Take-off and landing field monitoring device, take-off and landing field monitoring method and take-off and landing field monitoring system

Abstract

A take-off and landing field monitoring device (30) is configured to comprise: an image data acquisition unit (41) that acquires image data indicating a captured image of a take-off and landing field (1) from an imaging device (21) that captures an image of the take-off and landing field (1); and an obstacle detection unit (45) that determines, on the basis of the image data acquired by the image data acquisition unit (41), the type of obstacle that obstructs the take-off and landing of the vertical take-off and landing machine in the take-off and landing field (1).

Description

Technical Field

[0001] The present disclosure relates to a landing pad monitoring device, a landing pad monitoring method and a landing pad monitoring system. Background Art

[0002] An aircraft that takes off and lands vertically without taxiing is called a vertical take-off and landing aircraft (hereinafter referred to as a "VTOL (Vertical Take-Off and Landing aircraft) aircraft"). Examples of VTOL aircraft include drones, flying cars, or helicopters. For example, Patent Document 1 discloses a vertical take-off and landing airport management system that manages vertical take-off and landing airports for VTOL aircraft to take off and land. The vertical take-off and landing airport management system includes sensors that monitor the status of the vertical take-off and landing airport.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application No. 2021-503677 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] The vertical take-off and landing airport management system disclosed in Patent Document 1 has the following problem: although sensors monitor the state of the vertical take-off and landing airport, the type of obstacles that hinder the take-off and landing of VTOL aircraft is unknown. If the type of obstacle is unknown, the manager of the vertical take-off and landing airport may not be able to easily remove the obstacle.

[0008] The present disclosure has been made to solve the above problems, and an object of the present disclosure is to obtain a landing field monitoring device capable of identifying the type of obstacles that hinder the take-off and landing of a vertical lift.

[0009] Means used to solve problems

[0010] The landing pad monitoring device disclosed in the present invention comprises: an image data acquisition unit that acquires image data representing an image captured by the landing pad from a camera that captures the landing pad; and an obstacle detection unit that determines the type of obstacle that prevents a vertical lift that uses the landing pad from taking off and landing based on the image data acquired by the image data acquisition unit.

[0011] Effects of the Invention

[0012] According to the present disclosure, it is possible to identify the type of obstacle that prevents the vertical lift from taking off and landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is an explanatory diagram showing a landing field 1 to which the landing field monitoring system according to the first embodiment is applied.

[0014] Figure 2 It is an explanatory diagram showing the airspace above the landing and take-off site 1, that is, the take-off and landing airspace of the vertical take-off and landing aircraft M.

[0015] Figure 3 This is a diagram showing the configuration of the landing field monitoring system according to the first embodiment.

[0016] Figure 4 1 is a hardware configuration diagram showing the hardware of the landing pad monitoring device 30 according to the first embodiment.

[0017] Figure 5 This is a hardware configuration diagram of a computer when the landing pad monitoring device 30 is implemented by software, firmware, or the like.

[0018] Figure 6 1 is a flowchart showing a landing pad monitoring method as a processing procedure of the landing pad monitoring device 30 .

[0019] Figure 7 This is a flowchart showing a processing procedure when “illegal occupation of a vertical lift”, “presence of garbage”, or “occurrence of fire” is recognized as the type of obstacle determined by the obstacle detection unit 45 .

[0020] Figure 8 This is a flowchart showing a processing procedure when “the presence of a suspicious flying object” or “the presence of a bird” is identified as the type of obstacle determined by the obstacle detection unit 45 .

[0021] Fig. 9 This is a diagram showing the configuration of a landing field monitoring system according to the second embodiment.

[0022] Fig.10 1 is a hardware configuration diagram showing the hardware of the landing pad monitoring device 30 according to the second embodiment.

[0023] Fig.11 It is an explanatory diagram showing an operation plan of the landing field 1 in which the operation status of the landing field 1 and the like are recorded.

[0024] Fig.12 It is an explanatory diagram showing an example of updating the operation plan of the landing field 1 in which the operation status of the landing field 1 and the like are recorded.

[0025] Fig.13 This is a diagram showing the configuration of a landing field monitoring system according to a third embodiment.

[0026] Fig.14 1 is a hardware configuration diagram showing the hardware of the landing pad monitoring device 30 according to the third embodiment.

[0027] Fig.15 A configuration diagram of a landing field monitoring system according to a fourth embodiment is shown.

[0028] Fig.16 1 is a hardware configuration diagram showing the hardware of the landing pad monitoring device 30 according to the fourth embodiment.

[0029] Fig.17 This is a diagram showing the configuration of a landing field monitoring system according to a fifth embodiment.

[0030] Fig.18 1 is a hardware configuration diagram showing the hardware of the landing pad monitoring device 30 according to the fifth embodiment.

[0031] Fig.19 This is a diagram showing the configuration of a landing field monitoring system according to a sixth embodiment.

[0032] Fig. 20 1 is a hardware configuration diagram showing the hardware of the landing pad monitoring device 30 according to the sixth embodiment. DETAILED DESCRIPTION

[0033] Hereinafter, in order to explain the present disclosure in more detail, the mode for implementing the present disclosure will be described with reference to the drawings.

[0034] Implementation method 1.

[0035] Figure 1 This is an explanatory diagram showing a landing field 1 to which the landing field monitoring system according to the first embodiment is applied.

[0036] Figure 2 1 is an explanatory diagram showing the airspace above the landing and takeoff site 1, that is, the takeoff and landing airspace of the vertical takeoff and landing aircraft M.

[0037] The landing field 1 includes a landing site 2 where a vertical lift M can be landed and a parking lot 3-1, 3-2, and 3-3 where the vertical lift M can be parked.

[0038] The vertical take-off and landing machine M includes, for example, a drone 11 , a flying car 12 , or a helicopter 13 .

[0039] In the take-off and landing site 2, a mark 2a is provided to indicate that it is a take-off and landing position of the vertical lift machine M. The mark 2a is lit.

[0040] The parking places 3-1, 3-2, and 3-3 are respectively provided with marks 3-1a, 3-2a, and 3-3a indicating that they are parking positions of the vertical take-off and landing machine M. The marks 3-1a, 3-2a, and 3-3a are respectively lit.

[0041] exist Figure 1 The illustrated landing field 1 is provided with three stationing places 3-1, 3-2, and 3-3. However, this is only an example, and the number of stationing places provided at the landing field 1 may be less than three, or may be four or more.

[0042] The imaging device 21 captures the landing pad 1 and outputs image data representing the captured image of the landing pad 1 to the landing pad monitoring device 30. The imaging range of the imaging device 21 includes not only the land of the landing pad 1 but also the airspace above the landing pad 1, that is, the take-off and landing airspace of the vertical take-off and landing machine M.

[0043] The lighting device 22 is a lighting fixture for illuminating the landing field 1 .

[0044] The windsock 23 is a wind vane for determining each of the wind direction and wind speed in the landing field 1 .

[0045] The receiver 24 receives the remote ID (IDentification) transmitted from the vertical take-off and landing machine M, and outputs the remote ID to the landing field monitoring device 30. The remote ID includes not only the identification information of the vertical take-off and landing machine M but also the position information of the vertical take-off and landing machine M and the like.

[0046] Here, the receiver 24 receives the remote ID. However, this is just an example, and for example, if the vertical take-off and landing machine M is equipped with a transponder, the receiver 24 may further receive a transponder signal transmitted from the vertical take-off and landing machine M.

[0047] The obstacle removal devices 31-1, 31-2, and 31-3 are devices for removing obstacles that hinder the take-off and landing of the vertical lift machine M. The types of obstacles that can be removed by the obstacle removal devices 31-1 to 31-3 are different from each other.

[0048] Specifically, the obstacle removal device 31-1 is a device for removing birds that become obstacles. The obstacle removal device 31-1 removes birds that become obstacles by, for example, emitting loud sounds, sounds of frequencies that birds do not like, light, or electromagnetic waves.

[0049] The obstacle removal device 31-2 is a device for extinguishing a fire that is an obstacle. The obstacle removal device 31-3 is a device for removing garbage that is an obstacle.

[0050] exist Figure 1 The illustrated landing field 1 has three obstacle removal devices 31-1 to 31-3 installed. However, this is just an example, and the number of obstacle removal devices installed in the landing field 1 may be less than three, or may be four or more.

[0051] Figure 3 This is a diagram showing the configuration of the landing field monitoring system according to the first embodiment.

[0052] Figure 4 1 is a hardware configuration diagram showing the hardware of the landing pad monitoring device 30 according to the first embodiment.

[0053] Figure 3The landing pad monitoring system shown includes an imaging device 21, a receiver 24, a landing pad monitoring device 30, and obstacle removal devices 31-1 to 31-3.

[0054] The landing field monitoring device 30 is a device that determines the type of obstacle that prevents the vertical lift M from taking off and landing using the landing field 1 .

[0055] The landing pad monitoring device 30 includes an image data acquisition unit 41 , an identification information acquisition unit 42 , a position detection unit 43 , a wind identification unit 44 , an obstacle detection unit 45 , and a removal device activation unit 46 .

[0056] The image data acquisition unit 41 is composed of, for example, Figure 4 The image data acquisition circuit 61 shown is implemented.

[0057] The image data acquisition unit 41 acquires image data representing a captured image of the landing field 1 from the imaging device 21 .

[0058] The image data acquisition unit 41 outputs the image data to the position detection unit 43 , the wind identification unit 44 , and the obstacle detection unit 45 .

[0059] The identification information acquisition unit 42 is composed of, for example, Figure 4 The identification information acquisition circuit 62 shown is implemented.

[0060] The identification information acquisition unit 42 acquires the remote ID, which is the identification information of the vertical lift M, from the receiver 24 .

[0061] The identification information acquisition unit 42 outputs the remote ID to each of the position detection unit 43 and the obstacle detection unit 45 .

[0062] The position detection unit 43 is composed of, for example, Figure 4 The position detection circuit 63 shown is implemented.

[0063] The position detection unit 43 detects the position of the vertical lift M based on the image data acquired by the image data acquisition unit 41 .

[0064] The position detection unit 43 outputs position information indicating the position of the vertical lift machine M to the obstacle detection unit 45 .

[0065] Here, the position detection unit 43 detects the position of the vertical lift M based on the image data. However, this is just an example, and the position detection unit 43 may acquire the remote ID of the vertical lift M from the identification information acquisition unit 42 and detect the position of the vertical lift M using the image data and the position information of the vertical lift M included in the remote ID.

[0066] The wind determination unit 44 is composed of, for example, Figure 4 The wind determination circuit 64 is shown implemented.

[0067] The wind identification unit 44 identifies each of the wind direction and wind speed in the landing field 1 based on the image data acquired by the image data acquisition unit 41 .

[0068] Wind identification unit 44 outputs wind information indicating each of wind direction and wind speed to obstacle detection unit 45 .

[0069] The obstacle detection unit 45 is composed of, for example, Figure 4 The obstacle detection circuit 65 is shown implemented.

[0070] The obstacle detection unit 45 determines the type of obstacle that prevents the vertical lift M from taking off and landing based on the image data acquired by the image data acquisition unit 41 .

[0071] The obstacle detection unit 45 may determine the type of obstacle based not only on the image data but also on the remote ID, position information, or wind information.

[0072] The obstacle detection unit 45 outputs the result of determination of the obstacle type to the removal device activation unit 46 .

[0073] The removal device activation unit 46 is, for example, Figure 4 The removal device activation circuit 66 is shown to be implemented.

[0074] The obstacle removal device activation unit 46 selects an obstacle removal device for removing the obstacle from among the obstacle removal devices 31 - 1 to 31 - 3 based on the type of the obstacle determined by the obstacle detection unit 45 , and activates the selected obstacle removal device.

[0075] exist Figure 4 In the above description, it is assumed that the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45 and the removal device activation unit 46, which are the structural elements of the landing field monitoring device 30, are respectively composed of Figure 4 Specifically, it is assumed that the landing pad monitoring device 30 is implemented by the image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, and the removal device activation circuit 66.

[0076] The image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65 and the removal device start circuit 66 respectively correspond to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0077] The structural elements of the landing pad monitoring device 30 are not limited to those realized by dedicated hardware, and the landing pad monitoring device 30 may be realized by software, firmware, or a combination of software and firmware.

