Information processing device, and display control method

Abstract

To provide an information processing device and a display control method for enabling a monitoring person to easily grasp a flying unmanned aircraft and an operating state of the unmanned aircraft at a base on a map screen.SOLUTION: A UAV monitoring server SA displays a base object at a UAV base on a two-dimensional map screen, and also displays information showing UAVns during flight standby in the UAV base, during take-off movement, or during landing movement, and information showing flying UAVn outside the UAV base on the basis of each of operating states of a plurality of UAVns on the two-dimensional map screen in different display modes.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to the technical field of systems that can appropriately monitor the operating status of unmanned aerial vehicles by displaying information indicating the unmanned aerial vehicles on a map screen. [Background technology]

[0002] Conventionally, as disclosed in Patent Document 1, for example, a system is known that is configured to display an icon indicating an unmanned aerial vehicle in flight, the flight route of the unmanned aerial vehicle, and bases from which the unmanned aerial vehicle takes off and lands, etc., on a map screen displayed on the display of a remote terminal. This allows a user of the remote terminal to effectively monitor the flight status of the unmanned aerial vehicle in flight. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-509520 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when one monitor (user) manages the operation of multiple unmanned aerial vehicles while viewing a map screen, it is desirable to display on the map screen not only information showing unmanned aerial vehicles in flight, but also information showing unmanned aerial vehicles at bases having takeoff and landing ports (e.g., unmanned aerial vehicles waiting to fly). However, since there is a high possibility that multiple unmanned aerial vehicles are simultaneously present at such bases, if information showing unmanned aerial vehicles at the bases is displayed in the same way as information showing unmanned aerial vehicles in flight, it becomes cumbersome for the monitor and makes it difficult to grasp the operating status of the unmanned aerial vehicles.

[0005] Therefore, an example of an objective of the present invention is to provide an information processing device and a display control method that enable a monitor to easily grasp on a map screen the operating status of unmanned aircraft in flight and unmanned aircraft at bases. [Means for solving the problem]

[0006] (Application Example 1) In order to solve the above problem, the information processing device of this application example includes a first acquisition unit that acquires first location information indicating the location of a base used for takeoff or landing of an unmanned aerial vehicle, a second acquisition unit that acquires second location information indicating the locations of each of a plurality of unmanned aerial vehicles, a third acquisition unit that acquires operation status information indicating the operation status of each of the plurality of unmanned aerial vehicles, and a display control unit that displays an object representing the base on a two-dimensional map screen based on the first location information, and displays information indicating each of the plurality of unmanned aerial vehicles on the two-dimensional map screen based on the second location information, and the display control unit displays information indicating the unmanned aerial vehicle that is waiting to fly, taking off, or landing at the base, and information indicating the unmanned aerial vehicle flying outside the base in different display modes based on the operation status of each of the plurality of unmanned aerial vehicles.

[0007] (Application Example 2) The display control method of this application example is a display control method executed by one or more computers, and includes the steps of: acquiring first location information indicating the location of a base used for takeoff or landing of an unmanned aerial vehicle; acquiring second location information indicating the locations of each of a plurality of unmanned aerial vehicles; acquiring operation status information indicating the operation status of each of the plurality of unmanned aerial vehicles; displaying an object representing the base on a two-dimensional map screen based on the first location information; and displaying on the two-dimensional map screen in different display modes information indicating the unmanned aerial vehicle that is waiting to fly, taking off, or landing at the base, and information indicating the unmanned aerial vehicle that is flying outside the base, based on the second location information and the operation status information of each of the plurality of unmanned aerial vehicles. Effect of the Invention

[0008] According to the present invention, it is possible for a monitor to easily grasp the operating status of unmanned aerial vehicles in flight and at bases on a two-dimensional map screen. [Brief description of the drawings]

[0009] [Figure 1] A diagram showing an example of the general configuration of a UAV monitoring system S. [Diagram 2] FIG. 1 is a diagram illustrating an example of a schematic configuration of UAVn. [Diagram 3] A diagram showing an example of the schematic configuration of a UAV monitoring server SA. [Figure 4] FIG. 2 is a diagram showing an example of functional blocks in a control unit 23. [Diagram 5] This figure shows an example of a two-dimensional map screen display on which a base object of a UAV base station and a UAV object of UAV1 in the process of taking off are placed. [Figure 6] This figure shows an example of a two-dimensional map screen display on which a base object of a UAV base station, a UAV object of UAV1 in a takeoff operation, and a UAV object of UAV2 in flight are arranged. [Figure 7] This figure shows an example of a two-dimensional map screen display on which a base object of a UAV base station, a UAV object of UAV3 in a landing operation, and a UAV object of UAV2 in flight are arranged. [Figure 8] This figure shows an example of a two-dimensional map screen display on which a base object of a UAV base station, a UAV object of UAV1 in takeoff operation, a UAV object of UAV2 in flight, and a mark representing the number of UAVn waiting to fly are arranged. [Figure 9] 1A and 1B are diagrams showing an example of a UAV object corresponding to (i) starting takeoff, (ii) ascending, and (iii) hovering in the air (for takeoff), respectively. [Figure 10] 1A and 1B are diagrams showing an example of a UAV object corresponding to (i) hovering (for landing), (ii) descending, and (iii) landing, respectively. [Figure 11] FIG. 2 is a diagram illustrating an example of a schematic configuration of a monitor terminal T. [Figure 12] A flowchart showing an example of a display control process of the control unit 23 in the UAV monitoring server SA. [Figure 13] 13 is a flowchart showing an example of an overlap determination process in step S11 shown in FIG. 12. [Figure 14] 13 is a conceptual diagram showing how the coordinate position is repeatedly shifted by a second predetermined value. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following embodiment is an embodiment in which the present invention is applied to a UAV monitoring system for monitoring the operating status of an unmanned aerial vehicle (hereinafter, referred to as "UAV (Unmanned Aerial Vehicle)") such as a drone or a multicopter.

[0011] [ 1. Overview of the configuration and operation of the UAV surveillance system S ] First, referring to FIG. 1, the configuration and operation of a UAV monitoring system S according to this embodiment will be described. FIG. 1 is a diagram showing an example of a schematic configuration of the UAV monitoring system S. As shown in FIG. 1, the UAV monitoring system S includes a plurality of UAVs (n=1, 2, etc.), a UAV monitoring server SA, and a monitor terminal T. Here, the UAV monitoring server SA is an example of an information processing device of the present invention. The UAVs, the UAV monitoring server SA, and the monitor terminal T are each connected to a communication network NW. The communication network NW is, for example, configured from the Internet, a mobile communication network, and its wireless base station, etc.

[0012] UAVn is controlled to depart from a takeoff and landing port for a specific purpose, such as transporting goods (e.g., delivery) or surveying, and return to the takeoff and landing port or another takeoff and landing port. A base having a takeoff and landing port used for takeoff or landing of UAVn in this manner is called a UAV base. The UAV base includes, for example, a site (or a rooftop of a building) having an area at least equal to or larger than the area of ​​the takeoff and landing port. The UAV base may include a specific range in the sky above the site (or the rooftop of a building).

[0013] The monitor terminal T is used by a monitor of multiple UAVn. The monitor can also give operation instructions (e.g., takeoff instructions) to the UAVn from the monitor terminal T as an operator. Operation instruction information indicating operation instructions to the UAVn is transmitted to the UAV monitoring server SA via the communication network NW together with the aircraft ID of the UAVn. Note that staff who prepare the UAVn for flight are present at the UAV base. The flight preparation of the UAVn includes, for example, a pre-flight inspection of the UAVn. When the flight preparation of the UAVn is completed, preparation completion information indicating the completion of the flight preparation of the UAVn may be transmitted from a mobile terminal of the staff at the UAV base to the UAV monitoring server SA via the communication network NW together with the aircraft ID of the UAVn.

