Monitoring system, monitoring method and monitoring program

Abstract

To quickly perform data recovery from a monitoring machine.SOLUTION: A monitoring system 1 comprises: a monitoring machine 110 which searches a search object in a monitoring object area F; a search object detection part 1400 which is mounted on the monitoring machine, and detects the search object; and a data recovery position determination part 2442 which determines or proposes a data recovery position where acquisition data stored in the monitoring machine is collected by landing or wireless communication when the monitoring machine detects the search object.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a monitoring system, a monitoring method, and a monitoring program. [Background technology]

[0002] Patent Document 1 discloses a technology that uses an aircraft radar to discover a suspicious ship, identifies a suspicious ship candidate based on data transmitted from the ship, and then approaches the suspicious ship candidate to acquire an image. In this system, if the external characteristics of a suspicious ship are recognized from the image, the system transmits that information to an external device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-101973 A Summary of the Invention [Problem to be solved by the invention]

[0004] There is known a technology for monitoring sea areas or airspace to monitor illegal activities or to help rescue lives. When a surveillance aircraft finds a suspicious object such as a suspicious ship or aircraft, or a search object such as a ship in distress, it is necessary to quickly retrieve information about the search object acquired by the surveillance aircraft in order to quickly take appropriate action based on the analysis results of the search object. When retrieving information with a large amount of data such as images or videos, communication speeds in sea areas or airspace may be slow due to problems with facilities, etc., making it impractical. In addition, communication conditions are affected by the environment, etc., so communication may take a long time depending on the situation.

[0005] In this regard, the system described in Patent Document 1 was unable to quickly input acquired information into the analysis device.

[0006] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a surveillance system that can quickly collect data from a surveillance device. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a surveillance system according to one aspect of the present invention comprises a surveillance aircraft that searches for a search object in a monitored area, a search object detection unit mounted on the surveillance aircraft that detects the search object, and a data collection position determination unit that, when the surveillance aircraft detects the search object, determines or proposes a data collection position for collecting acquired data stored in the surveillance aircraft by landing or wireless communication.

[0008] The system may further include a mobile base equipped with equipment for collecting the acquired data, and a mobile base command unit that moves the mobile base to the data collection location determined by the data collection location determination unit or determined by a user in response to a suggestion by the data collection location determination unit.

[0009] The data collection location determination unit may determine or suggest as the data collection location a location where the travel times required for the monitoring aircraft and the mobile base are approximately equal, based on the location of the monitoring aircraft and the location of the mobile base.

[0010] The data collection location determination unit may be configured to determine or suggest, when the monitoring device transmits the acquired data via wireless communication, an area in which either the communication strength or communication speed of the wireless communication is greater than a specified condition as the data collection location.

[0011] The mobile base may be connected via wireless communication to an analysis unit that analyzes the acquired data, and the data collection location determination unit may determine or suggest as the data collection location an area where either the communication strength or communication speed of the wireless communication connecting the mobile base and the analysis unit is greater than a predetermined threshold.

[0012] The system may further include a travel time estimation unit that estimates a travel time for the monitoring device and the mobile base to the data collection location, and a data transmission time estimation unit that estimates a first data transmission time from the monitoring device to the mobile base at the data collection location, and the data collection location determination unit may determine or suggest the data collection location at which the sum of the travel time and the first data transmission time is shortest.

[0013] The mobile base may be connected via wireless communication to an analysis unit that analyzes the acquired data, the data transmission time estimation unit may predict a second data transmission time from the mobile base to the analysis unit, and the data collection position determination unit may determine or suggest the data collection position at which the sum of the travel time, the first data transmission time, and the second data transmission time is shortest.

[0014] The data collection method determination unit may further determine or suggest, as a collection mode for transmitting the acquired data from the monitoring aircraft to the base, whether to collect the acquired data by having the monitoring aircraft land at the base or to transmit the acquired data from the monitoring aircraft to the base via wireless transmission, and the travel time estimation unit may calculate the travel time by adding the landing time required for the monitoring aircraft to land at the base to the time it takes for the monitoring aircraft to travel to the data collection position, and the data collection method determination unit may determine or suggest the collection mode in which the sum of the travel time and the first data transmission time is shortest.

[0015] The system may further include a base station equipped with equipment for collecting the acquired data, and a candidate collection mode extraction unit that extracts a plurality of candidate locations from predetermined candidates for the data collection location, and the data collection location determination unit may extract from the candidate locations a candidate location where at least one of the communication strength or communication speed of the wireless communication from the monitoring device to the base is greater than a predetermined second threshold, and determine or propose the candidate location as the data collection location.

[0016] The base may be a fixed base, connected via wireless communication to an analysis unit that analyzes the acquired data, and further equipped with a second data transmission time estimation unit that estimates a third data transmission time from the base to the analysis unit, and the data collection location determination unit may determine or propose the data collection location among the candidate locations for which at least the third data transmission time is shortest.

[0017] The data collection location determination unit may further include a third data transmission time estimation unit that estimates a travel time of the monitoring device to the data collection location and a fourth data transmission time from the monitoring device to the base at the data collection location, and the data collection location determination unit may determine or propose the data collection location where the sum of the travel time and the fourth data transmission time is shortest among the candidate locations.

[0018] The data collection position determination unit may determine or suggest the data collection position for which the sum of the travel time, the third data transmission time, and the fourth data transmission time is shortest among the candidate positions.

[0019] When deciding to land the surveillance aircraft at the data collection location, the data collection location determination unit may refer to the landing plan, takeoff plan or flight plan of another aircraft at the data collection location, and determine or suggest a location as the data collection location where the waiting time for the surveillance aircraft to wait for the other aircraft is relatively short.

[0020] The system may further include a surveillance aircraft command unit that controls the landing of the surveillance aircraft, and the surveillance aircraft command unit may acquire landing permission information and, upon acquisition of the landing permission information, cause the surveillance aircraft to land at the data collection location.

[0021] The system may further include a mobile base equipped with equipment for collecting the acquired data, and the surveillance aircraft command unit may acquire arrival information indicating that the mobile base has arrived at the data collection location, and may land the surveillance aircraft at the data collection location upon acquisition of the arrival and landing permission information.

[0022] The surveillance aircraft may further include a surveillance aircraft command unit that controls the landing of the surveillance aircraft, and when the surveillance aircraft command unit detects that the acquired data has been recovered, it returns to the position of the search object recorded in the surveillance aircraft or to the position where the search for the search object was interrupted, and performs a tracking flight of the search object, or a search flight at the position of the search object or the position where the search for the search object was interrupted.

[0023] In order to achieve the above-mentioned object, a monitoring method according to another aspect of the present invention comprises a computer executing a search object detection step in which a monitoring aircraft searches for a search object in a monitored area, and a data collection position determination step in which, when the monitoring aircraft detects the search object, a data collection position is determined or proposed for collecting acquired data stored in the monitoring aircraft by landing or wireless communication.

[0024] In order to achieve the above-mentioned object, a surveillance program according to yet another aspect of the present invention causes a computer to execute a search object detection command for detecting the search object by a surveillance aircraft searching for the search object in a monitored area, and a data collection position determination command for determining or proposing a data collection position for collecting acquired data stored in the surveillance aircraft by landing or wireless communication when the surveillance aircraft detects the search object.

[0025] The computer program may be provided by being stored on various data-readable recording media, or may be provided so as to be downloadable via a network such as the Internet. Effect of the Invention

[0026] According to the present invention, data can be quickly collected from a surveillance device. [Brief description of the drawings]

[0027] [Figure 1] 1 is an overall configuration diagram of a monitoring system according to an embodiment of the present invention; [Diagram 2]1 is a conceptual diagram showing how a surveillance aircraft that communicates with the surveillance system monitors sea areas and airspace. [Diagram 3] FIG. 2 is a schematic diagram showing an example of a communication mode of the monitoring system and a dispatch unit that communicates with the monitoring system. [Diagram 3] FIG. 1A is a schematic perspective view of an aircraft that is an example of the surveillance aircraft, and FIG. 1B is a functional configuration diagram of an aircraft control system equipped on the aircraft. [Figure 4] 2 is a functional configuration diagram of an operation management system equipped in the monitoring system. FIG. [Diagram 5] 11 is a candidate table showing examples of candidate locations for data collection locations extracted by a collection mode candidate extraction unit included in the monitoring system. [Figure 6] 11 is a required time table showing an example of a correspondence relationship between a data collection mode and a breakdown of a required time to be estimated, which is referred to by a required time estimation unit included in the monitoring system. [Figure 7] 5 is a flowchart showing a first example of a flow of processes performed when the surveillance system detects a search target. [Figure 8] 2 is a conceptual diagram showing a monitoring device and a base system that cooperate with the monitoring system, and a first example of the state of communication therebetween. FIG. [Figure 9] 10 is a conceptual diagram showing a second example of a monitoring device and a base system that cooperate with the monitoring system, and the state of communication therebetween. FIG. [Figure 10] 10 is a flowchart showing a second example of the flow of processes performed when the surveillance system detects a search target. [Figure 11] 10 is a flowchart showing a third example of the flow of processes performed when the surveillance system detects a search target. [Figure 12] 13 is a flowchart showing a fourth example of the flow of processes performed when the surveillance system detects a search target. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. Further, the embodiments shown below are merely examples, and other known elements or alternative means can be adopted according to the use, purpose, scale, etc.

[0029] <A. One Embodiment> [A-1. Configuration] (A-1-1. Overview) FIG. 1 is an overall configuration diagram of a monitoring system 1 (hereinafter also referred to as “aerial data sensing system 1” or “system 1”) according to an embodiment of the present invention.

