Control system, control method, and control program

Abstract

The purpose of this disclosure is to provide a control system, control method, and control program that enables safe flight of a mobile body even when the operator cannot visually observe its position. The control system according to this disclosure includes a motion information acquisition unit, an environmental information acquisition unit, a recommended action selection unit, and an output unit. The motion information acquisition unit acquires motion information, including the progress of the mobile body relative to the flight plan. The environmental information acquisition unit acquires environmental information related to the flight of the mobile body from monitoring equipment monitoring the movement path of the mobile body. The recommended action selection unit selects a recommended action based on the motion information and environmental information, according to the progress of the mobile body. The output unit outputs a signal indicating the action recommended by the recommended action selection unit.

Description

Technical Field

[0001] This disclosure relates to a control system, control method, and control program. Background Technology

[0002] The use of mobile bodies, such as drones that move through the air, is increasing. Along with this, non-visual observation flights by operators have begun. In non-visual observation flights, it is crucial to quickly and safely avoid hazards.

[0003] PTL 1 describes a driving assistance device that enables a mobile body to travel on a road while avoiding road hazards. In the driving assistance device disclosed in PTL 1, the degree of road hazard is calculated based on whether the road is suitable for the mobile body to travel on, and the degree of potential hazard on the mobile body's travel path within a target time range is calculated based on the mobile body's traffic conditions and range of movement. In the driving assistance device disclosed in PTL 1, actions to avoid hazards are selected based on the degree of road hazard and the degree of potential hazard.

[0004] Reference List

[0005] Patent documents

[0006] PTL 1: Japanese Patent Publication No. 6956932 Summary of the Invention

[0007] Technical issues

[0008] The driving assistance device disclosed in PTL 1 calculates hazards on the road, but for a moving body in flight, the calculation of hazards requires information that the road is not a problem. Therefore, it is difficult to achieve safe flight using the driving assistance device disclosed in PTL 1.

[0009] In view of the above problems, the purpose of this disclosure is to provide a control system, control method and control program that enables the safe flight of a moving body even in places where the operator cannot visually observe the moving body.

[0010] Problem Solving

[0011] A control system according to one aspect of this disclosure includes

[0012] The mobility information acquisition unit is used to collect mobility information, including the progress status of the flight plan relative to the moving body.

[0013] An environmental information acquisition unit is used to acquire environmental information related to the flight of a mobile vehicle from monitoring equipment used to monitor the movement path of the mobile vehicle.

[0014] The recommended operation selection unit is used to select a recommended operation based on the progress status of the moving body, using mobile information and environmental information.

[0015] The output unit is used to output a signal indicating the recommended operation through the recommended operation selection unit.

[0016] According to one aspect of this disclosure, a control method is executed by a computer and includes:

[0017] The data collection includes movement information, including the progress status of the flight plan relative to the moving body.

[0018] Collect environmental information related to the flight of a mobile vehicle from monitoring equipment used to monitor the movement path of the mobile vehicle;

[0019] Based on mobile and environmental information, the recommended operation is selected according to the progress status of the moving object;

[0020] Output a signal indicating the recommended operation.

[0021] A control program, according to one aspect of this disclosure, is used to cause a computer to perform the following processes:

[0022] The data collection includes movement information, including the progress status of the flight plan relative to the moving body.

[0023] Collect environmental information related to the flight of a mobile vehicle from monitoring equipment used to monitor the movement path of the mobile vehicle;

[0024] Based on mobility and environmental information, recommend actions are selected according to the progress status of the moving entity; and

[0025] Output a signal indicating the recommended operation.

[0026] According to this disclosure, a control system, control method, and control program can be provided that enables safe flight of a mobile body even in places where the operator cannot visually observe the mobile body. Attached Figure Description

[0027] Figure 1 It is a block diagram illustrating the configuration of the control system according to this disclosure.

[0028] Figure 2 This is a flowchart of the control method disclosed herein.

[0029] Figure 3 This is a block diagram illustrating an example of the use of a control system according to this disclosure.

[0030] Figure 4 This is a schematic diagram illustrating an example of a monitoring device monitoring the movement path of a moving object.

[0031] Figure 5 This is a diagram illustrating an example of image data captured by the imaging unit of a monitoring device.

[0032] Figure 6 This is a flowchart illustrating the processing of the recommended operation selection unit in the control system according to this disclosure.

[0033] Figure 7 It is a block diagram of the control system according to this disclosure.

[0034] Figure 8 This is a schematic diagram illustrating an example of two monitoring devices monitoring the movement path of a moving object.

[0035] Figure 9 This is a diagram illustrating an example of image data captured by the imaging unit of each monitoring device.

[0036] Figure 10 This is a schematic diagram illustrating an example of multiple monitoring devices monitoring the movement paths of multiple moving objects.

[0037] Figure 11 This is a block diagram illustrating a configuration example of a management device 201, etc., according to this disclosure. Detailed Implementation

[0038] In the following description, this disclosure will be based on exemplary embodiments, but the disclosure described in the claims is not limited to the following exemplary embodiments. Not all configurations described in the exemplary embodiments are necessary as a means of solving the problem. For clarity, the following description and drawings have been appropriately omitted and simplified. In the drawings, the same elements are represented by the same reference numerals, and repeated descriptions are omitted where necessary.

[0039] <First Example Implementation>

[0040] <Control System>

[0041] In the following description, the control system according to the present disclosure will be described with reference to the accompanying drawings. Figure 1 This is a block diagram illustrating the configuration of a control system according to the present disclosure. The control system 10 according to the present disclosure includes a mobility information acquisition unit 11, an environmental information acquisition unit 12, a recommended operation selection unit 13, and an output unit 14. In the following, it will be assumed that an operator remotely operates the mobile body from a location where the mobile body cannot be visually observed using, for example, a mobile terminal or radio controller.

[0042] The mobility information acquisition unit 11 acquires mobility information, including the progress status relative to the flight plan of the mobile body. The mobile body is a moving object in the air, and is, for example, a drone (autonomous flying object) or a flying car. The mobile body uses, for example, Simultaneous Localization and Mapping (SLAM) to estimate its own position. In SLAM, the machine body's position is calculated based on an environmental map, which is point cloud data of the surrounding environment obtained by a distance measurement sensor such as LiDAR. The mobile body flies according to a movement path in the flight plan while simultaneously estimating its own position.

[0043] The progress status of a mobile entity relative to its flight plan is the percentage of its travel relative to the planned path. For example, if the planned path is 10 kilometers, a point 5 kilometers from the starting point represents 50% of the planned progress. Furthermore, the flight plan may include multiple relay points between the starting point and the destination point, and the progress status indicates which relay point the mobile entity is currently traveling on.

[0044] The environmental information acquisition unit 12 acquires environmental information related to the flight of the mobile body from monitoring equipment used to monitor the movement path of the mobile body. The environmental information related to flight includes environmental information that may hinder the flight of the mobile body or that is unlikely to hinder the flight.

[0045] Environmental information that may or may not impede flight is information related to obstacles or weather. Obstacles include, for example, structures such as tall buildings, groves of trees, the nature of birds, another moving object, airplanes, helicopters, etc. Weather information includes tornadoes, wind, rain, snow, etc.

[0046] Using a scenario where a tall building of 100 meters is present in the flight planning of a mobile vehicle as an example, environmental information that may hinder the mobile vehicle's flight is explained. If the mobile vehicle is planned to fly while maintaining an altitude of 90 meters, it will collide with the tall building. Conversely, if the mobile vehicle is planned to fly while maintaining an altitude of 120 meters, it will not collide with the tall building. As described above, since there is a possibility of the mobile vehicle colliding with a tall building of 100 meters, this tall building corresponds to environmental information that may hinder the mobile vehicle's flight.

[0047] Next, we will use the example of a mobile body flying in a windless environment to describe environmental information that is unlikely to hinder flight. In this case, since there is no wind, the mobile body flies according to its planned flight path while maintaining, for example, its flight speed. That is, environmental conditions such as no wind correspond to environmental information that is unlikely to hinder flight.

[0048] The recommended operation selection unit 13 selects a recommended operation based on the movement information and environmental information, according to the progress status of the mobile body. A recommended operation is an appropriate flight operation for the mobile body corresponding to the movement information and environmental information. An example of a basic recommended operation is temporarily landing at a point where the mobile body can land safely. However, recommended operations are not limited to this, and can include changing or maintaining the mobile body's flight speed, changing or maintaining the mobile body's flight altitude, temporarily causing the mobile body to fly in the opposite direction to the planned flight path, or causing the mobile body to fly on a path different from the planned flight path, etc.

