Flight control device and flight control method

Abstract

The invention provides a flight control device and a flight control method. The present invention makes it possible to perform flight control of a flight body such that collision can be avoided without correcting or resetting a preset flight path. The flight control device (1) sets, on the basis of the flight paths (12) of the flying bodies (10), a common area (20) in which the flight paths (12) interfere with each other. A flight control device (1) sets a flight body (10), the flight path (12) of which disturbs in a common area (20), as a disturbed flight body. The flight control device (1) sets one of the disturbing flight bodies as a permitted flight body and sets the other disturbing flight bodies as a stopped flight body. The flight control device (1) controls the permitted flight body so that the permitted flight body can fly into the shared area (20), and controls the stopped flight body so that the stopped flight body can hover without entering the shared area (20).

Description

Technical Field

[0001] The present invention relates to a flight control device and the like. Background Art

[0002] In recent years, the effective use of unmanned aircraft called drones, which are flying objects subject to automatic flight control, has been rapidly developing. Drones are usually controlled to fly along a set flight path (route), but during flight, in order to avoid collisions with other drones and other obstacles, flight path correction and re-setting are generally performed (for example, refer to Patent Document 1).

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2023-113509 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In addition, the flight path of a drone is usually designed as an optimal path that satisfies given optimal conditions with little influence of wind without considering the existence of other drones. Therefore, it would be convenient if a method could be realized that can avoid collisions between drones without correcting or re-setting the flight path designed as the optimal path.

[0008] The problem to be solved by the present invention is to realize a technology for controlling the flight of a flying object so as to avoid collisions without correcting or re-setting a pre-set flight path.

[0009] Solutions to the Problems

[0010] A first invention for solving the above problems is a flight control device that causes a flying object capable of hovering to fly along a pre-set flight path, the flight control device including:

[0011] A shared area setting unit that sets a shared area where flight paths interfere based on the respective flight paths of the flying objects;

[0012] An entry permission setting unit that sets a flying object whose flight path interferes in the shared area as an interfering flying object, sets one of the interfering flying objects as a permitted flying object, and sets the other interfering flying objects as prohibited flying objects; and

[0013] A shared area passage flight control unit that controls the permitted flying object to be able to fly into the shared area and controls the prohibited flying object to hover without entering the shared area.

[0014] As another invention, a flight control method can also be constituted, which is used to make a flying object capable of hovering fly along a preset flight path. The flight control method includes the following steps:

[0015] Set a common area where the flight paths interfere with each other based on the respective flight paths of the flying objects;

[0016] Set the flying objects whose flight paths interfere in the common area as interfering flying objects, set one of the interfering flying objects as a permitted flying object, and set the other interfering flying objects as prohibited flying objects; and

[0017] Control the permitted flying object to be able to enter the common area for flight, and control the prohibited flying objects not to enter the common area but to hover.

[0018] According to the first invention and the like, it is possible to achieve flight control of flying objects that can avoid collisions between flying objects without correcting or resetting the flight paths preset for the flying objects in advance. That is, in the area where the flight paths interfere with each other, collisions between flying objects may occur. Set the interfering area as a common area, set one of the interfering flying objects as a permitted flying object that can enter the common area for flight, and set the other interfering flying objects as prohibited flying objects that do not enter the common area. Thus, at most only one flying object can enter the common area, thereby avoiding collisions between flying objects. In addition, by making the prohibited flying objects hover to inhibit entry into the common area, it is possible to avoid collisions between flying objects without changing the preset flight paths.

[0019] According to the above invention, the flight control device of the second invention is

[0020] The common area setting unit sets an obstacle part for entering the common area for each flight path of the flying object,

[0021] The common area controls the prohibited flying objects through the flight control unit so that the prohibited flying objects hover at or in front of the obstacle part.

[0022] According to the second invention, by setting an obstacle part for hovering to prevent entry into the common area for each flight path, it is possible to reliably and easily achieve flight control that prevents the prohibited flying objects from entering the common area.

[0023] According to the above invention, the flight control device of the third invention is

[0024] The flight control device further includes a position acquisition unit that acquires the flight positions of each of the flying objects,

[0025] The entry permission setting unit determines whether the permitted flying object has passed through the shared area based on the flying position of the permitted flying object, and when it is determined that the object has passed through, sets one of the restricted flying objects as the new permitted flying object.

