first position information; and displaying information indicating that the unmanned aerial vehicle is in flight waiting, taking off, or landing at the base and information indicating that the unmanned aerial vehicle is flying outside the base in different display modes on the two-dimensional map screen based on the second position information and the operating status information of each of the plurality of unmanned aerial vehicles.

[0109] Marking Description

[0110] 1, 2: UAV; 11: driving unit; 12: positioning unit; 13: communication unit; 14: sensor unit; 15: storage unit; 16: control unit; 21: communication unit; 22: storage unit; 23: control unit; 31: display unit; 32: operation unit; 33: communication unit; 34: storage unit; 35: control unit; 231: first position information acquisition unit; 232: second position information acquisition unit; 233: direction information acquisition unit; 234: speed information acquisition unit; 235: operating status determination unit; 236: operating status information acquisition unit; 237: display control unit; 238: flight control unit; SA: UAV monitoring server; T: monitor terminal; S: UAV monitoring system.

Claims

1. An information processing device, characterized in that: The information processing device has: a first acquisition unit that acquires first position information indicating a position of a base for taking off or landing of the unmanned aerial vehicle; a second acquisition unit that acquires second position information indicating positions of each of the plurality of unmanned aerial vehicles; a third acquisition unit configured to acquire operating status information indicating an operating status of each of the plurality of unmanned aerial vehicles; as well as a display control unit that causes an object representing the base to be displayed on a two-dimensional map screen based on the first position information, and causes information representing each of the plurality of unmanned aerial vehicles to be displayed on the two-dimensional map screen based on the second position information, The display control unit displays information indicating that the unmanned aerial vehicle is in flight waiting, taking off, or landing at the base and information indicating that the unmanned aerial vehicle is in flight outside the base in different display modes according to the operating conditions of each of the plurality of unmanned aerial vehicles.

2. The information processing device according to claim 1, characterized in that The display control unit causes the object representing the base, which is a coordinate position in the two-dimensional map screen, to be displayed at the coordinate position corresponding to the first position information, and causes the information representing the unmanned aerial vehicle in the takeoff or landing action to be displayed at the coordinate position offset from the coordinate position corresponding to the second position information of the unmanned aerial vehicle in the takeoff or landing action in a manner that does not overlap with the object representing the base.

3. The information processing device according to claim 2, characterized in that: Before displaying the information representing the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight and displaying the information representing the unmanned aerial vehicle in takeoff or landing at the offset coordinate position, the display control unit determines whether there is an unmanned aerial vehicle in flight whose display range overlaps with the unmanned aerial vehicle in the takeoff or landing action. If it is determined that there is such an unmanned aerial vehicle in flight, the display control unit displays the information representing the unmanned aerial vehicle in takeoff or landing action at the coordinate position further offset from the offset coordinate position.

4. The information processing device according to claim 1, characterized in that The display control unit causes the object representing the base, which is the coordinate position in the two-dimensional map screen, to be displayed at the coordinate position corresponding to the first position information, and causes the information representing the unmanned aerial vehicle in flight to be displayed at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and causes the information representing the unmanned aerial vehicle in the takeoff action or the landing action to be displayed at the coordinate position offset from the coordinate position corresponding to the second position information of the unmanned aerial vehicle in the takeoff action or the landing action in a manner that does not overlap with the object representing the base and the information representing the unmanned aerial vehicle in flight.

5. The information processing device according to claim 1, characterized in that The display control unit causes the object representing the base, which is the coordinate position in the two-dimensional map screen, to be displayed at the coordinate position corresponding to the first position information, and causes the information representing the unmanned aerial vehicle in flight to be displayed at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and causes the information representing the unmanned aerial vehicle in the takeoff or landing action to be displayed at the coordinate position offset from the coordinate position corresponding to the second position information of the unmanned aerial vehicle in the takeoff or landing action in a manner that does not overlap with the object representing the base and the flight path of the unmanned aerial vehicle in flight.

6. The information processing device according to claim 1, characterized in that The take-off action is divided into at least the start of take-off, ascending and stopping in the air. The display control unit causes information indicating the unmanned aerial vehicle in the take-off operation to be displayed in different display formats during the start of take-off, the ascent, and the stop in the air.

7. The information processing device according to claim 1, characterized in that: The landing action is divided into at least: stopping in the air, descending and landing. The display control unit causes the information indicating that the unmanned aerial vehicle is in the landing operation to be displayed in different display modes: stopped in the air, descending, and landing.

8. The information processing device according to any one of claims 1 to 7, characterized in that: The display control unit displays the number of the unmanned aerial vehicles as information indicating the unmanned aerial vehicles on flight waiting in association with an object indicating the base.

9. A display control method, executed by one or more computers, characterized in that: The display control method comprises the following steps: acquiring first position information indicating a location of a take-off or landing point for the unmanned aerial vehicle; obtaining second position information, the second position information indicating respective positions of the plurality of unmanned aerial vehicles; obtaining operating status information indicating the operating status of each of the plurality of unmanned aerial vehicles; Based on the first position information, an object representing the base is displayed on a two-dimensional map screen; as well as Based on the second position information and the operating status information of each of the multiple unmanned aerial vehicles, information indicating that the unmanned aerial vehicles are in flight waiting, taking off or landing at the base and information indicating that the unmanned aerial vehicles are flying outside the base are displayed on the two-dimensional map screen in different display methods.

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