Unmanned aircraft management system

Abstract

To provide an unmanned aircraft management system that can further properly prevent an unmanned aircraft from falling into a fall avoidance region, such as a residential district or a commerce district, by restricting a free flight of the unmanned aircraft in the fall avoidance region.SOLUTION: In an unmanned aircraft (drone) management system 10, a control device 100 comprises: recording means 110 for recording map data in which a flight feasible region in which a drone 200 can fly, and flight limit regions FL10 (FL11), FL20 (FL21) in which a flight of the drone 200 is restricted in at least a part of the region are set; and control means 120 for controlling the drone 200 so that the drone 200 flies in the flight feasible region based on the map data, and the drone 200 moves along guide rails GR10 and GR20 that are installed in advance in the flight limit regions FL11 and FL21.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an unmanned aerial vehicle management system. [Background technology]

[0002] In recent years, unmanned aerial vehicles (so-called drones) have become more common, but at the same time, there are concerns that drones flying freely in the sky may cause accidents such as collisions and crashes. It is also possible that malfunctions may occur during flight.

[0003] As such, if a drone is unable to continue flying for some reason and crashes, for example, in a residential or commercial area, it could cause serious injury to people and damage to homes, stores, cars, etc.

[0004] For example, in Patent Document 1, a fall avoidance area such as a residential house or a road is identified, and if the drone approaches the area, the flight speed is controlled to increase, so that if the drone crashes due to a malfunction, the drone will fall before the fall avoidance area. In this way, a technology is disclosed that avoids falling into the fall avoidance area as much as possible. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-210156 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, with the technology disclosed in Patent Document 1, there may be a situation where a fall into the fall avoidance area cannot be avoided due to a sudden collision accident or malfunction in the sky.

[0007] Therefore, the present invention aims to provide an unmanned aircraft management system that can more appropriately avoid falls into fall avoidance areas such as residential areas and commercial areas by restricting the free flight of unmanned aircraft in those areas. [Means for solving the problem]

[0008] An unmanned aircraft management system according to one embodiment of the present invention is an unmanned aircraft management system having an unmanned aircraft and a control device that controls the unmanned aircraft, wherein the unmanned aircraft is capable of flight and moving along a pre-installed guide, and the control device is equipped with a recording means that records map data that sets a flight area in which the unmanned aircraft can fly and a flight restricted area in which the flight of the unmanned aircraft is restricted in at least some areas, and a control means that controls the unmanned aircraft based on the map data to fly the unmanned aircraft in the flight area and to move the unmanned aircraft along a pre-installed guide in the flight restricted area.

[0009] In the above aspect, the guide may be disposed on at least a portion of a periphery of the flight limited area surrounding the flight limited area.

[0010] In the above aspect, the flight restricted area may have a protected area within the flight restricted area where there are more buildings and / or people than other areas, and the guide may be positioned on at least a portion of the periphery of the protected area surrounding the protected area.

[0011] In the above aspect, the flight restricted area may have a protected area in which there are more buildings and / or people than in other areas of the flight restricted area, and the guide may be positioned on buildings present in the protected area.

[0012] In the above aspect, when an unmanned aerial vehicle enters a guide, it is determined whether or not there is another unmanned aerial vehicle at the intended entry position in the guide, and if it is determined that there is no other unmanned aerial vehicle, the unmanned aerial vehicle may enter the intended entry position in the guide.

[0013] In the above aspect, the guide may have an entry port through which the unmanned aerial vehicle can enter the guide and / or an exit port through which the unmanned aerial vehicle can exit the guide, and the guide at the entry port and / or exit port may be approximately ring-shaped. Effect of the Invention

[0014] According to the present invention, an unmanned aircraft management system can be provided that can more appropriately avoid falls into fall avoidance areas such as residential areas and commercial areas by restricting the free flight of unmanned aircraft in those areas. [Brief description of the drawings]

[0015] [Figure 1] 1 is a functional block diagram showing each function in a drone (unmanned aerial vehicle) management system 10 according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram for explaining a flight allowable area and a flight restricted area that are set based on map data. [Diagram 3] FIG. 13 is a diagram showing an example of a guide rail set in a residential area. [Figure 4] FIG. 13 is a diagram showing an example of a guide rail set in a commercial area. [Diagram 5] FIG. 1 is a diagram showing an example of a guide rail arranged in a building. [Figure 6] FIG. 13 illustrates an example of an entry / exit port in a guide rail. [Figure 7] FIG. 11 is a diagram for explaining a flight restriction area and a guide rail in another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that the embodiment described below is merely a specific example for carrying out the present invention, and is not intended to limit the interpretation of the present invention. In addition, in order to facilitate understanding of the description, the same reference numerals are used as much as possible for the same components in each drawing, and duplicated descriptions may be omitted.

