Route design method and route design apparatus

Abstract

To facilitate visual recognition of a risk of each of a plurality of voxels.SOLUTION: A route design method includes: a step of temporarily determining a first route of an unmanned aerial vehicle that flies from a departure point to a destination based on the departure point and the destination of the unmanned aerial vehicle in a three dimensional space represented by a plurality of voxels; and a step of displaying at least one voxel through which the unmanned aerial vehicle passes when the unmanned aerial vehicle flies along the first route among the plurality of voxels such that magnitude of a risk when the unmanned aerial vehicle passes through the voxel is identifiable.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a route design method and a route design device. [Background technology]

[0002] The system and method described in the '1999 patent aims to display weather information and additional information about hazardous weather located along a vertical slice along a selected orientation relative to the aircraft, such as the aircraft's direction of flight. In connection with the above-mentioned objective, the system and method displays the relative positions of turbulent regions 112, 114, 116, etc., to the flight path 102 in a vertical slice 306, 602 (e.g., as shown in Figures 5 and 6) of voxels 304 aligned with the flight path 102 of the aircraft 104. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-181406 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when an attempt is made to represent the three-dimensional space SK (shown in FIG. 18) in which the above-mentioned aircraft 104, flight path 102, turbulent region 112, etc. exist using, for example, a plurality of voxels VX as shown in FIG. 18, and, for example, to display in a list the magnitude of the risk RS of the flight path 102 for each voxel VX, there is a problem in that, for example, it is not easy to visually recognize the magnitude of the risk RS (for example, risk RS(3, 2, 3) which is the risk of voxel VX(3, 2, 3)) of a voxel VX (for example, voxel VX(3, 2, 3)) located at the back of the above-mentioned plurality of voxels VX.

[0005] An object of the present disclosure is to provide a route design method and route design device that make it easier to visually identify the risks of each of a number of voxels compared to visually identifying the risks of each of a number of voxels displayed in a list. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the route design method disclosed herein includes a step of provisionally determining a first route for an unmanned aerial vehicle to fly from a starting point to a destination based on the starting point and destination of the unmanned aerial vehicle in a three-dimensional space represented by a plurality of voxels, and a step of displaying at least one voxel among the plurality of voxels that the unmanned aerial vehicle will pass through when flying along the first route, in a manner that enables the magnitude of risk when the unmanned aerial vehicle passes through the voxel to be identified. Effect of the Invention

[0007] According to the route design method of the present disclosure, visually checking the risks of each of a plurality of voxels can be made easier than visually checking the risks of each of a plurality of voxels displayed in a list. [Brief description of the drawings]

[0008] [Figure 1] 2 shows the configuration of a route design device RSS according to the first embodiment. [Diagram 2] 4 is a flowchart showing an operation of the route design device RSS of the first embodiment. [Diagram 3] 1 shows the reception of input of a departure point SY and a destination point MO in the first embodiment. [Figure 4] 13 shows a tentative determination of a first route RT1 in the first embodiment. [Diagram 5] 1 shows a display of risk RS of a voxel VX in embodiment 1. [Figure 6] 1 shows the selection of a voxel VX to be changed in the first embodiment. [Figure 7] 1 shows a display of a selected voxel VX and the risk RS of the surrounding voxels VX in embodiment 1. [Figure 8] 11 shows a change in a passing point WP in the first embodiment. [Figure 9] 4 illustrates the determination of a second route RT2 in the first embodiment. [Figure 10] 10 is a flowchart showing an operation of the route design device RSS of the second embodiment. [Figure 11] 13 shows a display of risk RS of a voxel VX in embodiment 2. [Figure 12] 13 shows the selection of a voxel VX to be changed in the second embodiment. [Figure 13] 13 shows a display of a selected voxel VX and the risk RS of the surrounding voxels VX in embodiment 2. [Figure 14] 13 shows the addition of a passing place WP in the second embodiment. [Figure 15] 13 shows the determination of a second route RT2 in the second embodiment. [Figure 16] 2 shows a hardware configuration of a route design device RSS according to the first and second embodiments. [Figure 17] 1 shows a hardware configuration based on software realization of a route design device RSS according to the first and second embodiments. [Figure 18] 1 shows a conventional method for expressing risk in a voxel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of a route design device according to the present disclosure will be described.

[0010] First Embodiment The route design device RSS of the first embodiment will be described.

[0011] Configuration and Operation of First Embodiment FIG. 1 shows the configuration of the route design device RSS of the first embodiment.

[0012] FIG. 2 is a flowchart showing the operation of the route design device RSS of the first embodiment.

[0013] The configuration and operation of the route design device RSS of the first embodiment will be described with reference to FIGS.