[0026] According to the third invention, when the permitted flying object passes through the shared area, by setting one of the restricted flying objects as the new permitted flying object, it is possible to quickly allow other flying objects to enter after a certain flying object has left the shared area, thereby minimizing the hovering of the restricted flying objects as much as possible.

[0027] According to the above invention, the flight control device of the fourth invention is

[0028] The flight control device further includes a position acquisition unit that acquires the flying position of each flying object.

[0029] The entry permission setting unit sets a flying object that is flying at a position satisfying a given close - distance condition with respect to the shared area and whose flight path interferes with the shared area as the interfering flying object.

[0030] For a flying object whose flight path interferes with the shared area but is flying at a position far from the shared area, it is too early to determine whether a collision will occur in the shared area. That is, it is only necessary to determine whether to allow a flying object to enter the shared area only for a flying object flying at a position close to the shared area. Therefore, as in the fourth invention, by setting a flying object whose flight path interferes with the shared area and is flying at a position satisfying a given close - distance condition with respect to the shared area as the interfering flying object, a flying object flying at a position quite far from the shared area will not be set as the interfering flying object, and the determination of entry permission can be simplified and speeded up.

[0031] According to the above invention, the flight control device of the fifth invention is

[0032] The flight control device further includes:

[0033] A position acquisition unit that acquires the flying position of each flying object; and

[0034] A protection area setting unit that sets, for each flying object, a protection area that follows the flying position of the flying object and includes the flying object.

[0035] The shared area setting unit sets an area where the protection area interferes or satisfies a specified proximity condition when flying along the flight path as the shared area.

[0036] The actual flight position of the flying object may deviate from the pre-set flight path due to the influence of wind or the like. Therefore, as in the fifth invention, by setting the protected area that follows the flight position of the flying object when the flying object flies along the flight path or the area that satisfies the approach condition as a shared area, it is possible to assume the situation where the actual flight position deviates from the flight path, thereby improving the reliability and safety of avoiding collisions between flying objects.

[0037] According to the above invention, the flight control device of the sixth invention is

[0038] The entry permission setting unit sets a priority for each of the interfering flying objects and sets the permitted flying objects according to the priority.

[0039] According to the sixth invention, by setting a priority for each interfering flying object, it is possible to perform appropriate flight control considering, for example, the flight purpose of each flying object such as wanting to fly to the destination quickly.

[0040] According to the above invention, the flight control device of the seventh invention is

[0041] The flight control device further includes a vehicle position information acquisition unit that communicates with a vehicle operation control system that manages the driving position of a train or a bus that travels on a predetermined route according to a predetermined schedule to control the operation, so as to acquire information on the driving position of the vehicle.

[0042] When the driving position of the vehicle in the route interference area where the flight path interferes with the predetermined route satisfies a predetermined approach condition, the shared area setting unit sets the shared area in such a way as to include the route interference area therein.

[0043] The entry permission setting unit sets the interfering flying object that interferes with the route interference area in the shared area of the flight path as the prohibited flying object until the vehicle passes through the route interference area.

[0044] According to the seventh invention, it is possible to control the flight of the flying object to avoid collisions with trains and buses. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the flight control of a flying object.

[0046] Figure 2 It is a schematic diagram of the flight control of a flying object.

[0047] Figure 3 It is a schematic diagram of the flight control of a flying object.

[0048] Figure 4 It is a schematic diagram of the flight control of a flying object.

[0049] Figure 5 It is an explanatory diagram of the setting of a protection area.

[0050] Figure 6 It is an example of the functional structure of a flight control device.

[0051] Figure 7 It is a flowchart of flight control processing.

[0052] Figure 8 It is a schematic diagram of the flight control of a flying object when considering other moving objects.

[0053] Figure 9 It is an example of the functional structure of a flight control device when considering other moving objects. Detailed implementation mode

[0054] Hereinafter, preferred implementation modes of the present invention will be described with reference to the accompanying drawings. In addition, the modes to which the present invention can be applied are not limited to the following implementation modes. In the description of the drawings, the same reference numerals are assigned to the same elements.