[0017] <One embodiment> [Drone management system configuration] 1 is a functional block diagram showing each function of a drone (unmanned aerial vehicle) management system 10 according to one embodiment of the present invention. As shown in FIG. 1, the drone management system 10 includes a control device 100 and a drone (unmanned aerial vehicle) 200, and the drone 200 is controlled by the control device 100.

[0018] The drone 200 is a small unmanned aerial vehicle capable of free flight and also capable of traveling along a pre-installed guide rail. The drone 200 may move to a target position automatically by a program based on a pre-set flight path and a traveling path along the guide rail, or may move to a target position by being operated by an operator using a remote controller.

[0019] The control device 100 includes a recording means 110 and a control means 120. The control device 100 may be a computer (server device) that controls and manages the operations of multiple drones 200, or may be a computer or remote controller that corresponds to each drone 200 and controls the operation of that drone 200.

[0020] The recording means 110 records map data in which a flight area in which the drone 200 can fly and a flight restricted area in which the flight of the drone is restricted in at least a part of the area are set.

[0021] Here, the aviation area is an area in which the drone 200 is permitted to fly freely, such as an area with few buildings and people. In the aviation area, if the drone 200 falls, there is a low possibility that there will be buildings or people at the landing position, and damage will be minimal.

[0022] On the other hand, a flight restricted area is an area where the drone 200 is not permitted to fly freely, such as an area with many buildings and people. In a flight restricted area, if the drone 200 falls, there is a high possibility that a building or a person will be present at the location where the drone 200 falls, and damage may be significant. The flight restricted area may be, for example, a residential area or commercial area with many buildings and people, or more specifically, an urban area where office districts, downtown areas, and residential areas are mixed, or a suburban area with relatively high foot traffic, such as around a station, around a commercial facility, or in a residential area.

[0023] In addition, guide rails are arranged in the flight restricted area, and the drone 200 travels along the guide rails. The arrangement of the guide rails will be described in detail later.

[0024] [Flight permitted areas and flight restricted areas] Fig. 2 is a diagram for explaining the flight permitted area and flight restricted area set based on map data. As shown in Fig. 2, a residential area where multiple houses exist and an office area where multiple buildings exist are set as flight restricted areas FL10 and FL20, respectively.

[0025] For example, if the number of houses or buildings per unit area is equal to or greater than a threshold, it may be determined that there are more buildings and people in that area than in other areas, and the area may be set as a flight restricted area.

[0026] In addition, if the population density in a city, ward, town, or village is equal to or greater than a threshold, the city, ward, town, or village may be set as a flight restricted area, and the setting of the flight restricted area may be switched depending on the population density during the day and at night. Note that the unit for setting the flight restricted area is not limited to a city, ward, town, or village, and the flight restricted area may be set in each unit depending on the population density in a unit of a larger or smaller range.

[0027] In addition, since the drone 200 is a device capable of free flight, any area other than the flight restricted areas FL10 and FL20 may be set as a flyable area.

[0028] In this way, the map data in which the flight restriction area and the flight allowable area are set is recorded in advance in the recording means 110 such as a memory. Note that the recording means 110 is provided in the control device 100 together with the control means 120, but is not limited to this. For example, the recording means 110 may be a storage device or a database device separate from the control device (such as a server device, a computer, or a remote controller) that includes the control means 120.

[0029] Based on the map data recorded in the recording means 110, in which the flight restricted area and the flight permitted area are set as described above, the control means 120 controls the drone 200 to fly in the flight permitted area and to run along a pre-installed guide rail in the flight restricted area.