[0049] For example, if a mobile vehicle is flying along a planned path but there is a gust of wind, the recommended operation selection unit 13 selects the recommended operation of landing on the ground. As another example, in an environment where a mobile vehicle is flying along a planned path and there is no wind, the recommended operation selection unit 13 selects the recommended operation of continuing flight while maintaining the original flight altitude and speed.

[0050] Output unit 14 outputs a signal instructing a recommended operation through recommended operation selection unit 13. More specifically, output unit 14 generates and outputs a signal instructing recommended operation by recommended operation selection unit 13. The output destination of the signal is, for example, a terminal monitor, which can be confirmed by an operator operating in a location where the mobile body cannot be visually observed. As a result, even in locations where the operator cannot visually observe the mobile body, the operator can manage how the mobile body is flying based on the local environment while simultaneously monitoring the mobile body's progress relative to the flight plan. Therefore, safe flight of the mobile body can be achieved even in locations where the operator cannot visually observe the mobile body.

[0051] <Recording Method>

[0052] Next, the control method according to this disclosure will be described. Figure 2 This is a flowchart illustrating the control method according to the present disclosure.

[0053] First, the mobility information acquisition unit 11 acquires mobility information including the progress status relative to the flight plan of the mobile body (step ST1). Next, the environmental information acquisition unit 12 acquires environmental information related to the flight of the mobile body from a monitoring device used to monitor the movement path of the mobile body (step ST2). More specifically, it acquires environmental information that may hinder the flight of the mobile body or that is unlikely to hinder the flight.

[0054] Next, the recommended operation selection unit 13 selects a recommended operation based on the movement information and environmental information according to the progress status of the moving body (step ST3). Then, the output unit 14 outputs a signal indicating the recommended operation (step ST4). As a result, the operator can confirm that the moving body is flying outside of visual observation.

[0055] As described above, the control system 10 according to this disclosure selects recommended operations based on movement information and environmental information from monitoring devices, according to the progress status of the mobile body. With this configuration, even where the operator cannot visually observe the mobile body, the operator can manage how the mobile body is flying based on the local environment while simultaneously monitoring the mobile body's progress relative to the flight plan. Therefore, the control system 10 according to this disclosure enables safe flight of the mobile body even where the operator cannot visually observe it.

[0056] <Second Example Implementation>

[0057] <Control System>

[0058] In the following description, the control system according to the present disclosure will be described with reference to the accompanying drawings. Figure 3 This is a block diagram illustrating an example of the use of a control system according to this disclosure. Figure 3 The illustration shows a mobile unit 101, a management device 201, and a monitoring device 301. The mobile unit 101, management device 201, and monitoring device 301 are connected to each other in a manner capable of wireless communication. Note that although in Figure 3 Not shown in the figure, for example, the monitor of the terminal to which the signal of the output unit 14 is output can be connected to each of the mobile body 101, the management device 201 and the monitoring device 301 in order to enable wireless communication.

[0059] The mobile body 101 includes a drive unit 111, a communication unit 112, an imaging unit 113, a mobile body control unit 114, and its own position estimation unit 115. The management device 201 includes a communication unit 211, a recommended operation storage unit 212, a mobility information acquisition unit 11, an environmental information acquisition unit 12, a recommended operation selection unit 13, and an output unit 14. For example... Figure 3As shown, the management device 201 includes a control system 10. The monitoring device 301 includes a communication unit 311, an imaging unit 312, and an environmental sensor 313.

[0060] <Moving entity>

[0061] First, the configuration of the mobile body 101 will be described. The drive unit 111 includes a motor for rotating a propeller, which is the movement device of the mobile body 101. The imaging unit 113 is a camera for capturing images of the vicinity or distance. The mobile body control unit 114 includes a computing device such as a CPU or MCU and controls each configuration of the mobile body 101. That is, the mobile body control unit 114 exchanges information with the management device 201 and the monitoring device 301 via the communication unit 112 and issues commands accordingly for each configuration of the mobile body 101. The self-position estimation unit 115 estimates its own position using SLAM or similar methods.

[0062] <Management Equipment>

[0063] Next, the configuration of the management device 201 will be described. This is because the mobile information acquisition unit 11, environmental information acquisition unit 12, and output unit 14 are connected to... Figure 1 Those similar to those in the previous section will therefore be omitted from the description. Details of the recommended operation selection unit 13 will be described later. The management device 201 exchanges information with the mobile body 101 and the monitoring device 301 via the communication unit 211. Furthermore, although in Figure 3 Although not shown in the diagram, management device 201 may include a display unit, and the display unit of management device 201 may be used as the output destination of the signal from output unit 14. Recommended operation storage unit 212 includes non-volatile memory such as flash memory or SSD, and stores recommended operations associated with mobility information and environmental information as shown in Table 1. Table 1 provides examples of recommended operations associated with mobility information and environmental information.

[0064] [Table 1]

[0065]

[0066] As shown in Table 1, the recommended operation storage unit 212 stores recommended operations determined based on movement information and environmental information. For example, if the movement information is "according to the progress of the flight plan" and the environmental information is "there is no wind on the planned flight path," a recommended operation such as "maintaining flight altitude and speed" is determined. Furthermore, if the movement information is "according to the progress of the flight plan" and the environmental information is "a tornado has occurred on the planned flight path," a recommended operation such as "temporarily landing on the ground" is determined.

[0067] The ground shown in Table 1 are points where mobile bodies can land safely, and are appropriately provided as safe locations outside the facility, on the roof, or in the town.

[0068] As shown in Table 1, the mobility information may further include the operating state of the drive unit 111 of the mobile body 101. In Table 1, the motor speed is used as an example based on the operating state of the drive unit 111, but this is not the only case, and it may also be the rotation state of the propeller. In addition, as shown in Table 1, the mobility information may include the temperature state of the body (mobile body 101), the stability of the radio wave environment of the mobile body 101, etc.

[0069] In this way, the mobile information acquisition unit 11 can not only collect the progress status of the mobile body at locations where the operator cannot visually observe it, but also collect the flight status of the mobile body under what operating conditions. With this configuration, even in places where the operator cannot visually observe the mobile body, the operator can manage how the mobile body is flying based on the local environment, and at what operating conditions the operator can capture the mobile body in flight.

[0070] <Monitoring Equipment>

[0071] Next, the configuration of monitoring device 301 will be described. For example... Figure 3 As shown, monitoring device 301 exchanges information with mobile body 101 and management device 201 via communication unit 311. Imaging unit 312 captures environmental information related to the flight of the mobile body along its path. Imaging unit 312 is, for example, a camera. Image data captured by imaging unit 312 includes obstacles or weather that may or are unlikely to obstruct the flight of the mobile body. Environmental sensor 313 collects weather information along the path of the mobile body. Environmental sensor 313 is, for example, a weather sensor, illuminance sensor, wind vane, anemometer, thermometer, or hygrometer.

[0072] Next, refer to the appendix Figure 4 and Figure 5 The environmental information collected by the monitoring device 301 using the imaging unit 312 or the environmental sensor 313 is described in more detail. Figure 4 This is a schematic diagram illustrating an example of a monitoring device monitoring the movement path of a moving object. Figure 5 This is a diagram illustrating an example of image data captured by the imaging unit of a monitoring device. Figure 4 In this system, the operator operates the mobile body 101 from a position that cannot be visually observed. The operator remotely operates the mobile body 101 using, for example, a mobile terminal or radio controller. Although Figure 4 Environmental sensor 313 is not shown in the figure, but weather sensor 314 and anemometer 315 are shown as environmental sensor 313.

[0073] like Figure 4 As shown, the mobile body 101 flies along movement path L1 in the flight plan. The tall building T1 is located on movement path L1. Figure 4 In the example shown, it is assumed that the wind is strong and it is raining. The imaging unit 312 in the monitoring device 301 captures environmental information about the flight of the moving body 101 along its planned flight path L1. Figure 5 As shown, the image data captured by imaging unit 312 includes obstacles or weather that may hinder the flight of the moving object. More specifically, as Figure 5 As shown, the image data captured by imaging unit 312 includes the tall building T11 and falling raindrops. The environmental information acquisition unit 12 in management device 201 is able to acquire environmental information such as the tall building T11 and falling raindrops via communication unit 311 and communication unit 211.

[0074] In addition, although Figure 4 Although not illustrated, if the image data captured by the imaging unit 312 includes trees and the trees are tilted, the monitoring device 301 can determine that the wind is strong, and the environmental information acquisition unit 12 can acquire weather information indicating that the wind is strong.