[0055] The flight control device 1 of the present implementation mode performs control to make a flying object capable of hovering (so-called "hovering") fly along a preset flight path. In the present implementation mode, the flying object to be controlled is an unmanned aircraft called a drone, but as long as it is a flying object capable of automatic flight control, it can of course be other flying objects. The flight path of the flying object is pre-designed as a path from a starting point (departure place) to an end point (arrival place), and is, for example, designed as an optimal flight path considering the wind direction, the presence or absence of obstacles (such as ground objects), etc. The flight control device 1 makes the flying object fly along the flight path set for the flying object, but in order to avoid collisions between flying objects, it performs control to make the flying object hover as needed.

[0056] Figures 1 to 4 It is a diagram for explaining the outline of the control of the flying object by the flight control device 1. In Figures 1 to 4 All show a schematic top view (plan view) of the airspace (three-dimensional space) where the flying object 10 flies as viewed from above. In Figures 1 to 4 For simplicity of explanation, it is assumed that the flying object 10 flies on a flight plane at a certain height, and the flight airspace is represented as a two-dimensional plane. The flight airspace (three-dimensional space) is divided into voxels, which are specified three-dimensional cubic spaces, as unit spaces, and the flight path 12 of the flying object 10 is specified as an arrangement of these voxels. In Figures 1 to 4In this case, a two-dimensional region of a "square" indicated by dotted lines represents a voxel, and a flight path 12 of the flying object 10 is represented by a "dashed line" passing through these squares.

[0057] In Figures 1 to 4 the example, the flight control device 1 sets three flying objects 10 (flying objects 10a, 10b, 10c) as control targets, and respectively specifies flight paths 12 (flight paths 12a, 12b, 12c). As Figures 1 to 4 shown, when there is interference (crossing, approaching) in the flight paths 12 of the flying objects 10, the flying objects 10 may collide with each other at the interference part. The flight control device 1 performs the following control to avoid collisions between the flying objects 10.

[0058] Specifically, first, as Figure 1 shown, a common area 20 where the flight paths 12 of the respective flying objects 10 interfere is set. Since the flight path 12 is an arrangement of voxels, the voxels where the flight paths 12 of the respective flying objects 10 overlap are set as the common area 20. In addition, instead of overlapping voxels, voxels that satisfy an approach condition such as adjacent voxels and can be regarded as the flight paths 12 approaching each other may also be set as the common area 20.

[0059] Moreover, the flying objects 10 whose flight paths 12 interfere in the common area 20 are set as interfering flying objects in the common area 20, and a priority for permission to enter is set for each interfering flying object in order to avoid collisions between the flying objects 10 in the common area 20. For example, the priority can be determined according to the type of the flying object 10, the importance of the flight purpose, etc. In addition, an obstacle part 22 is set for each flight path 12 of each interfering flying object at the part where it enters the common area 20 along the flight path 12.

[0060] In Figure 1 the example, a common area 20A where the flight paths 12a, 12b of the flying objects 10a, 10b respectively interfere, and a common area 20B where the flight paths 12a, 12c of the flying objects 10a, 10c respectively interfere are set. Moreover, for the common area 20A, the flying objects 10a, 10b become interfering flying objects, and the priority is from high to low in the order of the flying object 10b, 10a. In addition, an obstacle part 22A-a that is the entry part of the flying object 10a and an obstacle part 22A-b that is the entry part of the flying object 10b are set in the common area 20A. In addition, for the common area 20B, the flying objects 10a, 10c become interfering flying objects, and the priority is from high to low in the order of the flying object 10c, 10a. In addition, an obstacle part 22B-a that is the entry part of the flying object 10a and an obstacle part 22B-c that is the entry part of the flying object 10c are set in the common area 20B.

[0061] Next, as Figure 2 shown, when the flying object 10 flies and approaches the shared area 20, one of the approaching interfering flying objects is set as a permitted flying object that can enter the shared area 20 to fly according to the priority determined in the shared area 20, and the other interfering flying objects are set as prohibited flying objects that are prohibited from entering the shared area 20. Here, the flying object 10 "approaching" the shared area 20 means that the flying object 10 is located at a position that satisfies the short-distance condition, and the short-distance condition indicates that the distance from the flying object 10 to the shared area 20 is less than or equal to a specified distance that can be regarded as approaching the shared area 20. The specified distance can be determined, for example, as the distance calculated based on the time required for the flying object 10 to reach the entry part of the shared area 20 and a specified speed, or as the distance obtained by adding a specified safety distance to the distance required to change from flying at a specified maximum speed to hovering.

