Control device, unmanned aerial vehicle, flight control method, and flight control program

Abstract

To improve safety when a signal light device installed at an intersection is inspected by using an unmanned flying object such as a drone.SOLUTION: A control device controls flight of an unmanned flying object equipped with a sensor that senses a state of a signal light device installed at an intersection. A determination unit determines movement start timing at which the unmanned flying object starts to move from a current position to the signal light device whose state is to be sensed next. A movement control unit causes the unmanned flying object to start moving from the current position to the signal light device whose state is to be sensed next at the movement start timing determined by the determination unit.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This invention relates to a technology that uses an unmanned aerial vehicle such as a drone for inspecting traffic signal devices installed at intersections.

Background Art

[0002] Conventionally, in various fields, the use of unmanned aerial vehicles such as drones has been under consideration.

[0003] For example, Patent Document 1 describes a system for investigating and inspecting the damage state of a bridge using an unmanned aerial vehicle (aerial mobile device).

[0004] Also, for example, Patent Document 2 describes a system that utilizes a drone for delivering packages. This Patent Document 2 describes a configuration for notifying pedestrians or the like of the fall of a drone or a package held by the drone.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, when inspecting traffic signal devices installed at intersections using a drone, it is necessary to suppress the drone from contacting and falling onto a moving vehicle and to improve safety. That is, there is a demand for a technology that suppresses the drone from contacting a moving vehicle in order to inspect traffic signal devices installed at intersections using a drone.

[0007] An object of the present invention is to provide a technology capable of improving safety when inspecting a traffic signal device installed at an intersection by using an unmanned aerial vehicle such as a drone.

Means for Solving the Problems

[0008] The control device of the present invention is configured as follows in order to achieve the above object.

[0009] The control device controls the flight of an unmanned aerial vehicle (for example, a drone) equipped with a sensor that senses the state of a traffic signal device installed at an intersection. Based on the sensing signal of the sensor mounted on the unmanned aerial vehicle, the state of the traffic signal device installed at the intersection is diagnosed and inspected. The control device may be mounted on the unmanned aerial vehicle or may be a controller that remotely operates the unmanned aerial vehicle. When the control device is a controller, the control device transmits a flight control signal to the unmanned aerial vehicle by wireless communication.

[0010] The determination unit determines the timing to start moving the unmanned aerial vehicle from the current position to the next traffic signal device to sense the state. The determination unit determines the start timing of movement, for example, on the condition that the light color signals of all traffic signal devices installed at the intersection are red signals.

[0011] The movement control unit starts moving the unmanned aerial vehicle from the current position to the next traffic signal device to sense the state at the movement start timing determined by the determination unit.

[0012] In this configuration, when most vehicles are stopped at the stop line on the inflow road of the intersection, the movement (flight) of the unmanned aerial vehicle from the current position to the next traffic signal device to sense the state can be started. Therefore, it is possible to suppress the drone from coming into contact with a running vehicle and falling, and improve safety.

[0013] Further, the determination unit may be configured to determine, for all traffic signal devices installed at an intersection, that the start timing of the all-red state in which the light color signal becomes a red signal is the movement start timing. Even with such a configuration, it is possible to suppress the drone from coming into contact with a running vehicle and falling, thereby improving safety.

[0014] For example, if a receiving unit that receives signal information indicating the timing at which the light color signal of a traffic signal device installed at an intersection is switched is provided, the determination unit can determine the movement start timing based on the signal information received by the receiving unit.

[0015] The signal information mentioned here is, for example, the time until the light color signal of the traffic signal device is switched from a blue signal to a yellow signal (so-called remaining blue time). In this case, the control device can estimate the movement start timing in advance. In other words, the control device can wait until the estimated movement start timing is reached and then start the movement of the unmanned aerial vehicle.

[0016] Alternatively, an image (moving image) of the light color signal of the traffic signal device may be processed to detect the time when the signal is switched from a blue signal to a yellow signal, and the start timing of the all-red state (i.e., the movement start timing) may be determined as the time after the duration of the yellow signal has elapsed from this time. Or, the time when the signal is switched from a yellow signal to a red signal may be detected, and this time may be determined as the start timing of the all-red state (i.e., the movement start timing).

[0017] Further, for example, the movement control unit may move the unmanned aerial vehicle from the current position in the direction that is the same as the traveling direction of the vehicle whose entry into the next intersection is permitted to the next traffic signal device where the state will be sensed next.

[0018] With such a configuration, when the traffic signal installed at the intersection transitions from the all-red state to the next state, even if the unmanned aerial vehicle has not completed its movement to the next traffic signal to be sensed, since the flight direction of the unmanned aerial vehicle and the traveling direction of the vehicle are parallel, it is possible to prevent the unmanned aerial vehicle from coming into contact with the vehicle. Also, since the unmanned aerial vehicle does not cross in front of the vehicle that has entered the intersection when the all-red state ends, it is possible to prevent the driver of the vehicle from being distracted by the flying unmanned aerial vehicle and making a driving operation error.