[0014] As shown in FIG. 1, the route design device RSS of the first embodiment includes a reception unit UK, a tentative determination unit KA, a display unit HY, a determination unit KE, and a storage unit KI.

[0015] The reception unit UK corresponds to the "reception unit" and the "second reception unit", the provisional decision unit KA corresponds to the "provisional decision unit", the display unit HY corresponds to the "display unit" and the "second display unit", the decision unit KE corresponds to the "decision unit", and the memory unit KI corresponds to the "memory unit".

[0016] In the following, for ease of explanation and understanding, a plurality of names may be collectively referred to as one name, for example, voxel VX1, voxel VX2, . . . may be collectively referred to as voxel VX.

[0017] The functions of the reception unit UK, the provisional decision unit KA, the display unit HY, the decision unit KE, and the storage unit KI shown in FIG. 1 will be described in chronological order with reference to the flowchart of FIG.

[0018] FIG. 3 shows the reception of input of a departure point SY and a destination point MO in the first embodiment.

[0019] Step ST11: The reception unit UK accepts input of a starting point SY and a destination MO (shown in FIG. 3) from a user US, for example, to design a route RT (e.g., a first route RT1 (shown in FIG. 4) and a second route RT2 (shown in FIG. 9)) for flying an unmanned aerial vehicle MH (not shown) such as a drone in a three-dimensional space SK (shown in FIG. 3).

[0020] The three-dimensional space SK (shown in FIG. 3) is represented by a number of voxels VX, as shown in FIG.

[0021] FIG. 4 shows the tentative determination of the first route RT1 in the first embodiment.

[0022] Step ST12: The tentative determination unit KA tentatively determines a first route RT1 (shown in FIG. 4) of the unmanned aerial vehicle MH flying from the departure point SY to the destination MO based on the departure point SY and destination MO accepted by the acceptance unit UK. As shown in FIG. 4, the first route RT1 starts from the departure point SY, passes through passing points WP1 and WP2, and reaches the destination MO.

[0023] FIG. 5 shows a display of risk RS of a voxel VX in embodiment 1.

[0024] Step ST13: The display unit HY displays at least one voxel VX1, VX2, ..., among the multiple voxels VX, as shown in Figure 5, which the unmanned aerial vehicle MH passes through when flying the first route RT1, in a manner that enables the risks RS1, RS2, ..., when the unmanned aerial vehicle MH passes through the voxels VX1, VX2, ..., to be identifiable.

[0025] As shown in FIG. 5, for example, the risk RS1 of the voxel VX1 is "small", the risk RS4 of the voxel VX4 is "medium", and the risk RS7 of the voxel VX7 is "large".

[0026] FIG. 6 shows the selection of a voxel VX to be changed in the first embodiment.

[0027] Step ST14: The reception unit UK accepts from the user US a selection (e.g., selection by clicking) of, for example, voxel VX7 as one of the voxels VX1, VX2, ... that the unmanned aerial vehicle MH passes through when flying the first route RT1, as shown in Figure 6, which the user wishes to change.

[0028] FIG. 7 shows a display of a selected voxel VX, the risk RS of the surrounding voxels VX in embodiment 1.

[0029] Step ST15: The display unit HY displays the risks RS7, RSa, RSb, . . . of the selected voxel VX7 and the voxels VXa, VXb, . . . surrounding the voxel VX7, as shown in FIG.

[0030] FIG. 8 shows a change of a passing point WP in the first embodiment.

[0031] Step ST16: The reception unit UK receives from the user US a request to change the passing point WP2 through which the above-mentioned provisionally determined first route RT1 should pass to a passing point WPchg in order to reduce the risk RS from "high" to "medium" as shown in FIG. 8.

[0032] FIG. 9 shows the determination of the second route RT2 in the first embodiment.

[0033] Step ST17: The determination unit KE determines a second route RT2 passing through the changed passing point WPchg as shown in Fig. 9. The second route RT2 starts from the departure point SY, passes through the passing points WP1 and WPchg, and reaches the destination MO as shown in Fig. 9.

[0034] The memory unit KI reads and writes data required for reception and determination by the reception unit UK to determination unit KE in steps ST11 to ST17. The memory unit KI stores, for example, data indicating the departure point SY and destination MO received by the reception unit UK in step ST11.

[0035] Effects of the First Embodiment As described above, the route design device RSS of embodiment 1 makes it easier to visually check the risk RS of each of multiple voxels VX compared to visually checking the risks of each of multiple voxels VX displayed in a list (shown in FIG. 18).

[0036] In the route design device RSS of embodiment 1, as a result of the above-mentioned effects, it is possible to make it easier for the user US to select the voxel VX that he or she wishes to change, compared to selecting from a plurality of voxels VX displayed in a list (shown in FIG. 18).

[0037] Second Embodiment A route design device RSS according to the second embodiment will be described.