[0075] like Figure 4 As shown, the monitoring device 301 includes a weather sensor 314 and an anemometer 315 as an environmental sensor 313. The monitoring device 301 collects information about rain along the flight path L1 using the weather sensor 314. Additionally, the monitoring device 301 collects the wind speed along the flight path L1 using the anemometer 315. As a result, the monitoring device 301 can collect weather information indicating strong winds and rain along the flight path. The environmental information acquisition unit 12 in the management device 201 can also collect this weather information via the communication unit 311 and the communication unit 211.

[0076] As described above, even if the operator is flying outside the visual observation range of the mobile body 101 and cannot visually observe the mobile body 101, the monitoring device 301 monitors the mobile body 101 and collects environmental information about the movement path of the mobile body 101 on behalf of the operator. Therefore, in the control system according to this disclosure, even where the operator cannot visually observe the mobile body, the operator can still capture the surrounding environmental information in the flight path of the mobile body.

[0077] <Recommended Operation Selection>

[0078] Next, the recommended operation selection unit 13 will be described in detail. The recommended operation selection unit 13 selects a recommended operation based on the progress status of the moving body, using both mobility information and environmental information. More specifically, it selects the corresponding recommended operation from Table 1 stored in the recommended operation storage unit 212, based on the mobility information and environmental information.

[0079] However, the recommended operation selection unit 13 is not limited to the configuration shown in Table 1, which selects the corresponding recommended operation based on mobility information and environmental information. The recommended operation selection unit 13 can be configured to determine whether the flight state of the mobile body is dangerous based on mobility information and environmental information, and select a recommended operation based on the determination result.

[0080] More specifically, after determining that the flight of the mobile body is dangerous, the recommended operation selection unit 13 selects a recommended operation from a number of pre-set hazard avoidance operations based on the progress status of the mobile body. After determining that the flight of the mobile body is not dangerous, the recommended operation selection unit 13 selects a recommended operation to maintain the flight status of the mobile body.

[0081] If the recommended operation selection unit 13 determines whether the flight state of the mobile body is dangerous and selects a recommended operation based on the determination result, the recommended operation storage unit 212 stores information such as those shown in Tables 2 and 3 below. Table 2 is an example of a determination table used to determine whether there is a danger associated with movement information and environmental information. Table 3 is an example of several pre-set danger avoidance operations.

[0082] [Table 2]

[0083]

[0084] [Table 3]

[0085]

[0086] As shown in Table 2, the recommended operation selection unit 13 can determine whether the flight status of the mobile body is dangerous based on movement information and environmental information. For example, if the movement information is "the motor speed is high" and the environmental information is "there is no wind on the planned flight path," the recommended operation selection unit 13 can determine that the flight status of the mobile body is "dangerous." Furthermore, the recommended operation selection unit 13 selects at least one of the multiple hazard avoidance operations defined in Table 3 based on the progress of the flight plan.

[0087] Table 3 shows examples of several pre-set hazard avoidance operations, which are recommended operations selected by the recommended operation selection unit 13 when it determines that the flight state of the mobile body is dangerous based on the movement information and environmental information. Similarly, the recommended operation storage unit 212 can store a list of recommended operations for maintaining the selected flight state of the mobile body when the recommended operation selection unit 13 determines that the flight state of the mobile body is not dangerous based on the movement information and environmental information.

[0088] The movement information, environmental information, and recommended actions shown in Tables 1 and 2 are examples and are not limited thereto. Similarly, the hazard avoidance actions shown in Table 3 are examples and are not limited thereto. For instance, recommended actions may include switching from automatic to manual operation, and the recommended action selection unit 13 may determine whether the flight state of the moving object is hazardous and select to switch from automatic to manual operation based on the determination result. Furthermore, the recommended action selection unit 13 may also select to switch from manual to automatic operation.

[0089] Output unit 14 outputs a signal indicating a recommended operation via recommended operation selection unit 13. Output unit 14 outputs the signal to mobile unit control unit 114, for example, via communication unit 211 of management device 201 and communication unit 112 of mobile body 101. As a result, mobile body 101 can fly while performing the recommended operation. Additionally, output unit 14 outputs a signal to a monitor at the terminal, which can be confirmed by an operator operating the mobile body in a location where it cannot be visually observed. Consequently, even in locations where the operator cannot visually observe the mobile body, the operator can manage how the mobile body is flying based on the local environment while simultaneously monitoring the mobile body's progress relative to the flight plan. Therefore, safe flight of the mobile body can be achieved even in locations where the operator cannot visually observe the mobile body.

[0090] Next, we will refer to Figure 6 Describe the processing of the recommended operation selection. Figure 6 This is a flowchart illustrating the processing of the recommended operation selection unit in the control system according to this disclosure.

[0091] First, the recommended operation selection unit 13 determines whether the flight status of the mobile object is dangerous based on the movement information and environmental information (step ST31). For example, the recommended operation selection unit 13 determines whether the flight status of the mobile object is dangerous according to Table 2.

[0092] If the flight status of the mobile body is determined to be dangerous (step ST31), the recommended operation selection unit 13 selects a recommended operation from a plurality of pre-set hazard avoidance operations based on the progress status of the mobile body (step ST32). For example, the recommended operation selection unit 13 selects at least one of the plurality of hazard avoidance operations defined in Table 3.

[0093] On the other hand, if it is determined that the flight state of the mobile body is not dangerous (step ST31 No), the recommended operation selection unit 13 selects the recommended operation to maintain the flight state of the mobile body.

[0094] In this manner, the recommended operation selection unit 13 determines whether the flight state of the mobile body is dangerous and selects a recommended operation based on the determination result. With this configuration, even when the operator is flying the mobile body out of visual observation, the operation can be selected based on the progress of the mobile body and the environment associated with the flight. Therefore, safe flight of the mobile body can be achieved even in places where the operator cannot visually observe it.

[0095] <Analysis of Flight Status>

[0096] Here, when the recommended operation selection unit 13 determines that the movement is in a dangerous flight condition, the reasons for the dangerous flight state of the movement can be analyzed. (Refer to...) Figure 7 Provide a more specific description. Figure 7 This is a block diagram of the control system according to the present disclosure. The control system 20 according to the present disclosure includes a motion information acquisition unit 11, an environmental information acquisition unit 12, a recommended operation selection unit 13, an output unit 14, an analysis unit 15, and a decision unit 16.

[0097] Because the mobile information acquisition unit 11, the environmental information acquisition unit 12, and the output unit 14 are Figure 1 Those similar to those in the previous section will be omitted from the description. Here, the recommended operation selection unit 13, the analysis unit 15, and the decision unit 16 will be described.

[0098] Analysis unit 15 analyzes the reasons for the dangerous flight state of the mobile vehicle. More specifically, analysis unit 15 analyzes the reasons why the recommended operation selection unit 13 has determined it to be dangerous. For example, in the case where the mobile vehicle is flying off its flight path during flight planning, it considers the possibility that the mobile vehicle's compass has been damaged or that the mobile vehicle has been taken over by a cyberattack. Analysis unit 15 specifies which reason.

[0099] Furthermore, the analysis unit 15 uses, for example, a zero-trust security model. In a zero-trust security model, reliability is not unconditionally given based on location, position, etc., and authentication and authorization are performed on each access to confirm reliability. That is, since the analysis unit 15 knows where the information is generated and how it is transmitted, it is possible to analyze whether the cause is a network attack. A network attack is, for example, a hacker attack and actions such as extracting information related to the mobile device, tampering with information, or taking over the operation of the mobile device.

[0100] The determination unit 16 determines whether the cause analyzed by the analysis unit 15 is a network attack. More specifically, if the determination unit 16 determines that the cause analyzed by the analysis unit 15 is a network attack, the following configuration is adopted.

[0101] First, alert nearby residents to the impending emergency landing of the mobile structure or the possibility of it falling. Figure 3 At least one of the mobile vehicle 101 and management device 201 shown includes a notification unit. Then, if the determination unit 16 determines that the analyzed cause is a cyberattack, the notification unit notifies nearby ground residents of an alarm indicating that the mobile vehicle will make an emergency landing or that there is a possibility that the mobile vehicle will fall. As a result, the control system 10 is able to ensure the safety of nearby ground residents.

[0102] Then, the recommended operation selection unit 13 selects the recommended operation to land the cyber-attacked mobile body on the ground. As a result, the control system 20 is able to land the cyber-attacked mobile body on the ground and thus prevent collisions with other mobile bodies.

