Flight management server for unmanned flying object and flight management system

Abstract

To automatically set an optimal flight route by simply selecting various work objects.SOLUTION: A flight management server according to the present invention is connected to a user terminal and an unmanned flying object via a network. The flight management server comprises: a reception unit that accepts a flight request including area information which includes at least two areas among multiple areas which are independent of each other; a generation unit that generates a flight mission including a flight route where the unmanned flying object flies over at least two areas based on the flight request from the user terminal; a communication unit that transmits the generated flight mission to the unmanned flying object and receives information acquired by the unmanned flying object from the unmanned flying object; a sorting section that sorts the information acquired from the unmanned flying object by area; and a storage unit for storing the sorted information.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a flight management server and a flight management system for an unmanned aerial vehicle. [Background technology]

[0002] In recent years, drones and unmanned aerial vehicles (UAVs) have become increasingly popular. Air vehicles such as the ISS (Aircraft Lift Vehicle) (hereinafter collectively referred to as "Air Vehicles") have begun to be used in industry. In this context, Patent Document 1 describes a drone that collects inspection data from wind turbines. A system is disclosed that creates a flight route that reflects the control status of the wind turbine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-21491 Summary of the Invention [Problem to be solved by the invention]

[0004] However, although the technology disclosed in the above Patent Document 1 does not take into consideration the above, for example, For an object that includes multiple independent areas separated by a number, ID, etc., one When one flight route is assigned, the number of preparatory work such as setting the flight route and the number of flights themselves are This will require more time and effort, and it will be difficult to use one flight route for multiple areas. If this is done, the data will then have to be sorted and managed manually, which will increase the amount of manual work. In addition, special consideration will be given to sharing work among multiple aircraft. Furthermore, no particular consideration was given to the changes that would occur over time at the inspection points.

[0005] The present invention has been made in view of such a background. In particular, in operations on an object including a plurality of mutually independent regions, it is an object to provide a technology capable of setting an optimal flight route, efficiently sorting and managing information, and providing a technology capable of confirming changes over time. To this end.

Means for Solving the Problems

Effects of the Invention

[0006] According to the present invention, in particular, in operations on an object including a plurality of mutually independent regions, it is possible to set an optimal flight route, efficiently sort and manage information, and confirm changes over time.

[0007]

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] The contents of the embodiments of the present invention will be listed and described. The flight management according to the embodiments of the present invention The server and the flight management system have the following configuration. [Item 1] A flight management server of an unmanned aerial vehicle connected to the user terminal and the unmanned aerial vehicle via a network, comprising: A reception unit that receives a flight request including area information including at least two or more areas among a plurality of mutually independent areas, a generation unit that generates a flight mission including a flight route that flies over the at least two or more areas based on the flight request from the user terminal, a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives information acquired by the unmanned aerial vehicle from the unmanned aerial vehicle, a sorting unit that sorts the information acquired from the unmanned aerial vehicle for each of the areas, and a storage unit that stores the sorted information; A flight management server for an unmanned aerial vehicle comprising: a sorting unit that sorts the information acquired from the unmanned aerial vehicle for each of the areas based on reference information associated with each of the plurality of mutually independent areas, and a storage unit that stores the sorted information. A flight management server for an unmanned aerial vehicle comprising: [Item 2] The sorting unit sorts the information acquired from the unmanned aerial vehicle for each of the areas based on reference information associated with each of the plurality of mutually independent areas, characterized in that the flight management server according to item 1. The flight management server according to item 1, characterized in that: [Item 3] the storage unit stores two-dimensional image data as the sorted information. Item 3. The flight management server according to item 2. [Item 4] The storage unit stores an overhead image from above as the two-dimensional image data. Item 3. A flight management server according to item 3. [Item 5] the storage unit stores three-dimensional image data as the sorted information. Item 3. The flight management server according to item 2. [Item 6] A report generating unit generates a report based on the sorted information stored in the storage unit. 6. The flight management server according to items 1 to 5, further comprising a generation unit. [Item 7] The report generating unit compares information from at least two different points in time to generate the report. 7. The flight management server of claim 6, wherein the flight management server generates a report indicating the flight status of the flight. [Item 8] The report generating unit compares the information at least two different times for the comparison. 8. The flight management server of claim 7, wherein the flight management server generates a report in a closely spaced order. [Item 9] The report generating unit simultaneously generates information at least two different points in time for the comparison. Item 7. A flight management server according to item 7, generating a report that can be displayed in the same location. . [Item 10] The report generating unit generates the sorted information based on map data acquired from a network. 10. The flight management server according to items 6 to 9, which generates a report overlaid on the [Item 11] The system includes a user terminal, an unmanned aerial vehicle, and a flight management server connected via a network. A flight management system for an unmanned aerial vehicle, The flight management server: Receives a flight request including area information containing at least two or more areas among a plurality of independent areas; Receives a flight request; Based on the flight request, generates a flight mission including a flight route that flies over the at least two or more areas; Generates a flight mission including a flight route that flies over the at least two or more areas; Transmits the generated flight mission to the unmanned aerial vehicle; Receives information acquired by the unmanned aerial vehicle by executing the flight mission; Sorts the information acquired from the unmanned aerial vehicle for each area; Stores the sorted information; Unmanned aerial vehicle flight management system.