[0019] Also, for example, the determination unit may be configured to determine the movement start timing on the condition that no vehicle is traveling within the intersection. In this case, the determination unit may be configured to process, for example, the image captured within the intersection and determine the movement start timing.

Advantages of the Invention

[0020] According to this invention, when inspecting the traffic signal installed at the intersection using an unmanned aerial vehicle such as a drone, the safety can be improved.

Brief Description of the Drawings

[0021] [Figure 1] It is a schematic diagram of an intersection where a traffic signal is installed. [Diagram 2] It is a block diagram showing the configuration of the main part of the drone in this example. [Diagram 3] It is a flowchart showing the operation of the drone in this example.

Modes for Carrying Out the Invention

[0022] Hereinafter, embodiments of this invention will be described.

[0023] <1. Application Example> FIG. 1 is a schematic diagram of an intersection where traffic signal devices are installed. In the intersection of the example shown in FIG. 1, a main road with one lane on each side intersects with a secondary road with one lane on each side. In the intersection of the example shown in FIG. 1, four vehicle traffic signal devices 201 to 204 and eight pedestrian traffic signal devices 211 to 218 are installed. The vehicles 101 and 102 shown in FIG. 1 are vehicles traveling on the main road. The vehicle 103 shown in FIG. 1 is a vehicle traveling on the secondary road. As is well known, a signal control device (not shown) switches the light color signals of the vehicle traffic signal devices 201 to 204 and the pedestrian traffic signal devices 211 to 218 installed at the intersection. Here, the description of the control for the signal control device to switch the light color signals of the vehicle traffic signal devices 201 to 204 and the pedestrian traffic signal devices 211 to 218 is omitted.

[0024] The vehicle traffic signal devices 201 and 202 are for the vehicles 101 and 102 traveling on the main road, and the vehicle traffic signal devices 203 and 204 are for the vehicle 103 traveling on the secondary road. In this example, the signal control device switches the light color signals (green signal, yellow signal, red signal, etc.) of the vehicle traffic signal devices 201 and 202 synchronously. Also, the signal control device switches the light color signals (green signal, yellow signal, red signal, etc.) of the vehicle traffic signal devices 203 and 204 synchronously.

[0025] The pedestrian traffic signal devices 211 to 214 are for pedestrians crossing the secondary road, and the pedestrian traffic signal devices 215 to 218 are for pedestrians crossing the main road. The signal control device switches the light color signals (green signal, flashing green signal, red signal, etc.) of the pedestrian traffic signal devices 211 to 214 synchronously. The signal control device switches the light color signals (green signal, flashing green signal, red signal, etc.) of the pedestrian traffic signal devices 215 to 218 synchronously.

[0026] The drone 1 in this example (corresponding to the unmanned aerial vehicle referred to in this invention) is used for inspecting the vehicle traffic signal devices 201 to 204 installed at the intersection. The drone 1 in this example is equipped with a control device that controls the flight of the drone 1 body during the inspection of the vehicle traffic signal devices 201 to 204. The flight of the drone 1 during the inspection of the vehicle traffic signal devices 201 to 204 is controlled by the control device.

[0027] It should be noted that the signal lights inspected using the drone 1 may not be the vehicle signal lights 201 to 204 but may be the pedestrian signal lights 211 to 218, or may be both the vehicle signal lights 201 to 204 and the pedestrian signal lights 211 to 218. For simplicity of explanation, the case of inspecting the vehicle signal lights 201 to 204 will be described here as an example.

[0028] The vehicle signal lights 201 to 204 are attached to poles erected on the road or to arms attached to these poles, etc. The vehicle signal lights 201 to 204 are located at a height of about several meters (4 to 6 m) above the road surface.

[0029] In this example, the drone 1 is used to inspect each of the vehicle signal lights 201-204 for the attachment state (looseness, etc.) to the pole or arm, the corrosion state of the pole or arm, the deformation state of the pole or arm, etc. Furthermore, if the vehicle signal lights 201-204 are of the well-known LED type, missing LEDs may be added to the inspection items. In this example, the drone 1 rotates around the vehicle signal lights 201-204 to be inspected, while performing sensing using various sensors mounted on the drone 1. The sensors mounted on the drone 1 include, for example, image sensors and ultrasonic sensors. By analyzing the sensing signals (sensor outputs) of the various sensors mounted on the drone 1, the attachment state (looseness, etc.) to the pole or arm, the corrosion state of the pole or arm, the deformation state of the pole or arm, missing LEDs, etc. are inspected.

[0030] The drone 1 is equipped with not only sensors used to inspect the status of the vehicle signal lights 201-204, but also sensors used for flight control of the drone 1 body. Some of the sensors equipped in the drone 1 are used for both inspecting the status of the vehicle signal lights 201-204 and for flight control of the drone 1 body.

[0031] In this example, the drone 1 is moved in the order of the vehicle signal lamp 201 → the vehicle signal lamp 204 → the vehicle signal lamp 202 → the vehicle signal lamp 203. That is, in this example, the drone 1 moves clockwise when the intersection is viewed from above.