[0062] In Figure 2 the example, the flying objects 10a and 10b approach the shared area 20A. In this case, the flying object 10b with a higher priority determined in the shared area 20A is set as a permitted flying object and can enter the shared area 20A to fly. Then, the flying object 10a with a lower priority is set as a prohibited flying object and is controlled to hover in front of its obstacle part 22A-a or its obstacle part 22A-a so as not to enter the shared area 20A. In addition, at this time, only the flying object 10c approaches the shared area 20B, and this flying object 10c becomes a permitted flying object and can enter the shared area 20B to fly.

[0063] Next, as Figure 3 shown, when the flying object 10b as a permitted flying object passes through the shared area 20A, the flying object 10b is excluded from the interfering flying objects in the shared area 20A. Then, the flying object 10a with the next highest priority is set as a new permitted flying object and can enter the shared area 20A to fly. Then, the flying object 10a passes through the shared area 20A, further flies and approaches the shared area 20B. At this time, for the shared area 20B, since the flying object 10c is set as a permitted flying object and is passing through the shared area 20B, the flying object 10a is set as a prohibited flying object for the shared area 20B and is controlled to hover in front of its obstacle part 22B-a or its obstacle part 22B-a so as not to enter the shared area 20B.

[0064] After that, as Figure 4As shown, when the flying object 10c, which is a permitted flying object, passes through the shared area 20B, the flying object 10c is excluded from the interfering flying objects in the shared area 20B. Moreover, since only the flying object 10a becomes an interfering flying object approaching the shared area 20B, the flying object 10a can be set as a new permitted flying object and made to enter the shared area 20B for flight.

[0065] In addition, when setting the shared area 20, it is also possible to set a protection area that follows the flight position of the flying object 10 and includes the flying object 10, and set as the shared area 20 the area where the protection area interferes with the flying object 10 flying along the flight path 12 or satisfies a specified approach condition.

[0066] Figure 5 FIG. is a diagram for explaining the setting of the protection area. The protection area 14 is a three-dimensional area centered on the flight position of the flying object 10. In the present embodiment, the protection area 14 is set as a cube (rectangular parallelepiped) area in units of voxels. The actual flight path of the flying object 10 may deviate from the pre-set flight path 12 due to the influence of wind or the like. Assuming such a deviation of the flight path 12, for example, based on the size, flight speed, etc. of the flying object 10, an area of a size where the flying object 10 can be located is set as the protection area 14. In addition, since the flying object 10 flies along the pre-specified flight path 12, it is possible to pre-set the progression of the protection area 14 set following the flight position of the flying object 10 when flying along the flight path 12.

[0067] That is to say, the protection area 14 is set to extend the flight path 12 of the flying object 10. Moreover, since the protection area 14 is an area where the flying object 10 can be located, the voxels where the protection areas 14 of the respective flying objects 10 interfere with each other or satisfy a specified approach condition are set as the shared area 20. "Interference" of the protection area 14 means "overlap" of voxels, and the approach condition means a condition that can be regarded as approaching, such as being adjacent, although no interference (overlap) occurs.

[0068] In the above Figures 1 to 4 , for the sake of simplicity of explanation, the case where the protection area 14 is not set is illustrated. That is to say, one "square" corresponds to one voxel. When the protection area 14 is set, the protection area 14 is set so as to include the flight path 12. Therefore, by replacing the "flight path 12" with the "protection area 14" that includes the flight path 12, and replacing one voxel ("square") with a set of multiple voxels ("squares") corresponding to the protection area 14, the explanation can be made in the same way.

[0069] [Functional Structure]

[0070] Figure 6is a block diagram showing an example of the functional structure of the flight control device 1. According to Figure 6 , the flight control device 1 includes an operation unit 102, a display unit 104, a communication unit 106, a processing unit 200, and a storage unit 300, and can be configured as a kind of computer system.