[0078] Software or firmware is stored as a program in the computer's memory. Computer refers to hardware that executes programs, for example, CPU (Central Processing Unit), central processing unit, processing unit, computing unit, microprocessor. Microcomputer, processor, or DSP (Digital Signal Processor).

[0079] Figure 5 This is a hardware configuration diagram of a computer when the landing pad monitoring device 30 is implemented by software, firmware, or the like.

[0080] When the landing pad monitoring device 30 is implemented by software or firmware, a program for causing a computer to execute each process in the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, and the removal device activation unit 46 is stored in the memory 81. Then, the processor 82 of the computer executes the program stored in the memory 81.

[0081] In addition, Figure 4 In FIG. 1 , an example is shown in which the components of the landing field monitoring device 30 are respectively implemented by dedicated hardware. Figure 5 , an example is shown in which the landing pad monitoring device 30 is implemented by software or firmware. However, this is just an example, and some components of the landing pad monitoring device 30 may be implemented by dedicated hardware, and the remaining components may be implemented by software or firmware.

[0082] Next, Figure 3 The operation of the landing field monitoring system shown is explained.

[0083] Figure 6 1 is a flowchart showing a landing pad monitoring method as a processing procedure of the landing pad monitoring device 30 .

[0084] The imaging device 21 captures an image of the landing pad 1 , and outputs image data representing the captured image of the landing pad 1 to the landing pad monitoring device 30 .

[0085] The receiver 24 receives the remote ID transmitted from the vertical lift machine M, and outputs the remote ID to the landing field monitoring device 30 .

[0086] The landing pad monitoring device 30 acquires image data from the imaging device 21 and acquires a remote ID from the receiver 24 .

[0087] The landing field monitoring device 30 determines the type of obstacle that prevents the vertical lift M from taking off and landing based on the image data and the remote ID.

[0088] Hereinafter, the processing contents of the landing field monitoring device 30 will be described in detail.

[0089] The image data acquisition unit 41 acquires image data ( Figure 6 Step ST1).

[0090] The image data acquisition unit 41 outputs the image data to the position detection unit 43 , the wind identification unit 44 , and the obstacle detection unit 45 .

[0091] The identification information acquisition unit 42 acquires the remote ID ( Figure 6 Step ST2).

[0092] The identification information acquisition unit 42 outputs the remote ID to each of the position detection unit 43 and the obstacle detection unit 45 .

[0093] The position detection unit 43 acquires the image data from the image data acquisition unit 41 .

[0094] The position detection unit 43 detects the position of the vertical take-off and landing machine M based on the image data ( Figure 6 Step ST3). The process of detecting the position of the vertical lift M based on the image data is a well-known technique. For example, the position of the vertical lift M can be detected by analyzing the captured image shown in the image data using a well-known method.

[0095] The position detection unit 43 may detect the position of the vertical lift M using the image data and the position information of the vertical lift M included in the remote ID as described above.

[0096] exist Figure 2 In the example of FIG. 4 , as the vertical take-off and landing machine M, the drone 11 , the flying car 12 , and the helicopter 13 are each flying, so the position detection unit 43 detects the positions of the drone 11 , the flying car 12 , and the helicopter 13 .

[0097] If a bird is reflected in the captured image of the landing field 1 , the position detection unit 43 detects the position of the bird as the vertical take-off and landing machine M.

[0098] The position detection unit 43 outputs position information indicating the position of the vertical lift machine M to the obstacle detection unit 45 .

[0099] Wind identification unit 44 acquires image data from image data acquisition unit 41 .

[0100] The wind identification unit 44 identifies the angle α formed by the direction from the base end to the tip end of the wind direction sleeve 23 reflected in the captured image and the vertical direction by analyzing the captured image indicated by the image data.

[0101] If the angle α is 0, the wind speed in the landing field 1 is substantially 0, and the closer the angle α is to 90 degrees, the greater the wind speed in the landing field 1. The wind speed in the landing field 1 is substantially proportional to the angle α.

[0102] In the internal memory of the wind identification unit 44, for example, the correspondence relationship between the angle α and the wind speed is recorded.

[0103] The wind determination unit 44 determines the wind speed corresponding to the angle α as the wind speed in the take-off and landing field 1 by referring to the corresponding relationship ( Figure 6 Step ST4).

[0104] In addition, the wind determination unit 44 determines the direction from the base end to the front end of the wind direction sleeve 23 in the horizontal plane, that is, the azimuth d, as the wind direction ( Figure 6 Step ST4).

[0105] Wind identification unit 44 outputs wind information indicating each of wind direction and wind speed to obstacle detection unit 45 .

[0106] Here, wind identification unit 44 identifies the wind speed corresponding to the formed angle α by referring to the correspondence relationship. However, this is just an example, and wind identification unit 44 may calculate the wind speed by substituting the formed angle α into a formula representing the correspondence relationship between the formed angle α and the wind speed.

[0107] In addition, the wind determination unit 44 may provide the image data to the learning model, and obtain wind information representing each item of the wind speed and the azimuth d from the learning model. As an example of a learning model, there is a learning model that is provided with image data and training data representing wind information during learning, learns wind information, and outputs wind information corresponding to the provided image data during inference.

[0108] The obstacle detection unit 45 acquires the image data from the image data acquisition unit 41 , and acquires the remote ID from the identification information acquisition unit 42 .

[0109] Furthermore, the obstacle detection unit 45 acquires the position information from the position detection unit 43 and acquires the wind information from the wind identification unit 44 .

[0110] The obstacle detection unit 45 determines the type of obstacle that prevents the vertical lift M from taking off and landing based on the image data, remote ID, position information, and wind information. Figure 6 Step ST5).

[0111] The obstacle detection unit 45 outputs the result of determination of the obstacle type to the removal device activation unit 46 .

[0112] Hereinafter, the determination process of the obstacle type determined by the obstacle detection unit 45 will be described in detail.

[0113] First, the processing procedure of the obstacle detection unit 45 when "illegal occupation of a vertical lift", "presence of garbage", or "occurrence of fire" is identified as the type of obstacle will be described.

[0114] Figure 7 This is a flowchart showing a processing procedure when “illegal occupation of a vertical lift”, “presence of garbage”, or “occurrence of fire” is recognized as the type of obstacle determined by the obstacle detection unit 45 .

[0115] First, the obstacle detection unit 45 analyzes the captured image indicated by the image data to identify the appearance of the mark 2a applied to the landing and take-off site 2 and the appearance of the mark 3-na applied to the parking site 3-n (n=1, 2, 3).

[0116] If the entirety of the mark 2a is reflected, neither the vertical lift M nor the obstacle exists in the take-off and landing site 2. If a part or all of the mark 2a is not reflected, either the vertical lift M or the obstacle exists in the take-off and landing site 2.

[0117] If either the vertical take-off and landing machine M or an obstacle exists at the take-off and landing site 2 ( Figure 7 If the obstacle detection unit 45 determines that the take-off and landing site 2 is occupied by either the vertical take-off and landing machine M or the obstacle ( Figure 7 Step ST11).

[0118] If neither the vertical take-off and landing machine M nor obstacles exist at the take-off and landing site 2 ( Figure 7 In step ST10: No), the obstacle detection unit 45 determines that the take-off and landing site 2 is not occupied by the vertical lift M and the obstacle.

[0119] If the entire mark 3-na is reflected, neither the vertical take-off and landing machine M nor the obstacle exists in the parking place 3-n. If a part or all of the mark 3-na is not reflected, either the vertical take-off and landing machine M or the obstacle exists in the parking place 3-n.

[0120] If any of the vertical take-off and landing machine M and the obstacle exists at the stationing location 3-n ( Figure 7 If the obstacle detection unit 45 determines that the parking place 3-n is occupied by either the vertical take-off and landing machine M or the obstacle ( Figure 7 Step ST11).

[0121] If neither the vertical take-off and landing machine M nor the obstacle exists at the stationing location 3-n ( Figure 7 In step ST10: No), the obstacle detection unit 45 determines that the parking place 3-n is not occupied by the vertical take-off and landing aircraft M and the obstacle.

[0122] When the landing and take-off site 2 is in an occupied state, if the object occupying the landing and take-off site 2 sends a remote ID and the identification information acquisition unit 42 acquires the remote ID ( Figure 7 In step ST12: if yes), the obstacle detection unit 45 determines that the object occupying the take-off and landing site 2 is the vertical take-off and landing machine M.

[0123] If the transmission position of the remote ID received by the receiver 24 is known, it is possible to determine whether the object occupying the landing site 2 has transmitted the remote ID. For example, if the receiver 24 has multiple antennas, the transmission position of the remote ID can be calculated based on the difference in the arrival time of the remote ID for each antenna. In addition, the obstacle detection unit 45 can determine whether the object occupying the landing site 2 has transmitted the remote ID based on the position information of the vertical lift M included in the remote ID.

[0124] In addition to the receiver 24 installed at landing site 1, a receiver for receiving the remote ID is also installed at landing site 2, and the receivable range of the receiver is limited to the range including landing site 2. In this case, the obstacle detection unit 45 can determine whether the object occupying landing site 2 has transmitted the remote ID based on whether the receiver has received the remote ID.

[0125] In the case where the object occupying the take-off and landing site 2 is a vertical take-off and landing machine M, if the vertical take-off and landing machine M is not recorded in, for example, Fig.12 The legal vertical take-off and landing aircraft M in the "take-off and landing site / airspace occupation" of the operation plan shown Figure 7 If the step ST13: No is performed), the obstacle detection unit 45 identifies "illegal occupation of the vertical lift" as the type of obstacle that prevents the vertical lift M from taking off and landing ( Figure 7 Step ST14).

[0126] When the stationing place 3-n is occupied, if the object occupying the stationing place 3-n sends a remote ID and the identification information acquisition unit 42 acquires the remote ID ( Figure 7 In step ST12: if yes), the obstacle detection unit 45 determines that the object occupying the parking place 3-n is the vertical take-off and landing machine M.

[0127] If the transmission position of the remote ID received by the receiver 24 is known, it is possible to determine whether the object occupying the stationing place 3-n has transmitted the remote ID.

[0128] In the case where the object occupying the parking space 3-n is a vertical take-off and landing machine M, if the vertical take-off and landing machine M is not recorded in, for example, Fig.12 The legal vertical take-off and landing aircraft M in the "station 3-n occupation" of the operation plan shown Figure 7 If the step ST13: No is performed), the obstacle detection unit 45 identifies "illegal occupation of the vertical lift" as the type of obstacle that prevents the vertical lift M from taking off and landing ( Figure 7 Step ST14).

[0129] When the landing and take-off site 2 is in an occupied state, if the object occupying the landing and take-off site 2 does not send the remote ID and the identification information acquisition unit 42 does not acquire the remote ID ( Figure 7 In step ST12: No), the obstacle detection unit 45 determines that the object occupying the take-off and landing site 2 is garbage.

[0130] If the object occupying the take-off and landing site 2 is garbage, the obstacle detection unit 45 recognizes the "presence of garbage" as the type of obstacle that prevents the vertical lift M from taking off and landing ( Figure 7 Step ST15).

[0131] When the stationing place 3-n is occupied, if the object occupying the stationing place 3-n does not send the remote ID and the identification information acquisition unit 42 does not acquire the remote ID ( Figure 7 In step ST12: No), the obstacle detection unit 45 determines that the object occupying the stationing place 3-n is garbage.

[0132] If the object occupying the parking place 3-n is garbage, the obstacle detection unit 45 recognizes the "presence of garbage" as the type of obstacle that prevents the vertical take-off and landing machine M from taking off and landing ( Figure 7 Step ST15).

[0133] Next, the obstacle detection unit 45 analyzes the captured image shown in the image data to detect the flame generated in the land of the landing field 1 or the smoke existing in the take-off and landing airspace of the landing field 1. The process of detecting flames or smoke by analyzing the captured image itself is a well-known technology, so a detailed description is omitted.

[0134] If flame or smoke is detected ( Figure 7 If the step ST16: Yes is performed), the obstacle detection unit 45 identifies "occurrence of fire" as the type of obstacle that prevents the vertical lift M from taking off and landing ( Figure 7 Step ST17).

[0135] The obstacle detection unit 45 detects that neither the vertical lift M nor the obstacle exists in the take-off and landing site 2, etc., or that the object occupying the take-off and landing site 2, etc. is a legitimate vertical lift M ( Figure 7 Step ST13: Yes), and in the case where no flame is detected ( Figure 7 In step ST16: No), "illegal occupation of vertical take-off and landing machine", "presence of garbage" or "occurrence of fire" is not identified as the type of obstacle.