[0030] The monitoring system 1 executes various processes in response to the detection of a search target by a monitoring device 110 in a monitoring target area F (FIG. 2). The monitoring target area F is a three-dimensional area to be photographed by the monitoring device 110, and refers to, for example, water, underwater, and the sky. Further, the ground may be included in the monitoring target area F. The monitoring device 110 may exist within the monitoring target area F or may photograph from outside the monitoring target area F.

[0031] The search targets include, for example, suspicious ships, suspicious aircraft, shipwrecks, shipwrecked persons, or floating objects. Suspicious ships include, for example, ships that have invaded a territory, enemy ships, spy ships, ships that have illegally entered a country, or illegal fishing boats. Suspicious aircraft include enemy aircraft. In addition, suspicious ships and suspicious aircraft include aircraft that commit illegal acts such as illegal entry, illegal fishing, or smuggling. Shipwrecks include, for example, damaged disaster ships, grounded ships, overturned ships, unmanned ships, drifting ships, etc. Floating objects include, for example, hulls, crashed aircraft, fishing nets or wood, or fragments thereof, glaciers, heavy oil, or mines. Note that the search targets are not limited to these, and objects determined according to various uses may be used as search targets.

[0032] As shown in FIG. 2, the monitoring device 110 is a device that photographs at least a part of the monitoring range F110 of the monitoring target area F and searches for search targets. Details of the monitoring device 110 will be described later.

[0033] (A-1-2. Surveillance System 1) As shown in FIG. 1, the surveillance system 1 (aviation data sensing system 1) mainly comprises an aircraft control system 1000 that manages the flight and photography of the surveillance aircraft 110, a base system 2000, and an airspace / sea area surveillance control system 3000.

[0034] The aircraft control system 1000 is a system mounted on the surveillance aircraft 110. The aircraft control system 1000 controls each part of the surveillance aircraft 110, and causes the surveillance aircraft 110 to travel along a predetermined route and perform surveillance.

[0035] The base system 2000 is a system configured at the base 200. The base system 2000 transmits and receives data to and from the monitoring device 110, analyzes the data acquired by the monitoring device 110, and creates an operation plan for the monitoring device 110 based on the analysis results, etc., and transmits the plan to the monitoring device 110.

[0036] As shown in FIG. 2, the base 200 may be a fixed base 200a that is fixedly disposed on the ground or the like, or a vehicle-type base 200b that is movable on the ground. Furthermore, the base 200 may be an aircraft carrier that is movable on the sea, i.e., a ship-type base 200c (see FIG. 3). Furthermore, the base 200 may be an aircraft on which the surveillance aircraft 110 can take off and land. Furthermore, the base system 2000 may include a plurality of bases 200.

[0037] Returning to Fig. 1, the base system 2000 mainly includes an aircraft flight operation system 2100, an acquired data management system 2200, a communication infrastructure management system 2300, and a flight management system 2400 as its functional components.

[0038] The aircraft operation operating system 2100 is a system that generates a mission for the surveillance aircraft 110 and controls the movement of the surveillance aircraft 110. The mission is, for example, a movement plan including a movement route and a movement speed of the surveillance aircraft 110. The aircraft operation operating system 2100 transmits a control signal to the surveillance aircraft 110 via the communication infrastructure management system 2300 to operate the surveillance aircraft 110 automatically.

[0039] The acquired data management system 2200 is a system that manages acquired data including video or images. The acquired data management system 2200 determines how to process the vast amount of acquired data for each piece of acquired data, and transmits processing commands via the communication infrastructure management system 2300 to the aircraft control system 1000, the spatial information data utilization system 4000, the facility equipment management system 4100, the reservation system 4200, or the like.

[0040] The spatial information data utilization system 4000 is a system that analyzes acquired data such as images or videos acquired by the surveillance device 110. That is, the spatial information data utilization system 4000 is an example of an analysis unit in the claims. The spatial information data utilization system 4000 has a function of performing integration processing with map data and other information and publishing the integrated information. The spatial information data utilization system 4000 is logically configured, for example, by cloud computing, and is connected to the surveillance system 1 by wireless communication. The spatial information data utilization system 4000 may also be configured by a workstation. The processing command from the acquired data management system 2200 is, for example, a command to transmit specific data to another system 1000, 4000, etc., a command to store specific data, or a command to analyze specific data.

[0041] The facility and equipment management system 4100 is a system that performs maintenance management of equipment such as the base 200 or the monitoring aircraft 110. The flight operation management system 2400, which will be described later, refers to the management status of the equipment via the facility and equipment management system 4100 and creates a data collection plan taking into account the management status of the equipment. In addition, the facility and equipment management system 4100 performs necessary maintenance management of the equipment, etc., based on the data collection plan generated by the flight operation management system 2400. The equipment to be maintained and managed includes, for example, information on the data receiver at the base 200, the number of recording media in stock to be replaced when the monitoring aircraft 110 lands, the number of batteries in stock or the charge status, etc., but is not limited to the above, and information on any appropriate equipment may be stored.

[0042] The reservation system 4200 is a system that manages reservations for the base 200, and more specifically, manages reservations for resources for various tasks at the base 200. The resources include all resources necessary for data collection, such as receiver equipment, landing areas, or the number of workers used for data collection. The reservation system 4200 may also hold information on the time period during which the resources are occupied according to the reservation, or the time when the resources are released. The flight operation management system 2400, which will be described later, creates a data collection plan taking into account the reservation status of the base 200, etc. The reservation system 4200 also updates the reservation information for the base 200 based on the data collection plan generated by the flight operation management system 2400.

[0043] The communication infrastructure management system 2300 is a system that manages communication means for transmitting and receiving data between the base system 2000 and the aircraft control system 1000. The communication infrastructure management system 2300 transmits, for example, information generated by the aircraft flight operating system 2100 and the acquired data management system 2200 to the aircraft control system 1000. The communication infrastructure management system 2300 also monitors the communication speed in addition to the communication availability of the existing infrastructure, and determines the speed and urgency of data transmission and reception, and then determines the type of data transmission process and executes data transmission and reception. The transmission process may be, for example, parallel transmission or switched transmission. Furthermore, when the communication infrastructure management system 2300 determines that data should be transmitted by physically transporting the memory by a person, it may display that effect on an appropriate display unit and request the administrator to physically transport the memory.

[0044] The flight management system 2400 is a system that makes decisions and gives instructions for the operation of the surveillance aircraft 110. The flight management system 2400 prepares plans for operations of the surveillance aircraft 110, including, for example, measurements and flights, and transmits the plans to the aircraft control system 1000 via the communication infrastructure management system 2300. The flight management system 2400 may also determine the priority of operations that require processing and transmit the priorities to the aircraft control system 1000. The flight management system 2400 may prepare plans for multiple surveillance aircraft 110 and transmit information on the plans to each of the aircraft control systems 1000.

[0045] The traffic management system 2400 also receives control requests due to the environment or the operation of other aircraft, for example, from the airspace / sea area surveillance control system 3000, and adjusts the operation plan of the surveillance aircraft 110. Furthermore, when the surveillance aircraft 110 detects a search target, the traffic management system 2400 requests the airspace / sea area surveillance control system 3000 to dispatch a vehicle. The functional components of the flight management system 2400 will be described later.

[0046] The configuration of the base system 2000 may be realized as a single device, or may be realized by a plurality of devices (e.g., the monitoring aircraft 110, the traffic management system 2400) partially or entirely connected by a communication network NW. Also, each functional unit of the traffic management system 2400 may be realized by being implemented in a different base system 2000 connected to each other by a communication network NW. Furthermore, each functional unit of the traffic management system 2400 may be logically realized by cloud computing.

[0047] The airspace / sea area monitoring and control system 3000 is a system that monitors at least the airspace and sea area of ​​the monitoring target area F. The airspace / sea area monitoring and control system 3000 acquires information from an existing ship control system 5000 or an air traffic control system 6000 that is disposed outside the monitoring system 1. The air traffic control system 6000 may be, for example, a drone traffic management system (UTM), a traffic management subsystem (UASSP), or an air traffic management system (ATM). That is, the airspace / sea area monitoring and control system 3000 measures or acquires information on the environment and other aircraft in the monitoring target area F, and transmits the information to the traffic management system 2400. The traffic management system 2400 changes the work plan when there is a problem with the work plan of the monitoring aircraft 110 based on the information from the airspace / sea area monitoring and control system 3000.

[0048] In addition, the airspace / sea area surveillance and control system 3000 requests a vehicle to be dispatched to the ship control system 5000 or the air traffic control system 6000 based on a request for dispatching a vehicle received from the operation management system 2400.

[0049] In this embodiment, a single flight management system 2400 controls a plurality of aircraft control systems 1000. However, a plurality of flight management systems 2400 may be connected to a single surveillance aircraft 110 via a plurality of communication networks NW, that is, the system may be made redundant. In this case, even if an abnormality occurs in the flight management system 2400 or the communication network, the operation of the system 1, and thus the surveillance by the surveillance aircraft 110 and the processing of the search object can be continued by the other redundant flight management systems 2400 and communication networks NW, thereby improving the reliability of the system 1.

[0050] FIG. 3 is a schematic diagram showing an example of a communication mode of each component that communicates with the monitoring system 1. As shown in FIG. 3, the bases 200, such as the fixed base 200a, the vehicle base 200b, and the ship base 200c, are wirelessly connected to the spatial information data utilization system 4000 via the network NW. The spatial information data utilization system 4000 and the fixed base 200a are wired to the network NW. The mobile bases 200b and 200c are wirelessly connected to the network NW. The position from which the monitoring aircraft 110 or the base 200 transmits the acquired data to the spatial information data utilization system 4000, that is, the data collection position, is determined by the operation management system 2400, which will be described later in detail. The monitoring aircraft 110 or the base 200 transmits the acquired data at the data collection position, and the spatial information data utilization system 4000 receives it.