[0010] <Details of the embodiment> Hereinafter, an unmanned aerial vehicle flight management device and a flight management system according to an embodiment of the present invention will be described. In particular, an embodiment of a flight management system (hereinafter referred to as "this system") will be described. In the accompanying drawings, the same or similar elements are assigned the same or similar reference numerals and names, and duplicate descriptions regarding the same or similar elements in the description of each embodiment may be omitted. Also, the features shown in each embodiment are applicable to other embodiments as long as they do not conflict with each other. Hereinafter, an unmanned aerial vehicle flight management device and a flight management system according to an embodiment of the present invention will be described. In particular, an embodiment of a flight management system (hereinafter referred to as "this system") will be described. In the accompanying drawings, the same or similar elements are assigned the same or similar reference numerals and names, and duplicate descriptions regarding the same or similar elements in the description of each embodiment may be omitted. Also, the features shown in each embodiment are applicable to other embodiments as long as they do not conflict with each other. will be described. In the accompanying drawings, the same or similar elements are assigned the same or similar reference numerals and names, and duplicate descriptions regarding the same or similar elements in the description of each embodiment may be omitted. Also, the features shown in each embodiment are applicable to other embodiments as long as they do not conflict with each other. Names are assigned, and duplicate descriptions regarding the same or similar elements in the description of each embodiment may be omitted. Also, the features shown in each embodiment are applicable to other embodiments as long as they do not conflict with each other. Duplicate descriptions may be omitted. Also, the features shown in each embodiment are applicable to other embodiments as long as they do not conflict with each other. Are applicable to other embodiments as long as they do not conflict with each other.

[0011] <Configuration> As shown in FIG. 1, this system includes a management server 1, a plurality of user terminals 2 and 3, one or more flying bodies 4, and one or more flying body storage devices 5. The management server 1, the user terminals 2 and 3, the flying bodies 4, and the flying body storage devices 5 are communicably connected to each other via a network. Note that the illustrated configuration is an example and is not limited thereto. For example, flight As shown in FIG. 1, this system includes a management server 1, a plurality of user terminals 2 and 3, one or more flying bodies 4, and one or more flying body storage devices 5. The management server 1, the user terminals 2 and 3, the flying bodies 4, and the flying body storage devices 5 are communicably connected to each other via a network. Note that the illustrated configuration is an example and is not limited thereto. For example, flight The management server 1, the user terminals 2 and 3, the flying bodies 4, and the flying body storage devices 5 are communicably connected to each other via a network. Note that the illustrated configuration is an example and is not limited thereto. For example, flight Capable of communicating with each other via a network. Note that the illustrated configuration is an example and is not limited thereto. For example, flight It may be configured not to have the body storage device 5 but to be carried by the user.

[0012] <Administration Server 1> FIG. 2 is a diagram showing the hardware configuration of the management server 1. Note that the configuration shown in the figure is This is an example, and other configurations may be used.

[0013] As shown in the figure, the management server 1 manages a plurality of user terminals 2 and 3, an aircraft 4, and an aircraft body. The management server 1 is connected to a storage device 5 and constitutes a part of the system. It may be a general-purpose computer such as an application or personal computer, or It may be logically realized by cloud computing.

[0014] The management server 1 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception device, and a These are electrically connected to each other via a bus 15.

[0015] The processor 10 controls the overall operation of the management server 1 and transmits and receives data between the various elements. A computing device that controls communication, executes applications, and processes information necessary for authentication processing. For example, the processor 10 is a CPU (Central Processing Unit). It is a program for this system stored in the storage 12 and deployed in the memory 11. It executes various programs to process information.

[0016] Memory 11 is DRAM (Dynamic Random Access Memory) The main memory is made up of volatile storage devices such as flash memory and HDD (Hard Disk Drive). and auxiliary storage consisting of non-volatile storage devices such as a disk drive. 11 is used as the work area of the processor 10 and the like, and also stores the BIOS (Basic Input / Output System) executed at the time of startup of the management server 1, and various setting information and the like.

[0017] The storage 12 stores various programs such as application programs. A database storing data used for each process may be constructed in the storage 12.