[0014] [ 1-1.UAVn configuration and functions ] Next, the configuration and functions of UAVn will be described with reference to FIG. 2. FIG. 2 is a diagram showing an example of a schematic configuration of UAVn. As shown in FIG. 2, UAVn includes a drive unit 11, a positioning unit 12, a communication unit 13, a sensor unit 14, a storage unit 15, and a control unit 16. Although not shown, UAVn includes a battery that supplies power to each unit in UAVn, and a rotor (propeller) that is a horizontal rotor. The battery power is supplied to each unit in UAVn when a power switch provided in UAVn is turned on. The power switch may be turned on by a staff member at the UAV base, or may be turned on when a power-on signal is received from an external device. Note that UAVn may include a holding member that holds an item to be loaded. Furthermore, UAVn may include a linear member such as a wire connected to the holding member, and a reel (winch) that sends out or winds up the linear member.

[0015] The driving unit 11 includes a motor, a rotating shaft, and the like. The driving unit 11 rotates a plurality of rotors by the motor and the rotating shaft, which are driven according to a control signal output from the control unit 16. The positioning unit 12 includes a radio receiver, an altitude sensor, and the like. For example, the positioning unit 12 receives radio waves transmitted from a satellite of the Global Navigation Satellite System (GNSS) by a radio receiver, and detects the current horizontal position (latitude and longitude) of the UAVn based on the radio waves. The current horizontal position of the UAVn may be corrected based on an image captured by a camera of the sensor unit 14. Position information indicating the current position detected by the positioning unit 12 is output to the control unit 16. Furthermore, the positioning unit 12 may detect the current vertical position (altitude) of the UAVn by an altitude sensor such as a barometric pressure sensor. In this case, the position information output to the control unit 16 indicates the horizontal position and the vertical position of the UAVn.

[0016] The communication unit 13 has a wireless communication function and is responsible for controlling communication performed via the communication network NW. The sensor unit 14 has various sensors used for flight control of the UAVn. The various sensors include, for example, an optical sensor, a speed sensor, a three-axis angular velocity sensor, a three-axis acceleration sensor, and a geomagnetic sensor. The optical sensor includes a camera (for example, an RGB camera, an infrared camera), and continuously captures real space within the camera's angle of view. The sensing information obtained by the sensing of the sensor unit 14 is output to the control unit 16. The storage unit 15 is composed of a non-volatile memory, etc., and stores various programs and data. The storage unit 15 also stores the aircraft ID of the UAVn. The aircraft ID is identification information for identifying each UAVn.

[0017] The control unit 16 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), and executes various types of control according to programs stored in the ROM or the storage unit 15. The various types of control include flight control (including takeoff control and landing control). In flight control, the control unit 16 uses position information acquired from the positioning unit 12, sensing information acquired from the sensor unit 14, flight path information, and the like to control the rotor rotation speed, the position, attitude, and direction of travel of the UAVn. This allows the control unit 16 to fly the UAVn autonomously.

[0018] Here, the flight path information is acquired from, for example, the UAV monitoring server SA. The flight path information includes, for example, position information indicating the positions of a plurality of waypoints on the flight path of the UAVn. The position of the waypoint is expressed, for example, by a horizontal position (latitude and longitude). Alternatively, the position of the waypoint may be expressed, for example, by a horizontal position (latitude and longitude) and a current vertical position (altitude). In addition, when the UAVn is used for delivering goods, the flight path information includes position information of the delivery destination of the goods. Furthermore, the control unit 16 can also perform flight control of the UAVn according to control information from the UAV monitoring server SA. Such control information includes, for example, control information for taking off the UAVn at the UAV base, or control information for landing the UAVn at the UAV base.

[0019] The control unit 16 also acquires direction information indicating the front direction (travel direction) of the UAVn, position information indicating the position of the UAVn, and speed information indicating the speed of the UAVn (i.e., flight speed). The direction information, position information, and speed information thus acquired are sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the aircraft ID of the UAV1. Here, the front direction of the UAVn is identified, for example, based on sensing information from a three-axis acceleration sensor and a geomagnetic sensor included in the sensor unit 14. The front direction of the UAVn means, for example, the direction (azimuth) in which the front of the UAVn faces. The "face" of the front is not limited to a plane, and may be a curved surface. The front of the UAVn is a surface facing the travel direction of the UAVn (i.e., a surface that receives a headwind), and is set in advance. The front direction of the UAVn is expressed, for example, as eastward, westward, southward, northward, east-westward, or southeastward on a two-dimensional plane. Alternatively, the forward direction of UAVn may be expressed in a two-dimensional plane, for example as an angle relative to north.

[0020] The speed of UAVn is determined based on, for example, speed information from a speed sensor included in the sensor unit 14. Image information indicating an image captured by the camera may be sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the aircraft ID of UAVn. When the power supply of UAVn is turned on, power-on information indicating that the power supply is on may be sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the aircraft ID of the UAVn. Rotor start information indicating that the rotor of UAVn has started to rotate may be sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the aircraft ID of UAVn. Rotor stop information indicating that the rotation of the rotor of UAVn has stopped may be sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the aircraft ID of UAVn.

[0021] [ 1-2. Configuration and Functions of UAV Monitoring Server SA ] Next, the configuration and functions of the UAV monitoring server SA will be described with reference to FIG. 3. FIG. 3 is a diagram showing an example of a schematic configuration of the UAV monitoring server SA. As shown in FIG. 3, the UAV monitoring server SA includes a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 is responsible for controlling communication via the communication network NW. The communication unit 21 receives position information, direction information, speed information, power-on information, and the like transmitted from the UAVn. The communication unit 21 also receives operation instruction information and the like transmitted from the monitor terminal T. The communication unit 21 also receives preparation completion information and the like transmitted from the mobile terminal of the staff at the UAV base. The storage unit 22 is composed of, for example, a hard disk drive or a solid state drive, and stores various programs including an operating system.

[0022] The storage unit 22 stores data constituting a two-dimensional map screen into which the two-dimensional map image data is incorporated. The data constituting the two-dimensional map screen is provided to the monitor terminal T. As a result, the two-dimensional map screen is displayed on the display (monitor) of the monitor terminal T. The storage unit 22 also stores data of elements (e.g., objects and figures described below) displayed on the two-dimensional map screen. The storage unit 22 also stores data constituting an operation screen for receiving operation instructions for UAVn from the monitor. The data constituting the operation screen is provided to the monitor terminal T. As a result, the operation screen is displayed on the display of the monitor terminal T. The storage unit 22 has a buffer memory that accumulates the position information, direction information, and speed information received from UAVn while sequentially updating the information for each UAVn in association with the aircraft ID of the UAVn.

[0023] Furthermore, the storage unit 22 has a base management database (DB) 221, a UAV management database (DB) 222, and the like constructed therein. The base management database 221 is a database for managing information related to UAV bases. The base management database 221 stores, for example, the base ID and position information of the UAV base in correspondence with each UAV base. The base ID is identification information for identifying each base. The position information of the UAV base indicates, for example, the position (latitude and longitude) of any point (or multiple points) within the UAV base.