[0051] The monitoring device 110 is wirelessly connected to a base 200. In addition, the monitoring device 110 and the network NW are wirelessly connected to an artificial satellite 300.

[0052] The communication mode of each component shown in Fig. 1 is not limited to the example shown in Fig. 3 and may be any, and each component may be communicatively connected to each other via a communication network such as the Internet line or a communication method such as LTE. Each component may be communicatively connected to a communication network by satellite communication via an artificial satellite. Each wireless communication may form a dedicated wireless communication network or may utilize an existing wireless infrastructure.

[0053] (A-1-3. Surveillance device 110) (A-1-3-1. Overview of Surveillance Device 110) The surveillance aircraft 110 is, for example, a manned or unmanned aircraft 111, particularly an unmanned aircraft. The aircraft 111 is equipped with a detection sensor (see object detection sensor 1300 in FIG. 4(b)) whose detection area is, for example, an area to the side, in front, or above the aircraft 111, and detects suspicious aircraft, etc. The detection sensor of the aircraft 111 may also have a detection area below the aircraft 111, and detect a suspicious ship S200, a drifting ship, a drifter, a drifting object, etc. that are present on the sea below the aircraft 111.

[0054] Furthermore, a ground-mounted radar 114 mounted on the ground may be used as the surveillance aircraft 110. The ground-mounted radar 114 includes a wide-area surveillance radar (not shown) whose surveillance area is, for example, to the side or above, and detects a search target from the ground.

[0055] The moving monitoring device 110 monitors the monitored area F while changing the monitoring range F110 as it moves. The monitoring device 110 may also monitor the monitored area F by changing the monitoring range F110 by changing the orientation of the sensor.

[0056] A single system 1 includes a plurality of surveillance aircraft 110, and the system 1 can fly a plurality of surveillance aircraft 110 simultaneously over a single surveillance area F, or use them for surveillance, thereby photographing the surveillance area F. Note that in this embodiment, the surveillance aircraft 110 has been described as being included in the system 1, but the surveillance system 1 only needs to have a configuration for transmitting at least a control command to the surveillance aircraft 110, and is not limited to a mode in which the surveillance aircraft 110 itself is included in the system 1.

[0057] (A-1-3-2. Aircraft 111) FIG. 4( a ) is a perspective view showing an example of an aircraft 111 which is an example of the surveillance aircraft 110 . In this specification, "aircraft" refers to any flying object that has the function of autonomously controlling its attitude, regardless of the power source (electricity, prime mover, etc.), the control method (wireless or wired, and whether fully autonomous flight type or partially manual control type, etc.), and whether manned or unmanned. Aircraft may also be referred to as unmanned aerial vehicles (UAVs), flying objects, multicopters, RPASs (Remote Piloted Aircraft Systems), UASs (Unmanned Aircraft Systems), etc.

[0058] The aircraft 111 mainly comprises an airframe 111a, main wings 111b, and tail 111c as mechanical components for flight. The aircraft 111 is not limited to the illustrated embodiment, and any appropriate configuration can be adopted. For example, the aircraft 111 may be a fixed-wing aircraft, a rotary-wing aircraft, or a vertical take-off and landing aircraft (VTOL) equipped with fixed wings and rotary wings. If the aircraft is equipped with rotary wings, a propeller guard (not shown) may be provided to prevent the rotary wings from interfering with obstacles.

[0059] The body 111a holds, for example, an object detection sensor 1300 below or in front of the body 111a. The body 111a may be equipped with a plurality of object detection sensors 1300. The monitoring device 110 may have an alarm device, such as a warning light and a speaker, that issues a warning to people around the monitoring device 110.

[0060] (A-1-4. Aircraft control system 1000) (A-1-4-1. Functional blocks of aircraft control system 1000) 4(b) is a functional configuration diagram of the aircraft control system 1000 of this embodiment. The aircraft control system 1000 is mounted on the surveillance aircraft 110, and manages or controls the flight and photography of the surveillance aircraft 110.

[0061] The aircraft control system 1000 is equipped with an arithmetic unit such as a CPU for executing information processing, and storage devices such as RAM and ROM, and as a software configuration, it mainly comprises functional blocks of an aircraft control unit 1100, a self-positioning unit 1200, an object detection sensor 1300, a search object detection unit 1400, a search object position detection unit 1500, a search object movement prediction unit 1600, an airspace radio status monitoring unit 1650, a data recording unit 1700, and a communication unit 1800.

[0062] (A-1-4-2. Machine control unit 1100) The aircraft control unit 1100 is a mechanism and functional unit that operates the surveillance aircraft 110, and when the surveillance aircraft 110 is an aircraft 111, it generates thrust in the aircraft for lifting the aircraft 111 and moving in a desired direction. When the surveillance aircraft 110 is a ship 112, it generates thrust in the aircraft for moving the ship 112 in a desired direction on the sea. When the surveillance aircraft 110 is a satellite 113, it may control the position of the satellite 113.

[0063] The aircraft 111 includes an aircraft control unit 1100, which may be referred to as a processing unit, also called a flight controller. The processing unit may include one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP). The processing unit has access to a memory. The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.

[0064] The processing unit includes a control module configured to control the state of the airframe of the monitoring aircraft 110. For example, if the monitoring aircraft 110 is an aircraft 111, the control module adjusts the spatial arrangement, attitude angle, angular velocity, angular acceleration, angular jerk rate, and / or acceleration of the monitoring aircraft 110 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz). That is, the airframe control unit 1100 controls the monitoring aircraft 110 to perform each operation such as takeoff, forward movement, turning, landing, etc., and controls the attitude angle control and flight operation of the monitoring aircraft 110 from takeoff to flight and landing.

[0065] The aircraft control unit 1100 can control the flight of the surveillance aircraft 110 based on, for example, an autonomous flight program acquired from the aircraft operation system 2100. The aircraft control unit 1100 can also control the flight of the surveillance aircraft 110 by controlling the motor based on various information such as the monitored area F, flight permitted / prohibited areas, flight geofence information corresponding thereto, map information including two-dimensional or three-dimensional map data, the current position information of the surveillance aircraft 110, attitude information (heading information), speed information, and acceleration information, and any combination of these.

[0066] The aircraft control unit 1100 may control the orientation and zoom amount of the object detection sensor 1300. The aircraft control unit 1100 may control either or both of the pitch angle with respect to the horizontal and the yaw angle with respect to a predetermined reference direction with respect to the orientation of the object detection sensor 1300. Based on the monitoring mode, the aircraft control unit 1100 generates instructions for the monitoring device 110 and the object detection sensor 1300 so that an image is captured at the position, height, direction, and zoom amount set in the monitoring mode, and transmits the instructions to the monitoring device 110.

[0067] (A-1-4-3. Self-location measurement unit 1200) The self-location measuring unit 1200 receives signals from artificial satellites and measures the position (absolute position) of the aircraft based on the signals. The self-location measuring unit 1200 measures the current self-location using, for example, a Global Navigation Satellite System (GNSS) or a Global Positioning System (GPS), although it is not particularly limited thereto. For example, a Real Time Kinematic - Global Navigation Satellite System (RTK-GNSS) can also be used as a method for measuring the self-location. The position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information.

[0068] (A-1-4-4. Object detection sensor 1300) The object detection sensor 1300 is a sensor that acquires information about a search object in the monitoring range F110. The object detection sensor 1300 is, for example, a camera that acquires an image of the search object, but may also be a sensor such as a LiDAR (Light Detection And Ranging) or a microphone. The object detection sensor 1300 may also be an IR camera in addition to a visible light camera. That is, the sensing data acquired by the object detection sensor 1300 may include, for example, an image, an IR image, point cloud data, position data, or audio data.

[0069] The object detection sensor 1300 can adjust its orientation (the attitude of the object detection sensor 1300 relative to the body 111a of the surveillance device 110) by a sensor actuator (not shown). The object detection sensor 1300 may have an automatic control function for parameters such as exposure, contrast, or ISO. The holder of the object detection sensor 1300 may have a so-called gimbal control mechanism that suppresses the transmission of shaking or vibration of the body to the object detection sensor 1300. The body control unit 1100 controls the object detection sensor 1300 and the holder to adjust the shooting range of the camera, etc.

[0070] The image data acquired by the object detection sensor 1300 is transmitted to the flight management system 2400, etc. The image data may also be stored in the data recording unit 1700 of the surveillance aircraft 110 itself.

[0071] (A-1-4-5. Search object detection unit 1400) The search object detection unit 1400 is a functional unit that detects a search object based on information obtained by the object detection sensor 1300. The search object detection unit 1400 detects a search object by analyzing sensing data obtained by, for example, a camera or the like as the object detection sensor 1300. The search object detection unit 1400 may detect, for example, attributes of the search object. The attributes are, for example, information on the type of the search object, and include, for example, information on whether the search object has a propulsion function, whether the search object is a suspicious aircraft or ship, or whether the search object is a ship or person in distress.

[0072] (A-1-4-6. Search target position detection unit 1500) The search object position detection unit 1500 is a functional unit that acquires a position related to the detection of the search object when the search object detection unit 1400 detects the search object. The position related to the detection of the search object may be the position coordinates of the monitoring device 110 at the time when the search object is detected. In addition, the position related to the detection of the search object may be the position coordinates of the search object estimated by analyzing the monitoring range F110 of the monitoring device 110 at the time when the search object is detected.