[0018] The transceiver unit 13 connects the management server 1 to the network and the blockchain network. Note that the transceiver unit 13 may be provided with a short-range communication interface for Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

[0019] The input / output unit 14 is an information input device such as a keyboard and a mouse, and an output device such as a display.

[0020] The bus 15 is commonly connected to the above elements and transmits, for example, an address signal, a data signal, and various control signals.

[0021] <User terminals 2 and 3> The user terminals 2 and 3 shown in FIG. 3 also include a processor 20, a memory 21, a storage 22, a transceiver unit 23, an input / output unit 24, etc., which are electrically connected to each other through a bus 25. The functions of each element can be configured in the same manner as those of the management server 1 described above, and thus detailed descriptions of each element are omitted.

[0022] <Aircraft 4> FIG. 4 is a block diagram showing the hardware configuration of the aircraft 4. The flight controller​​​​​​​​​​ 41 can have one or more processors such as a programmable processor (e.g., a central processing unit (CPU)).

[0023] Also, the flight controller 41 has a memory 411 to which access is possible. The memory 411 stores logic, code, and / or program instructions executable by the flight controller to perform one or more steps. Also, the flight controller 41 may include sensors 412 such as inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., lidar), etc.

[0024] The memory 411 may include a separable medium such as an SD card or a random access memory (RAM), or an external storage device. Data acquired from the camera / sensors 42 may be directly transmitted to and stored in the memory 411. For example, still image / moving image data captured by a camera or the like is recorded in the built-in memory or the external memory. The camera 42 is installed on the flying object 4 via the gimbal 43.

[0025] The flight controller 41 includes a control module (not shown) configured to control the state of the flying object. For example, the control module controls the propulsion mechanism (such as the motor 45) of the flying object via the ESC 44 (Electric Speed Controller) to adjust the spatial arrangement, speed, and / or acceleration of the flying object having six degrees of freedom (translational motion x, y, and z, and rotational motions θ , θ x , θ y and θ z ). ​​​​​​​​​​​​The propeller 46 is rotated by a motor 45 powered from 8 to generate lift for the flying object. The control module can control one or more of the mounting part and the states of the sensors.

[0026] The flight controller 41 is communicable with a transceiver unit 47 configured to transmit and / or receive data from one or more external devices (e.g., a transceiver (prop ) 49, a terminal, a display device, or other remote controller). The transceiver 49 can use any suitable communication means such as wired communication or wireless communication.

[0027] For example, the transceiver unit 47 can utilize one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, etc.

[0028] The transceiver unit 47 can transmit and / or receive one or more of the data acquired by the sensors 42, the processing results generated by the flight controller 41, predetermined control data, user commands from a terminal or a remote controller, etc.

[0029] The sensors 42 according to the present embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., lidar), or vision / image sensors (e.g., cameras).

[0030] <Function of the management server> FIG. 5 is a block diagram illustrating the functions implemented in the management server 1. The management server 1 ​​​​​​​​​​, communication unit 110, flight mission generation unit 130, report generation unit 150, application section 170, and memory unit 190. The flight mission generation unit 130 includes a route generation unit 132, an application selection unit 134, an evaluation unit 136, and a correction unit 138. Also, the memory unit 190 includes various databases such as flight route information 191, flight applications by purpose 193, flight logs 195, and interface information 197.

[0031] The communication unit 110 communicates with the user terminal 2 and the aircraft 4. The communication unit 110 also functions as a reception unit that receives a flight request including at least the flight location (which may also include area information such as an administrator, number, ID, etc.) from the user terminal 2. Note that the flight request may include the flight purpose and the number of aircraft. The flight mission generation unit 130 generates a flight mission. The flight mission is an application selected from the flight route and the flight applications by purpose 193. The flight route is generated by the route generation unit 132 with reference to the flight route information 191. The flight application is selected by the application selection unit 134 with reference to the flight applications by purpose 193 and is executed by the application section 170. Note that the flight route may be generated as a flight route that includes the information of the flight storage device 5 (such as position information, storage state information, storage machine information, etc.) managed by the management server 1 and also includes the position of the flight storage device 5 at the departure or return destination. In that case, the information of the aircraft capable of executing the selected application may be further considered. from the user terminal 2. In addition, as the flight request, it may include the flight purpose and the number of aircraft. The flight mission generation unit 130 generates a flight mission. The flight mission is an application selected from the flight route and the flight applications by purpose 193. The flight route is generated by the route generation unit 132 with reference to the flight route information 191. The flight application is selected by the application selection unit 134 with reference to the flight applications by purpose 193 and is executed by the application section 170. Note that the flight route may be generated as a flight route that includes the information of the flight storage device 5 (such as position information, storage state information, storage machine information, etc.) managed by the management server 1 and also includes the position of the flight storage device 5 at the departure or return destination. In that case, the information of the aircraft capable of executing the selected application may be further considered. The flight mission generation unit 130 generates a flight mission. The flight mission is an application selected from the flight route and the flight applications by purpose 193. The flight route is generated by the route generation unit 132 with reference to the flight route information 191. The flight application is selected by the application selection unit 134 with reference to the flight applications by purpose 193 and is executed by the application section 170. Note that the flight route may be generated as a flight route that includes the information of the flight storage device 5 (such as position information, storage state information, storage machine information, etc.) managed by the management server 1 and also includes the position of the flight storage device 5 at the departure or return destination. In that case, the information of the aircraft capable of executing the selected application may be further considered. In addition, the flight route may be generated based on the information of the flight storage device 5 (such as position information, storage state information, storage machine information, etc.) managed by the management server 1 and also includes the position of the flight storage device 5 at the departure or return destination. In that case, the information of the aircraft capable of executing the selected application may be further considered. In that case, the information of the aircraft capable of executing the selected application may be further considered. In that case, the information of the aircraft capable of executing the selected application may be further considered.