[0032] The order of the vehicle signal lamps 201-204 to which the drone 1 is moved to inspect their status is not limited to the above order, and may be any order.

[0033] The drone 1 starts moving from its current position to the next vehicle signal lamp 201-204 to be inspected when the light color signals of all the vehicle signal lamps 201-204 are in an all-red state, i.e., red light. In other words, when the drone 1 starts moving from its current position to the next vehicle signal lamp 201-204 to be inspected, the light color signals of all the vehicle signal lamps 201-204 installed at the intersection are red. That is, the drone 1 starts moving from its current position to the next vehicle signal lamp 201-204 to be inspected when the entry of vehicles into the intersection is restricted.

[0034] When the drone 1 crosses a main road or a secondary road and starts moving between the vehicle signal lamps 201-204, the drone 1 is prevented from coming into contact with a vehicle entering the intersection and falling, preventing the drone 1 from falling. This allows the drone 1 to safely inspect the vehicle signal lamps 201-204 installed at the intersection.

[0035] In addition, by using the drone 1, the state of the vehicle signal lamps 201-204 can be inspected without lane restrictions. Therefore, the occurrence of traffic congestion due to the inspection of the vehicle signal lamps 201-204 can be prevented.

[0036] <2.Configuration example> 2 is a block diagram showing the configuration of the main parts of the drone of this example. The drone 1 includes a control unit 10, a sensor unit 11, a storage unit 12, a wireless communication unit 13, and a flight drive unit 14.

[0037] The control unit 10 controls the operation of the drone 1. The control unit 10 has a determination unit 21, a flight control unit 22, and a sensing signal processing unit 23. The control unit 10 corresponds to the control device referred to in this invention. The determination unit 21, flight control unit 22, and sensing signal processing unit 23 of the control unit 10 will be described later.

[0038] The sensor unit 11 has various sensors such as a camera, an ultrasonic sensor, a radar sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and a barometric pressure sensor. The sensors of the sensor unit 11 are used, for example, to sense the status of the vehicle signal lights 201-204, to detect obstacles located around the drone 1 body, to detect the flight status of the drone 1 body, and to detect the environment around the drone 1 body. Some of the sensors of the sensor unit 11 are used for multiple purposes. For example, the camera and ultrasonic sensor are used to sense the status of the vehicle signal lights 201-204. The camera and radar sensor are used to detect obstacles located around the drone 1 body. The GPS sensor, acceleration sensor, and gyro sensor are used to detect the flight status of the drone 1 body. The barometric pressure sensor is used to detect the meteorological environment around the drone 1 body.

[0039] The above description does not mean that the sensors included in the sensor unit 11 are limited to a camera, an ultrasonic sensor, a radar sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and a barometric pressure sensor, but rather that the sensor unit 11 may include sensors other than these, or may not include some types of sensors including a camera, an ultrasonic sensor, a radar sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and a barometric pressure sensor. In other words, the sensor unit 11 may include any type of sensor as long as it can properly sense the states of the vehicle signal lights 201-204 and can fly the drone 1 body safely.

[0040] The storage unit 12 includes a flight route storage unit 31 and a sensing data storage unit 32. The flight route storage unit 31 stores the order in which the status of the vehicle signal lights 201-204 installed at intersections is inspected, the flight route when moving between the vehicle signal lights 201-204, and the turning route when collecting sensing data for inspecting the status of each vehicle signal light 201-204. The sensing data storage unit 32 stores the sensing data detected by each sensor in the sensor unit 11 in chronological order. The storage unit 12 may be configured with a single storage medium (e.g., HDD, SSD, DRAM, EEPROM, etc.) or multiple storage media. When multiple types of data are to be stored in the same storage medium, the storage area of the storage medium may be divided into multiple sections, and the data type assigned to each divided section may be stored in each divided section.

[0041] The wireless communication unit 13 wirelessly communicates data with a management device (not shown). The wireless communication unit 13 also receives signal information from the vehicle signal lights 201-204 installed at intersections. This signal information includes at least one of main road signal information and secondary road signal information. The main road signal information is, for example, information indicating the current state (green, yellow, red) of the light signals of the vehicle signal lights 201, 202 for the vehicles 101, 102 traveling on the main road, and the remaining time until the current state changes to the next state. The secondary road signal information is, for example, information indicating the current state (green, yellow, red) of the light signals of the vehicle signal lights 203, 204 for the vehicle 103 traveling on the secondary road, and the remaining time until the current state changes to the next state.

[0042] In this example, the light color signals of the vehicle signal lamps 201 and 202 are switched synchronously, and the light color signals of the vehicle signal lamps 203 and 204 are switched synchronously.

[0043] The remaining time is the remaining green time until the green light ends (switches to a yellow light) when the current light is green, the remaining yellow time until the yellow light ends (switches to a red light) when the current light is yellow, and the remaining red time until the red light ends (switches to a green light) when the current light is red. Various types of systems for distributing traffic light information are already known (see, for example, JP 2021-77069 A and JP 2022-135311 A), so detailed explanations are omitted here. This example is not limited by the type of system for distributing traffic light information.