[0030] For example, the control means 120 flies the drone 200 in the flight permitted area based on a preset route or by being operated by an operator using a remote controller, and causes the drone 200 to travel along a guide rail in the flight restricted area toward the target position. When the flight restricted area exists in the direction toward the target position, the drone 200 flying in the flight permitted area enters the guide rail arranged in the flight restricted area when approaching the flight restricted area. The drone 200 then travels along the guide rail, leaves the guide rail when approaching the target position, and flies again in the flight permitted area toward the target position. In other words, the drone 200 passes through the flight restricted area by traveling along the guide rail arranged in the flight restricted area without flying through the flight restricted area.

[0031] Furthermore, when the target position is within the flight restricted area, the drone 200 flying in the flight permitted area enters a guide rail arranged in the flight restricted area when approaching the flight restricted area. The drone 200 then travels along the guide rail, leaves the guide rail when approaching the target position within the flight restricted area, and flies within the flight restricted area toward the target position. In other words, the drone 200 reduces flight within the flight restricted area by traveling along the guide rail arranged in the flight restricted area.

[0032] [About guide rails] Fig. 3 is a diagram showing an example of a guide rail set in a residential area. As shown in Fig. 3, the residential area is set as a flight restricted area FL11, and a guide rail GR10 is arranged on the periphery of the flight restricted area FL11 so as to surround the flight restricted area FL11.

[0033] The drone 200 flying in the flight permitted area approaches the flight restricted area FL11 and enters the guide rail GR10 from an entry position P11 on the guide rail GR10. For example, if the target position is on the other side of the flight restricted area FL11, the drone 200 travels along the guide rail GR10, leaves the guide rail GR10 at a departure position P12, and flies again in the flight permitted area toward the target position. In this way, the drone 200 passes through the flight restricted area FL11 by traveling on the guide rail GR10 from the entry position P11 to the departure position P12.

[0034] Also, for example, when the target position G exists within the flight restricted area FL11, the drone 200 travels along the guide rail GR10, leaves the guide rail GR10 at a departure position P13 on the guide rail GR10 that is close to the target position G, and flies toward the target position G. In this way, the drone 200 reduces flying within the flight restricted area FL11 by traveling on the guide rail GR10 from the entry position P11 to the departure position P13.

[0035] In this embodiment, the guide rail GR10 is arranged in a substantially circular shape on the periphery of the flight restricted area FL11 so as to surround the flight restricted area FL11, but is not limited thereto. For example, the guide rail GR10 may be configured in a ring shape with a substantially square shape, polygonal shape, or uneven shape, or may not necessarily be in a ring shape (may be partially missing). Depending on the shape of the flight restricted area, the guide rail may be arranged in an appropriate shape on the periphery of the flight restricted area so as to generally surround the flight restricted area.

[0036] Furthermore, the guide rail may be arranged not only on the periphery of the flight restricted area FL11, but also, for example, inside the flight restricted area FL11. For example, a guide rail may be arranged to connect two points of the guide rails GR10 arranged on the periphery of the flight restricted area FL11 shown in Fig. 3, and specifically, a guide rail may be arranged to connect the entry position P1 and the departure position P2. This allows the drone 200 that has entered the guide rail to move to the departure position in a short time without traveling on the periphery of the flight restricted area FL11.

[0037] Furthermore, the guide rail may form a plurality of paths. For example, two guide rails GR10 shown in FIG. 3 may be arranged in the vertical direction, or two guide rails GR10 may be arranged on the inside and outside of a ring shape, and the guide rails may run in different directions. This makes it possible to avoid collisions even when multiple drones 200 run in the flight restricted area FL11.

[0038] The two paths may be realized by one guide rail. Specifically, the guide rail and the drone 200 may be configured so that the drone 200 can travel along the upper and lower sides of the guide rail, or along the inner and outer sides of the guide rail.

[0039] Fig. 4 is a diagram showing an example of a guide rail set in a commercial area. As shown in Fig. 4, the commercial area is set as a flight restricted area FL21, and a guide rail GR20 is placed in the flight restricted area FL21 by utilizing rooftops and side walls of buildings and the like existing in the flight restricted area FL21.

[0040] The drone 200 flying in the flight-allowed area approaches the flight-restricted area FL21 and enters the guide rail GR20 from an entry position P21 on the guide rail GR20. For example, if the target position is on the other side of the flight-restricted area FL21, the drone 200 travels along the guide rail GR20, leaves the guide rail GR20 at a departure position P22, and flies again in the flight-allowed area toward the target position. In this way, the drone 200 passes through the flight-restricted area FL21 by traveling on the guide rail GR20 from the entry position P21 to the departure position P22.