[0032] In the present embodiment, an evaluation unit 136 may be provided to evaluate whether the generated flight mission is appropriate. The evaluation unit 136 may evaluate the appropriateness by, for example, a score or the like based on operations from the user for the flight mission or machine learning based on flight missions accumulated in the past. If the score is not within a predetermined range, the flight mission is corrected by the correction unit 138. In the present embodiment, information (still images, moving images, audio, and other information) acquired by the flying object 4 is stored in the flight log 195. The report generation unit 150 generates report information for transmission to the user terminal 2 based on the flight log. Reports according to the present embodiment may include, for example, inspection results of facilities to be inspected, security results of facilities to be secured, etc., but may be various reports according to needs. The interface information 197 stores various control information for display on the display unit (display, etc.) of the user terminal 2 together with the application unit 170. FIG. 6 is a functional block diagram implemented in the user terminal 2. The user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and they interact with each other. As shown in FIG. 7, the application for flight according to purpose 193 is prepared for each work purpose (use) of the flying object 4 that performs work by the present system. For example, an application for security and monitoring

[0033] In the present embodiment, information (still images, moving images, audio, and other information) acquired by the flying object 4 is stored in the flight log 195. The report generation unit 150 generates report information for transmission to the user terminal 2 based on the flight log. Reports according to the present embodiment may include, for example, inspection results of facilities to be inspected, security results of facilities to be secured, etc., but may be various reports according to needs. The interface information 197 stores various control information for display on the display unit (display, etc.) of the user terminal 2 together with the application unit 170. FIG. 6 is a functional block diagram implemented in the user terminal 2. The user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and they interact with each other. As shown in FIG. 7, the application for flight according to purpose 193 is prepared for each work purpose (use) of the flying object 4 that performs work by the present system. For example, an application for security and monitoring can be exemplified, but may be various reports according to needs.

[0034] The interface information 197 stores various control information for display on the display unit (display, etc.) of the user terminal 2 together with the application unit 170. FIG. 6 is a functional block diagram implemented in the user terminal 2. The user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and they interact with each other.

[0035] FIG. 6 is a functional block diagram implemented in the user terminal 2. The user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and they interact with each other. FIG. 6 is a functional block diagram implemented in the user terminal 2. The user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and they interact with each other. FIG. 6 is a functional block diagram implemented in the user terminal 2. The user terminal 2 includes a communication unit 210, a storage unit 220, an input unit 240, an output unit 250, and an application unit 270, and they interact with each other.

[0036] <Application for flight according to purpose> As shown in FIG. 7, the application for flight according to purpose 193 is prepared for each work purpose (use) of the flying object 4 that performs work by the present system. For example, an application for security and monitoring For example, an application for security and monitoring Relication 1931, Application 1932 for equipment inspection, Application 1933 for surveying, Application 1934 for disaster prevention, etc., but not limited to these 。Each application includes, for example, information related to flight control (altitude, speed, range, etc.) suitable for the purpose, acquisition conditions (resolution of the camera, shooting angle, overlap rate, presence or absence of a filter, flight schedule time, required battery amount, etc.), and other control information of the flying object 4 necessary to achieve the purpose 。Refer to FIG. 8 to explain the processing flow of this system. The user sends a flight request from the user terminal 2 (SQ101). The flight request includes at least the flight location (for example, area information such as the name or number of the manager, ID, etc.) and information regarding the flight purpose and the number of flying objects 。The management server 1 refers to the storage unit 190 (refer to FIG. 5) (SQ102) and generates a flight mission (SQ104). The generated flight mission is directly (or indirectly via a terminal or a prop, etc.) sent to the flying object 4 (SQ106) 。The flying object 4 transmits (reports) the information acquired during the flight mission to the management server 1 in real time (or afterwards) (SQ108). The management server 1 generates a report based on the information (flight log) acquired from the flying object (SQ110). Note that the start position of the flight of the flying object 4 may be, for example, a location set by the user or a flight body storage device 5 selected by the management server 1. The same applies to the end position of the flight of the flying object 4 。