[0044] The flight drive unit 14 drives the engine, propellers, etc. provided in the drone 1 body to make the drone 1 body fly.

[0045] Next, the determination section 21, the flight control section 22, and the sensing signal processing section 23 included in the control unit 10 will be described.

[0046] The determination unit 21 determines the movement start timing for starting the movement (flight) of the drone 1 main body from the current position to the vehicle signal lamps 201-204 whose status is to be inspected next. In this example, the determination unit 21 determines whether the light color signals of the vehicle signal lamps 201-204 installed at the intersection are all red (whether they are in an all-red state), and determines the movement start timing on the condition that they are in an all-red state. If the vehicle signal lamps 201-204 installed at the intersection are not in an all-red state, the determination unit 21 does not determine that it is time to start moving (determines that it is not time to start moving).

[0047] Furthermore, the determination unit 21 determines whether or not acquisition of sensing data necessary for checking the state of the vehicle signal lamps 201-204 undergoing sensing to check the state has been completed.

[0048] The flight control unit 22 generates drive control signals for output to the flight drive unit 14 to drive engines, propellers, etc. In other words, the flight drive unit 14 drives engines, propellers, etc. according to instructions from the flight control unit 22 to fly the drone 1 main body. The flight control unit 22 generates drive control signals for output to the flight drive unit 14 using the detection results of various sensors included in the sensor unit 11 and the flight route stored in the flight route storage unit 31. In this example, the flight control unit 22 corresponds to the movement control unit referred to in this invention.

[0049] The sensing signal processing unit 23 processes the sensing data sensed by each sensor included in the sensor unit 11 for each sensor to obtain the detection result of obstacles located around the drone 1 main body, the detection result of the flight state of the drone 1 main body, and the detection result of the meteorological environment around the drone 1 main body. The sensing signal processing unit 23 outputs the detection result of obstacles located around the drone 1 main body, the detection result of the flight state of the drone 1 main body, the detection result of the meteorological environment around the drone 1 main body, etc. to the flight control unit 22.

[0050] The control unit 10 of the drone 1 is composed of a hardware CPU, a memory, and other electronic circuits. The hardware CPU operates as the determination unit 21, the flight control unit 22, and the sensing signal processing unit 23. The memory also has an area for expanding a program related to the flight control of this drone 1 (the flight control program referred to in this invention) and an area for temporarily storing data generated during the execution of this program. The control unit 10 may be an LSI integrating the hardware CPU, the memory, etc. Also, the hardware CPU is a computer that executes the flight control method referred to in this invention.

[0051] <3. Operation Example> Figure 3 is a flowchart showing the operation of the drone in this example. The operator first places the main body of the drone 1 on the road surface around the pole where the vehicle signal lamps 201 to 204 for inspecting the state are attached. In this example, the order of the vehicle signal lamps 201 to 204 for inspecting the state is vehicle signal lamp 201 → vehicle signal lamp 204 → vehicle signal lamp 202 → vehicle signal lamp 203. That is, in this example, the operator places the main body of the drone 1 on the road surface around the pole where the vehicle signal lamp 201 is attached.

[0052] When there is an input related to the start of inspection (s1), the drone 1 drives the engine, propeller, etc. provided in the main body of the drone 1 to raise the main body of the drone 1 (s2). In s2, the flight control unit 22 controls the flight drive unit 14 to raise the main body of the drone 1 to the altitude of the turning route for collecting sensing data for inspecting the state of the vehicle signal lamp 201. The turning route for collecting sensing data for inspecting the state of the vehicle signal lamp 201 is stored in the flight route storage unit 31.

[0053] When the drone 1 rises to the altitude of the turning route (inspection altitude) for collecting sensing data for inspecting the state of the vehicle signal lamp 201 (s3), it starts turning around the vehicle signal lamp 201 and starts collecting sensing data for inspecting the state (s4). The turning route of the drone 1 is a route that circles around the vehicle signal lamp 201 and the pole to which the vehicle signal lamp 201 is attached at the inspection altitude.

[0054] The sensing data is, for example, sensing data (captured image) of the vehicle signal lamp 201 and the pole to which the vehicle signal lamp 201 is attached captured by an image sensor while turning, and sensing data (detection output of the ultrasonic sensor) of the vehicle signal lamp 201 and the pole to which the vehicle signal lamp 201 is attached sensed by an ultrasonic sensor while turning. The drone 1 stores the collected sensing data in the sensing data storage unit 32.

[0055] Note that when the drone 1 is collecting sensing data for inspecting the state of the vehicle signal device 201, the flight of the drone 1 itself is controlled using the sensing data of various sensors included in the sensor unit 11. The flight control unit 22 flies the drone 1 itself while avoiding obstacles (such as electric wires and birds) based on the processing results of the sensing data of various sensors processed by the sensing signal processing unit 23.

