Route search system and route search method

Abstract

To determine a route of an unmanned flying body over a plurality of areas or a plurality of junction points.SOLUTION: A route search system includes: an acquisition section for acquiring a departure place and a destination on a route of an unmanned flying body; a temporary determination section for temporarily determining a first route desired for the unmanned flying body to fly from the acquired departure place to the destination; an identification section for identifying two or more areas through which the unmanned flying body is to pass when flying on the temporarily determined first route among a plurality of areas; an extraction section for extracting junction points between two or more areas among the junction points with reference to the relationship between a plurality of areas provided by a plurality of area providers and the junction points between the areas; and a determination section for connecting the acquired departure place and the destination, the identified two or more areas, and the extracted junction points, so as to determine a second route for the unmanned flying body to fly.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a route search system and a route search method. [Background technology]

[0002] The multidimensional route optimizer described in Patent Document 1 aims to optimize multidimensional routes such as an aircraft's flight path, and for horizontal routes, searches for a route from the perspective of minimizing a cost function, while for vertical routes, searches for a route by referring to data such as aircraft parameters and wind speed functions (for example, as described in the "Abstract" column of Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2004-538438 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned multi-dimensional route optimizer, the range for searching the route of the above-mentioned aircraft is within one area, so the multi-dimensional route optimizer cannot search for the route of the unmanned aerial vehicle that is not an aircraft, for example, when the route to be flown by the unmanned aerial vehicle needs to cross multiple areas provided by multiple area providers, or needs to pass through a connection point between the multiple areas.

[0005] An object of the present disclosure is to provide a route search system and a route search method capable of determining a route for an unmanned aerial vehicle across multiple areas or multiple connection points. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the route search system of the present disclosure includes an acquisition unit that acquires a departure point and destination for a route of an unmanned aerial vehicle, a memory unit that stores area-connection point relationships, which are relationships between multiple areas provided by multiple area providers and multiple connection points between the multiple areas, a provisional determination unit that provisionally determines a first route along which it is desirable for the unmanned aerial vehicle to fly from the acquired departure point and destination, an identification unit that identifies two or more areas among the multiple areas that the unmanned aerial vehicle will pass through while flying the provisionally determined first route, an extraction unit that extracts connection points between the two or more areas from the multiple connection points by referring to the area-connection point relationships, and a determination unit that determines a second route along which the unmanned aerial vehicle should fly by connecting the acquired departure point and destination, the two or more identified areas, and the extracted connection points. Effect of the Invention

[0007] According to the route search system of the present disclosure, a route for an unmanned aerial vehicle can be determined across multiple areas or multiple connection points. [Brief description of the drawings]

[0008] [Figure 1] 2 shows the configuration of a route search system RTS of the first embodiment. [Diagram 2] 1 shows an area AR and a connection point SZ in a space KU of the first embodiment. [Diagram 3] 1 shows an area-connection point relationship ASK in the first embodiment. [Figure 4] 4 is a flowchart showing the operation of the route search system RTS of the first embodiment. [Diagram 5] 13 is an example of a second route RT2 in the first embodiment. [Figure 6] 13 is another example of the second route RT2 in the first embodiment. [Figure 7] 10 is a flowchart showing the operation of the route search system RTS of the second embodiment. [Figure 8]13 is an example of a second route RT2 in the second embodiment. [Figure 9] 13 is another example of the second route RT2 in the second embodiment. [Figure 10] 11 shows the operation of the route search system RTS of the third embodiment. [Figure 11] 13 is an example of the second course CS2 of embodiment 3. [Figure 12] 13 is another example of the second course CS2 of embodiment 3. [Figure 13] 1 shows a hardware configuration of a route search system RTS according to first to third embodiments. [Figure 14] 1 shows a hardware configuration based on software realization of a route search system RTS according to first to third embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of a route search system RTS according to the present disclosure will be described.

[0010] First Embodiment The route search system RTS of the first embodiment will be described. Configuration of First Embodiment FIG. 1 shows the configuration of a route search system RTS according to the first embodiment.

[0011] As shown in FIG. 1, the route search system RTS of the first embodiment includes an acquisition unit SH, a storage unit KI, a tentative determination unit KA, an identification unit TO, an extraction unit CH, a determination unit KE, and a setting unit SE.

[0012] The acquisition unit SH acquires from a user US (not shown) the departure point SY and destination MO for a route RT (e.g., a first route RT1 (shown in Figure 2) and a second route RT2 (shown in Figures 5 and 6)) of an unmanned aerial vehicle MH (not shown) in a space KU (shown in Figure 2).