[0073] (A-1-4-7. Search target movement prediction unit 1600) The search object movement prediction unit 1600 is a functional unit that estimates the predicted movement position of the search object after a predetermined time has elapsed. The search object movement prediction unit 1600, for example, refers to information obtained by the object detection sensor 1300 and calculates the position, movement direction, and movement speed of the search object. For example, the search object movement prediction unit 1600 may estimate at least one of the position, movement direction, and movement speed of the search object based on the shape of a triangular wave in the monitored area F. The search object movement prediction unit 1600 estimates the predicted movement position based on the obtained position, movement direction, and movement speed of the search object. Note that the aircraft control system 1000 may estimate a past position, i.e., a position history, instead of or in addition to estimating a predicted movement position. The aircraft control system 1000 estimates the past position of the search object based on, for example, the position, movement direction, and movement speed of the search object.

[0074] (A-1-4-8. Airspace radio status monitoring unit 1650) The airspace radio status monitoring unit 1650 is a functional unit that monitors the communication strength and communication speed of the wireless communication for each airspace from the wireless communication record of the communication unit 1800. The monitoring aircraft 110 moves through the airspace in the monitoring target area F in response to the monitoring work. The airspace radio status monitoring unit 1650 measures the position coordinates of the monitoring aircraft 110 and the communication strength or communication speed of the wireless communication at the position coordinates at regular intervals or regular distances. The airspace radio status monitoring unit 1650 records the position coordinates, the communication strength or communication speed of the wireless communication, and the measurement time in association with each other in a recording medium inside the monitoring aircraft 110 via the data recording unit 1700. The airspace radio status monitoring unit 1650 may also acquire the wireless communication status and transmit it to the flight management system 2400 at an appropriate timing or in real time.

[0075] (A-1-4-9. Data recording unit 1700) The data recording unit 1700 is a functional unit that records data obtained by the search operation by the monitoring device 110 in a recording medium inside the monitoring device 110. The data recording unit 1700 records the position coordinates obtained by the self-positioning unit 1200 and sensing data such as image data obtained by the target detection sensor 1300. The data recording unit 1700 also records the communication state of wireless communication obtained by the airspace wireless state monitoring unit 1650. The communication state of wireless communication is, for example, the communication strength or communication speed of wireless communication. The recording medium may include a separable medium such as, for example, an SD card or a RAM.

[0076] (A-1-4-10. Communications Department 1800) The communication unit 1800 is capable of radio wave communication via the communication network NW, and includes, for example, a radio wave communication module. The communication unit 1800 is capable of communication with the monitoring aircraft 110 and the like via the communication network NW. The communication unit 1800 has a communication function for wirelessly communicating with the monitoring aircraft 110 by wireless communication using, for example, Wi-Fi, 2.4 GHz, or a frequency band of 5.6 to 5.8 GHz. The communication unit 1800 also has a wireless communication function for communicating with the flight management system 2400 via the communication network NW using a communication standard such as LTE (Long Term Evolution).

[0077] The communication unit 1800 transmits, for example, information on the detection of a search object acquired by the search object detection unit 1400, information on the position, attribute, number, and size of the search object, and information on the predicted position after a predetermined time has elapsed predicted by the search object movement prediction unit 1600, to the flight management system 2400, etc. In addition, the communication unit 1800 transmits information on the communication status of wireless communication acquired by the airspace radio status monitoring unit 1650 to the flight management system 2400. Furthermore, the communication unit 1800 receives, from the flight management system 2400, a command to acquire detailed information on the search object, etc.

[0078] The communication unit 1800 may perform real-time transmission to, for example, the operation management system 2400. For example, when the search object detection unit 1400 detects a search object, the communication unit 1800 may perform real-time transmission of data including an image acquired by the object detection sensor 1300. Note that this data has a smaller data size than the data analyzed by the spatial information data utilization system 4000, and is, for example, low-resolution data. When the surveillance aircraft 110 detects a search object, it returns to the base 200 or moves to a position with good communication with the satellite, thereby transmitting a large amount of acquired data that cannot be transmitted by real-time transmission to the spatial information data utilization system 4000.

[0079] (A-1-5. Flight Management System 2400) (A-1-5-1. Overview of Traffic Management System 2400) The flight management system 2400 is a system that mainly determines the collection mode for directly or indirectly collecting the acquired data acquired by the surveillance aircraft 110 by the spatial information data utilization system 4000, and transmits commands to related components. In particular, the flight management system 2400 determines, as the collection mode, the data collection position for collecting the acquired data, whether or not to use a base 200 that relays data transmission from the surveillance aircraft 110 to the spatial information data utilization system 4000 at the data collection position, and the type of base 200, and the transmission method for transmitting data from the surveillance aircraft 110 at the data collection position to the base 200 or the spatial information data utilization system 4000, etc.

[0080] In this embodiment, the operation management system 2400 has been described as being included in the base system 2000 disposed at one of the bases 200, but it may also be configured to be included in the surveillance aircraft 110 or the spatial information data utilization system 4000.

[0081] 5 is a functional configuration diagram of the flight traffic management system 2400 of this embodiment. The flight traffic management system 2400 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing. The flight traffic management system 2400 may include an input / output unit (not shown) for inputting or outputting various information (image output, audio output).

[0082] The operation management system 2400 is equipped with an arithmetic device such as a CPU for executing information processing, and storage devices such as RAM and ROM, thereby forming, as a software configuration, mainly the following functional blocks: a communication / position status acquisition unit 2410, a candidate recovery mode extraction unit 2420, a required time estimation unit 2430, a recovery command unit 2440, an instruction notification control unit 2450, a communication unit 2460, and a memory unit 2470.

[0083] (A-1-5-2. Communication and location status acquisition unit 2410) The communication / location status acquisition unit 2410 is a functional unit that acquires the location information and communication status of the monitoring device 110 and the base 200 when the monitoring device 110 detects a search target. The communication / location status acquisition unit 2410 mainly includes a location information acquisition unit 2411 and a communication status acquisition unit 2412 .

[0084] (A-1-5-2-1. Location information acquisition unit 2411) The location information acquisition unit 2411 is a functional unit that acquires the location information of the monitoring device 110 and the base 200 .

[0085] The position information acquisition unit 2411 mainly includes an aircraft position acquisition unit 2411a, a base position acquisition unit 2411b, and a mobile base position acquisition unit 2411c.

[0086] The aircraft position acquisition unit 2411a acquires the position information of the monitoring aircraft 110 at the time when the search object is detected. The aircraft position acquisition unit 2411a may acquire the position information of the monitoring aircraft 110 at the time when it is decided to return to collect data.

[0087] The base location acquisition unit 2411b acquires the location information of the fixed base 200a.

[0088] The mobile base location acquisition unit 2411c acquires the location information of the mobile bases 200b, 200c at the time when the search object is detected. The mobile base location acquisition unit 2411c may acquire the location information of the mobile bases 200b, 200c at the time when the monitoring device 110 decides to return to collect data. The mobile base location acquisition unit 2411c may particularly refer to the information on the availability of each mobile base 200b, 200c to acquire the location information of the mobile bases 200b, 200c that can be dispatched.

[0089] (A-1-5-2-2. Communication status acquisition unit 2412) The communication status acquisition unit 2412 is a functional unit that acquires the communication status between the monitoring device 110 and the site 200 and other components.

[0090] The communication status acquisition unit 2412 mainly includes an airspace communication status acquisition unit 2412a, a ground wireless communication status acquisition unit 2412b, and a base communication status acquisition unit 2412c.

[0091] The airspace communication status acquisition unit 2412a acquires the wireless communication status in each airspace, i.e., for example, communication strength or communication speed. The airspace communication status acquisition unit 2412a acquires information acquired by the airspace wireless status monitoring unit 1650 included in the aircraft control system 1000 as the wireless communication status in each airspace. That is, the wireless communication status of the airspace is obtained, for example, along the trajectory of the monitoring aircraft 110. Note that the airspace communication status acquisition unit 2412a may acquire the wireless communication status of the airspace from a configuration other than the monitoring aircraft 110.

[0092] The airspace communication status acquisition unit 2412a acquires the wireless communication status of each airspace in association with the position coordinates of the airspace in which the wireless communication status was acquired, and stores the acquired status in the storage unit 2470. The wireless communication status in each airspace is referred to in estimating the data transmission time (first data transmission time or fourth data transmission time) when transmitting data by wireless communication from the monitoring aircraft 110 to the base 200. The airspace communication status acquisition unit 2412a may also acquire the acquired wireless communication status in association with the acquisition time.

[0093] The ground wireless communication state acquisition unit 2412b acquires the wireless communication state when data is transmitted from the mobile bases 200b and 200c to the spatial information data utilization system 4000. That is, the wireless communication state on the ground is obtained, for example, along the trajectory of the movement of the mobile bases 200b and 200c. The mobile base 200 transmits data to the spatial information data utilization system 4000 via the Internet, for example, using a wireless communication infrastructure. Note that the ground wireless communication state acquisition unit 2412b may acquire the wireless communication state from the ground to the spatial information data utilization system 4000 from a configuration other than the mobile bases 200b and 200c.

[0094] The terrestrial wireless communication state acquisition unit 2412b acquires the wireless communication state of each area in association with the position coordinates of the area where the wireless communication state is acquired, and stores the acquired state in the storage unit 2470. The ship-type base 200c may acquire the position coordinates using, for example, a triangular wave. This wireless communication state is referred to in estimating the data transmission time (second data transmission time) from the mobile bases 200b and 200c to the spatial information data utilization system 4000.