[0103] Furthermore, in the event of a mobile unit being taken over, after confirming ground safety, the mobile unit is forced to land using a counter-drone system. As a result, since the cyber-attacked mobile unit is able to land on the ground, collisions with other mobile units are prevented. Additionally, the recommended operation selection unit 13 can select a recommended operation to land another mobile unit flying nearby. As a result, when the other mobile unit also lands, the control system 10 is able to prevent actions that would cause the taken-over mobile unit to collide with the other mobile unit in mid-air.

[0104] On the other hand, if the determination unit 16 determines that the cause is not due to a network attack, then the recommended operation selection unit 13 is similar to... Figure 6 In step ST32, select the recommended operation.

[0105] As described above, the control system 20 according to this disclosure can analyze the causes of dangerous flight conditions of the mobile body and select appropriate flight operations for the mobile body based on the analysis results. Therefore, even in places where the operator cannot visually observe the mobile body, the control system 20 can achieve safe flight of the mobile body.

[0106] <Third Example Implementation>

[0107] In the following description, the control system according to the present disclosure will be described with reference to the accompanying drawings. Each functional block of the control system according to the present disclosure is similar to... Figure 1 and Figure 3 The control system 10 shown includes, as follows: Figure 1The mobile information acquisition unit 11, environmental information acquisition unit 12, recommended operation selection unit 13, and output unit 14 are shown.

[0108] Here, we assume there is a mobile body operated from a location where the operator cannot visually observe the body, and multiple monitoring devices monitor the movement path of the mobile body. These multiple monitoring devices monitor different areas within the movement path. The multiple monitoring devices are wirelessly connected to each other and are able to exchange information monitored by each device.

[0109] Please refer to the appendix Figure 8 and Figure 9 Provide a more specific description. Figure 8 This is a schematic diagram illustrating an example of two monitoring devices monitoring the movement path of a moving object. Figure 9 This is a diagram illustrating an example of image data captured by the imaging unit of each monitoring device. Figure 8 In this scenario, the operator manipulates the mobile body 101 from a position that cannot be visually observed. The mobile body 101 flies along a planned flight path L2. Figure 8 In the example shown, the planned flight path L2 includes flight path L21 and flight path L22. Flight path L23 is a different flight path from flight path L2.

[0110] like Figure 8 As shown, monitoring device 301a includes a camera 312a, a weather sensor 314a, and an anemometer 315a. Similarly, monitoring device 301b includes a camera 312b, a weather sensor 314b, and an anemometer 315b. Monitoring device 301a monitors the movement path L21 of the moving body 101. Monitoring device 301b monitors the movement path L22 of the moving body 101.

[0111] exist Figure 8 In this scenario, it is assumed that the area around movement path L21 monitored by monitoring device 301a is sunny, but the area around movement path L22 monitored by monitoring device 301b is rainy. Additionally, it is assumed that a tall building T11 is located on movement path L22. Furthermore, it is assumed that the area around movement path L23 is sunny.

[0112] Camera 312a captures images of the area surrounding the moving path L21. Camera 312b captures images of the area surrounding the moving path L22. Figure 9 The illustration shows image data acquired by cameras 312a and 312b. Image data S1 is an image acquired by camera 312a. Image data S2 is an image acquired by camera 312b. At the time the images were captured by monitoring devices 301a and 301b, the moving body 101 was flying along the movement path L21.

[0113] like Figure 9 As shown, image data S1 does not include obstacles or weather that may or are unlikely to impede the flight of the moving object. On the other hand, image data S2 includes tall buildings T11 and falling raindrops. In other words, image data S2 includes obstacles or weather that may impede the flight of the moving object.

[0114] In this case, monitoring device 301b transmits environmental information collected by monitoring device 301b, such as environmental information about the high-rise building T11 and falling raindrops, to monitoring device 301a. As a result, environmental information acquisition unit 12 (in Figure 8 and 9 (Not shown in the figure) Environmental information received by monitoring device 301a is collected from monitoring device 301b.

[0115] Then, the recommended operation selection unit 13 ( Figure 8 and Figure 9 (Not shown in the diagram) The recommended operation is selected based on the movement information of the mobile body 101 and the environmental information received by the monitoring device 301a from the monitoring device 302b. In movement path L21, the flight of the mobile body 101 is problem-free because it is sunny; however, in movement path L22, there is a possibility that rain may cause problems during the flight of the mobile body 101. Furthermore, since the tall building T11 is located on movement path L22, the mobile body 101 will collide with it during flight.

[0116] Therefore, it is recommended to operate the selection unit 13 ( Figure 8 and Figure 9 (Not shown in the diagram) For example, choosing a flight operation that does not fly on the planned flight path L22 after the flight path L21, but instead flies on another flight path L23, is used for detour. As a result, the mobile body 101 can avoid danger in advance if there is a danger at a position before the position where the mobile body is currently flying on the flight path, or if the environment changes.

[0117] exist Figure 8 and Figure 9 In the example shown, there are two monitoring devices 301a and 302b, but this disclosure is not limited thereto, and the monitoring devices may include at least two or more monitoring devices. Monitoring device 301a may be referred to as the first monitoring device, and monitoring device 301b may be referred to as the second monitoring device.

[0118] As described above, the control system according to this disclosure includes multiple monitoring devices that monitor different areas along the movement path of the mobile body. Environmental information is exchanged among the multiple monitoring devices. As a result, if there is a hazard at a location prior to the current location of the mobile body on its movement path, or if the environment changes, it is recommended to operate the selection unit 13 ( Figure 8 and Figure 9 (Not shown in the figure) The control system can pre-select recommended actions for the mobile body to avoid danger. Therefore, the control system according to this disclosure enables safer flight of the mobile body.

[0119] <Fourth Example Implementation>

[0120] In the following description, the control system according to the present disclosure will be described with reference to the accompanying drawings. Each functional block of the control system according to the present disclosure is similar to... Figure 1 and Figure 3 The control system 10 shown includes, as follows: Figure 1 The mobile information acquisition unit 11, environmental information acquisition unit 12, recommended operation selection unit 13, and output unit 14 are shown.

[0121] Here, it is assumed that there are multiple mobile bodies operating from locations where the operator cannot visually observe them, and that there are multiple monitoring devices monitoring the movement paths of the mobile bodies. These multiple monitoring devices monitor different movement paths or different areas within those paths. The multiple monitoring devices include at least two or more monitoring devices.

[0122] Reference Figure 10 Provide a more specific description. Figure 10 This is a schematic diagram illustrating an example of multiple monitoring devices monitoring the movement paths of multiple moving objects. Figure 10 In this scenario, the operator manipulates six moving bodies 1111 to 1116 from positions where they cannot be visually observed. For example... Figure 10 As shown, each mobile body 1111 to 1116 is flying on the planned flight path L1111 to L1116.

[0123] like Figure 10 As shown, monitoring devices 3011 to 3018 monitor different movement paths or different areas within movement paths. Additionally, each of monitoring devices 3011 to 3018 monitors each of the movement paths L1111 to L1116 of moving bodies 1111 to 1116 whose planned flight path is included in the area they are monitoring. Figure 10 The diagram shows the monitoring area R3015 of monitoring device 3015 and the monitoring area R3018 of monitoring device 3018, but the monitoring areas of other monitoring devices are omitted.

[0124] For example, such as Figure 10 As shown, monitoring device 3015 or monitoring device 3018 includes the movement path L1111 of moving body 1111 and the movement path L1112 of moving body 1112 in the area R3015 or R3018 it is monitoring. Figure 10 As shown, the mobile body 1111 is flying within the monitoring area R3015 of the monitoring device 3015. Therefore, the monitoring device 3015 monitors the movement path L1111 of the mobile body 1111 and collects environmental information associated with the flight of the mobile body 1111.

[0125] Similarly, such as Figure 10 As shown, the mobile body 1112 is flying within the monitoring area R3018 of the monitoring device 3018. Therefore, the monitoring device 3018 monitors the movement path L1112 of the mobile body 1112 and collects environmental information associated with the flight of the mobile body 1112.

[0126] Although Figure 10 Not illustrated, but it is assumed that each monitoring device 3011 to 3018 includes a camera and an environmental sensor.

[0127] In addition, Figure 10 The diagram illustrates relay points P1 to P4, where mobile bodies 1111 to 1116 can take off and land. At least one monitoring device is installed at relay points P1-P4 to monitor the takeoff and landing of mobile bodies 1111 to 1116. For example, as... Figure 10 As shown, monitoring device 3017 is installed at relay point P1.