[0136] Next, the processing procedure of the obstacle detection unit 45 when “the presence of a suspicious flying object” or “the presence of a bird” is identified as the type of obstacle will be described.

[0137] Figure 8 This is a flowchart showing a processing procedure when “the presence of a suspicious flying object” or “the presence of a bird” is identified as the type of obstacle determined by the obstacle detection unit 45 .

[0138] The obstacle detection unit 45 analyzes the captured image shown in the image data, and detects, for example, the drone 11, the flying car 12, the helicopter 13, or a bird as the vertical take-off and landing machine M. The detection process of the vertical take-off and landing machine M itself is a well-known technology, and therefore a detailed description is omitted. However, for example, if the captured image is provided to a learning model that has learned the type of the vertical take-off and landing machine M corresponding to the shape of the vertical take-off and landing machine M, the obstacle detection unit 45 can obtain information indicating the type of the vertical take-off and landing machine M reflected in the captured image from the learning model.

[0139] If the detected vertical take-off and landing machine M is, for example, a drone 11, a flying car 12, or a helicopter 13 ( Figure 8 In step ST21: Yes), the obstacle detection unit 45 determines whether the remote ID acquired by the identification information acquisition unit 42 is a suspicious remote ID.

[0140] When the remote ID acquired by the identification information acquisition unit 42 is, for example, not the remote ID of the vertical lift M recorded in the operation plan of the take-off and landing field 1, or is the remote ID of the vertical lift M of a model that cannot use the take-off and landing field 1, the obstacle detection unit 45 determines that it is a suspicious remote ID.

[0141] If it is determined that the remote ID acquired by the identification information acquisition unit 42 is a suspicious remote ID ( Figure 8 If the obstacle detection unit 45 determines the "presence of a suspicious flying object" as the type of obstacle ( Figure 8 The flying object here is a concept including aircraft other than vertical take-off and landing aircraft.

[0142] exist Figure 3In the landing field monitoring system shown, if the remote ID acquired by the identification information acquisition unit 42 is a suspicious remote ID, the obstacle detection unit 45 identifies "the presence of a suspicious flying object" as the type of obstacle. However, this is just an example, and if the detected drone 11, flying car 12, or helicopter 13 does not send a remote ID and the identification information acquisition unit 42 does not acquire the remote ID, the obstacle detection unit 45 may identify "the presence of a suspicious flying object" as the type of obstacle.

[0143] If the detected VTOL aircraft M is a bird ( Figure 8 If the obstacle detection unit 45 detects the presence of a bird as the type of obstacle ( Figure 8 Step ST24).

[0144] exist Figure 3 In the landing field monitoring system shown in the figure, if the detected vertical take-off and landing machine M is a bird, the obstacle detection unit 45 recognizes "the presence of a bird" as the type of obstacle. Even if the detected vertical take-off and landing machine M is a bird, the obstacle detection unit 45 recognizes "the presence of a bird" as the type of obstacle only when the bird's stay time is equal to or longer than the threshold value for stay time determination. The threshold value for stay time determination may be stored in the internal memory of the obstacle detection unit 45, or may be provided from outside the landing field monitoring device 30.

[0145] If the remote ID acquired by the identification information acquisition unit 42 is not a suspicious remote ID ( Figure 8 (In the case of step ST22: No), the obstacle detection unit 45 does not recognize the "presence of a suspicious flying object" or the "presence of a bird" as the type of obstacle.

[0146] Next, the processing procedure of the obstacle detection unit 45 when “strong wind” is recognized as the type of obstacle will be described.

[0147] The obstacle detection unit 45 acquires the wind information from the wind identification unit 44 .

[0148] The obstacle detection unit 45 accumulates the acquired wind information and calculates the average wind speed v from a certain time before the current time to the current time. ave and maximum wind speed v max .

[0149] The obstacle detection unit 45 is set at an average wind speed v ave The ratio represents the threshold value vth of abnormal average wind speed ave In large cases or at maximum wind speed v max The ratio represents the threshold value vth of abnormal maximum wind speed max In large cases, "strong winds" are considered as an obstacle.

[0150] The obstacle detection unit 45 is set at an average wind speed v ave is the threshold value vth ave Below and maximum wind speed v max is the threshold value vth max In the following cases, "strong winds" are not considered as an obstacle.

[0151] Threshold vth ave and threshold vth max They may be stored in the internal memory of the obstacle detection unit 45 , or may be provided from the outside of the landing field monitoring device 30 .

[0152] Threshold vth ave and threshold vth max The values ​​may be different for each wind direction in the take-off and landing field 1 .

[0153] In the internal memory of the removal device activation unit 46 , the correspondence between the types of obstacles and the obstacle removal devices is recorded as follows.

[0154] Types of obstacles Obstacle removal device

[0155] “Illegal occupation of vertical take-off and landing machine” → None

[0156] "The existence of garbage" → Obstacle removal device 31-3

[0157] "Fire Occurrence" → Obstacle Removal Device 31-2

[0158] "The existence of a suspicious flying object" → None

[0159] "The presence of birds" → Obstacle removal device 31-1

[0160] “Strong Wind” → None

[0161] The removal device activation unit 46 selects an obstacle removal device for removing the obstacle from among the obstacle removal devices 31 - 1 to 31 - 3 based on the type of the obstacle determined by the obstacle detection unit 45 .

[0162] That is, if the type of obstacle is "the presence of garbage", the removal device starting unit 46 selects the obstacle removal device 31-3; if the type of obstacle is "the occurrence of fire", the removal device starting unit 46 selects the obstacle removal device 31-2; if the type of obstacle is "the presence of birds", the removal device starting unit 46 selects the obstacle removal device 31-1.

[0163] The removal device activation unit 46 activates the selected obstacle removal device ( Figure 6 Step ST6).

[0164] However, when the types of obstacles are "illegal occupation of vertical take-off and landing machine", "presence of suspicious flying object" and "strong wind", there is no obstacle removal device that can remove the obstacle among the obstacle removal devices 31-1 to 31-3. Therefore, the removal device activation unit 46 sends a message indicating the type of obstacle to, for example, a server device of the management company of the landing field 1.

[0165] In the above-mentioned first embodiment, the landing pad monitoring device 30 is configured to include: an image data acquisition unit 41 that acquires image data representing an image captured by the image capturing device 21 that captures the landing pad 1; and an obstacle detection unit 45 that determines the type of obstacle that hinders the takeoff and landing of the vertical lift that uses the landing pad 1 based on the image data acquired by the image data acquisition unit 41. Therefore, the landing pad monitoring device 30 can identify the type of obstacle that hinders the takeoff and landing of the vertical lift.

[0166] Furthermore, in the first embodiment, the landing pad monitoring device 30 is configured to include a removal device activation unit 46 that selects an obstacle removal device for removing an obstacle from among a plurality of obstacle removal devices 31-1 to 31-3 that have different types of obstacles to remove, and activates the selected obstacle removal device, based on the type of the obstacle determined by the obstacle detection unit 45. Therefore, the landing pad monitoring device 30 can remove an obstacle without requiring the operator of the management company of the landing pad 1 to perform the obstacle removal operation, for example.

[0167] Implementation method 2.

[0168] In the second embodiment, a description will be given of a landing pad monitoring device 30 including an operation planning unit 50 that generates an operation plan for a landing pad or updates the operation plan.

[0169] Fig. 9 2 is a block diagram showing a landing field monitoring system according to Embodiment 2. Fig. 9 In, with Figure 3 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0170] Fig.10 2 is a hardware configuration diagram showing the hardware of the landing field monitoring device 30 according to the second embodiment. Fig.10 In, with Figure 4 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0171] Fig.10 The landing pad monitoring device 30 shown includes an image data acquisition unit 41 , an identification information acquisition unit 42 , a position detection unit 43 , a wind identification unit 44 , an obstacle detection unit 45 , and a removal device activation unit 46 .

[0172] also, Fig.10 The landing field monitoring device 30 shown includes a management information acquisition unit 47 , a navigation information acquisition unit 48 , an operation state determination unit 49 , and an operation planning unit 50 .

[0173] The management information acquisition unit 47 is composed of, for example, Fig.10 The management information acquisition circuit 67 shown is implemented.

[0174] The management information acquisition unit 47 acquires management information indicating maintenance of the landing pad 1 from, for example, a server device of a management company of the landing pad 1 .

[0175] The management information acquisition unit 47 outputs the management information to the operation status determination unit 49 .

[0176] The navigation information acquisition unit 48 is composed of, for example, Fig.10 The navigation information acquisition circuit 68 shown is implemented.

[0177] The navigation information acquisition unit 48 acquires the navigation information of the vertical lift M from a server device of a company operating the vertical lift M, for example.

[0178] The navigation information acquisition unit 48 outputs the navigation information of the vertical lift M to the operation planning unit 50 .

[0179] The operation state determination unit 49 is composed of, for example, Fig.10 The operation status determination circuit 69 shown is implemented.

[0180] The operation state determination unit 49 determines the operation state of the landing field 1 based on the determination result of the obstacle type determined by the obstacle detection unit 45 .

[0181] The operation state determination unit 49 may determine the operation state of the landing field 1 based not only on the determination result of the obstacle type but also on the management information.

[0182] The operation planning unit 50 is composed of, for example, Fig.10 The application planning circuit 70 shown is implemented.

[0183] The operation planning unit 50 generates an operation plan for the landing field 1 based on the operation status of the landing field 1 determined by the operation status determining unit 49 .

[0184] Furthermore, the operation planning unit 50 updates the operation plan based on the operation status of the landing site 1 and each of the remote ID and the flight information of the vertical lift M as the identification information acquired by the identification information acquisition unit 42 .

[0185] exist Fig. 9In the above description, it is assumed that the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the management information acquisition unit 47, the navigation information acquisition unit 48, the operation state determination unit 49 and the operation planning unit 50, which are the structural elements of the landing field monitoring device 30, are respectively composed of Fig.10 That is, it is assumed that the landing field monitoring device 30 is implemented by an image data acquisition circuit 61, an identification information acquisition circuit 62, a position detection circuit 63, a wind determination circuit 64, an obstacle detection circuit 65, a removal device activation circuit 66, a management information acquisition circuit 67, a navigation information acquisition circuit 68, an operation state determination circuit 69, and an operation plan circuit 70.

[0186] The image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, the removal device start circuit 66, the management information acquisition circuit 67, the navigation information acquisition circuit 68, the operation status determination circuit 69 and the operation plan circuit 70 respectively correspond to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0187] The structural elements of the landing pad monitoring device 30 are not limited to those realized by dedicated hardware, and the landing pad monitoring device 30 may be realized by software, firmware, or a combination of software and firmware.

[0188] When the landing field monitoring device 30 is implemented by software or firmware, a program for causing a computer to execute each of the processing steps in the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the management information acquisition unit 47, the navigation information acquisition unit 48, the operation state determination unit 49, and the operation planning unit 50 is stored in the computer. Figure 5 The memory 81 is shown. Moreover, Figure 5 The illustrated processor 82 executes programs stored in the memory 81 .

[0189] In addition, Fig.10 In FIG. 1 , an example is shown in which the components of the landing field monitoring device 30 are respectively implemented by dedicated hardware. Figure 5 , an example is shown in which the landing pad monitoring device 30 is implemented by software or firmware. However, this is just an example, and some components of the landing pad monitoring device 30 may be implemented by dedicated hardware, and the remaining components may be implemented by software or firmware.

[0190] Next, Fig. 9The operation of the landing field monitoring system shown in FIG. 4 is described below. The management information acquisition unit 47, the navigation information acquisition unit 48, the operation state determination unit 49 and the operation planning unit 50 are Figure 3 Therefore, the operations of the management information acquisition unit 47, the navigation information acquisition unit 48, the operation state determination unit 49, and the operation planning unit 50 will be mainly described here.

[0191] The management information acquisition unit 47 acquires management information indicating maintenance of the landing pad 1 from, for example, a server device of a management company of the landing pad 1 .

[0192] The management information indicating maintenance includes, for example, information indicating a time period for maintenance and information indicating a location for maintenance. The location for maintenance includes, for example, the landing and take-off site 2, the stationing site 3-1, the stationing site 3-2, or the stationing site 3-3.

[0193] The management information acquisition unit 47 outputs the management information to the operation status determination unit 49 .