[0071] The operation unit 102 is realized by an input device such as a button switch, a touch panel, a keyboard, etc., and outputs an operation signal corresponding to the performed operation to the processing unit 200. The display unit 104 is realized by a display device such as an LCD (Liquid Crystal Display) or a touch panel, and performs various displays corresponding to the display signal from the processing unit 200. The communication unit 106 is realized by a communication device in a wired or wireless manner, and communicates with an external device via a given communication network. In particular, various wireless communications required for flight control of each flying object 10 are performed with the flying objects 10.

[0072] The processing unit 200 is realized by an arithmetic device such as a CPU (Central Processing Unit), and based on programs, data, etc. stored in the storage unit 300, gives instructions to and transfers data to each part constituting the flight control device 1, and performs overall control of the flight control device 1. In addition, the processing unit 200 functions as each functional block of a shared area setting unit 202, an entry permission setting unit 204, a flight control unit 206, a position acquisition unit 210, and a protected area setting unit 212 by executing the flight control program 302 stored in the storage unit 300. However, these functional blocks can also be respectively configured as independent arithmetic circuits by an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc.

[0073] The shared area setting unit 202 sets a shared area 20 that interferes with the flight paths 12 based on the flight paths 12 of the flying objects 10 that can hover. In addition, an obstacle part 22 for entering the shared area 20 is set for each flight path 12 of the flying object 10. And, an area that interferes with the protected area 14 and / or satisfies a specified approach condition when flying along the flight path 12 can be set as the shared area 20.

[0074] Specifically, since the flight path 12 of the flying object 10 is an arrangement of voxels, the voxels where multiple flight paths 12 overlap are set as the shared area 20. In addition, an obstacle part 22 (refer toFigure 1 )。Moreover, when the protection area setting unit 212 sets the protection area 14 that follows the flight position of the flying object 10, the voxels where the protection areas 14 of the respective flying objects 10 interfere with each other and / or satisfy the specified proximity condition are set as the shared area 20.

[0075] Here, data related to the flying object 10 that is the object controlled by the flight control device 1 is stored in the storage unit 300 as the flying object data 310. The flying object data 310 stores the flight path 12, the flight position at the current time point acquired by the position acquisition unit 210, and the flight history record as the actual flight path up to the current time point, corresponding to the flying object ID as the identification information for each flying object 10. The flight path 12 is represented as an arrangement of voxels, and can be either a pre-specified flight path or a protection area including the flight path set by the protection area setting unit 212.

[0076] Data related to the shared area 20 set by the shared area setting unit 202 is stored in the storage unit 300 as the shared area setting data 320. The shared area setting data 320 stores the setting position (for example, the corresponding voxel ID), the flying object ID of the interfering flying object, the priority, the obstacle part 22, the permission to enter the shared area 20 (the difference between permitted flying objects and prohibited flying objects), and the presence or absence of passage through the shared area 20, corresponding to the shared area ID as the identification information for each shared area 20.

[0077] The entry permission setting unit 204 sets the flying object 10 whose flight path 12 interferes in the shared area 20 as an interfering flying object, sets one of the interfering flying objects as a permitted flying object, and sets the other interfering flying objects as prohibited flying objects. In addition, based on the flight position of the permitted flying object, it is determined whether the permitted flying object has passed through the shared area 20. If it is determined that it has passed through, the permitted flying object is excluded from the interfering flying objects, and one of the prohibited flying objects is set as the new permitted flying object. In addition, a priority is set for each interfering flying object, and the permitted flying object is set according to the priority. In addition, a flying object 10 that is flying at a position that satisfies a given proximity condition with respect to the shared area 20 and whose flight path 12 interferes in the shared area can also be set as an interfering flying object.

[0078] Specifically, the flying object 10 whose flight path 12 interferes in the shared area 20 is set as the interfering flying object of the shared area 20, and a priority for permitted entry is set for each interfering flying object in order to avoid collisions between the flying objects 10 in the shared area 20. For example, the priority can be determined based on the type of the flying object 10, the importance of the flight purpose, etc.

[0079] Moreover, when an interfering flying object approaches the shared area 20, one of the approaching interfering flying objects is set as a permitted flying object that can enter the shared area 20 for flight according to the priority determined in the shared area 20, and the other interfering flying objects are set as prohibited flying objects that do not enter the shared area 20. When the permitted flying object passes through the shared area 20, the flying object is excluded from the interfering flying objects in the shared area 20, and one of the interfering flying objects approaching the shared area 20 at this time point is set as a new permitted flying object (refer to Figures 2 to 4 ). More preferably, the interfering flying object with the next priority is set as the new permitted flying object.