[0095] The base communication status acquisition unit 2412c acquires the communication status of the fixed base 200a when data is transmitted from the fixed base 200a to the spatial information data utilization system 4000. The fixed base 200a transmits data to the spatial information data utilization system 4000 via the Internet, for example. The base communication status acquisition unit 2412c may acquire the wireless communication status from the ground to the spatial information data utilization system 4000 from a configuration other than the fixed base 200a.

[0096] The base communication status acquisition unit 2412c acquires the wireless communication status of each fixed base 200a in association with the identification information of the fixed base 200a, and stores it in the storage unit 2470. The base communication status acquisition unit 2412c may acquire the wireless communication status of each fixed base 200a in association with the position coordinates of the fixed base 200a. In addition, the base communication status acquisition unit 2412c may acquire the wireless communication status of the fixed base 200a at the time of receiving the request in response to a request from the recovery mode candidate extraction unit 2420. In addition, the base communication status acquisition unit 2412c may acquire the wireless communication status of each fixed base 200a when the monitoring device 110 detects a search target. This wireless communication status is referred to in estimating the data transmission time (third data transmission time) from the fixed base 200a to the spatial information data utilization system 4000.

[0097] (A-1-5-3. Recovery mode candidate extraction unit 2420) The collection mode candidate extraction unit 2420 is a functional unit that extracts candidates for data collection modes, and extracts a plurality of candidate positions from preset candidates for data collection positions. Candidate table FIG. 6 is a diagram showing an example of a candidate table T101 showing examples of collection mode candidates extracted by the collection mode candidate extraction unit 2420. As shown in FIG. The collection mode is roughly classified into the data collection method and the data collection location where the acquired data is collected from the surveillance device 110.

[0098] The data collection method includes, for example, the type of base 200 that collects the data and the method of transmitting the data. Three types of base 200 are assumed: a fixed base 200a, a vehicle-type base 200b, and a ship-type base 200c. Two types of transmission methods are assumed for the monitoring aircraft 110 to the base 200: a method of landing and collecting the data, and a method of wirelessly transmitting the data while the monitoring aircraft 110 is flying. In the case of collection by landing, for example, the storage medium of the monitoring aircraft 110 is physically removed by an operator and inserted into the operation management system 2400 to collect the data. In addition, when the data is collected by landing, the battery may be replaced together with the collection of the recording medium. In the case of collection by wireless communication, the monitoring aircraft 110 does not land, and transmits the acquired data while the monitoring aircraft 110 is flying in a predetermined airspace, for example.

[0099] Also, the data collection method is assumed to be a mode in which the acquired data is transmitted directly from the monitoring device 110 to the spatial information data utilization system 4000 by satellite transmission, without going through the base 200. Therefore, the collection mode candidate extraction unit 2420 extracts collection method candidates by multiplying a total of seven types of collection modes by multiple candidate locations.

[0100] The candidate table T101 stores one or more candidate locations for possible data collection locations for each collection method. In collection modes (No. 1 and No. 2) in which the collection site is the fixed site 200a, the collection location where the acquired data is collected from the monitoring device 110 to the fixed site 200a is the location of the fixed site 200a. The collection mode candidate extraction unit 2420 may extract the fixed site 200a closest to the monitoring device 110 as the candidate location.

[0101] In a case where the base 200 is mobile, or where the acquired data is directly transmitted from the monitoring device 110 by satellite transmission, multiple data collection locations can be assumed since the base 200 and the monitoring device 110 move. Therefore, the collection mode candidate extraction unit 2420 extracts candidates for the data collection location.

[0102] In a mode in which the base 200 performing data collection is a vehicle-type base 200b, the collection mode candidate extraction unit 2420 extracts multiple data collection positions from land positions. In a mode in which the base 200 performing data collection is a vessel-type base 200c, or in a mode in which data collection is performed by satellite transmission, the collection mode candidate extraction unit 2420 extracts multiple data collection positions from sea positions.

[0103] The collection mode candidate extraction unit 2420 may extract, as a candidate position, a position where the moving time of the mobile bases 200b, 200c and the monitoring device 110 is equal. In addition, of the mobile bases 200b, 200c, the bases 200b, 200c closest to the monitoring device 110 may be extracted, and then a position where the moving time is equal may be extracted as a candidate position. In addition, in the vehicle-type base 200b, when the position where the moving time of the monitoring device 110 is equal is on the sea, the collection mode candidate extraction unit 2420 may extract a coastline as a candidate position. In particular, when the monitoring device 110 monitors the sea and the vehicle-type base 200b collects the acquired data, data collection on the coast is preferable. A plurality of points suitable for takeoff and landing near the coast may be selected in advance when the monitoring target area F is determined, and may be stored in the storage unit 2470. The collection mode candidate extraction unit 2420 may extract a candidate position from the points selected in advance. The landing site may be selected to have a different size or shape depending on the type of surveillance aircraft 110, i.e., whether it is a rotary wing aircraft or a VTOL aircraft, etc. Note that landing on a coast is preferable for a VTOL aircraft.

[0104] Furthermore, the recovery mode candidate extraction unit 2420 may extract candidate positions by referring to the communication conditions in the airspace or on the ground acquired by the communication condition acquisition unit 2412.

[0105] More specifically, the recovery mode candidate extraction unit 2420 extracts a plurality of positions extracted by different indices as candidate positions. For example, the recovery mode candidate extraction unit 2420 extracts a position with the shortest travel time as candidate position A (land position A, sea position a), a position with the best airspace wireless communication state as candidate position B (land position B, sea position b), a position with the best ground communication state as candidate position C (land position C, sea position c), and a position with the travel distance or travel time, the airspace communication state, and the ground communication state all being better than a predetermined level as candidate position D (land position D, sea position d). The candidate position A may be, for example, a position with approximately equal travel distance or travel time between the monitoring device 110 and the mobile bases 200b and 200c.

[0106] (A-1-5-4. Required time estimation section 2430) The required time estimation unit 2430 is a functional unit that estimates the required time from the time the surveillance device 110 detects the search object to the time the spatial information data utilization system 4000 acquires the acquired data stored in the surveillance device 110. The required time estimation unit 2430 mainly includes a travel time estimation unit 2431 , a data transmission time estimation unit 2432 , and a total required time estimation unit 2433 .

[0107] (A-1-5-4-1. Travel time estimation unit 2431) The travel time estimation unit 2431 is a functional unit that estimates the travel time of the monitoring aircraft 110 and the mobile bases 200b and 200c to the data collection positions. The travel time estimation unit 2431 estimates the travel time of the monitoring aircraft 110, the vehicle-type base 200b, and the ship-type base 200c to the data collection positions. The travel time estimation unit 2431 may estimate the predicted travel time taking into consideration the degree of congestion of the airspace that can be known from the flight plans of other aircraft. In addition, the travel time estimation unit 2431 may estimate the predicted travel time taking into consideration the road conditions on the ground through which the mobile bases 200b and 200c move and the degree of congestion at sea.

[0108] In addition, when landing, the travel time estimation unit 2431 estimates the time required for the surveillance aircraft 110 to land. In this case, the travel time estimation unit 2431 may estimate the predicted landing time taking into consideration the congestion degree of the runway at the base that is known from the flight plans of other aircraft and the landing plan of the base.

[0109] (A-1-5-4-2. Data transmission time estimation unit 2432) The data transmission time estimation unit 2432 is a functional unit that estimates the data transmission time for the acquired data to reach the spatial information data utilization system 4000 from the monitoring device 110. The data transmission time includes a first data transmission time from the monitoring device 110 at the data collection position to the mobile bases 200b and 200c, a second data transmission time from the mobile bases 200b and 200c to the spatial information data utilization system 4000, a third data transmission time from the fixed base 200a to the spatial information data utilization system 4000, and a fourth data transmission time from the monitoring device 110 at the data collection position to the fixed base 200a. That is, the data transmission time estimation unit 2432 estimates the data transmission time for each transmission method. The data transmission time estimation unit 2432 is an example of the data transmission time estimation unit, the second data transmission time estimation unit, and the third data transmission time estimation unit in the claims.

[0110] When estimating the data transmission time, if the acquisition history of the wireless communication states of points close to each other is stored in the memory unit 2750, the data transmission time estimation unit 2432 may estimate the data transmission time by referring to the wireless communication state whose acquisition time is close to the estimation time.

[0111] (A-1-5-4-3. Total required time estimation unit 2433) The total required time estimation unit 2433 is a functional unit that estimates the total required time for data transmission from the detection point of the search object to the spatial information data utilization system 4000 for each recovery mode. The total required time estimation unit 2433 estimates the total required time by adding up the travel time estimated by the travel time estimation unit 2431 and the data transmission time estimated by the data transmission time estimation unit 2432. ●Travel time table 7 is a diagram showing a required time table T102 showing an example of a data collection mode and a breakdown of the required time to be estimated. The required time estimation unit 2430 refers to the required time table T102, extracts the required time to be estimated, and estimates the total required time by summing up the required time to be estimated.

[0112] (A-1-5-5. Recovery Command Center 2440) The collection command unit 2440 is a functional unit that determines the collection mode of the acquired data and transmits control commands required for collection to the monitoring device 110 and the base 200. For example, the collection command unit 2440 refers to the collection mode candidates extracted by the collection mode candidate extraction unit 2420 and the required time for each collection mode estimated by the required time estimation unit 2430, and determines to perform collection by the collection method that minimizes the required time. With this configuration, the candidate modes are limited by the collection mode candidate extraction unit 2420, so that the calculation processing load can be reduced.