[0024] The UAV management database 222 is a database for managing information on the UAVn to be monitored. In the UAV management database 222, for example, the aircraft ID, flight route information, and operation status information of the UAVn to be monitored are stored in association with each UAVn. Here, the operation status information indicates the operation status of the UAVn. Such operation status indicates stopped, flight standby, taking off, landing, or flight, and is updated as appropriate. Stopped indicates, for example, a situation in which the power of the UAVn is not turned on at the UAV base. Flight standby indicates, for example, a situation in which the power of the UAVn is turned on at the UAV base and flight is waiting. Alternatively, flight standby indicates a situation in which the flight preparation of the UAVn is completed at the UAV base and flight is waiting. Flight standby may be associated with the base ID of the UAV base where the UAVn is flight standby. In other words, a base ID may be associated with the UAVn flight standby.

[0025] During the takeoff operation, for example, the rotor of the UAVn rotates at the UAV base, and the UAVn starts taking off, ascends vertically, and stops by hovering in the sky at a predetermined altitude. In addition, in this specification, "altitude" may be a height from a reference surface, for example, a height from a takeoff and landing port (for example, the ground or the rooftop of a building) to which the UAVn is in contact. During the takeoff operation, the base ID of the UAV base where the UAVn is taking off may be associated. In other words, the base ID may be associated with the UAVn during the takeoff operation. During the landing operation, the UAVn indicates a state where the UAVn reaches the UAV base, hovers in the sky, descends vertically, lands on the takeoff and landing port, and stops the rotation of the rotor of the UAVn. During the landing operation, the base ID of the UAV base where the UAVn is landing may be associated. In other words, the base ID may be associated with the UAVn during the landing operation.

[0026] "In flight" refers to a situation where the UAVn is flying outside the UAV base. Here, "outside the UAV base" means, for example, an area that is horizontally away from the UAV base by a predetermined distance (for example, 5 m) or more. Note that "in flight" may also include a situation where the UAVn is hovering outside the UAV base. Also, for example, it is preferable to configure the flying UAVn so that the base ID of the UAV base is not associated with the flying UAVn. In this case, the UAVn that is not associated with the base ID of the UAV base can be determined to be flying outside the UAV base.

[0027] The control unit 23 includes a CPU, a ROM, a RAM, etc. Fig. 4 is a diagram showing an example of functional blocks in the control unit 23. The control unit 23 functions as a first position information acquisition unit 231 (an example of a first acquisition unit), a second position information acquisition unit 232 (an example of a second acquisition unit), a direction information acquisition unit 233, a speed information acquisition unit 234, an operation status determination unit 235, an operation status information acquisition unit 236 (an example of a third acquisition unit), a display control unit 237, a flight control unit 238, and the like, as shown in Fig. 4, in accordance with a program (a group of program codes) stored in, for example, the ROM or the storage unit 22.

[0028] The first location information acquisition unit 231 acquires location information (an example of first location information) indicating the location of a UAV base to be displayed as an object (also called an icon, hereinafter referred to as a "base object") representing a UAV base, for example, from the base management database 221. Here, the base object is represented by a picture, a figure, a photograph, or the like.

[0029] The second position information acquisition unit 232 acquires position information (an example of second position information) indicating the position of the UAVn to be monitored. For example, the position information of the UAV base is acquired as the position information of the UAVn waiting to fly at the UAV base. Furthermore, the position information of the UAVn taking off or landing at the UAV base is acquired from the buffer memory in the storage unit 22. Alternatively, the position information of the UAV base may be acquired as the position information of the UAVn taking off or landing at the UAV base. Furthermore, the position information of the UAV base flying outside the UAV base is acquired from the buffer memory in the storage unit 22.

[0030] The direction information acquisition unit 233 acquires direction information indicating the front direction of the UAVn to be monitored. For example, direction information of the UAVn taking off or landing at the UAV base is acquired from the buffer memory in the storage unit 22. In addition, position information of the UAVn flying outside the UAV base is acquired from the buffer memory in the storage unit 22. Note that the direction information acquisition unit 233 may calculate the traveling direction of the UAVn from two different positions of the UAVn. In this case, the direction information acquisition unit 233 acquires direction information indicating the calculated traveling direction.

[0031] The speed information acquisition unit 234 acquires speed information indicating the speed of the UAVn to be monitored. For example, the speed information of the UAVn taking off or landing at the UAV base is acquired from the buffer memory in the storage unit 22. Also, the speed information of the UAVn flying outside the UAV base is acquired from the buffer memory in the storage unit 22. The speed information acquisition unit 234 may calculate the speed of the UAVn based on the amount of change in the position of the UAVn per unit time. In this case, the speed information acquisition unit 234 acquires speed information indicating the calculated speed.

[0032] The operation status determination unit 235 determines the operation status of the UAVn to be monitored. When the operation status is determined by the operation status determination unit 235, the operation status information registered in the UAV management database 222 in association with the aircraft ID of the UAVn is updated. For example, when power-on information is received by the communication unit 21 from a UAVn whose operation status is stopped, the operation status determination unit 235 determines that the operation status of the UAVn has changed (changed) from stopped to flight standby. Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from stopped to flight standby when preparation completion information of the UAVn is received by the communication unit 21 from a mobile terminal of a staff member at the UAV base.

[0033] In addition, when the communication unit 21 receives operation instruction information indicating an operation instruction (takeoff instruction) for a UAVn whose operation status is in flight standby, the operation status determination unit 235 determines that the operation status of the UAVn has changed from flight standby to takeoff operation. Here, the takeoff operation may be divided into at least takeoff start, ascending, and air stop (for takeoff). In this case, when the communication unit 21 receives operation instruction information indicating an operation instruction (takeoff instruction) for the UAVn, the operation status determination unit 235 determines that the operation status of the UAVn has changed from flight standby to takeoff start. Alternatively, when the communication unit 21 receives rotor start information indicating that the rotor of the UAVn has started to rotate, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from flight standby to takeoff start.

[0034] Then, the operation status determination unit 235 determines that the operation status of the UAVn has changed from the start of takeoff to the start of takeoff when the vertical speed of the UAVn whose operation status is the start of takeoff becomes equal to or greater than the first threshold. Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from the start of takeoff to the start of takeoff when the altitude of the UAVn whose operation status is the start of takeoff becomes equal to or greater than the second threshold. Then, the operation status determination unit 235 determines that the operation status of the UAVn has changed from the rising status to the air stop (for takeoff) when the vertical speed of the UAVn whose operation status is rising becomes equal to or less than the third threshold. Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from the rising status to the air stop (for takeoff) when the altitude of the UAVn whose operation status is rising reaches a fourth threshold.

[0035] In addition, the operation status determination unit 235 determines that the operation status of the UAVn has changed from taking off (or stopping in the air) to flying when the distance (i.e., the horizontal distance) between the horizontal position of the UAVn whose operation status is taking off (or stopping in the air) and the position of the UAV base becomes equal to or greater than a fifth threshold (i.e., when the horizontal distance is greater than or equal to a predetermined distance). Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from taking off (or stopping in the air) to flying when the horizontal speed of the UAVn whose operation status is taking off (or stopping in the air) becomes equal to or greater than a sixth threshold.

[0036] Furthermore, the operation status determination unit 235 determines that the operation status of the UAVn has changed from in flight to in landing operation when operation instruction information indicating an operation instruction (landing instruction) for a UAVn whose operation status is in flight is received by the communication unit 21. Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from in flight to in landing operation when the distance between the horizontal position of the UAVn whose operation status is in flight and the position of the UAV base becomes equal to or less than a seventh threshold (for example, when the UAVn reaches the UAV base).