[0041] Also, for example, when the target position G exists within the flight restricted area FL21, the drone 200 travels along the guide rail GR20, leaves the guide rail GR20 at a departure position P23 on the guide rail GR20 that is close to the target position G, and flies toward the target position G. In this way, the drone 200 reduces flight within the flight restricted area FL21 by traveling along the guide rail GR20 from the entry position P21 to the departure position P23.

[0042] More specifically, drone 200 reduces flying over roads with heavy traffic and travels along guide rail GR20, reducing the possibility of it falling onto roads with heavy traffic.

[0043] As described in FIG. 3, the guide rail GR20 may not only be ring-shaped, but also be arranged inside the flight restriction area FL21, the running direction may be restricted to form multiple paths, or two paths may be realized with one guide rail.

[0044] Fig. 5 is a diagram showing an example of guide rails arranged in a building. As shown in Fig. 5, a plurality of guide rails GR31 to GR36 are arranged on the roof and side walls of a building, and a plurality of drones 200 run along the plurality of guide rails GR31 to GR36.

[0045] Here, a plurality of drones 200 run on a plurality of guide rails GR31 to GR36, and the running direction of each guide rail GR31 to GR36 is specified, and a temporary stop or priority is set at a position where the guide rails intersect. In addition, the drone 200 is controlled to run while maintaining a predetermined distance between the other drones 200 running in front and behind on the same guide rail GR31 to GR36. Specifically, the control means 120 may adjust the speed of the drone 200 or stop the drone 200 so that the distance between the drone 200 and the other drones 200 running in front of the drone 200 does not become smaller than a threshold value. In addition, these controls may be centrally managed by a control device equipped with the control means 120 for the running of a plurality of drones 200 running on guide rails arranged in one building, or a sensor may be mounted on the drone 200 to grasp the distance between the drones 200 and the drone 200 itself to control the drone 200.

[0046] A plurality of guide rails GR31 to GR36 are arranged vertically from upper floors to lower floors along the side walls of the building, and are also arranged horizontally at a predetermined height position of the building. For example, when a package is collected and delivered by a drone 200, the drone 200 can travel along the plurality of guide rails GR31 to GR36 and move to a room in the building as a target location, which is expected to improve convenience.

[0047] In this case, the guide rails may be arranged so that all rooms in the building can be reached, but even if the guide rails are not arranged to correspond to all rooms as shown in Fig. 5, the drone 200 may travel along the multiple guide rails GR31 to GR36 to a position close to the target position, and then fly to the final destination position (room). In addition, at least one of the rooms in the building where the multiple guide rails GR31 to GR36 are arranged may be set as a specific room and used as a package collection and delivery location in the building.

[0048] In this way, by running drone 200 along multiple guide rails GR31 to GR36 arranged on the roof and side walls of a building, the distance that drone 200 flies is reduced, and the possibility of drone 200 falling due to malfunction or collision is reduced.

[0049] As shown in FIG. 3 to FIG. 5, the drone 200 approaching the flight restricted area enters the guide rail installed in the flight restricted area, but it may enter from any part of the guide rail and may leave from any part. When the drone 200 enters the guide rail, it determines whether or not another drone 200 exists (whether or not it is traveling) at the planned entry position on the guide rail, and if it determines that the other drone 200 does not exist (whether or not it is not traveling to the planned entry position), it may enter the planned entry position. Whether or not the other drone 200 exists (whether or not it is traveling) at the planned entry position on the guide rail may be determined, for example, by a control device equipped with the control means 120, by grasping the current position of the other drone 200 or a predicted position by traveling, or a sensor may be mounted on the drone 200, and the presence of the other drone 200 may be grasped by the drone 200.

[0050] Furthermore, the guide rail may be provided with an entry port / exit port, which is a location where entry / exit is possible.

[0051] Fig. 6 is a diagram showing an example of an entry port / exit port in a guide rail. As shown in Fig. 6, guide rails GR41 and GR42 are arranged on the side wall from the roof of a building, and an entry port IN41 in the guide rail GR41 and an exit port OUT42 in the guide rail GR42 are provided on the roof of the building.