[0013] FIG. 2 shows an area AR and a connection point SZ in a space KU of the first embodiment.

[0014] In the space KU in which the unmanned aerial vehicle MH flies, multiple service providers ST1, ST2, etc. provide multiple areas AR1, AR2, etc.; more specifically, for example, service provider ST1 provides area AR1 and service provider ST2 provides area AR2.

[0015] In the following, for ease of explanation and understanding, a plurality of names may be collectively referred to as one name, for example, area AR1, area AR2, . . . may be collectively referred to as area AR.

[0016] Returning to FIG. 1, the explanation will be continued.

[0017] As shown in FIG. 1, the storage unit KI stores area-connection point relationships ASK.

[0018] FIG. 3 shows the area-connection point relationship ASK of the first embodiment.

[0019] The area-connection point relationship ASK is the relationship between multiple areas AR1, AR2, ... and connection points SZ1, SZ2, ... between multiple areas AR1, AR2, ... as shown in Fig. 3. The area-connection point relationship ASK indicates, for example, that connection points SZ1 and SZ2 are defined between area AR1 and area AR2 (also shown in Fig. 2), and that connection points SZ4 and SZ6 are defined between area AR2 and area AR3 (also shown in Fig. 2).

[0020] Here, regarding the positional relationship between area AR and connection point SZ, as shown in FIG. 2, for example, connection point SZ1 is different from being the intersection of the boundary line of area AR1 and the boundary line of area AR2, and connection point SZ1 may be located within the overlapping range of the areas of area AR1 and area AR2.

[0021] Returning to FIG. 1, the explanation will be continued.

[0022] The tentative determination unit KA tentatively determines a first route RT1 (shown in FIG. 2) that is desirable to be flown from the unmanned aerial vehicle MH from the departure point SY and destination point MO acquired by the acquisition unit SH.

[0023] The identification unit TO identifies two or more areas AR among the multiple areas AR1, AR2, ..., through which the unmanned aerial vehicle MH will pass while flying the first route RT1 tentatively determined by the tentative determination unit KA. The identification unit TO identifies, for example, area AR1, area AR2, etc., as suggested in FIG.

[0024] The extraction unit CH extracts a connection point SZ between two or more areas AR identified by the identification unit TO from among the multiple connection points SZ1, SZ2, etc., by referring to the area-connection point relationship ASK (shown in FIG. 3). For example, for the identified areas AR1 and AR2, the extraction unit CH extracts connection points SZ1 and SZ2 between areas AR1 and AR2.

[0025] The determination unit KE determines a second route RT2 (shown in Figures 5 and 6) along which the unmanned aerial vehicle MH should fly by connecting (1) the departure point SY and destination MO acquired by the acquisition unit SH, (2) two or more areas AR (e.g., areas AR1, AR2) identified by the identification unit TO, and (3) a connection point SZ (e.g., connection point SZ1) extracted by the extraction unit CH.

[0026] The setting unit SE will be described in the third embodiment.

[0027] The acquisition unit SH corresponds to the "acquisition unit", the memory unit KI corresponds to the "memory unit", the tentative determination unit KA corresponds to the "tentative determination unit", the identification unit TO corresponds to the "identification unit", the extraction unit CH corresponds to the "extraction unit", and the determination unit KE corresponds to the "determination unit".

[0028] The unmanned aerial vehicle MH corresponds to the "unmanned aerial vehicle", the service provider ST corresponds to the "area provider", the area AR corresponds to the "area", the connection point SZ corresponds to the "connection point", the area-connection point relationship ASK corresponds to the "area-connection point relationship", the first route RT1 corresponds to the "first route", and the second route RT2 corresponds to the "second route".

[0029] Operation of the First Embodiment The operation of the route search system RTS of the first embodiment will be described.

[0030] FIG. 4 is a flowchart showing the operation of the route search system RTS of the first embodiment.

[0031] The operation of the route search system RTS of the first embodiment will be described with reference to the flowchart of FIG.

[0032] Step ST11: The acquisition unit SH acquires, from the user US, the departure point SY and the destination point MO for the route RT of the unmanned aerial vehicle MH, for example, as shown in FIG.

[0033] Step ST12: The tentative determination unit KA tentatively determines a first route RT1 (shown in FIG. 2) along which the unmanned aerial vehicle MH should preferably fly from the acquired departure point SY and destination point MO.