[0037] Here, the landing operation may be divided into at least stopping in the air (for landing), descending, and landing. In this case, when the communication unit 21 receives operation instruction information indicating an operation instruction (landing instruction) for a UAVn whose operation status is in flight, the operation status determination unit 235 determines that the operation status of the UAVn has changed from in flight to stopping in the air (for landing). Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from in flight to stopping in the air (for landing) when the distance between the horizontal position of the UAVn whose operation status is in flight and the position of the UAV base becomes equal to or less than a seventh threshold.

[0038] Then, the operation status determination unit 235 determines that the operation status of the UAVn has changed from stopping in the air (for landing) to descending when the vertical speed of the UAVn whose operation status is stopping in the air (for landing) becomes equal to or greater than the eighth threshold. Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from stopping in the air (for landing) to descending when the altitude of the UAVn whose operation status is stopping in the air (for landing) becomes equal to or less than the ninth threshold. Then, the operation status determination unit 235 determines that the operation status of the UAVn has changed from descending to landing when the vertical speed of the UAVn whose operation status is descending becomes equal to or less than the tenth threshold. Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from descending to landing when the altitude of the UAVn whose operation status is descending reaches the eleventh threshold (i.e., when it lands). Alternatively, the operation status determination unit 235 may determine that the operation status of the UAVn has changed from descending to landing when rotor stop information indicating that the rotor of the UAVn has stopped rotating is received by the communication unit 21.

[0039] The operation status information acquisition unit 236 acquires operation status information indicating the operation status of each UAVn to be monitored, determined by the operation status determination unit 235, from, for example, the UAV management database 222. As described above, such operation status indicates, for example, stopped, waiting to fly, taking off, landing, or flying. Furthermore, the operation status of a UAVn during a takeoff operation may indicate start of takeoff, ascending, or stopping in the air (for takeoff). Furthermore, a UAVn during a landing operation may indicate stopping in the air (for landing), descending, or landing.

[0040] The display control unit 237 displays the base object on the two-dimensional map screen of the monitor terminal T based on the position information of the UAV base, and displays information indicating the UAVn on the two-dimensional map screen based on the position information of the UAVn. Here, displaying the base object on the two-dimensional map screen based on the position information of the UAV base means displaying the base object at a coordinate position corresponding to the position (latitude and longitude) indicated by the position information of the UAV base. Such a coordinate position is a coordinate position (x1, y1) on the two-dimensional map screen, for example, a coordinate position with the center of the upper left corner pixel of the two-dimensional map screen as the origin (x0, y0). Note that the UAV base whose coordinate position corresponding to the position information of the UAV base falls within the two-dimensional map screen is the display target.

[0041] On the other hand, displaying information indicating UAVn on a two-dimensional map screen based on the position information of UAVn means displaying information indicating UAVn at a coordinate position (x2, y2) corresponding to the position (latitude and longitude) indicated by the position information of UAVn, or at a coordinate position (x3, y3) shifted (i.e., moved) from the coordinate position (x2, y2). Note that UAVn whose coordinate position (x2, y2) corresponding to the position information of UAVn or whose coordinate position (x3, y3) shifted from the coordinate position (x2, y2) falls within the two-dimensional map screen is the display target. For example, the display control unit 237 displays a base object of a UAV base at a coordinate position (x1, y1) corresponding to the position information of the UAV base. Then, the display control unit 237 displays information indicating a UAVn taking off or landing at the UAV base at a coordinate position (x3, y3) shifted from the coordinate position (x2, y2) corresponding to the position information of the UAVn so as not to overlap with the base object of the UAV base. At this time, the amount of shift may be calculated based on, for example, the display size (area) of the base object and the display size of the information indicating the UAVn.

[0042] Here, the information indicating the UAVn during the takeoff or landing operation is, for example, an object (also called an icon, hereinafter referred to as a "UAV object") representing the UAVn, and is represented by a picture, a figure, a photograph, or the like. FIG. 5 is a diagram showing a display example of a two-dimensional map screen on which a base object of a UAV base and a UAV object of a UAV1 during the takeoff operation are arranged. In the example of FIG. 5, on the two-dimensional map screen Sc, a UAV object O1 of a UAV1 during the takeoff operation is displayed so as not to overlap with a base object Op of a UAV base. Note that the UAV object O1 includes a figure D1 indicating that the UAV object is in the takeoff operation. The figure D1 shown in FIG. 5 is an isosceles triangle, and the direction indicated by the apex (obtuse angle) of the triangle indicates the upward direction. Note that the figure D1 is not limited to a triangle, and may be any figure (for example, an arrow figure) that can indicate a direction.

[0043] If a UAV object of a UAVn taking off or landing at a UAV base is displayed at a coordinate position (x2, y2) corresponding to the position information of the UAVn, it will overlap with the base object of the UAV base, making each object difficult to see. Therefore, by displaying the UAV object at a coordinate position (x3, y3) shifted from the coordinate position (x2, y2) corresponding to the position information of the UAVn taking off or landing at the UAV base, the visibility of the base object and the UAV object can be improved. Note that the coordinate position (x1, y1) corresponding to the position information of the UAV base may be used as the coordinate position (x2, y2) corresponding to the position information of the UAVn taking off or landing at the UAV base.

[0044] In addition, when there is a UAVn flying outside the UAV base, the display control unit 237 displays the UAV object of the flying UAVn at a coordinate position (x4, y4) corresponding to the position information of the flying UAVn. In this case, the display control unit 237 may display the UAV object of the UAVn taking off or landing at a coordinate position (x5, y5) shifted from the coordinate position (x2, y2) corresponding to the position information of the UAVn taking off or landing so as not to overlap with the base object of the UAV base and the UAV object of the flying UAVn. This can improve the visibility of the UAV object of the flying UAVn.

[0045] 6 is a diagram showing a display example of a two-dimensional map screen on which a base object of a UAV base, a UAV object of a UAV1 taking off, and a UAV object of a UAV2 flying are arranged. In the example of FIG. 6, on the two-dimensional map screen Sc, the UAV object O1 of the UAV1 taking off is displayed so as not to overlap with the base object Op of the UAV base and the UAV object O2 of the UAV2 flying. That is, the UAV object O1 of the UAV1 taking off is displayed at a coordinate position (x5, y5) shifted from the coordinate position (x2, y2) corresponding to the position information of the UAV1 taking off.

[0046] In the example of FIG. 6, a figure D2 representing the front direction is associated (added) to the UAV object O2 of the flying UAV2 and displayed. That is, the display control unit 237 associates a figure representing the front direction of the UAV2 with the UAV object on the two-dimensional map screen based on the direction information (direction information of the UAV2) acquired by the direction information acquisition unit 233, and displays it on the two-dimensional map screen. The figure D2 shown in FIG. 6 is an isosceles triangle, and the direction indicated by the apex (obtuse angle) of the triangle is the front direction. The figure D2 is not limited to a triangle, and may be any figure (for example, an arrow figure) that can indicate a direction.

[0047] As another example, the display control unit 237 may display the UAV object of the UAVn taking off or landing at the UAV base at a coordinate position (x6, y6) shifted from the coordinate position (x2, y2) corresponding to the position information of the UAVn taking off or landing so as not to overlap with the base object of the UAV base and the flight path of the UAVn in flight. This can improve the visibility of the flight path of the UAVn in flight. FIG. 7 is a diagram showing a display example of a two-dimensional map screen in which the base object of the UAV base, the UAV object of the UAV3 in the landing operation, and the UAV object of the UAV2 in flight are arranged. In the example of FIG. 7, on the two-dimensional map screen Sc, the UAV object O3 of the UAV3 in the landing operation is displayed so as not to overlap with the base object Op of the UAV base and the flight path R of the UAV object O2 of the UAV2 in flight. That is, the UAV object O2 of the UAV3 during the landing operation is displayed at a coordinate position (x6, y6) shifted from the coordinate position (x2, y2) corresponding to the position information of the UAV3 during the landing operation.