[0037] FIG. 9 is an example of generating a flight mission (flight route) for a solar power generation facility 。 。 。The management server 1 refers to the storage unit 190 (refer to FIG. 5) (SQ102) and generates a flight mission (SQ104). The generated flight mission is directly (or indirectly via a terminal or a prop, etc.) sent to the flying object 4 (SQ106) 。The generated flight mission is directly (or indirectly via a terminal or a prop, etc.) sent to the flying object 4 (SQ106) 。The flying object 4 transmits (reports) the information acquired during the flight mission to the management server 1 in real time (or afterwards) (SQ108). The management server 1 generates a report based on the information (flight log) acquired from the flying object (SQ110). Note that the start position of the flight of the flying object 4 may be, for example, a location set by the user or a flight body storage device 5 selected by the management server 1. The same applies to the end position of the flight of the flying object 4 。The flying object 4 transmits (reports) the information acquired during the flight mission to the management server 1 in real time (or afterwards) (SQ108). The management server 1 generates a report based on the information (flight log) acquired from the flying object (SQ110). Note that the start position of the flight of the flying object 4 may be, for example, a location set by the user or a flight body storage device 5 selected by the management server 1. The same applies to the end position of the flight of the flying object 4 。The flying object 4 transmits (reports) the information acquired during the flight mission to the management server 1 in real time (or afterwards) (SQ108). The management server 1 generates a report based on the information (flight log) acquired from the flying object (SQ110). Note that the start position of the flight of the flying object 4 may be, for example, a location set by the user or a flight body storage device 5 selected by the management server 1. The same applies to the end position of the flight of the flying object 4 。Based on the information (flight log) acquired from the flying object, the management server 1 generates a report (SQ110). Note that the start position of the flight of the flying object 4 may be, for example, a location set by the user or a flight body storage device 5 selected by the management server 1. The same applies to the end position of the flight of the flying object 4 。The start position of the flight of the flying object 4 may be, for example, a location set by the user or a flight body storage device 5 selected by the management server 1. The same applies to the end position of the flight of the flying object 4 。The start position of the flight of the flying object 4 may be, for example, a location set by the user or a flight body storage device 5 selected by the management server 1. The same applies to the end position of the flight of the flying object 4

[0038] FIG. 9 is an example of generating a flight mission (flight route) for a solar power generation facility When the inspection range is wide, considering the power supply (battery) of the aircraft, the inspection time, etc., a route may be generated on the premise of inspection by multiple aircraft. In the illustrated example, flight areas A1 and A2 are set for each area information such as administrator name, number, ID, etc. For flight areas A1 and A2, flight routes R1 and R2 by aircraft 4a and 4b are generated. Information obtained by aircraft 4a and 4b (for example, see Tables 1001 and 1002 in FIG. 10) is sorted and managed for each area (for example, see Table 1101 in FIG. 11 and Table 1201 in FIG. 12) based on reference information (for example, position information, time information, etc.) linked to the information obtained on the management server 1 side, area information, etc., and is used for report generation for each area, for example. For example, when there are a plurality of inspection target areas (for example, 10), reports may be created for each inspection target (that is, 10 image reports), or a plurality of areas may be grouped together (for example, areas 1 to 3 as one unit, areas 4 to 7 as another unit, and areas 8 to 10 as yet another unit, for a total of 3 large unit areas) for inspection · management. An example of more specific information sorting and management is as follows. By associating position information (for example, coordinate information by GPS, etc.) and time information (for example, the time when the information was obtained, the elapsed time since the start of flight, etc.) linked to the information with area information (for example, administrator name, number, ID, etc.) or position information and time information linked to waypoint (WP) information,

[0039] information is sorted and managed for each area, for example (for example, see Table 1101 in FIG. 11 and Table 1 For example, when there are a plurality of inspection target areas (for example, 10), reports may be created for each inspection target (that is, 10 image reports), or a plurality of areas may be grouped together (for example, areas 1 to 3 as one unit, areas 4 to 7 as another unit, and areas 8 to 10 as yet another unit, for a total of 3 large unit areas) for inspection · management. For example, when there are a plurality of inspection target areas (for example, 10), reports may be created for each inspection target (that is, 10 image reports), or a plurality of areas may be grouped together (for example, areas 1 to 3 as one unit, areas 4 to 7 as another unit, and areas 8 to 10 as yet another unit, for a total of 3 large unit areas) for inspection · management.