[0080] The flight control unit 206 controls the flying object 10 by performing communication via the communication unit 106 so that the flying object 10 flies along a flight path predefined for the flying object 10. In addition, the flight control unit 206 includes a shared area passage flight control unit 208.

[0081] The shared area passage flight control unit 208 controls the permitted flying object to be able to enter the shared area 20 for flight, and controls the prohibited flying object not to enter the shared area 20 and to hover at or in front of the obstacle portion 22. Specifically, when the flying object 10 approaches the shared area 20 and is about to pass through, if the flying object 10 is a permitted flying object, it is made to fly along the flight path 12, and if it is a prohibited flying object, it is controlled to hover at or in front of the obstacle portion 22 where it enters the shared area 20 without entering the shared area 20 (refer to Figures 2 to 4 ).

[0082] The position acquisition unit 210 acquires the flight position of each flying object 10. Specifically, for example, it can be set that the flying object 10 has a function of detecting its own flight position by receiving radio waves of a satellite positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System) and optical ranging, and the position acquisition unit 210 receives and acquires the flight position information from each flying object 10 via the communication unit 106. In addition, it can be set that the flight position of each flying object 10 is measured by a radar device or the like provided on the ground, and the position acquisition unit 210 receives and acquires the flight position of each flying object 10 from the radar device or the like via the communication unit 106.

[0083] The protection area setting unit 212 sets a protection area that follows the flight position of each flying object 10 and includes the flying object. Specifically, a three-dimensional area of a cube (cuboid) with the voxel as a unit centered on the flight position of the flying object 10 along the flight path 12 is set as the protection area 14 of the flying object 10 (refer to Figure 5 ).

[0084] Return to Figure 6 , the storage unit 300 is implemented by storage devices such as a hard disk, a ROM (Read Only Memory), and a RAM (Random Access Memory), stores programs, data, etc. for comprehensively controlling the flight control device 1 by the processing unit 200, and serves as the working area of the processing unit 200, temporarily saving the operation results executed by the processing unit 200 according to various programs, input data via the operation unit 102, the communication unit 106, etc. In the present embodiment, the flight control program 302, the flying object data 310, and the shared area setting data 320 are stored in the storage unit 300.

[0085] Figure 7 is a flowchart of the flight control process performed by the flight control device 1. First, the flight paths 12 of the respective flying objects 10 to be controlled are acquired (step S1). Next, the shared area setting unit 202 sets the shared area 20 where the respective flight paths 12 interfere with each other (step S3). Then, the following processes are performed in parallel for each of the set shared areas 20 (steps S5 to S23).

[0086] That is, the entry permission determination unit 204 sets the flying object 10 whose flight path 12 interferes with the shared area 20 as the interfering flying object (step S5), and as an initial setting, sets all the interfering flying objects as the prohibited flying objects (step S7). Next, the priorities of the interfering flying objects are set (step S9). In addition, the obstacle part 22 where the flight path 12 enters the shared area 20 is set for each interfering flying object (step S11).

[0087] Next, it is determined whether there is an interfering flying object approaching the shared area 20. If there is an approaching interfering flying object (step S13: Yes), then one of the approaching interfering flying objects is set as the permitted flying object according to the priority (step S15). Then, the shared area controls the permitted flying object to fly into the shared area 20 along the flight path 12 through the flight control unit 208, and controls the prohibited flying object to hover at or in front of the obstacle part 22 without entering the shared area 20 (step S17).

[0088] Next, it is determined whether the permitted flying object has passed through the shared area 20. If it has passed (step S19: Yes), then the permitted flying object is excluded from the interfering flying objects (step S21). Next, it is determined whether there is an interfering flying object that has not passed through the shared area 20. If there is an interfering flying object that has not passed (step S23: Yes), then the process returns to step S13. If there is no interfering flying object that has not passed through the shared area 20 (step S23: No), then all the interfering flying objects have passed through the shared area, and thus the processing for this shared area ends.