[0113] The technical scope of the present invention is not limited to a configuration in which a recovery mode is determined from candidates extracted by the recovery mode candidate extraction unit 2420, but may also include a configuration in which an optimal data recovery position is determined from an almost infinite number of candidate data recovery positions that can be selected by the recovery command unit 2440.

[0114] The collection command unit 2440 mainly includes a data collection method determination unit 2441 , a data collection position determination unit 2442 , a surveillance aircraft command unit 2443 , and a mobile base command unit 2444 .

[0115] (A-1-5-5-1. Data collection method determination unit 2441) The data collection method determination unit 2441 is a functional unit that determines or proposes to a user a data collection method for collecting acquired data acquired by the monitoring aircraft 110 to the spatial information data utilization system 4000 when the monitoring aircraft 110 detects a search target. As a collection method, the data collection method determination unit 2441 determines or proposes whether or not to use the base 200 for collection and the type of base 200. In addition, the data collection method determination unit 2441 determines or proposes as a collection method whether to have the acquired data collected at the base 200 by wireless transmission, to collect the data by having the monitoring aircraft 110 land at the base 200, or to collect the data by satellite transmission without going through the base 200.

[0116] (A-1-5-5-2. Data collection position determination unit 2442) The data collection location determination unit 2442 is a functional unit that determines or suggests to the user a data collection location for collecting acquired data stored in the monitoring aircraft 110. The data collection location includes the concept of both a location where the acquired data is collected after the monitoring aircraft 110 lands, and a location where the acquired data is collected by wireless communication between the monitoring aircraft 110 and the base 200.

[0117] The data collection location determination unit 2442 may determine or suggest the location 200a that is the shortest distance from the monitoring device 110 among the fixed locations 200a as the data collection location.

[0118] The data collection position determination unit 2442 determines or proposes a data collection position where the travel times required for the monitoring device 110 and the mobile bases 200b and 200c are approximately equal, based on the position of the monitoring device 110 and the positions of the mobile bases 200b and 200c. That is, the data collection position determination unit may determine or propose a data collection position where the travel time required for the monitoring device 110 to travel to the data collection position and the travel time required for the mobile bases 200b and 200c to travel to the data collection position are shortest. The positions of the search object, the position of the monitoring device 110, and the positions of the mobile bases 200b and 200c vary, and according to this configuration, it is possible to select an optimal data collection position according to the positions of the monitoring device 110 and the mobile bases 200b and 200c at the time the search object is detected.

[0119] When the monitoring device 110 transmits acquired data by wireless communication, the data collection location determination unit 2442 may determine or suggest an area where either the communication strength or communication speed of the wireless communication is greater than a predetermined condition as the data collection location. With this configuration, the communication state of the wireless communication can be secured and data collection can be executed. Furthermore, data can be collected at a sufficient communication speed, so that data collection can be achieved in a short transmission time.

[0120] The data collection position determination unit 2442 determines or proposes, as a data collection position, an area where either the communication strength or the communication speed of the wireless communication connecting the mobile bases 200b, 200c and the spatial information data utilization system 4000 is greater than a predetermined condition. With this configuration, it is possible to secure the communication state of the wireless communication and execute data collection.

[0121] The data collection position determination unit 2442 determines or proposes a data collection position that minimizes the sum of the travel time and the first data transmission time. The data collection position determination unit 2442 may also determine or propose a data collection position that minimizes the sum of the travel time, the first data transmission time, and the second data transmission time. According to the above-mentioned configuration, the data collection position can be determined taking into account the travel time and the data transmission time, thereby realizing rapid data collection.

[0122] The data collection location determination unit 2442 may extract, from among the candidate locations, a candidate location where at least one of the communication strength or communication speed of the wireless communication from the monitoring device to the base 200 is greater than a predetermined second threshold, and determine or propose the candidate location as the data collection location. With such a configuration, it is possible to ensure good communication conditions and realize rapid data collection.

[0123] The data collection position determination unit 2442 may determine or propose a data collection position where either the communication strength or communication speed of the wireless or wired communication connecting the fixed base 200a and the spatial information data utilization system 4000 is greater than a predetermined condition and where the third data transmission time is the shortest among the candidate positions. The data collection position determination unit 2442 may also determine or propose a data collection position where the sum of the travel time and the fourth data transmission time is the shortest among the candidate positions. Furthermore, the data collection position determination unit 2442 may determine or propose a data collection position where the sum of the travel time, the third data transmission time, and the fourth data transmission time is the shortest among the candidate positions.

[0124] The data collection location determination unit 2442 may determine or suggest a data collection location based on information on the equipment management status managed by the facility equipment management system 4100. That is, for example, the data collection location determination unit 2442 may determine or suggest a base 200 with a sufficient equipment management status as a data collection location. Also, the data collection location determination unit 2442 may exclude a base 200 with an insufficient equipment management status from candidate locations for the data collection location. With such a configuration, data collection from the monitoring device 110 can be more reliably performed.

[0125] When determining or proposing that the monitoring aircraft 110 should land at the data collection position, the data collection position determination unit 2442 may refer to the landing plan, takeoff plan, or flight plan of the other aircraft at the data collection position to determine or propose a position where the monitoring aircraft 110 waits for the other aircraft for a relatively short time as the data collection position. In this case, the data collection position determination unit 2442 may refer to information of the reservation system 4200, for example. For example, even if the airspace of the data collection position has good wireless communication conditions, if there are multiple other aircraft in the airspace or if another aircraft has landed at the data collection position, the monitoring aircraft 110 will wait, and as a result, data collection may take time. In this regard, a configuration that determines or proposes a data collection position taking into account the waiting time can shorten the waiting time and realize rapid data collection.

[0126] Furthermore, the data collection position determination unit 2442 may transmit information about the base 200 determined as the data collection position to the facility equipment management system 4100 and the reservation system 4200. When this information is received, the facility equipment management system 4100 may transmit information to the base 200 from which data collection by the monitoring device 110 is scheduled to be performed, indicating that maintenance management of necessary equipment will be performed. With this configuration, preparations at the base 200 can be reliably completed before the monitoring device 110 arrives at the base 200. Furthermore, the reservation system 4200 updates the usage schedule for the base 200. With this configuration, the other monitoring devices 110 can determine or propose a data collection position by referring to the latest base usage schedule.

[0127] According to the above-mentioned configuration, it is possible to efficiently calculate the collection mode that can collect the acquired data most quickly. In addition, since the communication state changes depending on the state of the satellite or geomagnetic field, the collection mode can be changed in consideration of the communication state, so that flexible data collection according to the situation is possible.

[0128] (A-1-5-5-3. Surveillance aircraft command department 2443) The surveillance aircraft command unit 2443 is a functional unit that controls the landing of the surveillance aircraft 110. The surveillance aircraft command unit 2443 acquires landing permission information, and lands the surveillance aircraft 110 at the data collection position upon acquisition of the landing permission information. The landing permission information is input, for example, at the mobile bases 200b and 200c as the data collection position. The landing permission information may also be input by an appropriate commander at a position other than the mobile bases 200b and 200c. Furthermore, the landing permission information may also be input by an operator who moves with the mobile bases 200b and 200c before the mobile bases 200b and 200c reach the data collection position. For example, this operator inputs the landing permission information from a position slightly before the data collection position in anticipation of the mobile bases 200b and 200c reaching the data collection position.

[0129] The monitoring aircraft command unit 2443 may acquire arrival information indicating that the mobile bases 200b and 200c have arrived at the data collection position, and may land the monitoring aircraft 110 at the data collection position upon acquiring the arrival information and landing permission information. If the arrival information or landing permission information is not acquired, it is determined that the ground side is not ready for landing, and the monitoring aircraft 110 may wait in hovering or wait in a fixed-wing circular flight. If the monitoring aircraft 110 is an eVTOL aircraft, the monitoring aircraft 110 may wait in hovering if the remaining battery level is greater than a predetermined level, and may wait in a circular flight if the remaining battery level is less than the predetermined level. While the monitoring aircraft 110 is at the data collection position, it is preferable to continue monitoring the detected search object by another monitoring aircraft 110 or another monitoring device such as a ground-mounted radar 114, and grasp the moving position.

[0130] When the monitoring aircraft command unit 2443 detects that the acquired data has been collected, it may return the monitoring aircraft 110 to the position of the search object recorded in the monitoring aircraft 110 or to the position where the search for the search object was interrupted, and may resume the tracking flight of the search object. The monitoring aircraft command unit 2443 may also execute a search flight by the monitoring aircraft 110 at the position of the search object or the position where the search for the search object was interrupted. Furthermore, while the monitoring aircraft 110 is at the data collection position, if the position of the search object can be known by another monitoring aircraft or another monitoring device, the monitoring aircraft command unit 2443 may navigate the monitoring aircraft 110 to the position of the search object known by the monitoring device.

[0131] (A-1-5-5-4. Mobile base command unit 2444) The mobile base command unit 2444 is a functional unit that transmits a control command to the mobile base 200b or 200c in accordance with the data collection mode determined by the data collection position determination unit 2442. The mobile base command unit 2444 moves the mobile base 200b or 200c to the data collection position determined by the data collection position determination unit 2442.

[0132] Furthermore, the mobile base command unit 2444 transmits a control command related to the collection of the acquired data to the mobile base 200b or 200c according to the determined data collection mode. For example, the mobile base command unit 2444 may establish wireless communication between the monitoring device 110 and the mobile bases 200b, 200c, and cause the mobile bases 200b, 200c to acquire the acquired data from the monitoring device 110.