[0048] In addition, the display control unit 237 may display information (e.g., a UAV object) indicating a UAVn at a UAV base (i.e., a UAVn waiting to fly, taking off, or landing at a UAV base) and a UAV object of a UAVn flying outside the UAV base in different display modes on a two-dimensional map screen based on the operation status of each UAVn to be displayed. This makes it easier for an observer to grasp the operation status of a UAVn in flight and a UAVn at a UAV base on a two-dimensional map screen. Note that a different display mode means, for example, a display mode in which the difference between the two can be recognized by the observer's eyesight. Displaying a UAV object in a different display mode means, for example, displaying at least one of the pattern, shape, size (size), color, and number of the UAV object in a different manner. In the example of FIG. 6, a UAV object 01 of a UAV1 taking off and a UAV object 02 of a UAV2 flying have different display colors and sizes.

[0049] In addition, the information indicating UAVn in flight standby at the UAV base may be the number of UAVn in flight standby (number of aircraft) rather than the UAV object. In this case, the number of UAVn in flight standby at the UAV base is counted, and the counted number is displayed in association with the base object of the UAV base. This allows the observer to grasp at a glance the number of UAVn in flight standby at the UAV base on the two-dimensional map screen.

[0050] FIG. 8 is a diagram showing an example of a two-dimensional map screen display in which a base object of a UAV base, a UAV object of UAV1 taking off, a UAV object of UAV2 flying, and a mark indicating the number of UAVn in flight standby are arranged. In the example of FIG. 8, a mark M indicating the number of UAVn in flight standby, "3", is added (partially superimposed) to the base object Op and displayed. This indicates that three UAVn are in flight standby at the UAV base. Note that, if there is no UAVn in flight standby at the UAV base, information indicating UAVn in flight standby may not be displayed, or "0" may be displayed as the number of UAVn.

[0051] Furthermore, the display control unit 237 may display the UAV object of the UAVn in the takeoff operation at the UAV base in different display modes for start of takeoff, ascending, and stopping in the air. FIG. 9 is a diagram showing an example of a UAV object corresponding to each of (i) start of takeoff, (ii) ascending, and (iii) stopping in the air (for takeoff). This can further improve the visibility of the UAV object, and make it easier for the observer to understand at which stage of the takeoff operation the UAVn is at at the UAV base. For example, the UAV object O1 shown in FIG. 6 is displayed as a UAV object corresponding to any of (i) start of takeoff, (ii) ascending, and (iii) stopping in the air (for takeoff) shown in FIG. 9 according to the operating status classified during the takeoff operation.

[0052] The display control unit 237 may display the UAV object of the UAVn during the landing operation at the UAV base in different display modes for stopping in the air (for landing), descending, and landing. FIG. 10 is a diagram showing an example of a UAV object corresponding to each of (i) stopping in the air (for landing), (ii) descending, and (iii) landing. This can further improve the visibility of the UAV object, and can make it easier for the observer to understand at which stage of the landing operation the UAVn is at at the UAV base. For example, the UAV object O3 shown in FIG. 7 is displayed as a UAV object corresponding to any of (i) stopping in the air (for landing), (ii) descending, and (iii) landing shown in FIG. 10 according to the classified operating status during the landing operation.

[0053] The display control of the base object and the UAV object is performed by transmitting display control data for displaying the base object, the UAV object, etc., from the display control unit 237 to the monitor terminal T via the communication unit 21. Such display control data includes, for example, image data of the base object, image data of the UAV object, and data indicating the coordinate positions of these objects. The display control data may also include text data indicating the number of UAVn waiting to fly at the UAV base.

[0054] When an operation instruction is given to the UAVn through the operation screen displayed on the monitor terminal T (i.e., when operation instruction information indicating the operation instruction is received through the communication unit 21), the flight control unit 238 transmits control information corresponding to the operation instruction to the UAVn that is the target of the operation instruction. As described above, the control information includes control information for taking off the UAVn at the UAV base, or control information for landing the UAVn at the UAV base.

[0055] [ 1-3. Configuration and functions of monitor terminal T ] Next, the configuration and functions of the monitor terminal T will be described with reference to FIG. 11. FIG. 11 is a diagram showing an example of a schematic configuration of the monitor terminal T. As shown in FIG. 11, the monitor terminal T includes a display unit 31, an operation unit 32, a communication unit 33, a storage unit 34, and a control unit 35. The display unit 31 includes a display (monitor) for displaying a two-dimensional map screen and an operation screen. The display may be physically separated into a display for the two-dimensional map screen and a display for the operation screen. The display may also be a touch panel capable of receiving operation instructions from a user's finger, pen, or the like. The operation unit 32 includes a keyboard, a mouse, and the like operated by the monitor. The communication unit 33 includes a wireless communication function and is responsible for controlling communication performed via the communication network NW.

[0056] The storage unit 34 is composed of, for example, a hard disk drive or a solid state drive, and stores various installed programs and data. The various programs include an operating system (OS), applications, and a web browser. The applications include an application for monitoring the UAVn and an application for controlling the UAVn. The monitoring application may incorporate and manage data constituting a two-dimensional map screen, image data of base objects and UAV objects, etc. Also, the control application may incorporate and manage data constituting an operation screen.

[0057] The control unit 35 includes a CPU, a ROM, a RAM, and the like. The control unit 35 displays the above-mentioned two-dimensional map screen on the display according to the monitoring application. Data constituting the two-dimensional map screen may be appropriately received from the UAV monitoring server SA. The display range of the two-dimensional map image in the two-dimensional map screen is changed according to an instruction from the operation unit 32. Then, information indicating the display range of the two-dimensional map image may be transmitted to the UAV monitoring server SA. The control unit 35 may receive a web page from the UAV monitoring server SA by specifying the URL (Uniform Resource Locator) of a web page including data constituting the two-dimensional map screen by a web browser, and display the two-dimensional map screen on the display of the display unit 31. Then, when the above-mentioned display control data is received from the UAV monitoring server SA, the control unit 35 displays the base object, the UAV object, and the like on the two-dimensional map screen, for example, as shown in FIG. 5 to FIG. 8.

[0058] The control unit 35 also displays the above-mentioned operation screen on the display according to the control application. The data constituting the operation screen may be appropriately received from the UAV monitoring server SA. The control unit 35 may receive a web page including the data constituting the operation screen from the UAV monitoring server SA by specifying the URL of the web page by the web browser, and display the operation screen on the display of the display unit 31. Then, when an operation instruction related to flight control of the UAVn is received from the monitor via the operation unit 32 while the operation screen is being displayed, control information corresponding to the operation instruction is transmitted to the UAV monitoring server SA.

[0059] [ 2. Operation of UAV Surveillance System S ] Next, the operation of the UAV monitoring system S will be described with reference to FIG. 12 and FIG. 13. FIG. 12 is a flowchart showing an example of the display control process of the control unit 23 in the UAV monitoring server SA. FIG. 13 is a flowchart showing an example of the overlap determination process in step S11 shown in FIG. 12. In parallel with the process shown in FIG. 12, as described above, a process is performed in which the operating status of the UAVn to be monitored is determined by the operating status determination unit 235. The operating status thus determined is stored in the UAV management database 222 and used in the process shown in FIG. 12. In addition, as a premise of the process shown in FIG. 12, it is assumed that the monitor terminal T starts a monitoring application and displays the above-mentioned two-dimensional map screen on the display for the two-dimensional map screen. In addition, for convenience of explanation, the process shown in FIG. 12 takes as an example a case where a coordinate position corresponding to the position information of one UAV base is within the two-dimensional map screen.