[0194] The navigation information acquisition unit 48 acquires the navigation information of the vertical lift M from a server device of a company operating the vertical lift M, for example.

[0195] The navigation information of the vertical take-off and landing machine M includes, for example, information indicating the passing path of the vertical take-off and landing machine M, information indicating the passing time of the vertical take-off and landing machine M, information indicating the landing time to the landing field 1, information indicating the stay time in the landing field 1, and information indicating the take-off time from the landing field 1.

[0196] The navigation information acquisition unit 48 outputs the navigation information of the vertical lift M to the operation planning unit 50 .

[0197] The obstacle detection unit 45 outputs the obstacle type determination result to the removal device activation unit 46 and also outputs the obstacle type determination result to the operation state determination unit 49 .

[0198] The operation state determination unit 49 acquires the determination result of the failure type from the failure detection unit 45 , and acquires the management information from the management information acquisition unit 47 .

[0199] The operation state determination unit 49 determines the operation state of the landing field 1 based on the determination result of the obstacle type and the management information.

[0200] Hereinafter, the determination process of the operation state by the operation state determination unit 49 will be described in detail.

[0201] Fig.11 It is an explanatory diagram showing an operation plan of the landing field 1 in which the operation status of the landing field 1 and the like are recorded.

[0202] exist Fig.11 In the above description, the "take-off and landing operation state" is the operation state of the take-off and landing site 2. If it is "in operation", it is a state where the take-off and landing site 2 can be used. If it is "operation stopped", it is a state where the operation of the take-off and landing site 2 is stopped.

[0203] The "stationed aircraft operation status" is the operation status of the stationed sites 3-1 to 3-3. If it is "free", it is a state where a new vertical lift M can be parked at any of the stationed sites 3-1 to 3-3. If it is "full", it is a state where vertical lifts M are parked at all the stationed sites 3-1 to 3-3. If the operation status of the stationed sites 3-1 to 3-3 is "operation stopped", it is a state where all the stationed sites 3-1 to 3-3 have stopped operating, and in this case it is also indicated as "full".

[0204] “Whether the take-off and landing is possible due to wind or the like” indicates whether the drone 11, the flying car 12, and the helicopter 13 are each in a state where they can take off and land. If “Yes”, they can take off and land. If “No”, they cannot take off and land due to obstacles such as wind or the like.

[0205] “Takeoff and landing presence or absence” shows whether the takeoff and landing site 2 is used for takeoff or landing, or whether the takeoff and landing site 2 is not used.

[0206] “Landing and take-off site / airspace occupation” shows the remote ID of the vertical take-off and landing machine M occupying the landing and take-off site 2 or the remote ID of the vertical take-off and landing machine M occupying the landing and take-off airspace.

[0207] In “Landing and Take-off Venue / Airspace Occupancy”, if “Maintenance” is recorded, it means that the landing and take-off venue 2 is under maintenance.

[0208] "Base station 3-n (n=1, 2, 3) occupied" shows the remote ID of the vertical take-off and landing machine M occupying the base station 3-n. In "Base station 3-n occupied", "none" shows that there is no vertical take-off and landing machine M occupying the base station 3-n.

[0209] Regarding the landing site 2, when the obstacle type determination result indicates "illegal occupation of vertical lift" or "presence of garbage", the operation state determination unit 49 determines the operation state of the landing site 2 in the landing field 1 to be "operation stopped".

[0210] Regarding the parking place 3-n (n=1, 2, 3), when the obstacle type determination result indicates "illegal occupation of vertical take-off and landing machine" or "presence of garbage", the operation status determination unit 49 determines the operation status of the parking place 3-n in the take-off and landing field 1 as "operation stopped".

[0211] When the result of the obstacle type determination indicates “occurrence of fire”, the operation state determination unit 49 determines the operation state of the landing field 1 to be “operation stopped”.

[0212] When the obstacle type determination result indicates “presence of a suspicious flying object” or “presence of a bird”, the operation state determination unit 49 determines the operation state of the landing field 1 to be “operation suspended”.

[0213] When the result of the obstacle type determination indicates “strong wind”, the operation state determination unit 49 determines the operation state of the take-off and landing site 2 in the landing site 1 to be “operation stopped”.

[0214] If the management information indicates that the landing site 2 is undergoing maintenance, the operation state determination unit 49 determines the operation state of the landing site 2 to be “operation stopped” during the time period when the maintenance is being performed.

[0215] If the management information indicates that the stationing site 3 - n is undergoing maintenance, the operation state determination unit 49 determines the operation state of the stationing site 3 - n to be “operation stopped” during the time period when the maintenance is being performed.

[0216] The operation planning unit 50 generates an operation plan for the landing field 1 based on the operation status of the landing field 1 determined by the operation status determining unit 19 .

[0217] Hereinafter, the generation process of the operation plan by the operation planning unit 50 will be described in detail.

[0218] If the operation state determination unit 19 determines that the operation state of the take-off and landing site 2 is "operation stopped", the operation planning unit 50, for example, Fig.11 In the operation plan shown in FIG. 1 , “operation stopped” is recorded in “take-off and landing operation status”. If the operation status determination unit 19 determines that the operation status of the take-off and landing field 1 is “operation stopped”, the operation planning unit 50 records the operation status of the take-off and landing field 1 as “operation stopped”. Fig.11 In the operation plan shown, "operation stopped" is recorded in "take-off and landing operation status".

[0219] exist Fig.11 In the operation plan shown, for example, "operation suspension" is recorded in the time period from 20:00 to 20:14 on December 31, 20X5.

[0220] If the operation state determination unit 19 does not determine the operation state of the take-off and landing site 2 as "operation stopped", the operation planning unit 50 Fig.11 In the operation plan shown, "in operation" is recorded in "take-off and landing operation status".

[0221] exist Fig.11 In the operation plan shown, for example, "in operation" is recorded in the time period from 19:45 to 19:59 on December 31, 20X5.

[0222] If the operation status determination unit 19 determines that the operation status of the stationing site 3-n is "operation stopped", the operation planning unit 50 Fig.11 In the operation plan shown, "Full" is recorded in "Parking Operation Status".

[0223] exist Fig.11 In the operation plan shown, for example, "full" is recorded in the time period from 5:45 to 5:59 on January 1, 20X6.

[0224] If the operation status determination unit 19 does not determine the operation status of the stationing site 3-n as "operation stop", the operation planning unit 50 Fig.11 In the operation plan shown, "free" is recorded in "parking operation status." However, if the vertical take-off and landing machines M are parked in all the parking places 3-1 to 3-3, the operation planning unit 50 records "full."

[0225] If the operation state of the landing site 2 is determined to be "operation stop" because the type of obstacle is "strong wind", the operation planning unit 50, for example, Fig.11 In the operation plan shown, "Not possible" is recorded in "Whether takeoff and landing is possible due to wind, etc." "Not possible" means "operation is suspended."

[0226] exist Fig.11 In the operation plan shown, for example, "Not available" is recorded in the time period from 20:00 to 20:14 on December 31, 20X5.

[0227] Here, if the operation status of the take-off and landing site 2 is determined to be "operation suspended", "Not possible" is recorded for all the drone 11, the flying car 12, and the helicopter 13. However, sometimes, even if the take-off and landing of the drone 11 and the flying car 12 are difficult due to strong winds, the helicopter 13 can still take off and land. In such a case, the operation planning unit 50 may record "Yes" in "Permission of take-off and landing due to wind, etc." for the helicopter 13, and "No" in "Permission of take-off and landing due to wind, etc." for each of the drone 11 and the flying car 12.

[0228] For the threshold vth representing abnormal average wind speed ave and the threshold value vth representing the abnormal maximum wind speed max If a different threshold value is used for each type of the vertical lift M, the obstacle detection unit 45 can determine whether or not there is an obstacle of “strong wind” for each type of the vertical lift M.

[0229] exist Fig.11In the operation plan shown, there are various items in addition to the items of "take-off and landing operation status", "parking operation status" and "take-off and landing availability based on wind, etc." The operation planning unit 50 also records the various items, but the record itself is the same as the record of the normal operation plan, so the detailed description is omitted.

[0230] After generating the operation plan, the operation planning unit 50 updates the operation plan of the landing field 1 based on the operation status of the landing field 1 and each of the remote ID and the flight information of the vertical lift M.

[0231] Hereinafter, the updating process of the operation plan by the operation planning unit 50 will be described in detail.

[0232] Fig.12 It is an explanatory diagram showing an example of updating the operation plan of the landing field 1 in which the operation status of the landing field 1 and the like are recorded.

[0233] When the operation state determination unit 19 changes the operation state of the take-off and landing site 2 from “in operation” to “out of operation”, the operation planning unit 50 changes the “take-off and landing operation state” in the operation plan from “in operation” to “out of operation”.

[0234] Furthermore, when the operation status determination unit 19 changes the operation status of the take-off and landing site 2 from “operation stopped” to “in operation”, the operation planning unit 50 changes the “take-off and landing operation status” in the operation plan from “operation stopped” to “in operation”.

[0235] exist Fig.12 In the operation plan shown, for example, the record for the time period from 23:45 to 23:59 on December 31, 20X5 is changed from "operation stopped" to "operation in progress".

[0236] The operation planning unit 50 determines, based on the type of the vertical lift M indicated by the remote ID, for example, an appropriate time interval with the vertical lift M that takes off and lands before the vertical lift M, or an appropriate time interval with the vertical lift M that takes off and lands after the vertical lift M. Since wind is generated at the take-off and landing site 2 with the take-off and landing of the vertical lift M, the appropriate time interval refers to the time interval until the next vertical lift M can take off and land safely. This time interval differs for each type of the vertical lift M. The process of determining the appropriate time interval itself is a well-known technique, and therefore a detailed description thereof is omitted.

[0237] The operation planning unit 50 determines the current time interval based on the flight information of the plurality of vertical lift machines M using the landing site 1 .

[0238] If the determined current time interval is shorter than the appropriate time interval, the operation planning unit 50 changes the operation plan so that the current time interval becomes the appropriate time interval.

[0239] In this case, in addition to the method of changing the operation plan by delaying the take-off and landing time of the vertical take-off and landing machine M that takes off and lands later, there is also a method of changing the operation plan by changing the take-off and landing order of the vertical take-off and landing machine M that takes off and lands first and the vertical take-off and landing machine M that takes off and lands later. Sometimes, even if the current time interval is not changed, an appropriate time interval can be ensured by changing the take-off and landing order. As a method of changing the operation plan by changing the take-off and landing order, a normal scheduling method for aircraft can be used.

[0240] exist Fig.11 The application plan and Fig.12 In the example of the operation plan shown, the take-off and landing order of the vertical lift M in the time period of 6:45 to 6:59 on January 1, 20X6 and the time period of 7:00 to 7:14 on January 1, 20X6 are changed.

[0241] That is, in Fig.11 In the operation plan shown, the vertical take-off and landing vehicle M is a flying car between 6:45 and 6:59 on January 1, 20X6. Fig.12 In the operation plan shown, the vertical take-off and landing aircraft M in the period from 6:45 to 6:59 on January 1, 20X6 is a drone.

[0242] In addition, Fig.11 In the operation plan shown, the vertical take-off and landing aircraft M is a UAV during the period of 7:00 to 7:14 on January 1, 20X6. Fig.12 In the operation plan shown, the vertical take-off and landing aircraft M during the period of 7:00 to 7:14 on January 1, 20X6 is a flying car.

[0243] In the above embodiment 2, Fig. 9 The landing pad monitoring device 30 shown is configured to include an operation planning unit 50 that generates an operation plan for the landing pad 1 or updates the operation plan based on the operation state of the landing pad 1 determined by the operation state determination unit 49. Fig. 9 The landing field monitoring device 30 shown can be used with Figure 3 The landing field monitoring device 30 shown can also automatically obtain the operation plan of the landing field 1 in addition to specifying the type of obstacle that prevents the vertical lift from taking off and landing.

[0244] Implementation method 3.

[0245] In the third embodiment, a description will be given of a landing site monitoring device 30 including a fee management unit 52 that calculates a fee for use of a vertical lift M at the landing site 1 .

[0246] Fig.13 1 is a block diagram showing a landing field monitoring system according to Embodiment 3. Fig.13 In, with Figure 3 and Fig. 9 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0247] Fig.14 2 is a hardware configuration diagram showing the hardware of the landing field monitoring device 30 according to the third embodiment. Fig.14 In, with Figure 4 and Fig.10 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0248] Fig.13 The landing pad monitoring device 30 shown includes an image data acquisition unit 41 , an identification information acquisition unit 42 , a position detection unit 43 , a wind identification unit 44 , an obstacle detection unit 45 , and a removal device activation unit 46 .