[0034] <Two examples of the second route RT2> FIG. 5 is an example of the second route RT2 in the first embodiment.

[0035] FIG. 6 shows another example of the second route RT2 in the first embodiment.

[0036] Step ST13: The identification unit TO identifies an area AR among the multiple areas AR1, AR2, ... that the unmanned aerial vehicle MH is likely to pass through while flying the first route RT1.

[0037] The identification unit TO identifies areas AR1, AR2, and AR3 as shown in Fig. 5(1) as an example. The identification unit TO identifies areas AR1, AR2, AR4, and AR3 as shown in Fig. 6(1) as another example.

[0038] Step ST14: The extraction unit CH refers to the area-connection point relationship ASK (shown in FIG. 3) and extracts the connection point SZ between the identified areas AR from among the multiple connection points SZ1, SZ2, . . .

[0039] The extraction unit CH extracts connection points SZ1 and SZ6 as one example of the above, as shown in Fig. 5(2). The specification unit TO extracts connection points SZ2, SZ3, and SZ8 as another example of the above.

[0040] Step ST15: The determination unit KE determines a second route RT2 along which the unmanned aerial vehicle MH should fly by connecting (1) the above-obtained departure point SY, destination point MO, (2) the above-mentioned identified area AR, and (3) the above-mentioned extracted connection point SZ.

[0041] As one example of the above, the determination unit KE determines the second route RT2 by connecting the departure point SY, area AR1, connection point SZ1, area AR2, connection point SZ6, area AR3, and destination MO as shown in Figures 5(1) to (3). As another example of the above, the determination unit KE determines the second route RT2 by connecting the departure point SY, area AR1, connection point SZ2, area AR2, connection point SZ3, area AR4, connection point SZ8, area AR3, and destination MO as shown in Figures 6(1) to (3).

[0042] Effects of the First Embodiment As described above, the route search system RTS of the first embodiment can determine the second route RT2 of the unmanned aerial vehicle MH across multiple areas AR or multiple connection points SZ.

[0043] Second Embodiment A route search system RTS according to the second embodiment will be described.

[0044] Configuration of the Second Embodiment The configuration of the route search system RTS of the second embodiment is basically the same as that of the route search system RTS of the first embodiment (shown in FIG. 1).

[0045] However, the functions of the identification unit TO, extraction unit CH, and determination unit KE in the second embodiment are different from the functions of the identification unit TO, extraction unit CH, and determination unit KE in the first embodiment.

[0046] The identification unit TO identifies one or more connection points SZ among the multiple connection points SZ1, SZ2, ..., that the unmanned aerial vehicle MH will pass through while flying the first route RT1 tentatively determined by the tentative determination unit KA. The identification unit TO identifies, for example, connection point SZ1, as suggested in Figure 2.

[0047] The extraction unit CH refers to the area-connection point relationship ASK (shown in FIG. 3) to extract an area AR that defines one or more connection points SZ identified by the identification unit TO from among the multiple areas AR1, AR2, .... The extraction unit CH extracts the area AR1 and the area AR2 for the identified connection point SZ1, for example.

[0048] The determination unit KE determines a second route RT2 (shown in Figures 8 and 9) along which the unmanned aerial vehicle MH should fly by connecting (1) the departure point SY and destination MO acquired by the acquisition unit SH, (2) one or more connection points SZ (e.g., connection point SZ1) identified by the identification unit TO, and (3) the area AR (e.g., area AR1, area AR2) extracted by the extraction unit CH.

[0049] Operation of the Second Embodiment The operation of the route search system RTS of the second embodiment will be described.

[0050] FIG. 7 is a flowchart showing the operation of the route search system RTS of the second embodiment.

[0051] The operation of the route search system RTS of the second embodiment will be described with reference to the flowchart of FIG.

[0052] Step ST21: As in step ST11 in the first embodiment, the acquisition unit SH acquires, from the user US, the departure point SY and the destination point MO for the route RT of the unmanned aerial vehicle MH, for example, as shown in FIG.

[0053] Step ST22: The tentative determination unit KA, similar to step ST12 in the first embodiment, tentatively determines a first route RT1 (shown in FIG. 2) along which the unmanned aerial vehicle MH should preferably fly from the acquired departure point SY and destination point MO.

[0054] <Two examples of the second route RT2> FIG. 8 is an example of the second route RT2 in the second embodiment.

[0055] FIG. 9 shows another example of the second route RT2 in the second embodiment.