[0060] When the process shown in FIG. 12 is started, the control unit 23 acquires position information indicating the position of the UAV base to be displayed by the first position information acquisition unit 231 (step S1). Next, the control unit 23 displays a base object of the UAV base at the coordinate position (x1, y1) corresponding to the position information acquired in step S1 (step S2). For example, as described above, the display control unit 237 transmits display control data for displaying the base object to the monitor terminal T. As a result, the base object is displayed on the two-dimensional map screen at the coordinate position (x1, y1) corresponding to the position information of the UAV base.

[0061] Next, the control unit 23 acquires operation status information indicating the operation status of each UAVn to be monitored by the operation status information acquisition unit 236 (step S3). Next, the control unit 23 acquires location information indicating the location of each UAVn to be monitored (excluding UAVn whose operation status is stopped) by the second location information acquisition unit 232 (step S4).

[0062] Next, the control unit 23 determines whether or not the UAVn in flight to be displayed is included among the multiple UAVn to be monitored based on the operation status indicated by the operation status information acquired in step S3 (step S5). Here, the UAVn in flight to be displayed is a UAVn whose coordinate position corresponding to the position information acquired in step S4 falls within the two-dimensional map screen. If it is determined that the UAVn in flight to be displayed is included (step S5: YES), the process proceeds to step S6. On the other hand, if it is determined that the UAVn in flight to be displayed is not included (step S5: NO), the process proceeds to step S10.

[0063] In step S6, the control unit 23 selects one UAVn in flight to be displayed (for example, selects the aircraft ID). Next, the control unit 23 acquires direction information indicating the front direction of the UAVn selected in step S6 by the direction information acquisition unit 233 (step S7). Next, the control unit 23 displays a UAV object of the UAVn at the coordinate position (x4, y4) corresponding to the position information acquired in step S4, and displays a figure representing the front direction indicated by the direction information acquired in step S7 in association with the UAV object (step S8). For example, as described above, the display control unit 237 transmits display control data for displaying the UAV object of the UAVn in flight and the above figure to the monitor terminal T. As a result, the UAV object of the UAVn and the above figure are displayed on the two-dimensional map screen at the coordinate position (x4, y4) corresponding to the position information of the UAVn in flight. The display control data includes the aircraft ID of the UAVn corresponding to the UAV object.

[0064] Next, the control unit 23 determines whether or not there is a UAVn whose UAV object has not yet been displayed among the flying UAVn to be displayed (step S9). If it is determined that there is a UAVn whose UAV object has not yet been displayed (step S9: YES), the process returns to step S6, and the same process as above is performed. On the other hand, if it is determined that there is no UAVn whose UAV object has not yet been displayed (step S9: NO), the process proceeds to step S10.

[0065] In step S10, the control unit 23 determines whether or not the UAVn being displayed during a takeoff or landing operation is included among the multiple UAVn being monitored based on the operation status indicated by the operation status information acquired in step S3. Here, the UAVn being displayed during a takeoff or landing operation is a UAVn being displayed during a takeoff or landing operation at the UAV base being displayed. If it is determined that the UAVn being displayed during a takeoff or landing operation is included (step S10: YES), the process proceeds to step S11. On the other hand, if it is determined that the UAVn being displayed during a takeoff or landing operation is not included (step S10: NO), the process proceeds to step S13.

[0066] In step S11, the control unit 23 executes an overlap determination process by the display control unit 237. The overlap determination process described below is taken as an example of application to a UAVn taking off, but can be similarly applied to a UAVn landing. In the overlap determination process shown in FIG. 13, the display control unit 237 adds or subtracts a first predetermined value to the coordinate position (x2, y2) corresponding to the position information of the UAVn taking off so that the UAV object of the UAVn taking off does not overlap with the base object displayed in step S2 (step S111). As a result, the coordinate position (x2, y2) corresponding to the position information of the UAVn taking off is shifted to the coordinate position (x3, y3).

[0067] Next, the display control unit 237 determines whether or not there is a UAVn in flight whose display range of the UAV object overlaps with the UAVn in the takeoff operation whose coordinate position has been shifted in step S111 (step S112). Here, the display range of the UAV object overlaps means, for example, that at least a part of the display range based on the coordinate position (x3, y3) of the UAV object of the UAV1 in the takeoff operation overlaps with the display range based on the coordinate position (x4, y4) of the UAV object of the UAV2 in flight. The display range may be set in advance according to, for example, the display size of the UAV object. Note that an upper limit value for the number of times of processing in step S112 may be set. In this case, when the number of times of processing reaches the upper limit value, instead of displaying the UAV object of the UAVn in the takeoff operation on the two-dimensional map screen, a small mark indicating that there is a UAVn in the takeoff operation may be displayed.

[0068] If it is determined that there is a UAVn in flight with which the display range of the UAV object overlaps (step S112: YES), the process proceeds to step S113. In step S113, the display control unit 237 adds or subtracts a second predetermined value to the coordinate position (x3, y3) shifted in step S111. As a result, the coordinate position (x3, y3) of the UAV object of the UAVn in the takeoff operation is shifted to the coordinate position (x5, y5). Thereafter, the process returns to step S112, and the shift of the coordinate position is repeated by the second predetermined value (i.e., the same distance) until it is determined that there is no UAVn in flight with which the display range of the UAV object overlaps. FIG. 14 is a conceptual diagram showing the manner in which the shift of the coordinate position is repeated by the second predetermined value. In the example of Fig. 14, the coordinate position is shifted downward by the second predetermined value from the coordinate position (x3, y3), then shifted leftward by the second predetermined value from the coordinate position (x5, y5), and finally shifted upward by the second predetermined value from the coordinate position (x7, y7). In this way, by changing the direction each time the coordinate position is shifted by the second predetermined value, the processing load of the CPU can be reduced compared to the process of searching for an empty area for displaying the UAV object of UAVn taking off on the two-dimensional map screen.

[0069] On the other hand, if it is determined that there is no UAVn in flight whose display range of the UAV object overlaps (step S112: NO), the process returns to the process shown in FIG. 12. Note that a case where multiple UAVn simultaneously take off and land at one UAV base (for example, a UAV base such as a hub airport) (for example, both UAVn are taking off, both UAVn are landing, or one UAVn is taking off and the other UAVn is landing) is considered. In this case, the display control unit 237 may add a mark representing the number of UAVn taking off to the UAV object of the UAVn taking off. In addition, the display control unit 237 may add a mark representing the number of UAVn landing to the UAV object of the UAVn landing. Alternatively, the display control unit 237 may display a mark representing the sum of the number of UAVn taking off and the number of UAVn landing in association with the base object of the UAV base.

[0070] Returning to FIG. 12, the control unit 23 displays the UAV object of the UAVn taking off or landing at the coordinate position (for example, the shifted coordinate position (x5, y5)) finally determined in the overlap determination process of step S11 in a display mode different from that of the UAV object of the UAVn in flight (step S12). For example, as described above, the display control unit 237 transmits display control data for displaying the UAV object of the UAVn taking off or landing to the monitor terminal T. As a result, on the two-dimensional map screen, the UAV object of the UAVn is displayed at the coordinate position finally determined for the UAVn taking off or landing. The display control data includes the aircraft ID of the UAVn corresponding to the UAV object. After the UAV object is displayed in step S12, the process proceeds to step S13.