[0040] An example of more specific information sorting and management is as follows. By associating position information (for example, coordinate information by GPS, etc.) and time information (for example, the time when the information was obtained, the elapsed time since the start of flight, etc.) linked to the information with area information (for example, administrator name, number, ID, etc.) or position information and time information linked to waypoint (WP) information, information is sorted and managed for each area, for example (for example, see Table 1101 in FIG. 11 and Table 1 or time information (for example, the time when the information was obtained, the elapsed time since the start of flight, etc.) linked to the information with area information (for example, administrator name, number, ID, etc.) or position information and time information linked to waypoint (WP) information, information is sorted and managed for each area, for example (for example, see Table 1101 in FIG. 11 and Table 1 2 of FIG. 12). 2, Table 1201).

[0041] For example, flight requests for multiple aircraft may be sent separately for each aircraft. 13, for a flight request of one flying object 4a, Based on the flight route R3 generated by the above, the flight route is calculated for each aircraft (for example, aircraft 4) as shown in FIG. Flight routes R4 and R5 may be assigned to two aircraft (a and b). For example, flight routes R4 and R5 are in the same area (for example, the area ID is set as A001). In the case where the area is a designated area, the information acquired by the aircraft 4a and 4b is managed together. The report can be generated as one area.

[0042] Therefore, by flying multiple units at the same time and acquiring information, it is possible to carry out the operation with one aircraft. This makes it possible to reduce the required work time compared to when using a conventional method.

[0043] The flight sequence of multiple aircraft may be simultaneous or with a time lag. This can be changed as appropriate depending on the mutual distance, radio wave conditions, etc. When aircraft approach each other, the influence of each other's wakes and (when the altitudes are different) Flight control should take into consideration the possibility that other aircraft may enter the imaging and detection range of the drone. In this case, the aircraft does not need to fly at a constant speed and can move with the waypoints as needed. Alternatively, the vehicles may wait for each other to approach or pass by on a point or between waypoints.

[0044] In addition, if one of the aircraft experiences a malfunction and is unable to continue flying, the other aircraft In this case, progress information such as image capture by one of the aircraft may be It may be directly or indirectly shared with another aircraft.

[0045] Furthermore, as shown in FIG. 15, for a plurality of flight routes in flight areas A1 and A2 that are originally performed by two or more aircraft, a series of flight routes R6 by one aircraft 4 may be generated. And the information acquired by the aircraft 4 (see, for example, Table 1601 in FIG. 16) is, for example, reference information (such as position information and time information, etc.) linked to the information respectively acquired on the management server 1 side, sorted and managed for each area based on area information, etc. (see, for example, Table 1701 in FIG. 17 and Table 1801 in FIG. 18), and used for generating reports for each area, for example. For an example of more specific information sorting and management, the above-mentioned correspondence method may be used. Thereby, even when one aircraft is prepared as in the conventional case, it is not necessary to manually sort and manage the information obtained by flying over a plurality of independent areas and collecting it, and more efficient information sorting and management becomes possible.

[0046] Also, as shown in FIG. 19, since a series of flight routes R6 by one aircraft 4 are long-distance and there is a high possibility of battery exhaustion, a flight route R7 for replacing the replacement battery 5 may be set during the above-mentioned flight route R6.

[0047] As described above, it is possible to select an optimal flight route (such as the flight routes shown in FIGS. 9, 13, 14, 15, and 19) based on area information, the number of aircraft, the type of application, the battery status, etc.