[0056] At that time, the drone 1 determines whether the collection of sensing data for the vehicle signal devices 201 to 204 from which it is collecting sensing data for inspection has been completed (S5). The determination regarding S5 is made by the determination unit 21. For example, the determination unit 21 determines that the collection of sensing data for the vehicle signal devices 201 to 204 from which it is collecting sensing data for inspection has been completed at that time when a predetermined inspection time has elapsed since the start of sensing in S4. Further, for example, the determination unit 21 may determine that the collection of sensing data has been completed when it has circled around the vehicle signal devices 201 to 204 from which it is collecting sensing data for inspection a predetermined number of times at that time. Further, for example, when the determination unit 21 receives a notification of completion of collection of sensing data from a management device or the like, the determination unit 21 may determine that the collection of sensing data for the vehicle signal devices 201 to 204 from which it is collecting sensing data for inspection has been completed at that time. Further, the determination unit 21 may determine that the collection of sensing data for the vehicle signal devices 201 to 204 from which it is collecting sensing data for inspection has been completed at that time by combining the above-described conditions, or may determine that the collection of sensing data for the vehicle signal devices 201 to 204 from which it is collecting sensing data for inspection has been completed at that time under conditions other than the above.

[0057] When the drone 1 determines in s5 that the collection of sensing data has been completed, it ends the collection of sensing data for inspecting the state (s6). At this time, the drone 1 may stop turning around the vehicle signal devices 201 to 204 and shift to a hovering state, or may continue to turn around the vehicle signal devices 201 to 204.

[0058] The determination unit 21 determines whether the inspection of the vehicle signal devices 201 to 204 has been completed (s7). The determination unit 21 determines that the inspection of the vehicle signal devices 201 to 204 has been completed when the collection of sensing data has been completed for all the vehicle signal devices 201 to 204 installed at the intersection.

[0059] When the drone 1 determines in s7 that the inspection of the vehicle signal devices 201 to 204 has not been completed, it waits until it is time to start moving to the vehicle signal devices 201 to 204 to collect sensing data for inspecting the state next (s8). In this example, the determination unit 21 determines that it is the start timing of movement when all of the vehicle signal devices 201 to 204 and the pedestrian signal devices 211 to 218 are red signals (i.e., in a so-called all-red state). That is, the determination unit 21 determines whether it is the start timing of movement on the condition that the light color signals of all the signal devices installed at the intersection (in the example shown in FIG. 1, the vehicle signal devices 201 to 204 and the pedestrian signal devices 211 to 218) are red signals.

[0060] The determination unit 21 receives, for example, traffic light information distributed around an intersection, and determines that it is time to start moving when the received traffic light information confirms that the vehicle signal lights are in an all-red state. Alternatively, the determination unit 21 may, for example, process images of the vehicle signal lights 201-204 captured by an image sensor to confirm whether the vehicle signal lights are in an all-red state (in this case, a configuration for receiving traffic light information can be eliminated). In this case, the determination unit 21 may be configured to process captured images (moving images) capturing the vehicle signal lights 201-204 whose light color is not red, and determine that the vehicle signal lights 201-204 are in an all-red state when the light color of the vehicle signal lights 201-204 changes from yellow to red.

[0061] When the determination unit 21 determines that it is time to start moving, the drone 1 starts moving to the vehicle signal lamps 201-204 from which sensing data for inspecting the next state will be collected (s9). When the drone 1 completes moving to the vehicle signal lamps 201-204 from which sensing data will be collected (s10), it returns to s4 and repeats the above process.

[0062] Furthermore, when the drone 1 determines in s7 that the inspection of the vehicle signal lights 201 to 204 is completed, it performs landing processing and stops the engine (s11). An operator retrieves the drone 1 that has landed.

[0063] In the above example, the order in which the status of the vehicle signal lights 201 to 204 is inspected is vehicle signal light 201 → vehicle signal light 204 → vehicle signal light 202 → vehicle signal light 203. Therefore, the determination unit 21 determines that the inspection of the vehicle signal lights 201 to 204 is completed when the drone 1 body is located around the vehicle signal light 203. The drone 1 may be landed on the road surface around the pole on which the vehicle signal light 203 is attached, or on the road surface around the pole on which the vehicle signal light 201 is attached.

[0064] When the drone 1 lands on the road surface around the pole to which the vehicle signal device 203 is attached, the flight time of the drone 1 can be reduced, and the risk of falling can be suppressed. Also, when landing on the road surface around the pole to which the vehicle signal device 201 is attached, if the operator waits at the place where the drone 1 is placed on the road surface, the drone 1 can be recovered. Therefore, the labor for inspecting the vehicle signal devices 201 to 204 can be reduced. In this case, the movement of the drone 1 from around the vehicle signal device 203 to around the vehicle signal device 201 may be started when the traffic lights are in the all-red state.