[0128] Mobile information collection unit 11 ( Figure 10 (Not shown in the figure) Collects movement information including the progress status of the flight plan or the operational status of the drive unit relative to each moving body 1111 to 1116.

[0129] Environmental information collection unit 12 ( Figure 10 (Not shown in the diagram) Environmental information associated with the flight of mobile bodies 1111 to 1116 is collected from each monitoring device 3011 to 3018. For example, environmental information acquisition unit 12 ( Figure 10 (Not shown in the figure) Environmental information related to the flight of mobile body 1111 is collected from monitoring device 3015, and environmental information related to the flight of mobile body 1112 is collected from monitoring device 3018.

[0130] Then, the recommended operation selection unit 13 ( Figure 10(Not shown in the figure) Based on the movement information of each mobile body 1111 to 1116 and the environmental information collected from the monitoring equipment monitoring the movement path of the mobile body, a recommended operation is selected for each mobile body 1111 to 1116.

[0131] The description will be from the environmental information acquisition unit 12 ( Figure 10 (Not shown in the figure) The time from when monitoring devices 3011 to 3018 collect environmental information related to the flight of mobile bodies 1111 to 1116 until the recommended operation selection unit 13 ( Figure 10 (Not shown in the image) The processing of selecting the recommended actions for moving bodies 1111 to 1116. Here, we will focus on... Figure 10 The monitoring devices 3018 and 3011 shown are described.

[0132] like Figure 10 As shown, assume that tornadoes H1 and H2 occur during the flight of the moving body 1111 to 1116. Figure 10 As shown, assume that tornado H1 occurs on the path L1112 and tornado H2 occurs on the path L1113.

[0133] First, since monitoring device 3018 is monitoring the movement path L1112 of mobile body 1112, it collects environmental information associated with the flight of mobile body 1112. Since tornado H1 has occurred on the movement path L1112 of mobile body 1112, monitoring device 3018 collects environmental information indicating that tornado H1 has occurred on the movement path L1112.

[0134] As a result, environmental information acquisition unit 12 ( Figure 10 (Not shown in the image) Environmental information indicating that a tornado H1 has occurred on the movement path L1112 of the moving body 1112 is collected from monitoring device 3018. Recommended operation selection unit 13 ( Figure 10 (Not shown in the diagram) Based on the movement information of mobile body 1112 and environmental information indicating that tornado H1 has occurred on the movement path L1112 of mobile body 1112, a recommended operation is selected for mobile body 1112. If mobile body 1112 continues to fly according to the movement path L1112, the mobile body will be captured in tornado H1. Therefore, the recommended operation selection unit 13 ( Figure 10 (Not shown in the figure) Select a recommended operation for the mobile body 1112, such as turning back in the opposite direction of the flight plan and landing at the relay point P4.

[0135] Furthermore, since monitoring device 3011 is monitoring the movement path L1113 of mobile body 1113, it collects environmental information associated with the flight of mobile body 1113. Because tornado H2 has occurred on the movement path L1113 of mobile body 1113, monitoring device 3011 collects environmental information indicating that tornado H2 has occurred on the movement path L1113 of mobile body 1113.

[0136] As a result, environmental information acquisition unit 12 ( Figure 10 (Not shown in the image) Environmental information indicating that a tornado H2 has occurred on the movement path L1113 of the moving body 1113 is collected from monitoring device 3011. Recommended operation selection unit 13 ( Figure 10 (Not shown in the diagram) Based on the movement information of mobile body 1113 and environmental information indicating that tornado H2 has occurred on the movement path L1113 of mobile body 1113, a recommended operation is selected for mobile body 1113. Since mobile body 1113 has already passed through the area where tornado H2 has occurred, the mobile body can continue to fly away from tornado H2. Therefore, the recommended operation selection unit 13 ( Figure 10 (Not shown in the diagram) Based on the movement path L1113 in the flight plan, select the recommended operation for moving body 1113, for example, moving at an increased speed.

[0137] Similarly, the recommended operation selection unit 13 ( Figure 10 (Not shown in the image) Select the recommended action for each moving body 1111 to 1116. For example, in Figure 10 In the example shown, mobile bodies 1114, 1115, and 1116 continue to fly while maintaining the same altitude and speed.

[0138] Here, the recommended operation selection unit 13 will be described. Figure 10 Recommended operation for selected mobile body 1111 (not shown). Up to this point, it has been assumed that since mobile body 1112 is flying around monitoring device 3018, monitoring device 3018 monitors the movement path L1112 of mobile body 1112 and collects environmental information associated with the flight of mobile body 1112. However, the monitoring area R3015 of monitoring device 3018 also includes the movement path L1111 of mobile body 1111. Therefore, monitoring device 3018 can further collect environmental information associated with the flight of mobile body 1111.

[0139] Similarly, since the monitoring area R3015 of the monitoring device 3015 also includes the movement path L1112 of the mobile body 1112, the monitoring device 3015 can collect environmental information related to the flight of the mobile body 1112 in addition to the environmental information associated with the flight of the mobile body 1111.

[0140] In addition, as mentioned above Figure 8 and 9 The described information can be exchanged within the monitoring equipment. Here, we will focus on... Figure 10 The monitoring devices 3015 and 3018 shown are selected by the recommended operation selection unit 13 ( Figure 10 The recommended operation for the selected moving body 1111 (not shown in the figure) is described.

[0141] First, monitoring device 3018 monitors movement paths L1111 and L1112, and collects environmental information associated with the flight of mobile bodies 1111 and 1112. Since tornado H1 has occurred on the movement path L1112 of mobile body 1112, monitoring device 3018 collects environmental information indicating that tornado H1 has occurred on the movement path L1112.

[0142] Next, monitoring device 3015 monitors movement paths L1111 and L1112, and collects environmental information associated with the flight of mobile bodies 1111 and 1112. Since no tornadoes have occurred in monitoring area R3015, monitoring device 3015 collects environmental information indicating that there is no possibility of obstructing the flight of mobile bodies 1111 and 1112.

[0143] In this situation, monitoring device 3018 transmits environmental information to monitoring device 3015 indicating that tornado H1 has occurred on its movement path L1112.

[0144] As a result, environmental information acquisition unit 12 ( Figure 10 (Not shown in the figure) Environmental information was collected from monitoring device 3015 indicating that a tornado H1 had occurred on the movement path L1112 of the moving body 1112.

[0145] Recommended operation selection unit 13 ( Figure 10 (Not shown in the diagram) Based on the movement information of mobile body 1111 and environmental information indicating that tornado H1 has occurred on the movement path L1112 of mobile body 1111, a recommended operation is selected for mobile body 1111. If mobile body 1111 continues to fly along the movement path L1111, there is a risk that mobile body 1111 will be captured by tornado H1. Therefore, the recommended operation selection unit 13 ( Figure 10 (Not shown in the figure) The recommended operation for mobile body 1111 is, for example, to turn back in the opposite direction of the flight plan and land at the relay point P4. As a result, the control system according to this disclosure can allow each mobile body to avoid danger in advance if there is a hazard at a position before the current position of the mobile body flying on the movement path or in the event of a change in the environment.

[0146] Here, the following configuration has been described: monitoring device 3015 and monitoring device 3018 exchange information, and environmental information acquisition unit 12 ( Figure 10 (Not shown in the figure) Collect and exchange information, and recommend operation selection unit 13 ( Figure 10 (Not illustrated) The recommended operation for selecting mobile body 1111 is based on the exchanged information. However, this is not the only case, and the following configuration can be adopted.

[0147] Environmental information collection unit 12 ( Figure 10 (Not shown in the image) Environmental information is collected from monitoring device 3015 to ensure there is no environment that could obstruct the flight of mobile bodies 1111 and 1112. Additionally, environmental information acquisition unit 12 ( Figure 10 (Not shown in the image) Environmental information indicating that tornado H1 has occurred on the movement path L1112 is collected from monitoring device 3018. Then, the recommended operation selection unit 13 ( Figure 10 (Not shown in the figure) Based on the movement information of the mobile body 1111 collected from the monitoring device 3018 and the environmental information indicating that a tornado H1 has occurred on the movement path L1112 of the mobile body 1112, the recommended operation for the mobile body 1111 is selected.

[0148] In other words, the environmental information collected by each of the monitoring devices 3011 to 3018 is transmitted to the environmental information acquisition unit 12. Figure 10 (Not shown in the diagram), without exchanging environmental information within the monitoring equipment. Then, the recommended operation selection unit 13 ( Figure 10 (Not shown in the image) Based on the environmental information acquisition unit 12 ( Figure 10 (Not shown in the figure) Receive environmental information from each monitoring device 3011 to 3018, and select recommended operations for each mobile body 1111 to 1116.