[0249] also, Fig.13 The landing pad monitoring device 30 shown includes a supply information acquisition unit 51 and a fee management unit 52 .

[0250] Fig.13 The landing field monitoring device 30 shown in the figure is a device in which a supply information acquisition unit 51 and a fee management unit 52 are applied to Figure 3 However, this is only an example, and the supply information acquisition unit 51 and the fee management unit 52 can also be applied to Fig. 9 The landing field monitoring device 30 is shown.

[0251] The power source supply device 25 is a device for supplying fuel to the vertical lift M or charging the vertical lift M.

[0252] The power source supply device 25 outputs supply information indicating the amount of fuel supplied to the vertical lift M or the amount of charge to the vertical lift M to the landing field monitoring device 30 .

[0253] The supply information acquisition unit 51 is composed of, for example, Fig.14 The supply information acquisition circuit 71 shown is implemented.

[0254] The supply information acquisition unit 51 acquires supply information indicating the amount of fuel supplied to the vertical lift M or the amount of charge to the vertical lift M from the power source supply device 25 .

[0255] The supply information acquisition unit 51 outputs the supply information to the charging management unit 52 .

[0256] The charging management unit 52 is composed of, for example, Fig.14 The charging management circuit 72 is shown to be implemented.

[0257] The fee management unit 52 calculates the fee for use of the landing site 1 by the vertical lift M based on the determination result of the occupancy status determined by the obstacle detection unit 45 and the remote ID as the identification information acquired by the identification information acquisition unit 42. The determination result of the occupancy status determined by the obstacle detection unit 45 indicates whether the vertical lift M occupies the landing site 2 or whether the vertical lift M occupies the stationing site 3-n (n=1, 2, 3).

[0258] The fee management unit 52 may calculate the fee for using the vertical lift M at the landing site 1 based not only on the occupancy status determination result determined by the obstacle detection unit 45 and the remote ID but also on the supply information acquired by the supply information acquisition unit 51 .

[0259] The charge management unit 52 transmits charge information indicating the use charge of the vertical lift M to, for example, a server device of a management company of the landing site 1 .

[0260] exist Fig.13 In the above description, it is assumed that the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the supply information acquisition unit 51 and the fee management unit 52, which are the components of the landing field monitoring device 30, are respectively Fig.14 Specifically, it is assumed that the landing field monitoring device 30 is implemented by an image data acquisition circuit 61, an identification information acquisition circuit 62, a position detection circuit 63, a wind determination circuit 64, an obstacle detection circuit 65, a removal device activation circuit 66, a supply information acquisition circuit 71, and a fee management circuit 72.

[0261] The image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, the removal device start circuit 66, the supply information acquisition circuit 71 and the charging management circuit 72 respectively correspond to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0262] The structural elements of the landing pad monitoring device 30 are not limited to those realized by dedicated hardware, and the landing pad monitoring device 30 may be realized by software, firmware, or a combination of software and firmware.

[0263] When the landing field monitoring device 30 is implemented by software or firmware, a program for causing a computer to execute each of the processing steps in the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the supply information acquisition unit 51, and the fee management unit 52 is stored in the computer. Figure 5 The memory 81 is shown. Then, Figure 5 The illustrated processor 82 executes programs stored in the memory 81 .

[0264] In addition, Fig.14 In FIG. 1 , an example is shown in which the components of the landing field monitoring device 30 are respectively implemented by dedicated hardware. Figure 5 , an example is shown in which the landing pad monitoring device 30 is implemented by software or firmware. However, this is just an example, and some components of the landing pad monitoring device 30 may be implemented by dedicated hardware, and the remaining components may be implemented by software or firmware.

[0265] Next, Fig.13 The operation of the landing field monitoring system shown in FIG. 5 is described below. Figure 3 The landing field monitoring system shown is the same. Therefore, here, the operations of the supply information acquisition unit 51 and the fee management unit 52 will be mainly described.

[0266] When the vertical lift machine M is present at the landing field 1 , it may receive supply of fuel for operating the engine from the power source supply device 25 .

[0267] Furthermore, when the vertical lift machine M is present at the landing site 1 , the battery may be charged from the power source supply device 25 .

[0268] When the power source supply device 25 supplies fuel to the vertical lift machine M, it transmits supply information indicating the supply amount of the fuel to the landing field monitoring device 30 .

[0269] When charging the battery of the vertical lift machine M, the power source supply device 25 outputs supply information indicating the amount of charge to the landing field monitoring device 30 .

[0270] The supply information acquisition unit 51 acquires supply information from the power source supply device 25 , and outputs the supply information to the fee management unit 52 .

[0271] The fee management unit 52 obtains a determination result indicating whether the vertical lift M occupies the landing site 2 or whether the vertical lift M occupies the stationing site 3 - n (n=1, 2, 3) from the obstacle detection unit 45 .

[0272] Furthermore, the fee management unit 52 acquires the remote ID from the identification information acquisition unit 42 and acquires the supply information from the power source supply device 25 .

[0273] If the vertical lift M occupies the landing site 2, a usage fee corresponding to the time the vertical lift M occupies the landing site 2 is charged.

[0274] Furthermore, if the vertical take-off and landing machine M occupies the parking place 3 - n , a utilization fee corresponding to the time the vertical take-off and landing machine M occupies the parking place 3 - n is charged.

[0275] The usage fee per unit time differs for each model of the vertical take-off and landing machine M indicated by the remote ID, for example.

[0276] When the vertical lift machine M receives the supply of fuel from the power source supply device 25, a utilization fee corresponding to the supply amount of fuel is charged.

[0277] When the vertical lift machine M receives charging of the battery from the power source supply device 25, a usage fee corresponding to the amount of charging is charged.

[0278] The fee management unit 52 determines the time Ta during which the vertical lift M occupies the take-off and landing site 2 or the time Tb during which the vertical lift M occupies the parking site 3 - n based on the determination result indicating the presence or absence of occupancy.

[0279] The fee management unit 52 specifies the model Model of the vertical take-off and landing machine M based on the remote ID.

[0280] Furthermore, the fee management unit 52 determines the supply amount Fuel of the fuel or the charge amount Char of the battery based on the supply information.

[0281] The fee management unit 52 calculates the usage fee P of the vertical lift M using, for example, any of the following equations (1) to (4).

[0282] P=Ta×Pa hour ×c+Fuel×F basic (1)

[0283] P=Tb×Pb hour ×c+Fuel×F basic (2)

[0284] P=Ta×Pa hour ×c+Char×C basic (3)

[0285] P=Tb×Pb hour ×c+Char×C basic (4)

[0286] In formulas (1) to (4), Pa hour is the usage fee per unit time of landing and take-off site 2, Pb hour It is the usage fee per unit time of the station location 3-n.

[0287] c is a variable corresponding to the model Model of the vertical take-off and landing machine M, and changes according to different models Model. basic is the utilization cost per unit of supply, C basic It is the usage fee per unit of charge.

[0288] The charge management unit 52 transmits charge information indicating the charge P for using the vertical lift M to, for example, a server device of a management company of the landing site 1 .

[0289] In the above embodiment 3, Fig.13 The landing field monitoring device 30 shown is configured to include a fee management unit 52 that calculates the fee for use of the landing field 1 by the vertical lift machine based on the determination result of the occupancy status determined by the obstacle detection unit 45 and the identification information obtained by the identification information acquisition unit 42. Fig.13 The landing field monitoring device 30 shown can be used with Figure 3 The landing field monitoring device 30 shown can similarly identify the type of obstacle that prevents the vertical lift from taking off and landing, and can also notify the management company of the landing field 1 of the utilization fee of the vertical lift for the landing field 1, for example.

[0290] Implementation method 4.

[0291] In the fourth embodiment, the landing field monitoring device 30 including the wind measurement data acquisition unit 53 and the weather information acquisition unit 54 will be described.

[0292] Fig.15 1 is a block diagram showing a landing field monitoring system according to a fourth embodiment. Fig.15 In, with Figure 3 , Fig. 9 and Fig.13 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0293] Fig.16 2 is a hardware configuration diagram showing the hardware of the landing field monitoring device 30 according to the fourth embodiment. Fig.16 In, with Figure 4 , Fig.10 and Fig.14 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0294] Fig.15The landing pad monitoring device 30 shown includes an image data acquisition unit 41 , an identification information acquisition unit 42 , a position detection unit 43 , a wind identification unit 44 , an obstacle detection unit 45 , and a removal device activation unit 46 .

[0295] also, Fig.15 The landing field monitoring device 30 shown includes a wind measurement data acquisition unit 53 and a weather information acquisition unit 54 .

[0296] Fig.15 The landing field monitoring device 30 shown in the figure is a device in which a wind measurement data acquisition unit 53 and a weather information acquisition unit 54 are applied to Figure 3 However, this is just an example, and the wind measurement data acquisition unit 53 and the weather information acquisition unit 54 can also be applied to Fig. 9 The landing field monitoring device 30 shown or Fig.13 The landing field monitoring device 30 is shown.

[0297] The wind measuring device 26 is a wind direction and wind speed sensor that measures the wind at the landing field 1 .

[0298] The wind measuring device 26 outputs wind measurement data indicating the wind measurement result to the landing field monitoring device 30 .

[0299] The weather observation device 27 is, for example, a device owned by a company that provides weather data, and predicts winds in each area.

[0300] The weather observation device 27 transmits weather information indicating the wind forecast result at the landing field 1 to the landing field monitoring device 30 via a network such as the Internet.

[0301] The wind measurement data acquisition unit 53 is, for example, Fig.16 The wind measurement data acquisition circuit 73 shown is implemented.

[0302] The wind measurement data acquisition unit 53 acquires wind measurement data indicating wind measurement results from the wind measuring device 26 .

[0303] The wind measurement data acquisition unit 53 outputs the wind measurement data to the wind identification unit 44 .

[0304] The weather information acquisition unit 54 is composed of, for example, Fig.16 The weather information acquisition circuit 74 shown is implemented.

[0305] The weather information acquisition unit 54 acquires weather information indicating a forecast result of wind in the landing field 1 from the weather observation device 27 .

[0306] Weather information acquisition unit 54 outputs the weather information to wind identification unit 44 .

[0307] Fig.15The wind identification unit 44 shown identifies each of the wind direction and wind speed in the landing field 1 based not only on the image data acquired by the image data acquisition unit 41 but also on the wind measurement data acquired by the wind measurement data acquisition unit 53 and the weather information acquired by the weather information acquisition unit 54 .

[0308] exist Fig.15 In the above description, it is assumed that the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the wind measurement data acquisition unit 53 and the weather information acquisition unit 54, which are the components of the landing field monitoring device 30, are respectively Fig.16 Specifically, it is assumed that the landing field monitoring device 30 is implemented by the image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, the removal device activation circuit 66, the wind measurement data acquisition circuit 73, and the weather information acquisition circuit 74.

[0309] The image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, the removal device start circuit 66, the wind measurement data acquisition circuit 73 and the meteorological information acquisition circuit 74 respectively correspond to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0310] The structural elements of the landing pad monitoring device 30 are not limited to those realized by dedicated hardware, and the landing pad monitoring device 30 may be realized by software, firmware, or a combination of software and firmware.

[0311] When the landing field monitoring device 30 is implemented by software or firmware, a program for causing a computer to execute each of the processing steps in the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the wind measurement data acquisition unit 53, and the weather information acquisition unit 54 is stored in the computer. Figure 5 The memory 81 is shown. Then, Figure 5 The illustrated processor 82 executes programs stored in the memory 81 .

[0312] In addition, Fig.16 In FIG. 1 , an example is shown in which the components of the landing field monitoring device 30 are respectively implemented by dedicated hardware. Figure 5 , an example is shown in which the landing pad monitoring device 30 is implemented by software or firmware. However, this is just an example, and some components of the landing pad monitoring device 30 may be implemented by dedicated hardware, and the remaining components may be implemented by software or firmware.

[0313] Next, Fig.15 The operation of the landing field monitoring system shown in FIG. 5 is described below. The parts other than the wind measurement data acquisition unit 53, the weather information acquisition unit 54, and the wind determination unit 44 are Figure 3 Therefore, here, the operations of the wind measurement data acquisition unit 53, the weather information acquisition unit 54, and the wind identification unit 44 will be mainly described.