[0065] As described above, in this example, when the drone 1 starts to cross the main road or the secondary road, the intersection is in the all-red state. That is, the drone 1 can start moving (flying) from its current position to the vehicle signal devices 201 to 204 that will sense the next state when most vehicles are stopped at the stop line on the inflow road of the intersection. Therefore, it is possible to prevent the drone from coming into contact with a running vehicle and falling, and improve safety.

[0066] Also, in this example, when inspecting the states of the vehicle signal devices 201 to 204, it is not necessary to perform lane control around the intersection, so it is possible to prevent traffic jams from occurring during the inspection of the states of the vehicle signal devices 201 to 204.

[0067] <4. Modification Example> · Modification Example 1 In the above example, the determination unit 21 is configured to determine the movement start timing on the condition that it is in the all-red state. However, in this modification example 1, the start timing of the all-red state is determined as the movement start timing. That is, the drone 1 in this modification example 1 has the configuration shown in FIG. 2, although the determination method in s8 shown in FIG. 3 is different from that in the above example.

[0068] The duration of the yellow lights of the vehicle signal lamps 201-204 and the duration of the all-red light at an intersection are determined based on factors such as the size of the intersection, and are approximately several seconds (approximately 3-7 seconds) at a typical intersection. The timing at which the all-red light starts can be estimated from traffic light information distributed around the intersection. In other words, the drone 1 of this first modified example can estimate the timing at which it starts moving based on traffic light information distributed around the intersection.

[0069] As described above, since the all-red state lasts for only a few seconds, determining the start of the all-red state as the movement start timing increases the frequency with which the drone 1 completes crossing the main road or secondary road during the all-red state. In other words, it is possible to reduce the occurrence of a situation in which the drone 1 is crossing the main road or secondary road when the all-red state period ends. This further reduces the risk of the drone 1 colliding with a vehicle entering the intersection from the main road or secondary road after the all-red state ends and falling, thereby further improving safety.

[0070] Variation 2 In this example, the conditions for the judgment unit 21 to determine whether it is time to start moving include, in addition to the all-red state, the direction in which the drone 1 crosses the main road or the secondary road and the traveling direction of the vehicle entering the intersection when the all-red state ends (the traveling direction of the vehicle permitted to enter the intersection when the all-red state ends) being the same direction (parallel). In other words, the drone 1 of this modified example 2 also has the configuration shown in Figure 2, although the judgment method at s8 shown in Figure 3 is different from the above example.

[0071] Specifically, when the drone 1 body crosses the main road (when moving from around vehicle signal light 201 shown in Figure 1 to around vehicle signal light 204, and when moving from around vehicle signal light 202 to around vehicle signal light 203), if the light is in an all-red state and the next light color signal change by the signal control device for vehicle signal lights 201 to 204 is a change from red to green for vehicle signal lights 203 and 204, the judgment unit 21 determines that this is the timing for the drone 1 body to start moving to cross the main road. In addition, when the drone 1 main body crosses a secondary road (when moving from around vehicle signal light 204 to around vehicle signal light 202 shown in Figure 1, and when moving from around vehicle signal light 203 to around vehicle signal light 201), if the light is in an all-red state and the next light color signal change by the signal control device for vehicle signal lights 201 to 204 is a change from red to green for vehicle signal lights 201 and 202, the judgment unit 21 determines that this is the timing for the drone 1 main body to start moving to cross a secondary road.

[0072] To explain further, when the drone 1 body is crossing a main road, even if the lights are all red, the judgment unit 21 does not determine that it is the timing to start moving for the drone 1 body to cross the main road if the next change of the light color signal for the vehicle signal lights 201-204 by the signal control device is a change from red to green for the vehicle signal lights 201, 202. Furthermore, when the drone 1 body is crossing a secondary road, even if the lights are all red, the judgment unit 21 does not determine that it is the timing to start moving for the drone 1 body to cross the secondary road if the next change of the light color signal for the vehicle signal lights 201-204 by the signal control device is a change from red to green for the vehicle signal lights 203, 204.

[0073] The determination unit 21 may determine the movement start timing based on traffic light information distributed around the intersection, or may process images (video) of the vehicle signal lights 201 to 204 captured by an image sensor.

[0074] In this modification 2, even if the drone 1 does not complete crossing the main road or the secondary road during the period when the all-red light is on, the drone 1 will not cross in front of the vehicle entering the intersection when the all-red light ends. This configuration of modification 2 prevents the driver of the vehicle entering the intersection from being distracted by the flying drone 1 and making an error in driving operation.

[0075] In this variant example 2, the conditions for determining whether it is the timing to start moving may be that the timing is the start of the all-red state and that the direction in which drone 1 crosses the main road or secondary road is the same (parallel) as the direction in which the vehicle entering the intersection when the all-red state ends.

[0076] Variation 3 This modification 3 differs from the above example in that the determination unit 21 determines whether it is time to start moving on the condition that no vehicles are traveling within the intersection. In this example, the determination unit 21 determines that it is time to start moving if no vehicles are traveling within the intersection, even when the lights are not all red. The drone 1 of this modification 3 also has the configuration shown in FIG. 2, although the determination method at s8 shown in FIG. 3 differs from the above example.