[0056] Step ST23: The identification unit TO identifies a connection point SZ among the multiple connection points SZ1, SZ2, ... that the unmanned aerial vehicle MH will pass through while flying the first route RT1.

[0057] The identification unit TO identifies the connection points SZ1 and SZ6 as shown in Fig. 8(1) as an example, and the identification unit TO identifies the connection points SZ2, SZ3, and SZ8 as shown in Fig. 9(1) as another example.

[0058] Step ST24: The extraction unit CH refers to the area-connection point relation ASK (shown in FIG. 3 ), Among the multiple areas AR1, AR2, ..., the area AR that defines the identified connection point SZ is extracted.

[0059] The extraction unit CH extracts areas AR1, AR2, and AR3 as one example of the above, as shown in Fig. 8(2). The identification unit TO extracts areas AR1, AR2, AR4, and AR3 as another example of the above.

[0060] Step ST25: The determination unit KE determines a second route RT2 along which the unmanned aerial vehicle MH should fly by connecting (1) the above-obtained departure point SY, destination point MO, (2) the above-identified connection point SZ, and (3) the above-extracted area AR.

[0061] As one example of the above, the determination unit KE determines the second route RT2 by connecting the departure point SY, area AR1, connection point SZ1, area AR2, connection point SZ6, area AR3, and destination MO as shown in Figures 8(1) to (3). As another example of the above, the determination unit KE determines the second route RT2 by connecting the departure point SY, area AR1, connection point SZ2, area AR2, connection point SZ3, area AR4, connection point SZ8, area AR3, and destination MO as shown in Figures 9(1) to (3).

[0062] Effects of the Second Embodiment As described above, the route search system RTS of the second embodiment can determine the second route RT2 of the unmanned aerial vehicle MH across multiple areas AR or multiple connection points SZ.

[0063] Third embodiment A route search system RTS according to a third embodiment will be described.

[0064] Configuration of the Third Embodiment The configuration of the route search system RTS of the third embodiment is basically the same as that of the route search system RTS of the first embodiment (shown in FIG. 1).

[0065] The functions of the identification unit TO, extraction unit CH, and determination unit KE in embodiment 3 are either similar to the functions of the identification unit TO, extraction unit CH, and determination unit KE in embodiment 1 described above, or similar to the functions of the identification unit TO, extraction unit CH, and determination unit KE in embodiment 2 described above.

[0066] In the route search system RTS of embodiment 3, the setting unit SE (shown in Figure 1) sets, for each identified or extracted area AR for the second route RT2 determined by the determination unit KE (shown in Figure 1), a second course CS2 (shown in Figures 10, 11 and 12) along which the unmanned aerial vehicle MH can fly, instead of the initial first course CS1 (shown in Figure 10) along which the unmanned aerial vehicle MH cannot fly, taking into consideration the situation in each area AR.

[0067] The setting section SE corresponds to the "setting section", and the course CS corresponds to the "course".

[0068] Operation of the Third Embodiment FIG. 10 shows the operation of the route search system RTS of the third embodiment.

[0069] FIG. 11 is an example of the second course CS2 of the third embodiment.

[0070] FIG. 12 shows another example of the second course CS2 of the third embodiment.

[0071] The operation of the route search system RTS of the third embodiment will be described with reference to FIGS.

[0072] In the following, for ease of explanation and understanding, when the determination unit KE determines the second route RT2 (step ST15 in embodiment 1, step ST25 in embodiment 2), it is assumed that a first course CS1 connecting the starting point SY and the connection point SZ1 within the area AR1 has been determined, as shown in Figures 10, 11(1)-(3) (similar to part of Figure 5), and 12(1)-(3) (similar to part of Figure 8).

[0073] When the setting unit SE finds out that an obstacle SG exists on the first course CS1, which is part of the second route RT2 determined by the determination unit KE, within the area AR1, as shown in Figure 10, the setting unit SE sets another course on which the unmanned aerial vehicle MH can fly, i.e., another course that avoids the obstacle SG, for example, a second course CS2 connecting the starting point SY, area AR1, passing point WP1, passing point WP2, and connection point SZ1, as shown in Figures 10, 11(4), and 12(4).

[0074] Effects of the Third Embodiment As described above, in the route search system RTS of embodiment 3, by taking into account the situation in each area AR, for example, by considering whether or not there is an obstacle SG on the route RT of the unmanned aerial vehicle MH, it is possible to set a course CS along which the unmanned aerial vehicle MH can fly.

[0075] Hardware Configuration of the First to Third Embodiments FIG. 13 shows the hardware configuration of the route search system RTS according to the first to third embodiments.