[0133] (A-1-5-6. Instruction notification control unit 2450) The instruction notification control unit 2450 is a functional unit that notifies the worker of the determined recovery mode and instructs the worker on the work to be done. For example, when the monitoring aircraft 110 performs data transmission upon landing, the instruction notification control unit 2450 may notify the workers at the mobile bases 200b and 200c of an instruction to physically remove the recording medium from the monitoring aircraft 110. When the monitoring aircraft 110 performs data transmission upon landing, the data transmission may be performed by connecting the monitoring aircraft 110 to a predetermined device via a wire, and the instruction notification control unit 2450 may notify the worker of an instruction to execute the wired connection. The instruction notification control unit 2450 may also notify the worker of an instruction to prepare an alternative recording medium or battery to be inserted into the monitoring aircraft 110.

[0134] (A-1-5-7. Communications Department 2460) The communication unit 2460 has a modem or the like (not shown), and is capable of communicating with the surveillance aircraft 110, the airspace / sea area surveillance and control system 3000, the spatial information data utilization system 4000, and the like via the communications network NW.

[0135] (A-1-5-8. Storage section 2470) The storage unit 2470 is a functional unit, such as a database, that stores information related to the control of the monitoring device 110 and the base 200. The storage unit 2470 stores, for example, a candidate table T101 (see FIG. 6). The storage unit 2470 also stores a required time table T102 (see FIG. 7). The candidate table T101 and the required time table T102 may be recorded in a rewritable manner. The storage unit 2470 may also store location information and communication status acquired by the communication / location status acquisition unit 2410.

[0136] (A-1-6. Flowchart) (A-1-6-1. Processing to be performed when a search target is detected) An example of the flow of processing executed when a search object is detected will be described with reference to FIG. First, the aircraft control unit 1100 of the aircraft control system 1000 causes the monitoring aircraft 110 to monitor the monitoring target area F (step S101). When the search target detection unit 1400 detects a search target (step S102), the position of the search target detected by the search target position detection unit 1500 and the information acquired by the target detection sensor 1300 are transmitted to the flight management system 2400, and the process proceeds to step S102.

[0137] Next, the communication status and location information is acquired by the communication / location status acquisition unit 2410 of the operation management system 2400 (step S103). Next, the collection mode candidate extraction unit 2420 extracts multiple collection mode candidates (step S104). Next, the required time estimation unit 2430 estimates the required time for each collection mode (step S105).

[0138] Next, the collection command unit 2440 determines a collection mode to be executed from among candidates for the collection mode of the acquired data, and executes collection of the acquired data (step S107). Next, the spatial information data utilization system 4000 that received the acquired data executes analysis of the acquired data (step S108).

[0139] ●Conceptual diagram showing communication status An example of the communication state and the position information acquired in step S103 will be described with reference to FIG. 9 and FIG. In FIG. 9, fixed bases 200a-1 and 200a-2, a mobile base 200b, and a ship-type base 200c exist on the ground surface L100. In an area where the fixed base 200a is located, the communication state of the ground surface L100 is periodically acquired by the base communication state acquisition unit 2412c. In an area of ​​the ground surface L100 where the fixed base 200a is not located, the wireless communication state acquired by the ground wireless communication state acquisition unit 2412b is referenced on the trajectory along which the mobile bases 200b and 200c have moved. In addition, the wireless communication state of the airspace L200 defined above the ground surface L100 is referenced to the wireless communication state acquired by the airspace communication state acquisition unit 2412a.

[0140] On the ground surface L100, there are areas A100 where the communication conditions from the monitoring device 110 to the base 200 are good and areas A110 where the communication conditions are bad. In the airspace L200, there are areas A200 where the communication conditions from the base 200 to the spatial information data utilization system 4000 are good and areas A210 where the communication conditions are bad. In the figure, the fixed base 200a-1 and the ship-based base 200c are included in the area A100, and the communication conditions on the ground are bad. On the other hand, it can be seen that the airspace L200 is scattered with areas A200 where the communication conditions are good and areas A210 where the communication conditions are bad.

[0141] In FIG. 10, areas A100 with good communication conditions and areas A200 with poor communication conditions are scattered on the ground surface L100, whereas in the airspace L200, all of the measured areas are area A200 with good communication conditions.

[0142] The communication state of the public line, i.e., the communication strength and communication speed, differs between the airspace and the ground. The communication state on the ground differs depending on the situation on the ground. The communication state in the airspace also differs depending on the situation on the ground. For example, the communication state may be poor in mountainous areas or valleys, and relatively good in locations close to communication stations. In addition, since the base 200 has dedicated wireless equipment, the communication state tends to be good in the direct communication area with the dedicated wireless equipment, and poor in other areas. Furthermore, the communication state also changes depending on the time.

[0143] In the above-described situation, by configuring the communication status acquisition unit 2412 to grasp the wireless communication status at multiple locations and multiple points in time, the data transmission time estimation unit 2432 to estimate the data transmission time, and the recovery command unit 2440 to transmit the acquired data with a relatively short data transmission time, efficient data transmission in accordance with the wireless communication status is possible.

[0144] (A-1-6-2. Processing to estimate the time required to land and retrieve data) Next, a process for estimating the time required for landing at the fixed base 200a and collecting data will be described with reference to Fig. 11. This mode corresponds to the collection mode No. 1 in the candidate table T101 of Fig. 6.

[0145] First, the data collection method determination unit 2441 and the data collection location determination unit 2442 acquire the type of data transmission base, the data collection location, and the collection mode (step S201). Next, the required time estimation unit 2430 estimates the travel time from the monitoring aircraft 110 to the fixed base 200a (step S202). Next, the landing plan of another airplane at the fixed base 200a is acquired (step S203). Next, the time required for landing at the fixed base 200a is estimated (step S204).

[0146] After step S201, the process proceeds to step S212 in parallel with step S202. In step S212, the base communication state acquisition unit 2412c acquires the communication state on the ground of the fixed base 200a.

[0147] Next, the base communication status acquisition unit 2412c estimates a data transmission time for data transmission from the fixed base 200a to the spatial information data utilization system 4000 (step S213). Note that, if the analysis unit for the acquired data is disposed in the fixed base 200a, step S213 is omitted and the process proceeds to step S220.

[0148] Next, the required time estimation unit 2430 estimates the total required time obtained in steps S202 to S204 and steps S212 to S213 (step S220).

[0149] (A-1-6-3. Processing to estimate the time required for data collection via wireless transmission) A process for estimating the time required for data collection by wireless transmission from the mobile bases 200b and 200c will be described with reference to Fig. 12. This mode corresponds to collection mode No. 4 in the candidate table T101 of Fig. 6.

[0150] First, the data collection method determination unit 2441 and the data collection position determination unit 2442 acquire the type of data transmission base, the data collection position, and the collection method (step S301). Next, the travel time estimation unit 2431 estimates the travel time from the monitoring device 110 to the mobile bases 200b and 200c (step S302). Next, the travel time estimation unit 2431 acquires the travel time for the mobile bases 200b and 200c to reach the data collection position (step S303). Next, the travel time estimation unit 2431 compares the monitoring device travel time to the data collection position of the monitoring device 110 with the base travel time to the data collection position of the mobile bases 200b and 200c, and adopts the longer time as the travel time to the data collection position (step S304).

[0151] Furthermore, following step S301, the process proceeds to step S312 in parallel with step S302. In step S312, the airspace communication state acquisition unit 2412a acquires the communication state of the airspace at the candidate positions for data collection.

[0152] Next, the airspace communication status acquisition unit 2412a estimates a data transmission time for data transmission from the monitoring device 110 to the spatial information data utilization system 4000 (step S313). The ground wireless communication status acquisition unit 2412b acquires the ground communication status at the data collection position (step S314). Next, a second data transmission time for data transmission from the mobile bases 200b and 200c to the spatial information data utilization system 4000 is estimated (step S315).

[0153] When the analysis unit for the acquired data is provided at the mobile bases 200b and 200c, step S315 is omitted and the process proceeds to step S320.

[0154] Next, the required time estimation unit 2430 estimates the total required time obtained in steps S302 to S304 and steps S312 to S315 (step S320).

[0155] (A-1-6-4. Processing by the Recovery Command Center) An example of the flow of processing in which the monitoring device 110 and the site 200 collect data in response to the collection command unit 2440 will be described with reference to FIG. First, the data collection method determination unit 2441 and the data collection position determination unit 2442 select the data transmission mode with the shortest estimated total required time (step S401). Next, the monitoring device command unit 2443 transmits an instruction to the monitoring device 110 to move to the data collection position (step S402). Next, the monitoring device command unit 2443 transmits an instruction to the monitoring device 110 to transmit data using the selected data transmission method (step S403). Note that steps S402 and S403 may be performed in the reverse order or simultaneously, but the mode in which the movement instruction is given first is preferable because it allows the device to start moving sooner. In addition, instead of a configuration in which the data transmission mode is determined by the data collection method determination unit 2441 and the data collection position determination unit 2442, a configuration in which the data collection method determination unit 2441 and the data collection position determination unit 2442 propose a data transmission mode to the user, and the transmission mode is determined by the user inputting approval or selection.

[0156] It is determined whether the determined data transmission method is transmission using the mobile bases 200b, 200c (step S404), and if the mobile bases 200b, 200c are not used (N in step S404), the process ends.