[0089] (Function and effect)

[0090] According to the present embodiment, it is possible to achieve flight control of the flying objects 10 that can avoid collisions between the flying objects 10 without correcting or re-setting the flight path 12 preset for the flying object 10 in advance. That is, in the area where the flight path 12 is interfered with, collisions between the flying objects 10 may occur. The area where the interference occurs is set as the shared area 20. One interfering flying object is set as a permitted flying object that can enter the shared area 20 for flight, and the other interfering flying objects are set as prohibited flying objects that do not enter the shared area 20. Thereby, at most only one flying object 10 can enter the shared area 20, and thus collisions between the flying objects 10 can be avoided. In addition, by making the prohibited flying object hover to prevent it from entering the shared area 20, it is possible to avoid collisions between the flying objects 10 without changing the preset flight path 12.

[0091] In addition, the embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can of course be appropriately changed without departing from the gist of the present invention.

[0092] In the above embodiment, the shared area 20 is set only by considering the flight path 12 of the flying object 10 that is the object of flight control, but it is also possible to set the shared area 20 by further considering the movement paths of other moving objects other than the flying object 10 that moves along a preset path. Examples of such moving objects include vehicles such as trains and buses that travel on the ground according to a fixed schedule on a prescribed route.

[0093] Figure 8 is a diagram showing an outline of the control of the flying object in the case of considering the movement paths of such other moving objects. In Figure 8 it is the same as the above Figures 1 to 4 and shows a schematic plan view (planar view) of the airspace (three-dimensional space) for the flying object 10 to fly as viewed from above.

[0094] In Figure 8In the example, there is a predetermined route, i.e., line 32, along which a railway vehicle, which is an example of a moving body, travels. A shared area 20C of a line interference area where the flight path 12d of the flying body 10d interferes with the line 32 of the railway vehicle 30, and a shared area 20D where the flight paths 12d and 12e of the flying bodies 10d and 10e interfere with each other are set. Further, for the shared area 20C, the flying body 10d becomes an interfering flying body. In addition, an obstacle part 22C-d that is an entry part of the flying body 10d is set for the shared area 20C.

[0095] In this case, when the railway vehicle 30 does not approach the route interference area (shared area 20C), similar to the above-described embodiment, the permitted flying bodies and the prohibited flying bodies are set according to the priority determined for the interfering flying body (flying body 10d). The threshold distance for determining the approach of the railway vehicle 30 to the route interference area (shared area 20C) needs to be ensured to be greater than or equal to the time for the flying body 10 flying in the route interference area (shared area 20C) during the period before the railway vehicle 30 reaches the route interference area (shared area 20C) to be able to exit the route interference area (shared area 20C). Therefore, the threshold distance can be set based on the time required for the flying body 10 flying in the route interference area (shared area 20C) to be judged as being able to exit the route interference area (shared area 20C) and the specified traveling speed (e.g., the maximum speed) of the railway vehicle 30. It can be determined that the approach occurs when the distance between the railway vehicle 30 along the line 32 and the route interference area (shared area 20C) reaches the threshold distance.

[0096] When the railway vehicle 30 approaches the route interference area, during the period before the railway vehicle 30 passes through the route interference area, all the interfering flying bodies are set as prohibited flying bodies. After the railway vehicle 30 has passed through the route interference area, similar to the above-described embodiment, the permitted flying bodies and the prohibited flying bodies are set according to the priority determined for the interfering flying body (flying body 10d). That is, for the route interference area, the flight of the flying body 10 is controlled so that the railway vehicle 30 passes through prior to the flying body 10.

[0097] Figure 9 FIG. is an example showing a functional structure of the flight control device 1B in the case of considering the movement paths of such other moving bodies. In Figure 9Among them, the vehicle operation control system 3 is a system that manages and controls the driving positions of trains and buses that travel on a predetermined route according to a predetermined schedule as an example of other moving bodies. The flight control device 1B communicates with the vehicle operation control system 3 via, for example, the communication unit 106, acquires in advance the route and schedule as the moving paths of the respective vehicles, and acquires at any time the current driving positions of the respective vehicles.

[0098] The data acquired for each vehicle is stored in the storage unit 300 as vehicle data 330. The vehicle data 330 corresponds to the vehicle ID as identification information for each vehicle, and stores the path, schedule, and current driving position correspondingly.

[0099] The shared area setting unit 202B sets the area where the flight path 12 of the flying object 10 interferes with the path of the vehicle as a route interference area, and sets a threshold distance for determining the approach of the vehicle for each route interference area.