[0076] To perform the above-mentioned functions, the route search system RTS of the first to third embodiments includes a processing circuit SYO as shown in FIG. 13, and further includes an input circuit NYU and an output circuit SYU as necessary.

[0077] The processing circuit SYO is a dedicated hardware, and realizes the functions of the acquisition unit SH to the setting unit SE (shown in FIG. 1) of the route search system RTS.

[0078] The processing circuit SYO is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these.

[0079] The input circuit NYU and the output circuit SYU exchange inputs and outputs related to the operation of the processing circuit SYO with, for example, the outside of the route search system RTS.

[0080] Hardware configuration based on software implementation of embodiments 1 to 3 FIG. 14 shows a hardware configuration based on software realization of the route search system RTS according to the first to third embodiments.

[0081] As shown in FIG. 14, the route search system RTS of the first to third embodiments includes a processor PRO and a memory circuit KIO, and further includes an input circuit NYU and an output circuit SYU as necessary.

[0082] The processor PRO is a CPU (also called a Central Processing Unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processing)) that executes a program. The processor PRO realizes the functions of the acquisition unit SH to the setting unit SE (shown in FIG. 1) of the route search system RTS.

[0083] The processor PRO realizes the above-mentioned functions by software, firmware, or a combination of software and firmware. The software and firmware are written as a program PRG and stored in the memory circuit KIO.

[0084] The processor PRO realizes the above-mentioned functions by reading and executing the above-mentioned program PRG from the memory circuit KIO. The above-mentioned program PRG can be said to cause a computer to execute the procedures and methods of the acquisition unit SH to the setting unit SE of the route search system RTS.

[0085] Here, the memory circuit KIO is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), etc., as well as a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), etc.

[0086] Of the functions of the acquisition unit SH to the setting unit SE of the route search system RTS, some of the functions may be realized by a processing circuit SYO (shown in FIG. 13), while other functions may be realized by a processor PRO (shown in FIG. 14).

[0087] As described above, the functions of the acquisition unit SH through the setting unit SE of the route search system RTS can be realized by hardware, software, firmware, or a combination of these.

[0088] The input circuit NYU and the output circuit SYU exchange inputs and outputs related to the operation of the processor PRO with, for example, the outside of the route search system RTS.

[0089] <Example of composition> The route search system and route search method according to the present disclosure have, for example, the following configuration.

[0090] [Item 1] An acquisition unit that acquires a starting point and a destination point for a route of the unmanned aerial vehicle; A storage unit that stores area-connection point relationships, which are relationships between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; A tentative determination unit that tentatively determines a first route along which the unmanned aerial vehicle should fly from the acquired departure point and destination; An identification unit that identifies two or more areas among the plurality of areas through which the unmanned aerial vehicle will pass while flying the provisionally determined first route; an extracting unit that refers to the area-connection point relationship and extracts a connection point between the two or more areas from among the plurality of connection points; A determination unit that determines a second route along which the unmanned aerial vehicle should fly by connecting the acquired departure point and destination, the two or more identified areas, and the extracted connection points; A route finding system including:

[0091] [Item 2] An acquisition unit that acquires a starting point and a destination point for a route of the unmanned aerial vehicle; A storage unit that stores area-connection point relationships, which are relationships between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; A tentative determination unit that tentatively determines a first route along which the unmanned aerial vehicle should fly from the acquired departure point and destination; An identification unit that identifies one or more connection points among the plurality of connection points that the unmanned aerial vehicle will pass through while flying the tentatively determined first route; an extracting unit that refers to the area-connection point relationship and extracts an area that defines the one or more connection points from among the plurality of areas; A determination unit that determines a second route for the unmanned aerial vehicle to fly by connecting the acquired departure point and destination, the identified one or more connection points, and the extracted area; A route finding system including:

[0092] [Item 3] A setting unit that sets a course that the unmanned aerial vehicle can fly for each of the two or more specified areas or the extracted areas based on the situation of each of the areas for the determined second route; 3. The route search method according to item 1 or 2, further comprising:

[0093] [Item 4] obtaining a starting point and a destination point for a route of the unmanned aerial vehicle; A step of provisionally determining a first route along which the unmanned aerial vehicle is desired to fly from the acquired departure point and destination; Identifying two or more areas among the plurality of areas through which the unmanned aerial vehicle will pass while flying the tentatively determined first route; extracting a connection point between the two or more areas from among a plurality of connection points by referring to an area-connection point relationship, which is a relationship between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; Determining a second route for the unmanned aerial vehicle to fly by connecting the acquired departure point and destination, the two or more identified areas, and the extracted connection points; Route discovery methods including:

[0094] [Item 5] obtaining a starting point and a destination point for a route of the unmanned aerial vehicle; A step of provisionally determining a first route along which the unmanned aerial vehicle is desired to fly from the acquired departure point and destination; identifying one or more connection points among the plurality of connection points that the unmanned aerial vehicle will pass through while flying the tentatively determined first route; A process of extracting an area that defines one or more connection points from among a plurality of areas provided by a plurality of area providers, by referring to an area-connection point relationship that is a relationship between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; Determining a second route for the unmanned aerial vehicle to fly by connecting the acquired departure point and destination, the identified one or more connection points, and the extracted area; Route discovery methods including:

[0095] [Item 6] A step of setting a course on which the unmanned aerial vehicle can fly for each of the two or more identified areas or the extracted areas, taking into account the situation of each of the areas, for the determined second route; 7. The route searching method according to item 5 or 6, further comprising: [Explanation of symbols]

[0096] RTS Route Planning System SH acquisition department KA Provisional Decision Section TO specific section CH extraction part KE Determination Unit SE Settings KI storage section ASK Area / Connection Point SY Departure point MO Destinations RT Route CS Course

Claims

1. An acquisition unit that acquires a starting point and a destination point for a route of the unmanned aerial vehicle; A storage unit that stores area-connection point relationships, which are relationships between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; A tentative determination unit that tentatively determines a first route along which the unmanned aerial vehicle should fly from the acquired departure point and destination; An identification unit that identifies two or more areas among the plurality of areas through which the unmanned aerial vehicle will pass while flying the provisionally determined first route; an extracting unit that refers to the area-connection point relationship and extracts a connection point between the two or more areas from among the plurality of connection points; A determination unit that determines a second route along which the unmanned aerial vehicle should fly by connecting the acquired departure point and destination, the two or more identified areas, and the extracted connection points; A route finding system including:

2. An acquisition unit that acquires a starting point and a destination point for a route of the unmanned aerial vehicle; A storage unit that stores area-connection point relationships, which are relationships between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; A tentative determination unit that tentatively determines a first route along which the unmanned aerial vehicle should fly from the acquired departure point and destination; An identification unit that identifies one or more connection points among the plurality of connection points that the unmanned aerial vehicle will pass through while flying the tentatively determined first route; an extracting unit that refers to the area-connection point relationship and extracts an area that defines the one or more connection points from among the plurality of areas; A determination unit that determines a second route for the unmanned aerial vehicle to fly by connecting the acquired departure point and destination, the identified one or more connection points, and the extracted area; A route finding system including:

3. A setting unit that sets a course that the unmanned aerial vehicle can fly for each of the two or more specified areas or the extracted areas in consideration of the situation of each of the areas for the determined second route; The route searching method according to claim 1 or 2, further comprising:

4. obtaining a starting point and a destination point for a route of the unmanned aerial vehicle; A step of provisionally determining a first route along which the unmanned aerial vehicle is desired to fly from the acquired departure point and destination; Identifying two or more areas among the plurality of areas through which the unmanned aerial vehicle will pass while flying the tentatively determined first route; extracting a connection point between the two or more areas from among a plurality of connection points by referring to an area-connection point relationship, which is a relationship between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; Determining a second route for the unmanned aerial vehicle to fly by connecting the acquired departure point and destination, the two or more identified areas, and the extracted connection points; Route discovery methods including:

5. obtaining a starting point and a destination point for a route of the unmanned aerial vehicle; A step of provisionally determining a first route along which the unmanned aerial vehicle is desired to fly from the acquired departure point and destination; identifying one or more connection points among the plurality of connection points that the unmanned aerial vehicle will pass through while flying the tentatively determined first route; a step of extracting an area that defines one or more connection points from among a plurality of areas provided by a plurality of area providers, by referring to an area-connection point relationship that is a relationship between a plurality of areas provided by a plurality of area providers and a plurality of connection points between the plurality of areas; determining a second route for the unmanned aerial vehicle to fly by connecting the acquired departure point and destination, the identified one or more connection points, and the extracted area; Route discovery methods including:

6. A step of setting a course on which the unmanned aerial vehicle can fly for each of the two or more identified areas or the extracted areas, taking into account the situation of each of the areas, for the determined second route; The route searching method according to claim 5 or 6, further comprising:

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