[0149] Here, a description has been given based on the assumption that each mobile body is controlled and operated individually. As another example, mobile bodies can be divided into groups, and group control can be performed. In the case where one of the mobile bodies included in the group is dangerous, it is recommended to operate selection unit 13 (…). Figure 10 (Not shown in the figure) Dangerous moving objects can be specified from the group, and the switch from automatic to manual operation can be selected as the recommended operation for the specified moving object.

[0150] More specifically, in the recommended operation selection unit 13 ( Figure 10 (Not shown in the diagram) When a dangerous moving object is specified from a group, for example, the following configuration is used. Output unit 14 ( Figure 10 (Not shown in the image) Outputs such as "Remote ID (RID): What do you want to..." The signal is sent to the management device (e.g., to switch the operation of the moving body to manual operation). Figure 3 The monitor of the terminal or display unit (as shown) can be verified by the operator. Remote ID (RID) mobile body: The instruction is provided by the recommended operation selection unit 13 ( Figure 10 (Not shown in the diagram) A mobile object in a hazardous state is designated from the group. Upon confirmation and agreement by the operator with the message displayed on the terminal's monitor or management device display unit, the mobile object in a hazardous state switches from automatic to manual operation. Then, when the mobile object in a hazardous state switches from automatic to manual operation, the terminal's monitor or management device display unit becomes an operation screen. As a result, the operator can manually operate the mobile object in a hazardous state while simultaneously confirming the display unit of the terminal's monitor or management device.

[0151] In addition, if multiple moving objects included in the group are dangerous and the recommended operation selection unit 13 selects to switch from automatic operation to manual operation as the recommended operation for multiple dangerous moving objects, the following configuration can be adopted.

[0152] First, it is recommended to select unit 13 ( Figure 10 (Not illustrated) Prioritizing dangerous moving objects from the group. For example, the recommended operation selection unit 13 calculates the degree of danger based on the movement information and environmental information of each moving object determined to be dangerous. More specifically, the recommended operation selection unit 13 calculates the degree of danger based on Table 4. Table 4 is an example illustrating the degree of danger of moving objects based on movement information and environmental information. In Table 4, the degree of danger is assessed and indicated by levels 1 to 5, where a degree of danger of 1 indicates that the moving object is not dangerous, and the degree of danger of the moving object increases with the value, such that a degree of danger of 5 indicates that the moving object is the most dangerous. For example, as shown in Table 4, if the movement information of the moving object is "the motor speed is high" and the environmental information of the moving object is "a tornado has occurred on the planned flight path", then the recommended operation selection unit 13 calculates the degree of danger of the moving object to be 5.

[0153] [Table 4]

[0154]

[0155] The danger levels of moving objects shown in Table 4 are merely examples of assessments and indications using a scale of 1 to 5, and can be indicated by any method as long as priority can be determined. For example, danger levels can be assessed and indicated using a score of 0 to 10.

[0156] Then, the recommended operation selection unit 13 determines that the most dangerous moving body has a higher priority, starting from the moving body with the highest level of danger. For example, in the case of three moving bodies with danger levels of 3, 4, and 5, the recommended operation selection unit 13 determines that the moving body with danger level 5, the moving body with danger level 4, and the moving body with danger level 3 have a higher priority in that order.

[0157] Next, output unit 14 ( Figure 10 (Not shown in the image) Outputs such as "RID (Remote ID): What do you want to..." The system sends a signal to the terminal's monitor or management device display unit asking "Switch the drone operation to manual control?", which the operator can then confirm based on priority. The following example uses three mobile objects with danger levels 3, 4, and 5 as examples for a more detailed description. We will assume the RID of the mobile object with danger level 3 is D1, the RID of the mobile object with danger level 4 is D2, and the RID of the mobile object with danger level 5 is D5.

[0158] First, output unit 14 outputs a signal such as "RID: Do you want to switch the operation of the D3 mobile body to manual operation?" to the display unit of the terminal's monitor or management device. This signal can be confirmed by the operator to switch the mobile body with the highest priority, danger level 5, from automatic operation to manual operation. Upon confirmation and agreement by the operator with the message displayed on the terminal's monitor or management device, the mobile body with danger level 5 switches from automatic to manual operation. Then, when the mobile body with danger level 5 switches from automatic to manual operation, the display unit of the terminal's monitor or management device becomes an operation screen. As a result, the operator can manually operate the mobile body with danger level 5 while simultaneously confirming the display unit of the terminal's monitor or management device.

[0159] Next, output unit 14 outputs a signal such as "RID: Do you want to switch the operation of the D2 mobile body to manual operation?" to the display unit of the terminal's monitor or management device, which can be confirmed by the operator to switch the mobile body with the second highest priority (danger level 4) from automatic operation to manual operation. Since the process of receiving a signal from the terminal's monitor or management device until the operator manually operates the mobile body with danger level 4 is similar to the case of the mobile body with danger level 5, its description will be omitted.

[0160] Next, the output unit 14 outputs a signal such as "RID: Do you want to switch the operation of the D1 mobile body to manual operation?" to the display unit of the terminal's monitor or management device, which can be confirmed by the operator to switch the mobile body with the next higher priority of danger level 3 from automatic operation to manual operation.

[0161] As described above, when the recommended operation selection unit 13 selects switching from automatic operation to manual operation as the recommended operation for multiple dangerous moving objects, firstly, the recommended operation selection unit 13 ( Figure 10 (Not shown) The priority of dangerous moving objects is determined from the group. Then, based on the priority, the output unit 14 transmits a signal to the display unit of the terminal's monitor or management device to confirm the switch from automatic to manual operation, which can be confirmed by the operator. With this configuration, the operator can prioritize manually operating moving objects with high risks.

[0162] As described above, in the control system according to this disclosure, movement information of each mobile body and environmental information related to the flight of the mobile body from each monitoring device are collected, and a recommended operation is selected for each mobile body. With this configuration, each monitoring device monitors the mobile body even when it is flying in a location not visually observable by the operator. Therefore, even with only one operator, the operator can manage how each mobile body is flying based on the local environment while simultaneously monitoring the progress of its flight plan relative to each mobile body. Thus, the control system according to the fourth exemplary embodiment enables safe flight of the mobile body even when the operator cannot visually observe it.

[0163] <Configuration Example>

[0164] Figure 16 is a block diagram illustrating a configuration example of the aforementioned management device 201, monitoring devices 301, 301a, 301b and 3011 to 3018, and mobile units 101, 1111, 1112, 1113, 1114, and 1116 (hereinafter referred to as management device 201, etc.). Referring to Figure 16, management device 201, etc., includes a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 can be used to communicate with network nodes. The network interface 1201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 family. IEEE stands for Institute of Electrical and Electronics Engineers.

[0165] Processor 1202 reads from memory 1203 and executes software (computer program) to perform the processing of management device 201, etc., as described in the flowcharts of the above example embodiments. Processor 1202 may be, for example, a microprocessor, a microprocessor unit (MPU), or a central processing unit (CPU). Processor 1202 may include multiple processors.

[0166] Memory 1203 is composed of a combination of volatile and non-volatile memory. Memory 1203 may include storage located remotely from processor 1202. In this case, processor 1202 may access memory 1203 via an input / output (I / O) interface (not shown).

[0167] In the example of Figure 16, memory 1203 is used to store software module groups. Processor 1202 is able to perform the processing of the management device 201, etc., described in the above example embodiment by reading from memory 1203 and executing these software module groups.

[0168] As described with reference to FIG16, each processor included in the management device 201 executes one or more programs comprising a group of commands for causing the computer to execute the algorithms described with reference to the accompanying drawings.

[0169] Furthermore, some or all of the processes in the control system according to this disclosure can be implemented as a computer program. Such a program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible control media. Examples of non-transitory computer-readable media include magnetic control media (e.g., flexible disks, magnetic tapes, or hard disk drives), opto-magnetic control media (e.g., magneto-optical disks), CD read-only memory (ROM), CD-R, CD-R / W, and semiconductor memories (e.g., mask ROM, programmable ROM (PROM), erasable PROM (EPROM), flash memory ROM, or random access memory (RAM)). Programs can be supplied to a computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide programs to a computer via wired or wireless communication lines such as electrical wires and optical fibers.

[0170] While this disclosure has been specifically shown and described with reference to exemplary embodiments thereof, this disclosure is not limited to these exemplary embodiments. Those skilled in the art will understand that various changes in form and detail may be made without departing from the spirit and scope of this disclosure as defined by the claims. Furthermore, each exemplary embodiment can be appropriately combined with other exemplary embodiments.