[0077] The determination unit 21 can determine whether it is time to start moving by processing an image of the intersection captured by the image sensor.

[0078] Note that a vehicle entering an intersection when the lights are all red is a vehicle violating a traffic law (a vehicle ignoring a traffic light). Therefore, the drone 1 of this modification 3 determines that it is time to start moving even when the lights are all red.

[0079] Therefore, the frequency with which the determination unit 21 determines that it is time to start moving can be increased. That is, the waiting time at s8 can be shortened. This reduces the time required to collect sensing data related to the inspection of the states of the vehicle signal lamps 201-204.

[0080] ·Modification Example 4 Further, the control unit 10 may be provided in a controller (remote control device) for remotely operating the drone 1 main body. In this case, the drone 1 main body wirelessly transmits sensing signals of various sensors included in the sensor unit 11 to the remote control device, and the remote control device wirelessly transmits a flight control signal and a notification of movement start timing to the drone 1 main body.

[0081] Note that the present invention is not limited to the above-described embodiments as they are, and at the implementation stage, components can be modified and embodied without departing from the gist thereof. Also, various inventions can be formed by appropriately combining a plurality of components disclosed in the above-described embodiments. For example, some components may be deleted from all the components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined. Also, the order of each step in the flowchart shown in the description of all the above examples is merely an example, and may be appropriately changed within the possible range.

[0082] Furthermore, the correspondence between the configuration according to the present invention and the configuration according to the above-described embodiments can be described as follows in the appended notes. <Appended Notes> <Appended Note 1> A control device (10) for controlling the flight of an unmanned aerial vehicle equipped with a sensor (11) for sensing the states of traffic signal devices (201 to 204, 211 to 218) installed at intersections, a determination unit (21) for determining the movement start timing from the current position of the unmanned aerial vehicle (1) to the next traffic signal device (201 to 204, 211 to 218) to sense the state; a movement control unit (22) for starting the movement of the unmanned aerial vehicle (1) from the current position to the next traffic signal device (201 to 204, 211 to 218) to sense the state at the movement start timing determined by the determination unit (21), and the determination unit (21) determines the movement start timing on the condition that the light color signals of all the traffic signal devices (201 to 204, 211 to 218) installed at the intersection are red signals. Control device (10).

[0083] <Appendix 2> A control device (10) for controlling the flight of an unmanned aerial vehicle (1) equipped with a sensor (11) for sensing the state of a traffic light (201-204, 211-218) installed at an intersection, A determination unit (21) that determines the timing to start moving the unmanned aerial vehicle (1) from its current position to the signal lamp (201-204, 211-218) whose state is to be sensed next; a movement control unit (22) that starts the movement of the unmanned aerial vehicle (1) from its current position to the signal light device (201-204, 211-218) whose state is to be sensed next at the movement start timing determined by the determination unit (21); The determination unit (21) determines that the movement start timing is the start timing of an all-red state in which the light color signals of all the signal lamps (201 to 204, 211 to 218) installed at the intersection change to red. Control device (10).

[0084] <Appendix 3> a receiving unit (13) for receiving signal information indicating timings at which the light color signals of the signal lamps (201-204, 211-218) installed at the intersection are switched; The control device (10) according to appendix 1 or 2, wherein the determination unit (21) determines the movement start timing based on signal information received by the receiving unit (13).

[0085] <Appendix 4> A control device (10) described in any one of Appendices 1 to 3, wherein the direction in which the movement control unit (21) moves the unmanned aerial vehicle (1) from its current position to the signal light (201-204, 211-218) that will next sense the status is the same as the traveling direction of the vehicle that will next be allowed to enter the intersection.

[0086] <Appendix 5> A control device (10) that controls the flight of an unmanned aerial vehicle (1) equipped with a sensor (11) for sensing the states of traffic signal devices (201 to 204, 211 to 218) installed at an intersection, a determination unit (21) that determines the timing to start moving the unmanned aerial vehicle (1) from the current position to the traffic signal devices (201 to 204, 211 to 218) for which the states will be sensed next, and a movement control unit (22) that starts moving the unmanned aerial vehicle (1) from the current position to the traffic signal devices (201 to 204, 211 to 218) for which the states will be sensed next at the movement start timing determined by the determination unit (21). The determination unit (21) determines the movement start timing on the condition that no vehicles (101 to 103) are traveling within the intersection. Control device (10).

[0087] <Appendix 6> The control device (10) according to Appendix 5, wherein the determination unit (21) processes an image captured within the intersection and determines the movement start timing.

[0088] <Appendix 7> An unmanned aerial vehicle (1) equipped with the control device (10) according to any one of Appendices 1 to 6.