[0100] The entry permission setting unit 204B sets the priority of the flying object 10 (interfering flying object) whose flight path 12 interferes in the route interference area to a lower rank than that of the vehicle whose path interferes in the route interference area. Moreover, when the driving position of the vehicle heading for the route interference area satisfies a specified approach condition (for example, the distance to the route interference area is less than or equal to a preset threshold distance), the interfering flying object whose flight path interferes in the route interference area is set as a prohibited flying object so that the prohibited flying object does not enter the route interference area until the vehicle passes through the route interference area.

[0101] Explanation of reference numerals

[0102] 1: Flight control device; 200: Processing unit; 202: Shared area setting unit; 204: Entry permission setting unit; 206: Flight control unit; 208: Shared area passing flight control unit; 210: Position acquisition unit; 212: Protection area setting unit; 300: Storage unit; 302: Flight control program; 310: Flying object data; 320: Shared area setting data; 10: Flying object; 12: Flight path; 14: Protection area; 20: Shared area; 22: Obstacle part.

Claims

1. A flight control device for causing a hovering flying object to fly along a pre-set flight path, the flight control device comprising: a common area setting unit for setting a common area where the flight paths interfere with each other based on the flight paths of the respective flying objects; an entry permission setting unit that sets an aircraft whose flight path interferes with the shared area as an interfering aircraft, sets one of the interfering aircraft as a permitted aircraft, and sets the other interfering aircraft as prohibited aircraft; and The common area passes through a flight control unit, which controls the permitted flying object to be able to enter the common area and fly, and controls the prohibited flying object to not enter the common area and to hover.

2. The flight control device according to claim 1, wherein: The common area setting unit sets an obstacle location that enters the common area for each flight path of the flying object. The common area controls the flight restraining object through a flight control unit so that the flight restraining object hovers at the obstacle location or in front of the obstacle location.

3. The flight control device according to claim 1 or 2, wherein: The flight control device further includes a position acquisition unit, which acquires the flight position of each of the flying objects. The entry permission setting unit determines whether the permitted flying object has passed through the common area based on the flight position of the permitted flying object, and sets one of the prohibited flying objects as a new permitted flying object if it is determined that the permitted flying object has passed through.

4. The flight control device according to claim 1 or 2, wherein: The flight control device further includes a position acquisition unit, which acquires the flight position of each of the flying objects. The entry permission setting unit sets, as the interfering flying object, a flying object that is flying at a position that satisfies a given close distance condition relative to the shared area and whose flight path interferes with the shared area.

5. The flight control device according to claim 1 or 2, wherein: The flight control device also has: a position acquisition unit, which acquires the flight position of each of the flying objects; and a protection zone setting unit, which sets, for each of the flying objects, a protection zone that follows the flying position of the flying object and includes the flying object; The common area setting unit sets, as the common area, an area that interferes with the protection area when flying along the flight path or satisfies a predetermined approach condition.

6. The flight control device according to claim 1 or 2, wherein: The entry permission setting unit sets a priority for each of the interfering flying objects, and sets the permitted flying objects according to the priority.

7. The flight control device according to claim 1 or 2, wherein: The flight control device further includes a vehicle position information acquisition unit that communicates with a vehicle operation control system that manages the driving position of a train or bus traveling on a predetermined route according to a predetermined schedule to acquire information on the driving position of the vehicle. The common area setting unit sets the common area so as to include the route interference area in the common area when the driving position of the vehicle heading to the route interference area where the flight path interferes with the predetermined route satisfies a predetermined approach condition, The entry permission setting unit sets the interfering flying object whose flight path interferes with the route interference area in the common area as the prohibited flying object until the vehicle passes through the route interference area.

8. A flight control method for causing a flying object capable of hovering to fly along a pre-set flight path, the flight control method comprising the following steps: Setting a common area where the flight paths interfere with each other based on the flight paths of the respective flying objects; setting an aircraft whose flight path interferes with the shared area as an interfering aircraft, setting one of the interfering aircraft as a permitted aircraft, and setting the other interfering aircraft as prohibited aircraft; and The permitted flying object is controlled to be able to enter the shared area for flight, and the prohibited flying object is controlled to not enter the shared area but to hover.

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