[0071] Here, the UAV object displayed in step S12 may be a UAV object corresponding to any one of (i) takeoff start, (ii) ascending, and (iii) stopping in the air (for takeoff) shown in Fig. 9 according to the operation status indicated by the operation status information acquired in step S3. Alternatively, the UAV object displayed in step S12 may be a UAV object corresponding to any one of (i) stopping in the air (for landing), (ii) descending, and (iii) landing shown in Fig. 10 according to the operation status indicated by the operation status information acquired in step S3.

[0072] In step S13, the control unit 23 determines whether or not the UAVn in flight standby to be displayed is included among the multiple UAVn to be monitored based on the operation status indicated by the operation status information acquired in step S3. Here, the UAVn in flight standby to be displayed is a UAVn in flight standby at the UAV base to be displayed. If it is determined that the UAVn in flight standby to be displayed is included (step S13: YES), the process proceeds to step S14. On the other hand, if it is determined that the UAVn in flight standby to be displayed is not included (step S13: NO), the process proceeds to step S16.

[0073] In step S14, the control unit 23 counts (accumulates) the number of UAVn (number of aircraft) waiting to fly at the UAV base. Next, the control unit 23 displays the number of aircraft counted in step S14 in association with the base object of the UAV base (step S15). For example, the display control unit 237 transmits display control data for displaying the counted number of aircraft to the monitor terminal T. As a result, the number of aircraft is displayed on the two-dimensional map screen in association with the base object of the UAV base. After the number of aircraft is displayed in step S15, the process proceeds to step S16.

[0074] In step S16, the control unit 23 determines whether a preset display update timing has arrived. Here, the display update timing is set to arrive at a predetermined time interval (for example, 0.01 to 1 second). If it is determined that the preset display update timing has arrived (step S16: YES), the process returns to step S1. As a result, the display of the base object, the UAV object, and the like is updated.

[0075] As described above, according to the above embodiment, the UAV monitoring server SA is configured to display the base object of the UAV base on a two-dimensional map screen, and to display information indicating a UAVn that is waiting to fly, taking off, or landing at the UAV base and information indicating a UAVn flying outside the UAV base in different display modes on the two-dimensional map screen based on the operating status of each of the multiple UAVn, so that the monitor can easily grasp the operating status of the UAVn in flight and the UAVn at the UAV base on the two-dimensional map screen. That is, according to the above embodiment, for example, even if multiple UAVn are simultaneously present at the UAV base, the information indicating the UAVn at the UAV base can be displayed in a manner distinguishable from the information indicating the UAVn in flight, so that it is possible to prevent the monitor from having difficulty in grasping the operating status of the UAVn.

[0076] The above embodiment is an embodiment of the present invention, and the present invention is not limited to the above embodiment. Various configurations and the like may be changed from the above embodiment without departing from the gist of the present invention, and such changes are also included in the technical scope of the present invention. In the above embodiment, the UAV monitoring server SA has been described as an example of an information processing device of the present invention, but the monitor terminal T may be an information processing device. In this case, the control unit 35 of the monitor terminal T functions in the same manner as the first position information acquisition unit 231, the second position information acquisition unit 232, the direction information acquisition unit 233, the speed information acquisition unit 234, the operation status determination unit 235, and the display control unit 237 described above while communicating with the UAV monitoring server SA via the communication network NW. For example, the control unit 35 of the monitor terminal T acquires the position information of the UAV base, the position information of each of the multiple UAVn, and the operation status information of each of the multiple UAVn from the UAV monitoring server SA. The control unit 35 of the monitor terminal T displays the base object of the UAV base on the two-dimensional map screen based on the position information of the UAV base, and displays information indicating UAVn that is waiting to fly, taking off, or landing at the UAV base and information indicating UAVn that is flying outside the UAV base in different display modes on the two-dimensional map screen based on the position information and operation status information of each of the multiple UAVn. For example, the control unit 35 of the monitor terminal T may display the number of UAVn as information indicating UAVn that is waiting to fly in association with the base object of the UAV base.

[0077] The control unit 35 of the monitor terminal T may display the base object of the UAV base at a coordinate position corresponding to the position information of the UAV base, and may display information indicating a UAVn taking off or landing at a coordinate position shifted from the coordinate position corresponding to the position information of the UAVn taking off or landing so as not to overlap with the base object of the UAV base. Furthermore, the control unit 35 of the monitor terminal T may display information indicating a UAVn in flight at a coordinate position corresponding to the position information of the UAVn in flight, and before displaying information indicating a UAVn in a taking off or landing operation at the shifted coordinate position, determine whether or not there is a UAVn in flight whose display range of information indicating the UAVn overlaps with the UAVn taking off or landing operation, and if it is determined that there is a UAVn in flight, display information indicating a UAVn in a taking off or landing operation at a coordinate position further shifted from the shifted coordinate position. In the above embodiment, a UAV is used as an example of an unmanned aerial vehicle, but the present invention can also be applied to a flying robot or the like as an example of an unmanned aerial vehicle.

[0078] <Additional Notes> [1] The information processing device according to the present disclosure includes a first acquisition unit that acquires first location information indicating the location of a base used for the takeoff or landing of an unmanned aerial vehicle, a second acquisition unit that acquires second location information indicating the locations of each of a plurality of unmanned aerial vehicles, a third acquisition unit that acquires operation status information indicating the operation status of each of the plurality of unmanned aerial vehicles, and a display control unit that displays an object representing the base on a two-dimensional map screen based on the first location information and displays information indicating each of the plurality of unmanned aerial vehicles on the two-dimensional map screen based on the second location information, and the display control unit displays information indicating the unmanned aerial vehicles that are waiting to fly, taking off, or landing at the base and information indicating the unmanned aerial vehicles flying outside the base in different display modes based on the operation status of each of the plurality of unmanned aerial vehicles. This makes it easier to grasp the operation status of the unmanned aerial vehicles in flight and the unmanned aerial vehicles at the base on the two-dimensional map screen.

[0079] [2] In the information processing device described in [1] above, the display control unit displays an object representing the base at a coordinate position on the two-dimensional map screen that corresponds to the first position information, and displays information representing the unmanned aerial vehicle taking off or landing at a coordinate position shifted from the coordinate position corresponding to the second position information of the unmanned aerial vehicle taking off or landing so as not to overlap with the object representing the base. This can improve visibility of the object representing the base and the information representing the unmanned aerial vehicle taking off or landing.

[0080] [3] In the information processing device described in [2] above, the display control unit displays the information indicating the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and before displaying the information indicating the unmanned aerial vehicle in the taking off or landing operation at the shifted coordinate position, determines whether there is an unmanned aerial vehicle in flight whose display range of the information overlaps with the unmanned aerial vehicle in the taking off or landing operation, and if it is determined that there is an unmanned aerial vehicle in flight, displays the information indicating the unmanned aerial vehicle in the taking off or landing operation at the coordinate position further shifted from the shifted coordinate position. This improves the visibility of the information indicating the unmanned aerial vehicle in flight.

[0081] [4] In the information processing device according to any one of [1] to [3] above, the display control unit displays an object representing the base at the coordinate position corresponding to the first position information, which is a coordinate position on the two-dimensional map screen, displays information representing the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and displays information representing the unmanned aerial vehicle in the taking off or landing operation at the coordinate position shifted from the coordinate position corresponding to the second position information of the unmanned aerial vehicle in the taking off or landing operation so as not to overlap with the object representing the base and the information representing the unmanned aerial vehicle in flight. This improves visibility of the information representing the unmanned aerial vehicle in flight.