[0038] Configuration and Operation of Second Embodiment The configuration of the route design device RSS of the second embodiment is similar to the configuration of the route design device RSS of the first embodiment (shown in FIG. 1).

[0039] FIG. 10 is a flowchart showing the operation of the route design device RSS of the second embodiment.

[0040] The operation of the route design device RSS of the second embodiment will be described with reference to FIG.

[0041] The operation of the route design device RSS of the second embodiment is basically the same as the operation of the route design device RSS of the first embodiment.

[0042] On the other hand, unlike the route design device RSS of the first embodiment which performs "changing a passing place WP" in step ST16, the route design device RSS of the second embodiment performs "adding a passing place WP" in step ST26 (described later with reference to FIG. 14).

[0043] Step ST21: Similar to step ST11 in embodiment 1, the reception unit UK receives input from the user US, for example, of a departure point SY and a destination MO (shown in Figure 3) for designing a route RT for flying the unmanned aerial vehicle MH in a three-dimensional space SK (shown in Figure 3).

[0044] Step ST22: Similar to step ST12 in embodiment 1, the tentative determination unit KA tentatively determines a first route RT1 (shown in Figure 4) of the unmanned aerial vehicle MH flying from the departure point SY to the destination MO based on the departure point SY and destination MO accepted by the acceptance unit UK.

[0045] FIG. 11 shows a display of risk RS of a voxel VX in the second embodiment.

[0046] Step ST23: As in step ST13 in embodiment 1, the display unit HY displays at least one voxel VX1, VX2, ..., among the multiple voxels VX, as shown in Figure 11, that the unmanned aerial vehicle MH passes through when flying the first route RT1, in a manner that enables the risks RS1, RS2, ..., when the unmanned aerial vehicle MH passes through the voxels VX1, VX2, ..., to be identifiable.

[0047] As shown in FIG. 11, for example, the risk RS1 of the voxel VX1 is "small", the risk RS4 of the voxel VX4 is "medium", and the risk RS6 of the voxel VX6 is "large".

[0048] FIG. 12 shows the selection of a voxel VX to be changed in the second embodiment.

[0049] Step ST24: As in step ST14 in embodiment 1, the reception unit UK accepts from the user US a selection (e.g., selection by clicking) of, for example, voxel VX6 as one of the voxels VX1, VX2, ... that the unmanned aerial vehicle MH passes through when flying the first route RT1, as shown in Figure 12, which the user wishes to change.

[0050] FIG. 13 shows a display of a selected voxel VX and the risk RS of the surrounding voxels VX in embodiment 2.

[0051] Step ST25: Similar to step ST15 in embodiment 1, the display unit HY displays the risks RS6, RSa, RSb, ... of the selected voxel VX6 and the voxels VXa, VXb, ... surrounding the voxel VX6, as shown in Figure 13.

[0052] FIG. 14 shows the addition of a passing place WP in the second embodiment.

[0053] Step ST26: Unlike step ST16 in embodiment 1, the reception unit UK receives from the user US a request to add a passing point WPadd through which the above-mentioned provisionally determined first route RT1 should pass in order to reduce the risk RS from ``high'' to ``medium'' as shown in Figure 14.

[0054] FIG. 15 shows the determination of the second route RT2 in the second embodiment.

[0055] Step ST27: The determination unit KE determines a second route RT2 passing through the added passing point WPadd as shown in Fig. 15, similar to step ST17 in the first embodiment. As shown in Fig. 15, the second route RT2 starts from the departure point SY, passes through the passing points WP1, WPadd, and WP2, and reaches the destination MO.

[0056] Effects of the Second Embodiment

[0057] Effects of the Second Embodiment As described above, in the route design device RSS of embodiment 2, similar to the route design device RSS of embodiment 1, visual confirmation of the risk RS of each of a plurality of voxels VX can be made easier than visual confirmation of the risk of each of a plurality of voxels VX displayed in a list (shown in FIG. 18).

[0058] As a result of the above-mentioned effects, in the route design device RSS of embodiment 2, like the route design device RSS of embodiment 1, it is possible to make it easier for the user US to select the voxel VX that he or she wishes to change, compared to selecting from a plurality of voxels VX displayed in a list (shown in FIG. 18).

[0059] Hardware configuration of the first and second embodiments FIG. 16 shows a hardware configuration of the route design device RSS of the first and second embodiments.

[0060] To perform the above-mentioned functions, the route design device RSS of the first and second embodiments includes a processing circuit SYO as shown in FIG. 16, and further includes an input circuit NYU and an output circuit SYU as necessary.

[0061] The processing circuit SYO is a dedicated hardware, and realizes the functions of the reception unit UK to the determination unit KE (shown in FIG. 1) of the route design device RSS.