[0314] The wind measuring device 26 measures the wind at the landing field 1 .

[0315] The wind measuring device 26 outputs wind measurement data indicating the wind measurement result to the landing field monitoring device 30 .

[0316] The weather observation device 27 observes the wind in each area and predicts the wind in each area.

[0317] The weather observation device 27 transmits weather information indicating the wind forecast result at the landing field 1 to the landing field monitoring device 30 via a network such as the Internet.

[0318] The wind measurement data acquisition unit 53 acquires wind measurement data indicating the wind measurement result from the wind measuring device 26 , and outputs the wind measurement data to the wind identification unit 44 .

[0319] The weather information acquisition unit 54 acquires weather information indicating a forecast result of wind in the landing field 1 from the weather observation device 27 , and outputs the weather information to the wind identification unit 44 .

[0320] Fig.15 The wind identification unit 44 shown acquires the image data from the image data acquisition unit 41 .

[0321] also, Fig.15 The wind identification unit 44 shown acquires wind measurement data from the wind measurement data acquisition unit 53 and acquires weather information from the weather information acquisition unit 54 .

[0322] Fig.15 The wind determination unit 44 shown is Figure 3 The wind identification unit 44 shown similarly identifies each of the wind direction and wind speed in the landing field 1 based on the image data.

[0323] Fig.15 The wind identification unit 44 shown integrates the identification result based on the image data, the wind measurement data, and the weather information.

[0324] Specifically, the wind identification unit 44 integrates the wind direction identified based on the image data, the wind direction indicated by the wind measurement data, and the average value of the wind direction related to the forecast result indicated by the weather information.

[0325] Furthermore, the wind identification unit 44 integrates the wind speed identified based on the image data, the wind speed indicated by the wind measurement data, and the average value of the wind speed related to the forecast result indicated by the weather information.

[0326] Fig.15 The wind identification unit 44 shown outputs wind information indicating each item of the integrated wind direction and the integrated wind speed to the obstacle detection unit 45 .

[0327] exist Fig.15 In the landing field monitoring device 30 shown in the figure, the wind determination unit 44 performs integration by calculating the average value of the wind direction determined based on the image data, the wind direction indicated by the wind measurement data, and the wind direction related to the forecast result indicated by the weather information. However, this is only an example, and the wind determination unit 44 may perform integration by calculating the weighted average value of the wind direction determined based on the image data, the wind direction indicated by the wind measurement data, and the wind direction related to the forecast result indicated by the weather information. In addition, the wind determination unit 44 may perform integration by performing data assimilation of the wind direction determined based on the image data, the wind direction indicated by the wind measurement data, and the wind direction related to the forecast result indicated by the weather information.

[0328] exist Fig.15 In the landing field monitoring device 30 shown in the figure, the wind determination unit 44 performs integration by calculating the average value of the wind speed determined based on the image data, the wind speed indicated by the wind measurement data, and the wind speed related to the forecast result indicated by the weather information. However, this is only an example, and the wind determination unit 44 may perform integration by calculating the weighted average value of the wind speed determined based on the image data, the wind speed indicated by the wind measurement data, and the wind speed related to the forecast result indicated by the weather information. In addition, the wind determination unit 44 may perform integration by performing data assimilation of the wind speed determined based on the image data, the wind speed indicated by the wind measurement data, and the wind speed related to the forecast result indicated by the weather information.

[0329] In the above embodiment 4, Fig.15 The landing field monitoring device 30 shown is constructed to include: a wind measurement data acquisition unit 53, which acquires wind measurement data representing wind measurement results from a wind meter 26 that measures the wind at the landing field 1; and a weather information acquisition unit 54, which acquires weather information representing forecast results of wind in the landing field 1 from a weather observation device 27.

[0330] also, Fig.15 The wind determination unit 44 of the landing field monitoring device 30 shown in the figure determines each of the wind direction and wind speed in the landing field 1 based on the image data acquired by the image data acquisition unit 41, the wind measurement data acquired by the wind measurement data acquisition unit 53, and the weather information acquired by the weather information acquisition unit 54. Therefore, Fig.15The landing field monitoring device 30 shown can be used with Figure 3 The landing field monitoring device 30 shown in the figure similarly determines the type of obstacle that prevents the vertical lift from taking off and landing, and Figure 3 Compared with the landing field monitoring device 30 shown in the figure, the accuracy of determining the wind direction and the wind speed can also be improved.

[0331] Implementation method 5.

[0332] In the fifth embodiment, a take-off and landing site monitoring device 30 including a visibility information acquisition unit 55 and a suspicious flying object detection unit 56 will be described.

[0333] Fig.17 1 is a block diagram showing a landing field monitoring system according to Embodiment 5. Fig.17 In, with Figure 3 , Fig. 9 , Fig.13 and Fig.15 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0334] Fig.18 1 is a hardware configuration diagram showing the hardware of the landing field monitoring device 30 according to the fifth embodiment. Fig.18 In, with Figure 4 , Fig.10 , Fig.14 and Fig.16 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0335] Fig.17 The landing pad monitoring device 30 shown includes an image data acquisition unit 41 , an identification information acquisition unit 42 , a position detection unit 43 , a wind identification unit 44 , an obstacle detection unit 45 , and a removal device activation unit 46 .

[0336] also, Fig.17 The illustrated landing field monitoring device 30 includes a visibility information acquisition unit 55 and a suspicious flying object detection unit 56 .

[0337] Fig.15 The landing field monitoring device 30 shown in the figure is a device in which a visibility information acquisition unit 55 and a suspicious flying object detection unit 56 are applied to Figure 3 However, this is just an example, and the visibility information acquisition unit 55 and the suspicious flying object detection unit 56 can also be applied to Fig. 9 The landing field monitoring device 30 shown, Fig.13 The landing field monitoring device 30 shown, or Fig.15 The landing field monitoring device 30 is shown.

[0338] The visibility meter 28 is a sensor that measures the visibility of the take-off and landing airspace of the vertical take-off and landing machine M in the landing field 1 .

[0339] The visibility information acquisition unit 55 is composed of, for example, Fig.18 The visibility information acquisition circuit 75 shown is implemented.

[0340] The visibility information acquisition unit 55 acquires visibility information indicating the visibility of the take-off and landing airspace from the visibility meter 28 .

[0341] The visibility information acquisition unit 55 outputs the visibility information to the obstacle detection unit 45 .

[0342] Fig.17 The obstacle detection unit 45 shown in FIG. Figure 3 The obstacle detection unit 45 shown in the figure determines the type of obstacle in the same manner.

[0343] also, Fig.17 The obstacle detection unit 45 shown further determines a visibility obstacle as the type of obstacle based on the visibility information acquired by the visibility information acquisition unit 55 .

[0344] The suspicious flying object detection unit 56 is composed of, for example, Fig.18 The suspicious flying object detection circuit 76 is shown to be implemented.

[0345] If the type of obstacle determined by the obstacle detection unit 45 is the presence of a suspicious flying object, the suspicious flying object detection unit 56 transmits the detection information of the suspicious flying object to, for example, a server device of the management company of the landing and takeoff port 1 .

[0346] exist Fig.17 In the above description, it is assumed that the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the visibility information acquisition unit 55 and the suspicious flying object detection unit 56, which are the structural elements of the take-off and landing field monitoring device 30, are respectively Fig.18 Specifically, it is assumed that the landing field monitoring device 30 is implemented by an image data acquisition circuit 61, an identification information acquisition circuit 62, a position detection circuit 63, a wind determination circuit 64, an obstacle detection circuit 65, a removal device activation circuit 66, a visibility information acquisition circuit 75, and a suspicious flying object detection circuit 76.

[0347] The image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, the removal device start circuit 66, the visibility information acquisition circuit 75 and the suspicious flying object detection circuit 76 respectively correspond to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0348] The structural elements of the landing pad monitoring device 30 are not limited to those realized by dedicated hardware, and the landing pad monitoring device 30 may be realized by software, firmware, or a combination of software and firmware.

[0349] When the landing field monitoring device 30 is implemented by software or firmware, a program for causing a computer to execute each of the processing steps in the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the visibility information acquisition unit 55, and the suspicious flying object detection unit 56 is stored in the computer. Figure 5 The memory 81 is shown. Then, Figure 5 The illustrated processor 82 executes programs stored in the memory 81 .

[0350] In addition, Fig.18 In FIG. 1 , an example is shown in which the components of the landing field monitoring device 30 are respectively implemented by dedicated hardware. Figure 5 , an example is shown in which the landing pad monitoring device 30 is implemented by software or firmware. However, this is just an example, and some components of the landing pad monitoring device 30 may be implemented by dedicated hardware, and the remaining components may be implemented by software or firmware.

[0351] Next, Fig.17 The operation of the landing field monitoring system shown in FIG. 4 is described below. The parts other than the obstacle detection unit 45, the visibility information acquisition unit 55 and the suspicious flying object detection unit 56 are Figure 3 Therefore, here, the operations of the obstacle detection unit 45, the visibility information acquisition unit 55, and the suspicious flying object detection unit 56 will be mainly described.

[0352] The visibility meter 28 measures the visibility of the take-off and landing airspace by measuring the extinction rate of the atmosphere in the take-off and landing airspace of the vertical take-off and landing machine M or the transmittance of the atmosphere in the take-off and landing airspace.

[0353] The visibility meter 28 outputs visibility information indicating visibility to the landing field monitoring device 30 .

[0354] The visibility information acquisition unit 55 acquires visibility information from the visibility meter 28 , and outputs the visibility information to the obstacle detection unit 45 .

[0355] Fig.17 The obstacle detection unit 45 shown in FIG. Figure 3 The obstacle detection unit 45 shown in the figure determines the type of obstacle in the same manner.

[0356] Fig.17 The obstacle detection unit 45 shown acquires the visibility information from the visibility information acquisition unit 55 .

[0357] Fig.17 The obstacle detection unit 45 shown in FIG. Figure 3 Unlike the obstacle detection unit 45 shown, the obstacle detection unit 45 also determines a visibility obstacle as the type of obstacle based on the visibility information.

[0358] Right now, Fig.17 The obstacle detection unit 45 shown compares the visibility indicated by the visibility information with a threshold value for visibility determination, and determines that there is a visibility obstacle if the visibility is smaller than the threshold value for visibility determination.

[0359] If the visibility is above the visibility determination threshold, then Fig.17 The obstacle detection unit 45 shown in the figure determines that there is no visibility obstacle.

[0360] The threshold value for determining visibility may be stored in the internal memory of the obstacle detection unit 45 , or may be provided from outside the landing field monitoring device 30 .

[0361] Fig.17 The obstacle detection unit 45 shown outputs the result of determination of the obstacle type to the removal device activation unit 46 and the suspicious flying object detection unit 56 .

[0362] The removal device activation unit 46 is Fig.17 The obstacle detection unit 45 shown acquires the result of determination of the obstacle type.

[0363] The removal device activation unit 46 selects an obstacle removal device for removing the obstacle from among the obstacle removal devices 31 - 1 to 31 - 3 based on the type of the obstacle determined by the obstacle detection unit 45 .

[0364] The removal device activation unit 46 activates the selected obstacle removal device.

[0365] If the type of obstacle is "visibility obstacle", since there is no obstacle removal device that can remove the obstacle among the obstacle removal devices 31 - 1 to 31 - 3 , the removal device activation unit 46 sends a message indicating the type of obstacle to, for example, the server device of the management company of the landing field 1 .

[0366] The suspicious flying object detection unit 56 Fig.17 The obstacle detection unit 45 shown acquires the result of determination of the obstacle type.

[0367] If the type of obstacle is “presence of a suspicious flying object”, the suspicious flying object detection unit 56 transmits the detection information of the suspicious flying object to, for example, a server device of the management company of the landing and take-off airport 1 .

[0368] For example, if a drone interception device or an anti-drone device is installed in the landing field 1, the suspicious flying object detection unit 56 can also start the drone interception device, etc. via the removal device starting unit 46, so as to remove the suspicious flying object.