[0171] Each accompanying drawing is merely an example for illustrating one or more exemplary embodiments. Each drawing is not associated with only one specific exemplary embodiment, but may be associated with one or more other exemplary embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any of the accompanying drawings may be combined with features or steps shown in one or more other drawings, for example, to create exemplary embodiments not explicitly illustrated or described. All features or steps illustrated in any of the accompanying drawings for illustrative exemplary embodiments are not necessarily mandatory, and some features or steps may be omitted. The order of steps described in any of the drawings may be appropriately changed.

[0172] Some or all of the above example embodiments may be described as the following supplementary notes, but are not limited to them.

[0173] (Supplementary Note 1)

[0174] A control system, comprising:

[0175] The mobile information acquisition unit is used to collect mobile information, including the progress status of the flight plan relative to the mobile body.

[0176] An environmental information acquisition unit is used to acquire environmental information related to the flight of the mobile body from a monitoring device that monitors the movement path of the mobile body;

[0177] The recommended operation selection unit is used to select a recommended operation based on the progress status of the moving body, using mobile information and environmental information.

[0178] The output unit is used to output a signal indicating the recommended operation from the recommended operation selection unit.

[0179] (Supplementary Note 2)

[0180] According to the control system described in Supplementary Note 1, the movement information further includes the operating state of the driving unit of the moving body.

[0181] (Supplementary Note 3)

[0182] According to the control system described in supplementary note 1 or 2, wherein,

[0183] The recommended operation selection unit determines whether the flight status of the moving object is dangerous based on movement and environmental information.

[0184] If the flight of a moving object is deemed dangerous, select the recommended action from a set number of pre-set hazard avoidance actions.

[0185] (Supplementary Note 4)

[0186] The control system described in Supplementary Note 3 further includes:

[0187] The analysis unit is used to analyze the causes of dangerous flight conditions of a moving object; and

[0188] The determination unit is used to determine whether the analyzed cause is a network attack.

[0189] The recommended operation selection unit further selects a recommended operation based on the determination result of the determination unit.

[0190] (Supplementary Note 5)

[0191] According to the control system described in Supplementary Note 1 or 2, the environmental information is obstacles or weather that may or is unlikely to impede the flight of a moving object included in the image data captured by the imaging unit included in the monitoring equipment.

[0192] (Supplementary Note 6)

[0193] According to the control system described in Supplementary Note 1 or 2, the environmental information is weather information of the movement path collected by environmental sensors included in the monitoring equipment.

[0194] (Supplementary Note 7)

[0195] According to the control system described in supplementary note 1 or 2, wherein,

[0196] The monitoring equipment includes at least two or more monitoring devices, including a first monitoring device and a second monitoring device that monitor different areas along the movement path of the moving object.

[0197] The environmental information collected by the second monitoring device is transmitted to the first monitoring device.

[0198] The environmental information acquisition unit collects environmental information received by the first monitoring device from the second monitoring device.

[0199] The recommended operation selection unit selects a recommended operation based on mobility information and environmental information received by the first monitoring device from the second monitoring device.

[0200] (Supplementary Note 8)

[0201] According to the control system described in supplementary note 1 or 2, wherein,

[0202] The moving body includes multiple moving bodies.

[0203] The monitoring equipment includes at least two or more monitoring devices used to monitor different movement paths or different areas within a movement path.

[0204] The monitoring equipment monitors the movement path of each moving body whose movement path is included in the area monitored by the monitoring equipment.

[0205] The mobile information collection unit collects the movement information of each mobile object.

[0206] The environmental information acquisition unit collects environmental information from each monitoring device in the monitoring equipment, relating to the flight of a mobile object whose movement path is included in the area monitored by the monitoring device, and

[0207] The recommended operation selection unit is used to select a recommended operation for each mobile entity based on its movement information and environmental information collected from monitoring devices that monitor the movement path of the mobile entity.

[0208] (Supplementary Note 9)

[0209] According to the control system described in Supplementary Note 1 or 2, the recommended operation selection unit selects to switch from automatic operation to manual operation.

[0210] (Supplementary Note 10)

[0211] A control method executed by a computer, comprising:

[0212] Collect movement information including the progress status of the flight plan relative to the moving body;

[0213] Collect environmental information related to the flight of a mobile vehicle from monitoring equipment used to monitor the movement path of the mobile vehicle;

[0214] Based on mobility and environmental information, recommend actions are selected according to the progress status of the moving entity; and

[0215] Output a signal indicating the recommended operation.

[0216] (Supplementary Note 11)

[0217] According to the control method described in Supplementary Note 10, the movement information further includes the operating state of the driving unit of the moving body.

[0218] (Supplementary Note 12)

[0219] The control method described in Supplementary Note 10 or 11 further includes:

[0220] Based on mobility and environmental information, determine whether the flight status of the moving object is dangerous; and

[0221] If the flight of a moving object is deemed dangerous, select the recommended action from a set number of pre-set hazard avoidance actions.

[0222] (Supplementary Note 13)

[0223] The control method described in Supplementary Note 12 further includes:

[0224] Analyze the causes of the dangerous flight state of the moving object;

[0225] Determine whether the analyzed cause is due to a cyberattack; and

[0226] Recommended actions are selected based on the judgment results.

[0227] (Supplementary Note 14)

[0228] According to the control method described in Supplementary Note 10 or 11, the environmental information is an obstacle or weather that may or is unlikely to impede the flight of a moving object included in image data captured by an imaging unit included in the monitoring device.

[0229] (Supplementary Note 15)

[0230] According to the control method described in Supplementary Note 10 or 11, the environmental information is weather information of the movement path collected by environmental sensors included in the monitoring equipment.

[0231] (Supplementary Note 16)

[0232] According to the control method described in supplementary notes 10 or 11, wherein,

[0233] The monitoring equipment includes at least two or more monitoring devices, said at least two or more monitoring devices including a first monitoring device and a second monitoring device for monitoring different areas along the movement path of the moving body, and the method further includes:

[0234] The environmental information collected by the second monitoring device is transmitted to the first monitoring device;

[0235] Collect environmental information received by the first monitoring device from the second monitoring device; and

[0236] Based on the movement information from the first monitoring device and the environmental information received from the second monitoring device, a recommended operation is selected.

[0237] (Supplementary Note 17)

[0238] According to the control method described in supplementary notes 10 or 11, wherein,

[0239] The moving body includes multiple moving bodies.

[0240] The monitoring equipment includes at least two or more monitoring devices used to monitor different movement paths or different areas within a movement path.

[0241] The monitoring equipment monitors the movement path of each moving body whose movement path is included in the area monitored by the monitoring equipment, and the control method further includes:

[0242] Collect movement information for each moving object;

[0243] Environmental information associated with the flight of a mobile object whose movement path is included in the area monitored by the monitoring device is collected from each monitoring device; and

[0244] Based on the movement information of each mobile entity and the environmental information collected from the monitoring equipment that monitors the movement path of the mobile entity, a recommended operation is selected for each mobile entity.

[0245] (Supplementary Note 18)

[0246] According to the control method described in Supplementary Note 10 or 11, it further includes selecting to switch from automatic operation to manual operation.

[0247] (Supplementary Note 19)

[0248] A control program for causing a computer to perform the following processes:

[0249] Collect movement information including the progress status of the flight plan relative to the moving body;

[0250] Collect environmental information related to the flight of a mobile vehicle from monitoring equipment used to monitor the movement path of the mobile vehicle;

[0251] Based on mobility and environmental information, recommend actions are selected according to the progress status of the moving entity; and

[0252] Output a signal indicating the recommended operation.

[0253] (Supplementary Note 20)

[0254] According to the control procedure described in Supplementary Note 19, the movement information further includes the operating state of the driving unit of the moving body.

[0255] (Supplementary Note 21)

[0256] The control procedure described in Supplementary Note 19 or 20 further causes the computer to perform the following processes:

[0257] Based on mobility and environmental information, determine whether the flight status of the moving object is dangerous; and

[0258] If the flight of a moving object is deemed dangerous, select the recommended action from a set number of pre-set hazard avoidance actions.

[0259] (Supplementary Note 22)

[0260] According to the control procedure described in Supplementary Note 21, the computer further performs the following processes:

[0261] Analyze the causes of the dangerous flight state of the moving object;

[0262] Determine whether the analyzed cause is due to a cyberattack; and

[0263] Recommended actions are selected based on the judgment results.