[0052] When the drone 200 enters the guide rail GR41, it will enter through the entry port IN41 provided on the roof of the building. The drone 200 that has reached the vicinity of the roof of the building will enter the guide rail GR41 in order from the entry port IN41, so that it will not be cut off by other drones 200 while traveling on the guide rail GR41. This reduces the opportunities for the drone 200 to adjust its speed or stop while traveling on the guide rail GR41, allowing it to travel smoothly. It can also reduce the possibility of collisions and breakdowns.

[0053] In addition, entry port IN41 is preferably roughly ring-shaped, which allows drones 200 to enter entry port IN41 from multiple directions, and when multiple drones 200 enter entry port IN41, each drone 200 may wait there for, for example, several seconds in order to maintain a predetermined distance from the other drones 200.

[0054] When the drone 200 leaves the guide rail GR42, it leaves from a departure port OUT42 provided on the roof of the building. The drone 200 that travels along the guide rail GR42 and reaches the roof of the building may then leave the guide rail GR42 from the departure port OUT42 in order to fly. Because the drone 200 does not leave the guide rail midway while traveling along the guide rail, it is possible to avoid an unexpected collision with another drone 200 immediately after leaving the guide rail (immediately after starting flight).

[0055] In addition, the exit port OUT42 is preferably roughly ring-shaped, which allows the drone 200 to exit in multiple directions from the exit port OUT42, and when multiple drones 200 exit from the exit port OUT42, they may wait here for a few seconds, for example, to maintain a predetermined distance between them, in order to avoid collisions with other drones 200 immediately after starting flight.

[0056] Although an example in which one guide rail has one entry port or one exit port has been described here, this is not limited to this, and one guide rail may have multiple entry ports and / or multiple exit ports.

[0057] As described above, according to the drone management system 10 according to one embodiment of the present invention, the recording means 110 records map data in which flight restriction areas FL10 (FL11) and FL20 (FL21) in which the flight of the drone 200 is restricted are set for fall avoidance areas such as residential areas and commercial areas. The control means 120 controls the drone 200 based on the map data so that the drone 200 flies in the flyable area and travels along the guide rails GR10 and GR20 installed in advance in the flight restriction areas FL10 and FL20. In this way, by restricting the free flight of the drone 200 in fall avoidance areas such as residential areas and commercial areas, it is possible to more appropriately avoid falling into the fall avoidance areas.

[0058] In this embodiment, for example, it is assumed that the drone 200 equipped with wheels runs on a guide rail, the drone 200 equipped with a predetermined clamping member slides along the guide rail by pinching the guide rail, or the drone 200 equipped with a predetermined fitting member slides along the guide rail by fitting it to a convex or concave part of the guide rail, but is not limited to this. For example, instead of running or sliding on the guide rail, it may be configured to move along the guide rail in a state where it is levitated (separated) from the guide rail like a linear motor car, using a superconducting magnet, an electromagnet, a coil, electromagnetism, etc. Also, for example, it may be a pipe in which the drone can move inside, or it may be something like a lift or gondola that can be moved by hanging by a wire or the like.

[0059] Furthermore, the guide rail, the duct, and the wire as described above may be an expandable antenna pipe made of a light metal such as a titanium alloy or a magnesium alloy, or a rollable tube with a wire built in. The antenna pipe or tube may be extended from the starting point or from both the starting point and the end point, and may be configured in an arch shape to bridge buildings across a road, for example.

[0060] In addition, in this embodiment, as shown in Figures 3 to 5, the guide rails are arranged by pillars or buildings, but this is not limited to these, and for example, they may be arranged inside a building (including inside the walls, floors and ceilings, and in electrical and gas piping areas, etc.) or underground.

[0061] <Other embodiments> In addition to being set in flight restricted areas where drone flight is restricted in at least some areas, guide rails may also be placed, for example, along highways or main roads, or between adjacent flight restricted areas.

[0062] 7 is a diagram for explaining a flight restricted area and a guide rail in another embodiment. As shown in FIG. 7, the guide rail GR40 is also arranged along a highway or a main road and between adjacent flight restricted areas.

[0063] For example, areas far from urban areas are not set as flight-restricted areas because the population density is relatively low. The number of drones flying in those areas is also unlikely to be huge, so the possibility of drone collisions is also low. On the other hand, if the flight distance of a drone is long, it is considered that the battery will be consumed more, so it is preferable for a drone to move the shortest distance and to move while saving energy.