[0082] [5] In the information processing device according to any one of [1] to [4] above,

[0083] The display control unit displays an object representing the base at a coordinate position on the two-dimensional map screen corresponding to the first position information, displays information indicating the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and displays information indicating the unmanned aerial vehicle taking off or landing at the coordinate position shifted from the coordinate position corresponding to the second position information of the unmanned aerial vehicle taking off or landing so as not to overlap with the object representing the base and the flight path of the unmanned aerial vehicle in flight. This improves visibility of the flight path of the unmanned aerial vehicle in flight.

[0084] [6] In the information processing device described in any one of [1] to [5] above, the takeoff operation is divided into at least takeoff start, ascending, and stopping in the air, and the display control unit displays the information showing the unmanned aerial vehicle during the takeoff operation in different display modes for the takeoff start, the ascending, and the stopping in the air. This makes it easier for an observer to grasp on a two-dimensional map screen at which stage of the takeoff operation the unmanned aerial vehicle is at at the base.

[0085] [7] In the information processing device described in any one of [1] to [6] above, the landing operation is divided into at least stopping in the air, descending, and landing, and the display control unit displays the information showing the unmanned aerial vehicle during the landing operation in different display modes for the stopping in the air, the descending, and the landing. This makes it easier for an observer to grasp on a two-dimensional map screen at which stage of the landing operation the unmanned aerial vehicle is at at the base.

[0086] [8] In the information processing device described in any one of [1] to [7] above, the display control unit displays the number of unmanned aerial vehicles as information indicating the unmanned aerial vehicles on standby in association with an object representing the base, thereby allowing an observer to grasp at a glance on the two-dimensional map screen the number of unmanned aerial vehicles on standby at the base.

[0087] [9] The display control method of the present disclosure is a display control method executed by one or more computers, and includes the steps of: acquiring first location information indicating the location of a base used for takeoff or landing of an unmanned aerial vehicle; acquiring second location information indicating the locations of each of a plurality of unmanned aerial vehicles; acquiring operation status information indicating the operation status of each of the plurality of unmanned aerial vehicles; displaying an object representing the base on a two-dimensional map screen based on the first location information; and displaying on the two-dimensional map screen in different display modes information indicating the unmanned aerial vehicle that is waiting to fly, taking off, or landing at the base and information indicating the unmanned aerial vehicle that is flying outside the base based on the second location information and the operation status information of each of the plurality of unmanned aerial vehicles. [Explanation of symbols]

[0088] 1,2 UAV 11 Drive unit 12 Positioning unit 13. Communications Department 14 Sensor section 15 Storage section 16 Control section 21 Communications Department 22 Memory section 23 Control Unit 31 Display section 32 Operation section 33 Communications Department 34 Storage section 35 Control section 231 1st location information acquisition unit 232 Second location information acquisition unit 233 Direction information acquisition unit 234 Speed ​​information acquisition section 235 Operation Status Determination Unit 236 Operation Status Information Acquisition Unit 237 Display control section 238 Flight Control Unit SA UAV Surveillance Server T Monitor terminal S UAV Surveillance System

Claims

1. a first acquisition unit that acquires first location information indicating a location of a base used for takeoff or landing of the unmanned aerial vehicle; a second acquisition unit that acquires second position information indicating the positions of each of the plurality of unmanned aerial vehicles; A third acquisition unit that acquires operation status information indicating an operation status of each of the plurality of unmanned aerial vehicles; a display control unit that displays an object representing the base on a two-dimensional map screen based on the first position information, and displays information indicating each of the plurality of unmanned aerial vehicles on the two-dimensional map screen based on the second position information; Equipped with The information processing device is characterized in that the display control unit displays, in different display formats, information indicating the unmanned aircraft that are waiting to fly, taking off, or landing at the base, and information indicating the unmanned aircraft that are flying outside the base, based on the operating status of each of the multiple unmanned aircraft.

2. The information processing device described in claim 1, characterized in that the display control unit displays an object representing the base at a coordinate position on the two-dimensional map screen corresponding to the first position information, and displays information indicating the unmanned aircraft during the takeoff or landing operation at a coordinate position shifted from the coordinate position corresponding to the second position information of the unmanned aircraft during the takeoff or landing operation so as not to overlap with the object representing the base.

3. The information processing device described in claim 2, characterized in that the display control unit displays information indicating the unmanned aerial vehicle in flight at the coordinate position corresponding to the second position information of the unmanned aerial vehicle in flight, and before displaying information indicating the unmanned aerial vehicle undergoing the takeoff or landing operation at the shifted coordinate position, determines whether there is an unmanned aerial vehicle in flight whose display range of the information overlaps with the unmanned aerial vehicle undergoing the takeoff or landing operation, and if it is determined that there is an unmanned aerial vehicle in flight, displays the information indicating the unmanned aerial vehicle in the takeoff or landing operation at the coordinate position further shifted from the shifted coordinate position.

4. The information processing device described in claim 1, characterized in that the display control unit displays an object representing the base at a coordinate position on the two-dimensional map screen corresponding to the first position information, displays information indicating the unmanned aircraft in flight at the coordinate position corresponding to the second position information of the unmanned aircraft in flight, and displays information indicating the unmanned aircraft in the taking off or landing operation at the coordinate position shifted from the coordinate position corresponding to the second position information of the unmanned aircraft in the taking off or landing operation so as not to overlap with the object representing the base and the information indicating the unmanned aircraft in flight.

5. The information processing device described in claim 1, characterized in that the display control unit displays an object representing the base at a coordinate position on the two-dimensional map screen corresponding to the first position information, displays information indicating the unmanned aircraft in flight at the coordinate position corresponding to the second position information of the unmanned aircraft in flight, and displays information indicating the unmanned aircraft in the process of taking off or landing at the coordinate position shifted from the coordinate position corresponding to the second position information of the unmanned aircraft in the process of taking off or landing so as not to overlap with the object representing the base and the flight path of the unmanned aircraft in flight.

6. The takeoff operation is divided into at least a takeoff start, a climb, and an air stop, The information processing device according to claim 1, characterized in that the display control unit displays information indicating the unmanned aerial vehicle during the takeoff operation in different display modes depending on whether the unmanned aerial vehicle has started taking off, is ascending, or is stopped in the air.

7. The landing operation is divided into at least an air stop, a descent, and a landing, The information processing device according to claim 1, characterized in that the display control unit displays information indicating the unmanned aerial vehicle during the landing operation in different display modes depending on whether the unmanned aerial vehicle is stopped in the air, descending, or landing.

8. The information processing device described in any one of claims 1 to 7, characterized in that the display control unit displays the number of unmanned aircraft that are waiting to fly in correspondence with an object representing the base as information indicating the unmanned aircraft.

9. 1. A display control method executed by one or more computers, comprising: Obtaining first location information indicating a location of a base used for takeoff or landing of the unmanned aerial vehicle; obtaining second position information indicative of a position of each of the plurality of unmanned aerial vehicles; acquiring operational status information indicating an operational status of each of the plurality of unmanned aerial vehicles; displaying an object representing the base on a two-dimensional map screen based on the first position information; A step of displaying, on the two-dimensional map screen, information indicating the unmanned aerial vehicle that is waiting to fly, taking off, or landing at the base and information indicating the unmanned aerial vehicle that is flying outside the base in different display modes based on the second position information and the operation status information of each of the plurality of unmanned aerial vehicles; A display control method comprising:

Images