[0048] Figure 20 shows an example of a report generated based on still image information acquired by a flying object and displayed on the display DP of the user terminal 2. As shown in the figure, on a map image M (for example, an ortho image based on separately acquired information or a map image acquired via the Internet, etc.), the still image information P1 acquired by the flying object is superimposed based on position information such as GPS information, etc., so that the latest information at the corresponding location can be easily confirmed and the report is displayed. Note that the information displayed on the display DP of the user terminal 2 as a report is not limited to the superimposed still image information, and information useful for inspection (for example, date and time, information about the flying object, the number of abnormal locations, marks indicating abnormal locations, etc.) may be added to or replace the still image information. Instead of an aerial overview still image, it may be 3D image information created by photographing the surroundings of the structure. Also, the map image M may be displayed in a grayed-out state, simplified with lines, figures, etc. Furthermore, as shown in Figure 21, it is an example of a report that can generate a report capable of comparing still image information at at least two (exemplarily three) different time points and displaying it on the display DP of the user terminal 2. As shown in the figure, when the process for comparison is executed, for example, in addition to the latest still image information P1, the still image information P2 and P3 at past time points are also displayed side by side. This makes it possible to confirm the change over time of the inspection target at once. Note that the map image M may be acquired at any timing according to the data acquisition frequency, user requests, etc. For example, it may be at a time point close to the latest still image information P1, or at a time point close to the still image information P1. On the map image M (for example, an ortho image based on separately acquired information or a map image acquired via the Internet, etc.), the still image information P1 acquired by the flying object is superimposed based on position information such as GPS information, etc., so that the latest information at the corresponding location can be easily confirmed and the report is displayed. Note that the information displayed on the display DP of the user terminal 2 as a report is not limited to the superimposed still image information, and information useful for inspection (for example, date and time, information about the flying object, the number of abnormal locations, marks indicating abnormal locations, etc.) may be added to or replace the still image information. Instead of an aerial overview still image, it may be 3D image information created by photographing the surroundings of the structure. Also, the map image M may be displayed in a grayed-out state, simplified with lines, figures, etc. Furthermore, as shown in Figure 21, it is an example of a report that can generate a report capable of comparing still image information at at least two (exemplarily three) different time points and displaying it on the display DP of the user terminal 2. As shown in the figure, when the process for comparison is executed, for example, in addition to the latest still image information P1, the still image information P2 and P3 at past time points are also displayed side by side. This makes it possible to confirm the change over time of the inspection target at once. Note that the map image M may be acquired at any timing according to the data acquisition frequency, user requests, etc. For example, it may be at a time point close to the latest still image information P1, or at a time point close to the still image information P1. On the map image M (for example, an ortho image based on separately acquired information or a map image acquired via the Internet, etc.), the still image information P{1} acquired by the flying object is superimposed based on position information such as GPS information, etc., so that the latest information at the corresponding location can be easily confirmed and the report is displayed.

[0049] Note that the information displayed on the display DP of the user terminal 2 as a report is not limited to the superimposed still image information, and information useful for inspection (for example, date and time, information about the flying object, the number of abnormal locations, marks indicating abnormal locations, etc.) may be added to or replace the still image information. Instead of an aerial overview still image, it may be 3D image information created by photographing the surroundings of the structure. Also, the map image M may be displayed in a grayed-out state, simplified with lines, figures, etc. Furthermore, as shown in Figure 21, it is an example of a report that can generate a report capable of comparing still image information at at least two (exemplarily three) different time points and displaying it on the display DP of the user terminal 2. As shown in the figure, when the process for comparison is executed, for example, in addition to the latest still image information P1, the still image information P2 and P3 at past time points are also displayed side by side. This makes it possible to confirm the change over time of the inspection target at once. Note that the map image M may be acquired at any timing according to the data acquisition frequency, user requests, etc. For example, it may be at a time point close to the latest still image information P1, or at a time point close to the still image information P1. On the map image M (for example, an ortho image based on separately acquired information or a map image acquired via the Internet, etc.), the still image information P1 acquired by the flying object is superimposed based on position information such as GPS information, etc., so that the latest information at the corresponding location can be easily confirmed and the report is displayed. It may be a time point close to or even further in the past than reports P2 and P3. Also, the still image information P The relationship between 1 - P3 and the time series is not limited to the illustrated relationship, and a plurality of still image information at arbitrary different time points may be displayed according to the convenience of the user.

[0050] Also, in FIG. 21, an example of a display in which information at at least two different time points is arranged at positions close to each other to generate a report is illustrated, but the present invention is not limited to such an example. For example, based on an operation by the input unit 240 of the user terminal 2 (for example, an operation of selecting a time point in a time series, etc.), a report capable of switching and displaying information at at least two different time points at the same position may be generated. Thereby, it becomes possible to confirm the change over time during inspection without changing the relative positional relationship between the map image M and the still image information P1 - P3.

[0051] As an example, the still image information used for comparison is sorted and managed as described above (see FIGS. 11, 12, 17, and 18), and for example, a report capable of confirming the change over time based on position information, time information, etc. is generated.

[0052] The aircraft of the present invention can be used in aircraft-related industries such as multi-copters and drones, and furthermore, the present invention can also be suitably used as an aircraft for aerial photography equipped with a camera, etc. In addition, it can be used in various industries such as the security field, agriculture, infrastructure monitoring, surveying, inspection of sports venues such as golf courses and tennis courts, and inspection of the roofs of buildings such as factories and warehouses.

[0053] Also, the flight management server and flight management system according to the embodiment of the present invention are the present ​​​​​​​​​​​​It may have the following configuration in consideration of the industry and the like targeted by the invention. [Item 1-1] A flight management server of an unmanned aerial vehicle connected to a user terminal and the unmanned aerial vehicle via a network, comprising: a reception unit that receives a flight request including area information including at least two or more roof areas among roof areas of a building that can be divided into a plurality; a generation unit that generates a flight mission including a flight route that flies over the at least two or more roof areas based on the flight request from the user terminal; a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives an image of the roof taken by the unmanned aerial vehicle from the unmanned aerial vehicle; a sorting unit that sorts the images of the roof obtained from the unmanned aerial vehicle for each roof area; and a storage unit that stores the sorted images of the roof; The flight management server of the unmanned aerial vehicle comprising.