[0264] (Supplementary note 23)

[0265] According to the control procedure described in Supplementary Note 19 or 20, the environmental information is obstacles or weather that may or is unlikely to impede the flight of a moving object included in the image data captured by the imaging unit included in the monitoring device.

[0266] (Supplementary Note 24)

[0267] According to the control procedure described in supplementary notes 19 or 20, the environmental information is weather information of the movement path collected by environmental sensors included in the monitoring equipment.

[0268] (Supplementary Note 25)

[0269] According to the control procedure described in supplementary notes 19 or 20, wherein,

[0270] The processing of collected environmental information includes collecting environmental information from at least two or more monitoring devices in different areas along the movement path of the monitored mobile object, and

[0271] The process of selecting a recommended operation includes: selecting a recommended operation from monitoring devices that are different from those whose locations are included in the monitoring area, based on mobility information and environmental information.

[0272] (Supplementary Note 26)

[0273] According to the control procedure in supplementary notes 19 or 20, where,

[0274] The processing of motion information collection includes collecting motion information for each moving object.

[0275] The processing of collected environmental information includes acquiring environmental information from each monitoring device in the monitoring equipment that is associated with the flight of a mobile body whose movement path is included in the area monitored by the monitoring equipment, and

[0276] The process of selecting recommended actions includes: selecting recommended actions for each mobile entity based on its movement information and environmental information collected from monitoring devices that monitor the movement path of the mobile entity.

[0277] (Supplementary note 27)

[0278] According to the control procedure described in Supplementary Note 19 or 20, the computer is further instructed to perform a process that selects to switch from automatic operation to manual operation.

[0279] This application is based on and claims the priority benefit of Japanese Patent Application No. 2023-048277, filed on March 24, 2023, the disclosure of which is incorporated herein by reference in its entirety.

[0280] Reference tag list

[0281] 10, 20 control systems

[0282] 11 Mobile Information Collection Unit

[0283] 12 Environmental Information Acquisition Units

[0284] 13 Recommended Operation Selection Unit

[0285] 14 output units

[0286] 15 Analysis Units

[0287] 16 decision units

[0288] Moving objects 101, 1111, 1112, 1113, 1114, 1115, 1116

[0289] 111 drive unit

[0290] 112 Communication Unit

[0291] 113 imaging units

[0292] 114 Moving Body Control Unit

[0293] 115 self-position estimation units

[0294] 1201 Network Interface

[0295] 1202 processor

[0296] 1203 memory

[0297] 201 Management Equipment

[0298] 211 Communication Unit

[0299] 212 Recommended Operating Storage Units

[0300] 301, 301a, 301b monitoring equipment

[0301] Monitoring equipment 3011, 3012, 3013, and 3014

[0302] Monitoring equipment 3015, 3016, 3017, and 3018

[0303] 311 Communication Unit

[0304] 312 imaging units

[0305] 312a and 312b cameras

[0306] 313 Environmental Sensor

[0307] 314, 314a, 314b weather sensors

[0308] 315, 315a, 315b anemometers

[0309] H1, H2 tornadoes

[0310] Movement paths L1, L2, L21, L22, L23

[0311] Movement paths L1111, L1112, and L1113

[0312] Movement paths L1114, L1115, and L1116

[0313] Relay points P1, P2, P3, P4

[0314] R3015 and R3018 monitoring areas

[0315] Image data S1, S2

[0316] T1 and T11 high-rise buildings

Claims

1. A control system, comprising: A mobile information acquisition device, the mobile information acquisition device being used to acquire mobile information including the progress status of flight planning relative to the mobile body; An environmental information acquisition device is used to acquire environmental information related to the flight of the mobile body from a monitoring device used to monitor the movement path of the mobile body; A recommended operation selection device is used to select a recommended operation based on the movement information and the environmental information, according to the progress status of the moving body; as well as An output device, the output device being used to output a signal indicating the recommended operation through the recommended operation selection device.

2. The control system according to claim 1, wherein, The movement information further includes the operating state of the driving unit of the moving body.

3. The control system according to claim 1 or 2, wherein, The recommended operation selection device determines whether the flight status of the mobile body is dangerous based on the movement information and the environmental information, and If the flight of the moving body is determined to be dangerous, the recommended operation is selected from a number of pre-set danger avoidance operations.

4. The control system according to claim 3, further comprising: An analysis device, the analysis device being used to analyze the causes of the dangerous flight state of the moving body; as well as A determination device, wherein the determination device is used to determine whether the analyzed cause is a network attack; The recommended operation selection device further selects the recommended operation based on the determination result of the determination device.

5. The control system according to claim 1 or 2, wherein, The environmental information is an obstacle or weather that may impede the flight of the moving body included in the image data captured by the imaging device included in the monitoring equipment, or is unlikely to impede the flight of the moving body.

6. The control system according to claim 1 or 2, wherein, The environmental information is weather information collected by environmental sensors included in the monitoring equipment along the movement path.

7. The control system according to claim 1 or 2, wherein, The monitoring equipment includes at least two or more monitoring devices, including a first monitoring device and a second monitoring device that monitor different areas along the movement path of the moving object. The environmental information collected by the second monitoring device is transmitted to the first monitoring device. The environmental information acquisition device acquires the environmental information received by the first monitoring device from the second monitoring device, and The recommended operation selection device selects a recommended operation based on the mobility information and the environmental information received by the first monitoring device from the second monitoring device.

8. The control system according to claim 1 or 2, wherein, The moving body includes multiple moving bodies. The monitoring equipment includes at least two or more monitoring devices, which monitor different movement paths or different areas within the movement paths. The monitoring device monitors the movement path of each moving body whose movement path is included in the area monitored by the monitoring device; The mobile information collection device collects the mobile information of each mobile entity; The environmental information acquisition device acquires environmental information from each of the monitoring devices related to the flight of the mobile body, wherein the movement path is included in the area monitored by the monitoring devices. The recommended operation selection device selects a recommended operation for each mobile body based on the movement information of each mobile body and the environmental information collected from the monitoring device that monitors the movement path of the mobile body.

9. A control method executed by a computer, comprising: Collect movement information including the progress status of the flight plan relative to the moving body; Environmental information related to the flight of the mobile body is collected from monitoring equipment used to monitor the movement path of the mobile body; Based on the movement information and the environmental information, a recommended operation is selected according to the progress status of the moving body; as well as Output a signal indicating the recommended operation.

10. The control method according to claim 9, wherein, The movement information further includes the operating state of the driving unit of the moving body.

11. The control method according to claim 9 or 10, further comprising: Based on the movement information and the environmental information, it is determined whether the flight state of the mobile body is dangerous; as well as If the flight of the moving body is determined to be dangerous, the recommended operation is selected from a number of pre-set danger avoidance operations.

12. The control method according to claim 11, further comprising: Analyze the reasons for the dangerous flight state of the moving body; Determine whether the analyzed cause is due to a cyberattack; as well as The recommended operation is selected based on the judgment result.

13. The control method according to claim 9 or 10, wherein, The environmental information is an obstacle or weather that may impede the flight of the moving object included in the image data captured by the imaging unit included in the monitoring device, or is unlikely to impede the flight of the moving object.

14. The control method according to claim 9 or 10, wherein, The environmental information is weather information collected by environmental sensors included in the monitoring equipment along the movement path.

15. A control program for causing a computer to perform the following processes: Collect movement information including the progress status of the flight plan relative to the moving body; Environmental information related to the flight of the mobile body is collected from monitoring equipment used to monitor the movement path of the mobile body; Based on the movement information and the environmental information, a recommended operation is selected according to the progress status of the moving body; as well as Output a signal indicating the recommended operation.

16. The control procedure according to claim 15, wherein, The movement information further includes the operating state of the driving unit of the moving body.

17. The control program according to claim 15 or 16 further causes the computer to perform the following processes: Based on the movement information and the environmental information, determine whether the flight state of the mobile object is dangerous; and If the flight of the moving body is determined to be dangerous, the recommended operation is selected from a number of pre-set danger avoidance operations.

18. The control program according to claim 17, further comprising the computer performing the following processes: Analyze the reasons for the dangerous flight state of the moving body; Determine whether the analyzed cause is due to a cyberattack; and The recommended operation is selected based on the judgment result.

19. The control procedure according to claim 15 or 16, wherein, The environmental information is an obstacle or weather that may impede the flight of the moving object included in the image data captured by the imaging unit included in the monitoring device, or is unlikely to impede the flight of the moving object.

20. The control procedure according to claim 15 or 16, wherein, The environmental information is weather information collected by environmental sensors included in the monitoring equipment along the movement path.

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