[0369] In the above embodiment 5, Fig.17 The landing field monitoring device 30 shown in the figure is configured to include a visibility information acquisition unit 55, which acquires visibility information indicating visibility from a visibility meter 28 that measures the visibility of the take-off and landing airspace of the vertical lift in the landing field 1, and an obstacle detection unit 45 determines a visibility obstacle as a type of obstacle based on the visibility information acquired by the visibility information acquisition unit 55. Therefore, Fig.17 The landing field monitoring device 30 shown can be used with Figure 3 The landing field monitoring device 30 shown in the figure can also identify a visibility obstacle as the type of obstacle in addition to identifying the type of obstacle that hinders the take-off and landing of the vertical lift.

[0370] In the fifth embodiment, the landing field monitoring device 30 is configured to include a suspicious flying object detection unit 56, and if the type of obstacle determined by the obstacle detection unit 45 is the presence of a suspicious flying object, the suspicious flying object detection unit 56 transmits detection information of the suspicious flying object. Therefore, the landing field monitoring device 30 can notify the management company of the landing field 1, for example, of the presence of a suspicious flying object.

[0371] Implementation method 6.

[0372] In the sixth embodiment, a take-off and landing field monitoring device 30 including an aviation weather information providing unit 57 and an electromagnetic environment information acquiring unit 58 will be described.

[0373] Fig.19 1 is a block diagram showing a landing field monitoring system according to Embodiment 6. Fig.19 In, with Figure 3 , Fig. 9 , Fig.13 , Fig.15 and Fig.17 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0374] Fig. 20 2 is a hardware configuration diagram showing the hardware of the landing field monitoring device 30 according to the sixth embodiment. Fig. 20 In, with Figure 4 , Fig.10 , Fig.14 , Fig.16 and Fig.18 The same reference numerals denote the same or corresponding parts, and thus their descriptions are omitted.

[0375] Fig.19 The landing pad monitoring device 30 shown includes an image data acquisition unit 41 , an identification information acquisition unit 42 , a position detection unit 43 , a wind identification unit 44 , an obstacle detection unit 45 , and a removal device activation unit 46 .

[0376] also, Fig.19 The illustrated landing field monitoring device 30 includes an aviation weather information providing unit 57 and an electromagnetic environment information acquiring unit 58 .

[0377] Fig.19 The landing field monitoring device 30 shown in the figure is an aviation weather information providing unit 57 and an electromagnetic environment information obtaining unit 58 applied to Figure 3 However, this is just an example, and the aviation weather information providing unit 57 and the electromagnetic environment information obtaining unit 58 can also be applied to Fig. 9 The landing field monitoring device 30 shown, Fig.13 The landing field monitoring device 30 shown, Fig.15 The landing field monitoring device 30 shown, or Fig.17 The landing field monitoring device 30 is shown.

[0378] The aviation weather observation meter 91 includes, as sensors, one or more sensors selected from, for example, a visibility meter, a rain gauge, a thermometer, a barometer, a snow meter, a hygrometer, a cloud height measuring device, and a wind direction and speed sensor.

[0379] The aviation weather observation meter 91 observes one or more of visibility, rainfall, temperature, air pressure, snow accumulation, and humidity as aviation weather.

[0380] The aviation weather observation meter 91 outputs aviation weather information indicating the observation result of aviation weather to the landing field monitoring device 30 .

[0381] The electromagnetic environment monitoring device 92 monitors the electromagnetic environment in the landing field 1. The electromagnetic environment in the landing field 1 may include not only the electromagnetic environment in the site of the landing field 1 but also the electromagnetic environment around the landing field 1.

[0382] The electromagnetic environment monitoring device 92 outputs electromagnetic environment information indicating the monitoring result of the electromagnetic environment to the landing field monitoring device 30 .

[0383] The radar device 93 receives the reflected wave of the vertical take-off and landing machine M, and detects the position of the vertical take-off and landing machine M based on the reflected wave.

[0384] The radar device 93 outputs position information indicating the position of the vertical lift M to the landing field monitoring device 30 .

[0385] The aviation weather information providing unit 57 is composed of, for example, Fig. 20 The aviation weather information providing circuit 77 shown is implemented.

[0386] The aviation weather information providing unit 57 acquires aviation weather information indicating the observation result of aviation weather from the aviation weather observation meter 91 that observes aviation weather.

[0387] The aviation weather information providing unit 57 transmits aviation weather information to the vertical take-off and landing aircraft M using the landing field 1 .

[0388] Furthermore, the aviation weather information providing unit 57 determines whether the weather at the takeoff and landing field 1 is visual weather based on the aviation weather information.

[0389] The aviation weather information providing unit 57 transmits the determination result of the visual weather to the vertical take-off and landing aircraft M using the landing field 1 .

[0390] The electromagnetic environment information acquisition unit 58 is composed of, for example, Fig. 20 The electromagnetic environment information acquisition circuit 78 shown is implemented.

[0391] The electromagnetic environment information acquisition unit 58 acquires electromagnetic environment information indicating the monitoring result of the electromagnetic environment from the electromagnetic environment monitoring device 92 that monitors the electromagnetic environment in the landing field 1 .

[0392] The electromagnetic environment information acquisition unit 58 outputs the electromagnetic environment information to the obstacle detection unit 45 .

[0393] Fig.19 The obstacle detection unit 45 shown in FIG. Figure 3 The obstacle detection unit 45 shown in the figure determines the type of obstacle in the same manner.

[0394] also, Fig.19 The obstacle detection unit 45 shown further determines an electromagnetic obstacle as the type of obstacle based on the electromagnetic environment information acquired by the electromagnetic environment information acquisition unit 58 .

[0395] Fig.19 The position detection unit 43 shown in FIG. Figure 3 The position detection unit 43 shown in the figure similarly detects the position of the vertical lift M based on the image data acquired by the image data acquisition unit 41 and the like.

[0396] also, Fig.19 The position detection unit 43 shown in FIG. Figure 3 Unlike the position detection unit 43 shown in the figure, the position information indicating the position of the vertical lift M is acquired from the radar device 93, and the position of the vertical lift M is detected based on the position information.

[0397] Fig.19The position detection unit 43 shown can use either the position of the vertical lift M detected based on image data or the position of the vertical lift M detected based on position information as a detection result, or can use, for example, the average value of the position of the vertical lift M detected based on image data and the position of the vertical lift M detected based on position information as a detection result.

[0398] Fig.19 The landing field monitoring system shown is equipped with a radar device 93. However, this is only an example. Fig.19 The landing field monitoring system shown may include a laser radar device for detecting the position of the vertical take-off and landing machine M in addition to the radar device 93, or may include both the radar device 93 and the laser radar device.

[0399] exist Fig.19 In the above description, it is assumed that the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the aviation weather information provision unit 57 and the electromagnetic environment information acquisition unit 58, which are the structural elements of the landing field monitoring device 30, are respectively composed of Fig. 20 That is, it is assumed that the landing field monitoring device 30 is implemented by the image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, the removal device activation circuit 66, the aviation weather information providing circuit 77 and the electromagnetic environment information acquisition circuit 78.

[0400] The image data acquisition circuit 61, the identification information acquisition circuit 62, the position detection circuit 63, the wind determination circuit 64, the obstacle detection circuit 65, the removal device start circuit 66, the aviation weather information providing circuit 77 and the electromagnetic environment information acquisition circuit 78 respectively correspond to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0401] The structural elements of the landing pad monitoring device 30 are not limited to those realized by dedicated hardware, and the landing pad monitoring device 30 may be realized by software, firmware, or a combination of software and firmware.

[0402] When the landing field monitoring device 30 is implemented by software or firmware, a program for causing a computer to execute each of the processing steps in the image data acquisition unit 41, the identification information acquisition unit 42, the position detection unit 43, the wind determination unit 44, the obstacle detection unit 45, the removal device activation unit 46, the aviation weather information provision unit 57, and the electromagnetic environment information acquisition unit 58 is stored in the computer. Figure 5 The memory 81 is shown. Then, Figure 5 The illustrated processor 82 executes programs stored in the memory 81 .

[0403] In addition, Fig. 20 In FIG. 1 , an example is shown in which the components of the landing field monitoring device 30 are respectively implemented by dedicated hardware. Figure 5 , an example is shown in which the landing pad monitoring device 30 is implemented by software or firmware. However, this is just an example, and some components of the landing pad monitoring device 30 may be implemented by dedicated hardware, and the remaining components may be implemented by software or firmware.

[0404] Next, Fig.19 The operation of the landing field monitoring system shown in FIG. 4 is described below. Figure 3 Therefore, the operations of the position detection unit 43, the obstacle detection unit 45, the aviation weather information providing unit 57, and the electromagnetic environment information acquiring unit 58 will be mainly described here.

[0405] The aviation weather observation meter 91 observes, for example, one or more of visibility, rainfall, temperature, air pressure, snow accumulation, and humidity as aviation weather.

[0406] The aviation weather observation meter 91 outputs aviation weather information indicating the observation result of aviation weather to the landing field monitoring device 30 .

[0407] The aviation weather information providing unit 57 obtains aviation weather information from the aviation weather observation meter 91 , and transmits the aviation weather information to the vertical takeoff and landing machine M using the landing field 1 .

[0408] Furthermore, the aviation weather information providing unit 57 determines whether the weather at the takeoff and landing field 1 is visual weather based on the aviation weather information.

[0409] For example, the aviation weather information providing unit 57 compares the visibility included in the observation result indicated by the aviation weather information with a threshold value for visual weather determination based on the visibility, and determines that it is visual weather if the visibility is equal to or greater than the threshold value for visual weather determination.

[0410] If the visibility is less than the threshold value for visual weather determination, the aviation weather information providing unit 57 determines that it is not visual weather. The threshold value for visual weather determination may be stored in the internal memory of the aviation weather information providing unit 57 or provided from outside the landing field monitoring device 30.

[0411] The aviation weather information providing unit 57 transmits the determination result of the visual weather to the vertical take-off and landing aircraft M using the landing field 1 .

[0412] exist Fig.19In the landing field monitoring device 30 shown in the figure, the aviation weather information providing unit 57 compares the visibility included in the observation result shown in the aviation weather information with the threshold value for visual weather determination based on the visibility, thereby determining whether the weather at the landing field 1 is visual weather. However, this is just an example, and the aviation weather information providing unit 57 may compare the cloud height included in the observation result shown in the aviation weather information with the threshold value for visual weather determination based on the cloud height, thereby determining whether the weather at the landing field 1 is visual weather. If the cloud height is above the threshold value for visual weather determination, the aviation weather information providing unit 57 determines that it is visual weather, and if the cloud height is less than the threshold value for visual weather determination, the aviation weather information providing unit 57 determines that it is not visual weather.

[0413] Furthermore, the aviation weather information providing unit 57 may determine that it is visual weather only when the visibility is equal to or higher than the threshold value for visual weather determination based on the visibility and the cloud height is equal to or higher than the threshold value for visual weather determination based on the cloud height, for example.

[0414] The electromagnetic environment monitoring device 92 monitors, for example, radio wave interference in the landing field 1 as the electromagnetic environment in the landing field 1 .

[0415] The electromagnetic environment monitoring device 92 outputs electromagnetic environment information indicating the monitoring result of the electromagnetic environment to the landing field monitoring device 30 .

[0416] The electromagnetic environment information acquisition unit 58 acquires electromagnetic environment information from the electromagnetic environment monitoring device 92 , and outputs the electromagnetic environment information to the obstacle detection unit 45 .

[0417] Fig.19 The obstacle detection unit 45 shown in FIG. Figure 3 The obstacle detection unit 45 shown in the figure determines the type of obstacle in the same manner.

[0418] also, Fig.19 The obstacle detection unit 45 shown acquires electromagnetic environment information from the electromagnetic environment information acquisition unit 58 .

[0419] Fig.19 The obstacle detection unit 45 shown in FIG. Figure 3 Unlike the obstacle detection unit 45 shown, the obstacle detection unit 45 also determines an electromagnetic obstacle as the type of obstacle based on the electromagnetic environment information.

[0420] For example, Fig.19 The obstacle detection unit 45 shown compares the level of radio interference shown in the electromagnetic environment information with a threshold value for radio interference, and identifies electromagnetic interference as the type of obstacle if the level of radio interference is equal to or higher than the threshold value for radio interference.

[0421] If the level of radio interference is the threshold value for radio interference, then Fig.19The obstacle detection unit 45 shown does not recognize electromagnetic obstacles as the type of obstacles. The threshold value for radio wave interference may be stored in the internal memory of the obstacle detection unit 45 or may be provided from outside the landing field monitoring device 30.

[0422] Fig.19 The obstacle detection unit 45 shown outputs the result of determination of the obstacle type to the removal device activation unit 46 .