Explanation of Reference Numerals

[0089] 1... Drone 10... Control unit 11... Sensor unit 12... Memory unit 13... Wireless communication unit 14... Flight drive unit 21... Determination unit 22... Flight control unit 23... Sensing signal processing unit 31... Flight route memory unit 32... Sensing data memory unit 201 to 204... Traffic signal devices for vehicles

Claims

1. A control device for controlling the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, comprising: a determination unit that determines the timing to start moving the unmanned aerial vehicle from the current position to the traffic signal whose state is to be sensed next; a movement control unit that starts moving the unmanned aerial vehicle from the current position to the traffic signal whose state is to be sensed next at the movement start timing determined by the determination unit; wherein the determination unit determines the movement start timing on the condition that all the light color signals of the traffic signals installed at the intersection are red signals; a control device.

2. A control device for controlling the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, comprising: a determination unit that determines the timing to start moving the unmanned aerial vehicle from the current position to the traffic signal whose state is to be sensed next; a movement control unit that starts moving the unmanned aerial vehicle from the current position to the traffic signal whose state is to be sensed next at the movement start timing determined by the determination unit; wherein the determination unit determines that the start timing of the all-red state in which the light color signals of all the traffic signals installed at the intersection become red signals is the movement start timing; a control device.

3. The control device according to claim 2, further comprising a receiving unit that receives signal information indicating the timing at which the light color signal of the traffic signal installed at the intersection is switched, wherein the determination unit determines the movement start timing based on the signal information received by the receiving unit.

4. The control device according to any one of claims 1 to 3, wherein the direction in which the movement control unit moves the unmanned aerial vehicle from the current position to the traffic signal whose state is to be sensed next is the same as the traveling direction of a vehicle whose entry into the intersection is permitted next.

5. A control device for controlling the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, comprising: a determination unit that determines the timing to start moving the unmanned aerial vehicle from the current position to the traffic signal whose state is to be sensed next; a movement control unit that starts moving the unmanned aerial vehicle from the current position to the traffic signal whose state is to be sensed next at the movement start timing determined by the determination unit; The determination unit determines the movement start timing on the condition that no vehicle is traveling within the intersection. Control device.

6. The control device according to claim 5, wherein the determination unit processes an image captured within the intersection and determines the movement start timing.

7. An unmanned aerial vehicle equipped with the control device according to any one of claims 1, 2, or 5.

8. A computer of a control device that controls the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, A determination step of determining the movement start timing for the unmanned aerial vehicle to move from the current position to the traffic signal for which the state will be sensed next, A movement control step of starting the movement of the unmanned aerial vehicle from the current position to the traffic signal for which the state will be sensed next at the movement start timing determined in the determination step, and executes, The determination step is a step of determining the movement start timing on the condition that the light color signals of all the traffic signals installed at the intersection are red signals. Flight control method.

9. A computer of a control device that controls the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, A determination step of determining the movement start timing for the unmanned aerial vehicle to move from the current position to the traffic signal for which the state will be sensed next, A movement control step of starting the movement of the unmanned aerial vehicle from the current position to the traffic signal for which the state will be sensed next at the movement start timing determined in the determination step, and executes, The determination step is a step of determining that the start timing of the all-red state in which the light color signal becomes a red signal for all the traffic signals installed at the intersection is the movement start timing. Flight control method.

10. A computer of a control device that controls the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, A determination step of determining the movement start timing for the unmanned aerial vehicle to move from the current position to the traffic signal for which the state will be sensed next, A movement control step of starting the movement of the unmanned aerial vehicle from the current position to the traffic signal for which the state will be sensed next at the movement start timing determined in the determination step, and executes, The determination step is a step of determining the movement start timing on the condition that no vehicle is traveling within the intersection. Flight control method.

11. In a computer of a control device that controls the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, a determination step of determining the movement start timing for the unmanned aerial vehicle to move from the current position to the traffic signal whose state will be sensed next; a movement control step of starting the movement of the unmanned aerial vehicle from the current position to the traffic signal whose state will be sensed next at the movement start timing determined in the determination step; and causing the steps to be executed. The determination step is a step of determining the movement start timing on the condition that all the light color signals of all the traffic signals installed at the intersection are red signals. Flight control program.

12. In a computer of a control device that controls the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, a determination step of determining the movement start timing for the unmanned aerial vehicle to move from the current position to the traffic signal whose state will be sensed next; a movement control step of starting the movement of the unmanned aerial vehicle from the current position to the traffic signal whose state will be sensed next at the movement start timing determined in the determination step; and causing the steps to be executed. The determination step is a step of determining that the start timing of the all-red state in which the light color signal becomes a red signal for all the traffic signals installed at the intersection is the movement start timing. Flight control program.

13. In a computer of a control device that controls the flight of an unmanned aerial vehicle equipped with a sensor for sensing the state of a traffic signal installed at an intersection, a determination step of determining the movement start timing for the unmanned aerial vehicle to move from the current position to the traffic signal whose state will be sensed next; a movement control step of starting the movement of the unmanned aerial vehicle from the current position to the traffic signal whose state will be sensed next at the movement start timing determined in the determination step; and causing the steps to be executed. The determination step is a step of determining the movement start timing on the condition that no vehicle is traveling within the intersection. Flight control program.

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