[0064] The guide rails GR40 are arranged along existing expressways and trunk roads, and when a drone travels between urban areas and areas away from those urban areas, it may travel along an appropriate route in an energy-saving manner by running along these guide rails GR40 without flying.

[0065] In addition, the guide rail GR40 may be arranged, for example, in urban areas, not only in flight restricted areas, but also along existing expressways and main roads. In areas other than flight restricted areas, the drone may fly freely, but by running along the guide rail, for example, in bad weather or when the battery is low, the drone can move more safely and with less energy.

[0066] That is, even if the drone is within a flight area, for example, when the remaining charge of the onboard battery becomes low and falls below a threshold, the drone may enter a guide rail and run along the guide rail, or if a charging spot is provided on the guide rail, the drone may be charged there. Also, the drone may run along the guide rail according to the surrounding environment, including weather information (weather forecast) such as strong winds and rainfall, allowing it to move more safely.

[0067] Furthermore, smaller flight restricted areas (protected areas) FL12a-FL12c are set within the flight restricted area FL12 as shown in Fig. 7. The flight restricted areas (protected areas) FL12a-FL12c are areas of the flight restricted area FL12 where there are more buildings and / or people than other areas, and may be, for example, residential areas and commercial areas as described with reference to Figs. 3 and 4.

[0068] The guide rail GR40 may be arranged on the periphery of the flight limited area FL12 so as to surround the flight limited area FL12, may be arranged on the periphery of the flight limited area (protected area) FL12a-FL12c so as to surround the flight limited area (protected area) FL12a-FL12c, and may further be arranged so as to connect the flight limited area FL12 and the flight limited area (protected area) FL12a-FL12c.

[0069] According to this, when the target position is within the flight restricted area (protected area) FL12a to FL12c, the drone can travel along the guide rail GR40 within the flight restricted area FL12 to close to the target position, thereby reducing flight.

[0070] The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangements, materials, conditions, shapes, sizes, etc., are not limited to those shown as examples and can be changed as appropriate. In addition, configurations shown in different embodiments can be partially substituted or combined with each other. [Explanation of symbols]

[0071] 10... drone (unmanned aerial vehicle) management system, 100... control device, 110... recording means, 120... control means, 200... drone (unmanned aerial vehicle), FL10, FL11, FL12, FL12a to FL12c, FL20, FL21... flight restricted area (protected area), GR10, GR20, GR31 to GR36, GR40 to GR42... guide rail, IN41... entry port, OUT42... exit port, G... target position, P1, P11, P21... entry position, P2, P12, P13, P22, P23... exit position

Claims

1. An unmanned aerial vehicle management system having an unmanned aerial vehicle and a control device for controlling the unmanned aerial vehicle, The unmanned aerial vehicle is capable of flying and moving along a pre-installed guide; The control device includes: A recording means for recording map data in which a flight area in which the unmanned aerial vehicle can fly and a flight restricted area in which the flight of the unmanned aerial vehicle is restricted in at least a part of the area are set; and a control means for controlling the unmanned aerial vehicle so as to fly the unmanned aerial vehicle in the flight permitted area and to move the unmanned aerial vehicle along a guide installed in advance in the flight restricted area based on the map data. Unmanned aerial vehicle management system.

2. The guide is disposed on at least a portion of a periphery of the flight restricted area surrounding the flight restricted area. The unmanned aerial vehicle management system of claim 1 .

3. the flight restricted area includes a protected area in which there are more buildings and / or people than other areas of the flight restricted area; The guide is disposed on at least a portion of a periphery of the protective area surrounding the protective area. The unmanned aerial vehicle management system according to claim 1 or 2.

4. the flight restricted area includes a protected area in which there are more buildings and / or people than other areas of the flight restricted area; The guide is disposed in the building present in the protected area. The unmanned aerial vehicle management system according to claim 1 or 2.

5. When the unmanned aerial vehicle enters the guide, determining whether or not another unmanned aerial vehicle is present at a planned entry position in the guide; When it is determined that the other unmanned aerial vehicle is not present, the unmanned aerial vehicle approaches a planned approach position in the guide. The unmanned aerial vehicle management system of claim 1 .

6. the guide includes an entry port through which the unmanned aerial vehicle can enter the guide and / or an exit port through which the unmanned aerial vehicle can exit the guide; the guide at the entry port and / or the exit port is generally annular; The unmanned aerial vehicle management system of claim 1 .

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