[0423] The removal device activation unit 46 is Fig.19 The obstacle detection unit 45 shown acquires the result of determination of the obstacle type.

[0424] The removal device activation unit 46 selects an obstacle removal device for removing the obstacle from among the obstacle removal devices 31 - 1 to 31 - 3 based on the type of the obstacle determined by the obstacle detection unit 45 .

[0425] The removal device activation unit 46 activates the selected obstacle removal device.

[0426] If the type of obstacle is "electromagnetic obstacle", since there is no obstacle removal device that can remove the obstacle among obstacle removal devices 31-1 to 31-3, removal device activation unit 46 sends a message indicating the type of obstacle to, for example, the server device of the management company of landing field 1.

[0427] As an operation of the management company that obtains a message indicating the type of failure, for example, the following operation is considered.

[0428] When an electromagnetic barrier exists, the operation of equipment used for the operation of the vertical lift M may be hindered. Therefore, the management company stops the operation of the vertical lift M and considers starting the investigation of the cause of the electromagnetic barrier.

[0429] Alternatively, if the message indicating the type of obstacle indicates that it is an electromagnetic obstacle, an operation of automatically stopping the take-off and landing operation of the vertical lift M is considered.

[0430] exist Fig.19 In the landing field monitoring device 30 shown, the obstacle detection unit 45 determines the electromagnetic obstacle. For example, if a snow removal device or a snow melting device is provided in the landing field 1, the obstacle detection unit 45 may obtain aviation weather related to snow accumulation from the aviation weather observation meter 91 in addition to determining the electromagnetic obstacle, and determine whether snow removal or snow melting is required based on the aviation weather.

[0431] If the obstacle detection unit 45 determines that snow removal is necessary, it removes the accumulated snow by, for example, activating a snow removal device via the removal device activation unit 46. If the obstacle detection unit 45 determines that snow melting is necessary, it removes the accumulated snow by, for example, activating a snow melting device via the removal device activation unit 46.

[0432] In the above embodiment 6, Fig.19 The landing field monitoring device 30 shown is configured to include an aviation weather information providing unit 57, which obtains aviation weather information indicating the observation results of aviation weather from an aviation weather observation meter 91 that observes aviation weather, and transmits the aviation weather information to the vertical take-off and landing aircraft using the landing field 1. Therefore, Fig.19 The landing field monitoring device 30 shown can be used with Figure 3 The landing field monitoring device 30 shown in the figure can also notify the vertical take-off and landing aircraft of aviation weather conditions, in addition to specifying the type of obstacle that prevents the vertical take-off and landing aircraft.

[0433] Furthermore, in the sixth embodiment, the landing pad monitoring device 30 is configured to include an electromagnetic environment information acquisition unit 58, which acquires electromagnetic environment information indicating a monitoring result of the electromagnetic environment from the electromagnetic environment monitoring device 92 that monitors the electromagnetic environment in the landing pad 1, and the obstacle detection unit 45 determines that the electromagnetic obstacle is a type of obstacle based on the electromagnetic environment information acquired by the electromagnetic environment information acquisition unit 58. Therefore, the landing pad monitoring device 30 can also determine that the electromagnetic obstacle is a type of obstacle.

[0434] In addition, the present disclosure allows free combination of the various embodiments or modification of arbitrary components of the various embodiments, or allows omission of arbitrary components in the various embodiments.

[0435] Industrial Applicability

[0436] The present disclosure is suitable for a landing field monitoring device, a landing field monitoring method and a landing field monitoring system.

[0437] Description of Reference Numerals

[0438] 1 take-off and landing field, 2 take-off and landing place, 2a mark, 3-1, 3-2, 3-3 station place, 3-1a, 3-2a, 3-3a mark, 11 drone, 12 flying car, 13 helicopter, 21 shooting device, 22 lighting device, 23 wind direction bag, 24 receiver, 25 power source supply device, 26 wind meter, 27 weather observation device, 28 visibility meter, 30 take-off and landing field monitoring device, 31-1 to 31-3 obstacle removal device, 41 image data acquisition unit, 42 identification information acquisition unit, 43 position detection unit, 44 wind determination unit, 45 obstacle detection unit, 46 removal device start unit, 47 management information acquisition unit, 48 navigation information acquisition unit, 49 operation status determination unit, 50 operation planning unit, 51 supply information acquisition unit, 52 fee management unit, 53 wind measurement data acquisition unit, 54 weather information acquisition unit Unit, 55 visibility information acquisition unit, 56 suspicious flying object detection unit, 57 aviation meteorological information providing unit, 58 electromagnetic environment information acquisition unit, 61 image data acquisition circuit, 62 identification information acquisition circuit, 63 position detection circuit, 64 wind determination circuit, 65 obstacle detection circuit, 66 removal device start circuit, 67 management information acquisition circuit, 68 navigation information acquisition circuit, 69 operation status determination circuit, 70 operation plan circuit, 71 supply information acquisition circuit, 72 charging management circuit, 73 wind measurement data acquisition circuit, 74 meteorological information acquisition circuit, 75 visibility information acquisition circuit, 76 suspicious flying object detection circuit, 77 aviation meteorological information providing circuit, 78 electromagnetic environment information acquisition circuit, 81 memory, 82 processor, 91 aviation meteorological observation meter, 92 electromagnetic environment monitoring device, 93 radar device.

Claims

1. A landing field monitoring device, wherein: The landing field monitoring device comprises: an image data acquisition unit that acquires image data representing a captured image of the landing pad from an image capturing device that captures the landing pad; and An obstacle detection unit determines a type of obstacle that prevents a vertical lift aircraft from taking off or landing using the landing field based on the image data acquired by the image data acquisition unit.

2. The landing field monitoring device according to claim 1, characterized in that: The landing field monitoring device includes a removal device activation unit that selects an obstacle removal device for removing an obstacle from a plurality of obstacle removal devices that remove obstacles of different types based on the type of the obstacle determined by the obstacle detection unit, and activates the selected obstacle removal device.

3. The landing field monitoring device according to claim 1, characterized in that: The landing field monitoring device includes an identification information acquisition unit that acquires the identification information from a receiver that receives the identification information of the vertical lift. The obstacle detection unit determines the type of the obstacle based on the image data and the identification information acquired by the identification information acquisition unit.

4. The landing field monitoring device according to claim 3, characterized in that: The landing field monitoring device includes a position detection unit that detects the position of the vertical lift based on the image data acquired by the image data acquisition unit. The obstacle detection unit determines the type of the obstacle based on the image data, the identification information, and the position detected by the position detection unit.

5. The landing field monitoring device according to claim 1, characterized in that: The landing pad monitoring device includes a wind determination unit that determines each of a wind direction and a wind speed in the landing pad based on the image data acquired by the image data acquisition unit. The obstacle detection unit determines the type of the obstacle based on the image data and each of the wind direction and the wind speed determined by the wind determination unit.

6. The landing field monitoring device according to claim 1, characterized in that: The obstacle detection unit determines the appearance of a mark applied at the take-off and landing position in the take-off and landing field based on the image data acquired by the image data acquisition unit, and determines the occupation status of the take-off and landing position by either the vertical take-off and landing machine or the obstacle based on the appearance of the mark. The obstacle detection unit determines the appearance of a mark applied to the parking position in the take-off and landing field based on the image data, and determines the occupation status of the parking position by either the vertical take-off and landing machine or the obstacle based on the appearance of the mark applied to the parking position.

7. The landing field monitoring device according to claim 1, characterized in that: The landing pad monitoring device includes an operation state determination unit configured to determine an operation state of the landing pad based on a determination result of an obstacle type by the obstacle detection unit.

8. The landing field monitoring device according to claim 7, characterized in that: The landing pad monitoring device includes a management information acquisition unit that acquires management information indicating maintenance of the landing pad. The operation state determination unit determines the operation state of the landing field based on the determination result of the obstacle type by the obstacle detection unit and the management information acquired by the management information acquisition unit.

9. The landing field monitoring device according to claim 7, characterized in that: The landing pad monitoring device includes an operation planning unit that generates an operation plan for the landing pad or updates the operation plan based on the operation state of the landing pad determined by the operation state determination unit.

10. The landing field monitoring device according to claim 9, characterized in that: The landing field monitoring device comprises: an operation information acquisition unit, which acquires the operation information of the vertical take-off and landing machine; and an identification information acquisition unit that acquires the identification information from a receiver that receives the identification information of the vertical take-off and landing machine, The operation planning unit updates the operation plan based on the operation information acquired by the operation information acquisition unit and the identification information acquired by the identification information acquisition unit.

11. The landing field monitoring device according to claim 6, characterized in that: The landing field monitoring device comprises: an identification information acquisition unit that acquires the identification information from a receiver that receives the identification information of the vertical take-off and landing machine; and A fee management unit calculates a fee for use of the vertical lift at the landing site based on a result of determination of the occupancy status by the obstacle detection unit and the identification information acquired by the identification information acquisition unit.

12. The landing field monitoring device according to claim 11, characterized in that: The landing field monitoring device includes a supply information acquisition unit that acquires supply information indicating a fuel supply amount or a charge amount for the vertical lift from a power source supply device. The fee management unit calculates a fee for using the vertical lift based on a determination result of the occupancy status by the obstacle detection unit, the identification information, and the supply information.

13. The landing field monitoring device according to claim 5, characterized in that: The landing field monitoring device comprises: a wind measurement data acquisition unit that acquires wind measurement data indicating a measurement result of the wind from a wind measuring device that measures the wind at the take-off and landing field; and a weather information acquisition unit that acquires weather information indicating a wind forecast result at the take-off and landing field from a weather observation device, The wind identification unit identifies each of the wind direction and the wind speed at the take-off and landing site based on the image data acquired by the image data acquisition unit, the wind measurement data acquired by the wind measurement data acquisition unit, and the weather information acquired by the weather information acquisition unit.

14. The landing field monitoring device according to claim 1, characterized in that: The landing field monitoring device includes a visibility information acquisition unit that acquires visibility information indicating the visibility from a visibility meter that measures the visibility of a take-off and landing airspace in the landing field. The obstacle detection unit determines a visibility obstacle as the type of the obstacle based on the visibility information acquired by the visibility information acquisition unit.

15. The landing field monitoring device according to claim 3, characterized in that: The landing field monitoring device includes a suspicious flying object detection unit, and when the type of obstacle determined by the obstacle detection unit is the presence of a suspicious flying object, the suspicious flying object detection unit transmits detection information of the suspicious flying object.

16. The landing field monitoring device according to claim 1, characterized in that: The landing field monitoring device includes an aviation weather information providing unit that acquires aviation weather information indicating an observation result of the aviation weather from an aviation weather observation meter that observes the aviation weather and transmits the aviation weather information to a vertical takeoff and landing aircraft that uses the landing field.

17. The landing field monitoring device according to claim 16, characterized in that: The aviation weather information providing unit determines whether the weather at the take-off and landing field is visual weather based on the aviation weather information, and transmits the determination result of the visual weather to the vertical take-off and landing aircraft.

18. The landing field monitoring device according to claim 1, characterized in that: The landing pad monitoring device includes an electromagnetic environment information acquisition unit that acquires electromagnetic environment information indicating a monitoring result of the electromagnetic environment from an electromagnetic environment monitoring device that monitors the electromagnetic environment in the landing pad. The obstacle detection unit determines an electromagnetic obstacle as the type of the obstacle based on the electromagnetic environment information acquired by the electromagnetic environment information acquisition unit.

19. The landing field monitoring device according to claim 4, characterized in that: The position detection unit acquires position information indicating the position of the vertical lift from a radar device that receives a reflected wave reflected by the vertical lift and detects the position of the vertical lift based on the reflected wave.

20. A method for monitoring a take-off and landing field, wherein: The image data acquisition unit acquires image data representing an image captured by the landing pad from an image capturing device capturing the landing pad. The obstacle detection unit determines the type of obstacle that prevents the vertical lift aircraft from taking off and landing using the landing site based on the image data acquired by the image data acquisition unit.

21. A landing field monitoring system, wherein: The landing field monitoring system comprises: A filming device for filming the take-off and landing field; an image data acquisition unit that acquires image data representing a captured image of the landing field from the imaging device; and An obstacle detection unit determines a type of obstacle that prevents a vertical lift aircraft from taking off or landing using the landing field based on the image data acquired by the image data acquisition unit.

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