[0054] [Item 1-2] A flight management server of an unmanned aerial vehicle connected to a user terminal and the unmanned aerial vehicle via a network, comprising: a reception unit that receives a flight request including area information including at least two or more paddy field areas among a plurality of paddy field areas; a generation unit that generates a flight mission including a flight route that flies over the at least two or more paddy field areas based on the flight request from the user terminal; a communication unit that transmits the generated flight mission to the unmanned aerial vehicle and receives an image of the paddy field taken by the unmanned aerial vehicle from the unmanned aerial vehicle; a sorting unit that sorts the images of the paddy field obtained from the unmanned aerial vehicle for each paddy field area; and a storage unit that stores the sorted images of the paddy field; A storage unit that stores images of the divided fields, A flight management server for a drone equipped with the above.

[0055] [Item 1-3] A flight management server for a drone connected to a user terminal and a drone via a network, Comprising: A reception unit that receives a flight request including area information including at least two or more of a plurality of tennis court areas, A generation unit that generates a flight mission including a flight route that flies over the at least two or more tennis court areas based on the flight request from the user terminal, A communication unit that transmits the generated flight mission to the drone and receives an image of a tennis court taken by the drone from the drone, A sorting unit that sorts the images of the tennis courts acquired from the drone for each tennis court area, and a storage unit that stores the sorted images of the tennis courts, A flight management server for a drone equipped with the above. A flight management server for a drone equipped with the above.

[0056] [Item 1-4] A flight management server for a drone connected to a user terminal and a drone via a network, Comprising: A reception unit that receives a flight request including area information including at least two or more of a plurality of golf hole areas, A generation unit that generates a flight mission including a flight route that flies over the at least two or more golf hole areas based on the flight request from the user terminal, A communication unit that transmits the generated flight mission to the drone and receives an image of a golf hole taken by the drone from the drone, ​​​​​​ Sort the images of the golf holes acquired from the unmanned aircraft for each golf hole area A sorting unit that performs the sorting, a storage unit that stores the sorted images of the golf holes, A flight management server for an unmanned aircraft comprising the same.

[0057] The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not intended to limit and interpret the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included therein.

Explanation of Reference Numerals

[0058] 1 Management server 2 User terminal 4 Aircraft

Claims

1. A flight control system for an unmanned aerial vehicle connected to a user terminal and the unmanned aerial vehicle via a network. a management server, A fly containing area information including at least two or more areas among a plurality of areas independent of each other. a reception unit that receives a request; Based on the flight request from the user terminal, a generation unit that generates a flight mission including a flight route to be flown along the flight path; transmitting the generated flight mission to the unmanned aerial vehicle; and a communication unit that receives information acquired by the unmanned aerial vehicle from the unmanned aerial vehicle; a sorting unit that sorts the information acquired from the unmanned aerial vehicle by area; a storage unit that stores the information; A flight management server for an unmanned aerial vehicle.

2. The sorting unit is configured to sort the reference information associated with each of the plurality of mutually independent regions. and sorting the information acquired from the unmanned aerial vehicle by area based on the The flight management server of claim 1 .

3. the storage unit stores two-dimensional image data as the sorted information.

3. The flight management server according to claim 2, wherein:

4. The storage unit stores an overhead image from above as the two-dimensional image data. The flight management server according to claim 3.

5. the storage unit stores three-dimensional image data as the sorted information.

3. The flight management server according to claim 2, wherein:

6. A report generating unit generates a report based on the sorted information stored in the storage unit. The flight management server of claim 1 , further comprising a generating unit.

7. The report generation unit compares information from at least two different points in time to generate the report.

7. The flight management server of claim 6, wherein the flight management server generates a report indicating the flight status of the flight.

8. The report generating unit compares the information at least two different times for the comparison.

8. The flight management server of claim 7, wherein the server generates reports arranged in the most proximate locations.

9. The report generating unit simultaneously generates information at least two different points in time for the comparison.

8. The flight management service of claim 7, wherein the flight management service generates reports that can be displayed in the same location. Ba.

10. The report generating unit generates the sorted information based on map data acquired from a network. The flight management server according to claims 6 to 9, which generates a report superimposed thereon.

11. A flight management system for a drone, comprising a user terminal, a drone, and a flight management server connected via a network, wherein the flight management server: receives a flight request including area information including at least two or more areas out of a plurality of independent areas; generates a flight mission including a flight route that flies over the at least two or more areas based on the flight request; sends the generated flight mission to the drone; receives information acquired by the drone by executing the flight mission; classifies the information acquired from the drone for each area; stores the classified information; A flight management system for a drone. ​ ​ ​

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