[0062] 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.

[0063] 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 design device RSS.

[0064] Hardware configuration based on software implementation of the first and second embodiments FIG. 17 shows a hardware configuration based on software realization of the route design device RSS of the first and second embodiments.

[0065] As shown in FIG. 17, the route design device RSS of the first and second embodiments includes a processor PRO and a memory circuit KIO, and further includes an input circuit NYU and an output circuit SYU as necessary.

[0066] 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 reception unit UK to the determination unit KE (shown in FIG. 1) of the route design device RSS.

[0067] 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.

[0068] 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 reception unit UK to the determination unit KE of the route design device RSS.

[0069] 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.

[0070] Of the functions of the reception unit UK to the determination unit KE of the route design device RSS, some of the functions may be realized by a processing circuit SYO (shown in FIG. 16), while other functions may be realized by a processor PRO (shown in FIG. 17).

[0071] As described above, the functions of the reception unit UK through the determination unit KE of the route design device RSS can be realized by hardware, software, firmware, or a combination of these.

[0072] 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 design device RSS.

[0073] <Example of composition> A route design method and a route design device according to the present disclosure have, for example, the following configuration.

[0074] [Item 1] A step of provisionally determining a first route for the unmanned aerial vehicle to fly from a departure point to a destination point based on a departure point and a destination point of the unmanned aerial vehicle in a three-dimensional space represented by a plurality of voxels; displaying at least one voxel among the plurality of voxels through which the unmanned aerial vehicle passes when flying along the first route in such a manner that the magnitude of risk when the unmanned aerial vehicle passes through the voxel can be identified; A route design method including:

[0075] [Item 2] accepting a selection of any one of the at least one voxel; displaying the risk of the selected voxel and the risks of two or more voxels surrounding the selected voxel; accepting a request to change a location of a pass-through point through which the provisionally determined first route passes, or to add a pass-through point through which the first route passes; determining a second route via the changed or added waypoint; 2. A route design method according to item 1, comprising:

[0076] [Item 3] A tentative determination unit that tentatively determines a first route of the unmanned aerial vehicle flying from a departure point to a destination point based on a departure point and a destination point of the unmanned aerial vehicle in a three-dimensional space represented by a plurality of voxels; a display unit that displays at least one voxel among the plurality of voxels through which the unmanned aerial vehicle passes when flying along the first route, in a manner that enables identification of the magnitude of risk when the unmanned aerial vehicle passes through the voxel; A route design device including:

[0077] [Item 4] A reception unit that receives a selection of any one of the at least one voxel; a second display unit that displays the risk of the selected voxel and the risks of two or more voxels surrounding the selected voxel; a second reception unit for changing a location of a passing point through which the provisionally determined first route passes, or for adding a passing point through which the first route passes; A determination unit that determines a second route passing through the changed or added passing point; 4. A route design device according to item 3, comprising: [Explanation of symbols]

[0078] RSS Route Design Device UK Reception KA Provisional Decision Section HY display KE Determination Unit KI storage section SY Departure point MO Destinations RT1 First Route RT2 Second Route VX Voxel RS Risk US User

Claims

1. A step of provisionally determining a first route for the unmanned aerial vehicle to fly from a departure point to a destination point based on a departure point and a destination point of the unmanned aerial vehicle in a three-dimensional space represented by a plurality of voxels; displaying at least one voxel among the plurality of voxels through which the unmanned aerial vehicle passes when flying along the first route in such a manner that the magnitude of risk when the unmanned aerial vehicle passes through the voxel can be identified; A route design method including:

2. accepting a selection of any one of the at least one voxel; displaying the risk of the selected voxel and the risks of two or more voxels surrounding the selected voxel; accepting a request to change a location of a pass-through point through which the provisionally determined first route passes, or to add a pass-through point through which the first route passes; determining a second route via the changed or added waypoint; The route design method according to claim 1 , comprising:

3. A tentative determination unit that tentatively determines a first route of the unmanned aerial vehicle flying from a departure point to a destination point based on a departure point and a destination point of the unmanned aerial vehicle in a three-dimensional space represented by a plurality of voxels; a display unit that displays at least one voxel among the plurality of voxels through which the unmanned aerial vehicle passes when flying along the first route, in such a manner that the magnitude of risk when the unmanned aerial vehicle passes through the voxel can be identified; A route design device including:

4. A reception unit that receives a selection of any one of the at least one voxel; a second display unit that displays the risk of the selected voxel and the risks of two or more voxels surrounding the selected voxel; a second reception unit for receiving a command to change a location of a passing point through which the provisionally determined first route passes, or to add a passing point through which the first route passes; A determination unit that determines a second route passing through the changed or added passing point; The route design device according to claim 3 .

Images