[0157] If the determined data transmission method is transmission using the mobile bases 200b, 200c (N in step S404), the mobile base command unit 2444 transmits a movement instruction to the mobile bases 200b, 200c to the data collection position (step S405). It is determined whether the mobile bases 200b, 200c have arrived at the data collection position (step S406), and when they have arrived at the data collection position, the process proceeds to step S407. The data collection position may be above the mobile bases 200b, 200c, above the mobile bases 200b, 200c, or in the vicinity of the mobile bases 200b, 200c. At this time, an additional monitoring aircraft may be prepared for the mobile bases 200b, 200c. Furthermore, if the data collection location is not on the mobile bases 200b and 200c, the location of the monitoring device 110 may be shown to workers at the mobile bases 200b and 200c, and instructions may be given to them to rush to the monitoring device 110.

[0158] In step S407, it is determined whether the determined data transmission method is landing or not, and if the data transmission is by landing (Y in step S407), the process proceeds to step S408, whereas if the data transmission is by wireless transmission (N in step S407), the process proceeds to step S410.

[0159] In step S408, the surveillance aircraft 110 waits for a landing permission signal from the mobile bases 200b and 200c. The surveillance aircraft 110 may wait for the landing permission signal by hovering or flying in circles in the sky. For example, if the surveillance aircraft 110 has a margin of remaining battery power, that is, a predetermined level or more, the surveillance aircraft 110 may hover, and if the surveillance aircraft 110 does not have a margin of remaining battery power, the surveillance aircraft 110 may fly in circles.

[0160] When the monitoring aircraft command unit 2443 receives a landing permission signal from the mobile bases 200b and 200c (Y in step S408), it lands the monitoring aircraft 110 at the data collection position (step S409). Here, the data acquired by the monitoring aircraft 110 is collected by replacing the data recording unit 1700 of the monitoring aircraft 110 at the time of landing. Furthermore, if a replacement battery is prepared in the mobile bases 200b and 200c, the battery of the monitoring aircraft 110 is replaced. Alternatively, if the mobile bases 200b and 200c prepare a spare monitoring aircraft (unmanned aerial vehicle) and an abnormality or malfunction is found in the monitoring aircraft 110, the monitoring aircraft 110 can be replaced. Next, the acquired data is transmitted to the spatial information data utilization system 4000 (step S410). When the transmission of the acquired data is completed, the monitoring aircraft 110 resumes flight and performs tracking of the detected search object or a search flight around the search object (step S411).

[0161] [A-2. Effects of this embodiment] According to this embodiment, data can be quickly collected from the surveillance device.

[0162] It should be noted that the present invention is not limited to the above-described embodiment, and various configurations can be adopted based on the contents of the present specification.

[0163] The series of processes described in relation to the above embodiment may be realized using any of software, hardware, and a combination of software and hardware. It is possible to create a computer program for realizing each function of the monitoring system 1 according to the present embodiment and to install it in a PC or the like. It is also possible to provide a computer-readable recording medium in which such a computer program is stored. The recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, etc. The above computer program may also be distributed, for example, via a communication network NW without using a recording medium.

[0164] Regarding the flowcharts used in the above embodiments, the steps may not necessarily be executed in the order shown in the drawings. Some processing steps may be executed in parallel. In addition, additional processing steps may be employed, and some processing steps may be omitted. [Explanation of symbols]

[0165] 1. Airborne data sensing system (surveillance system) 1000 Aircraft Control System 1200 Self-positioning unit 1300 Object detection sensor 1400 Search object detection unit 1500 Search target position detection unit 1650 Airspace Radio Status Monitoring Unit 110 Surveillance machine 111 Aircraft 2000 base system 2100 Aircraft Operation System 2200 Acquisition Data Management System 2300 Communication Infrastructure Management System 2400 Flight Management System 2410 Communication and location status acquisition unit 2420 Recovery mode candidate extraction unit 2430 Required time estimation part 2440 Recovery Command 3000 Airspace and Seaspace Surveillance and Control System 4000 Spatial Information Data Utilization System 5000 Ship Control System 6000 Air Traffic Control System 100 Aircraft (mobile) F. Area to be monitored F110 Monitoring Range S200 Suspicious vessel (search object)

Claims

1. A surveillance device for searching for a search target in a surveillance area; a search object detection unit mounted on the surveillance device and configured to detect the search object; a data collection position determination unit that determines or proposes a data collection position for collecting acquired data stored in the surveillance aircraft by landing or wireless communication when the surveillance aircraft detects the search object; A surveillance system comprising:

2. A mobile base having equipment for collecting the acquired data; a mobile base command unit that moves the mobile base to the data collection position determined by the data collection position determination unit or determined by a user in response to a proposal by the data collection position determination unit; Further comprising: The monitoring system of claim 1.

3. the data collection position determination unit determines or proposes, as the data collection position, a position at which the travel times required for the monitoring device and the mobile base are approximately equal, based on the positions of the monitoring device and the mobile base; The monitoring system according to claim 2.

4. the data collection position determination unit determines or suggests, when the monitoring device transmits the acquired data via the wireless communication, an area in which either a communication strength or a communication speed of the wireless communication is greater than a predetermined condition as the data collection position; The monitoring system according to claim 2.

5. the mobile base is connected via wireless communication to an analysis unit that analyzes the acquired data; the data collection location determination unit determines or proposes, as the data collection location, an area in which either the communication strength or the communication speed of the wireless communication connecting the mobile base and the analysis unit is greater than a predetermined threshold value; The monitoring system according to claim 2.

6. a travel time estimation unit that estimates travel times of the monitoring device and the mobile base to the data collection position; a data transmission time estimation unit configured to estimate a first data transmission time from the monitoring device at the data collection position to the mobile base; The data collection position determination unit determines or proposes the data collection position at which a sum of the travel time and the first data transmission time is shortest. The monitoring system according to claim 2.

7. the mobile base is connected via wireless communication to an analysis unit that analyzes the acquired data; the data transmission time estimation unit predicts a second data transmission time from the mobile base to the analysis unit; the data collection position determination unit determines or proposes the data collection position at which a sum of the travel time, the first data transmission time, and the second data transmission time is shortest; The monitoring system according to claim 6.

8. a data collection method determination unit that determines or proposes, as a collection mode for transmitting the acquired data from the surveillance aircraft to the base, whether the acquired data is collected by landing the surveillance aircraft at the base, or whether the acquired data is transmitted from the surveillance aircraft to the base by wireless transmission; the travel time estimation unit calculates the travel time by adding a landing time required for the surveillance aircraft to land at the base to a time required for the surveillance aircraft to travel to the data collection position; The data collection method determination unit determines or proposes a collection mode in which a sum of the travel time and the first data transmission time is shortest. The monitoring system according to claim 6.

9. A base equipped with equipment for collecting the acquired data; a collection mode candidate extraction unit that extracts a plurality of candidate locations from the data collection position candidates that are set in advance; Further equipped with the data collection location determination unit extracts, from the candidate locations, a candidate location where at least one of a communication strength or a communication speed of the wireless communication from the monitoring device to the base is greater than a predetermined second threshold, and determines or proposes the candidate location as the data collection location. The monitoring system of claim 1.

10. The base is a fixed base and is connected to an analysis unit that analyzes the acquired data via wireless communication; a second data transmission time estimation unit that estimates a third data transmission time from the site to the analysis unit, The data collection position determination unit determines or proposes the data collection position in which at least the third data transmission time is shortest among the candidate positions. The monitoring system of claim 9.

11. a third data transmission time estimation unit that estimates a travel time of the monitoring device to the data collection position and a fourth data transmission time from the monitoring device to the base at the data collection position, the data collection position determination unit determines or proposes the data collection position in which a sum of the travel time and the fourth data transmission time is shortest among the candidate positions; The monitoring system of claim 10.

12. the data collection position determination unit determines or proposes the data collection position in which a sum of the travel time, the third data transmission time, and the fourth data transmission time is shortest among the candidate positions; The monitoring system of claim 11.

13. when determining to land the surveillance aircraft at the data collection position, the data collection position determination unit refers to a landing plan, a takeoff plan, or a flight plan of another aircraft at the data collection position, and determines or proposes a position at the data collection position where a waiting time for the surveillance aircraft to wait for the other aircraft is relatively short. The monitoring system of claim 1.

14. A surveillance aircraft command unit for controlling the landing of the surveillance aircraft is further provided. The surveillance aircraft command unit acquires landing permission information, and lands the surveillance aircraft at the data collection position upon acquisition of the landing permission information. The monitoring system of claim 1.

14. A mobile base having equipment for collecting the acquired data is further provided, the surveillance aircraft command unit acquires arrival information indicating that the mobile base has arrived at the data collection position, and, upon receipt of the arrival and the landing permission information, causes the surveillance aircraft to land at the data collection position; 15. The surveillance system of claim 14.

15. A surveillance aircraft command unit for controlling the landing of the surveillance aircraft is further provided. When the surveillance aircraft command unit detects that the acquired data has been collected, the surveillance aircraft command unit returns to the position of the search object recorded in the surveillance aircraft or to the position where the search for the search object was interrupted, and performs a tracking flight of the search object, or a search flight at the position of the search object or the position where the search for the search object was interrupted. The monitoring system of claim 1.

16. Computer a search object detection step of detecting the search object by a surveillance device that searches for the search object in a surveillance area; a data collection position determination step of determining or proposing a data collection position for collecting acquired data stored in the surveillance aircraft by landing or wireless communication when the surveillance aircraft detects the search object; Execute the monitoring method.

17. To your computer a search object detection command for detecting the search object by a surveillance device that searches for the search object in a surveillance area; a data collection position determination command for determining or proposing a data collection position for collecting acquired data stored in the surveillance aircraft by landing or wireless communication when the surveillance aircraft detects the search object; A monitoring program that causes the

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