Control device, method and program

Abstract

To improve a technique to land a vertical takeoff / landing machine using a more appropriate landing mode when landing the vertical takeoff / landing machine depending on a situation corresponding to a plurality of landing modes.SOLUTION: A control device 10 comprises: a storage unit 12, a communication unit 13 that communicates with a vertical takeoff / landing machine 20, and a control unit 11. When the control unit 11 receives a landing request from the vertical takeoff / landing machine 20 via the communication unit 13, the control unit determines whether or not the vertical takeoff / landing machine 20 corresponds to a slide landing; when the vertical takeoff / landing machine corresponds to the slide landing, the control unit acquires reference information indicating an environment for the landing of the vertical takeoff / landing machine 20; and the control unit sends an instruction to the vertical takeoff / landing machine 20 so as to land using one of the landing modes, vertical landing or slide landing, on the basis of the reference information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device, a method, and a program. [Background technology]

[0002] Conventionally, there have been aircraft with vertical takeoff and landing capabilities. For example, Patent Document 1 discloses an aircraft that can vertically land at an airport in response to landing permission from an aircraft traffic management system. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-000617 Summary of the Invention [Problem to be solved by the invention]

[0004] When a vertical take-off and landing aircraft is capable of multiple landing modes, including not only vertical landing but also runway landing, there is room for improvement in technology to land in the most appropriate landing mode depending on the situation. [Means for solving the problem]

[0005] The control device according to the present disclosure is a control device including a memory unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, and when the control unit receives a landing request from the vertical take-off and landing aircraft via the communication unit, it determines whether the vertical take-off and landing aircraft is capable of a runway landing, and if the vertical take-off and landing aircraft is capable of a runway landing, it obtains reference information that indicates the environment for landing of the vertical take-off and landing aircraft, and based on the reference information, sends to the vertical take-off and landing aircraft an instruction to land using one of the landing modes, either a vertical landing or the runway landing.

[0006] The method disclosed herein is a method executed by a control device including a memory unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, and includes, when the control unit receives a landing request from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of a runway landing, and if the vertical take-off and landing aircraft is capable of a runway landing, obtaining reference information that indicates the environment for landing of the vertical take-off and landing aircraft, and transmitting an instruction to the vertical take-off and landing aircraft to land in one of the landing modes, a vertical landing or the runway landing, based on the reference information.

[0007] The program of the present disclosure causes a computer as a control device having a memory unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit to perform operations including, when a landing request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of a runway landing, and if the vertical take-off and landing aircraft is capable of a runway landing, obtaining reference information that indicates the environment for landing of the vertical take-off and landing aircraft, and transmitting to the vertical take-off and landing aircraft an instruction to land in one of the landing modes, either a vertical landing or the runway landing, based on the reference information. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to improve the technology for landing a vertical take-off and landing aircraft capable of multiple landing modes in a more appropriate landing mode depending on the situation. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a schematic configuration of a system according to an embodiment of the present invention. [Figure 2] 4 is a flowchart showing the operation of the system according to the present embodiment. [Figure 3] 10 is a flowchart showing the operation of a system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0011] The configuration of a system 1 according to this embodiment will be described with reference to Fig. 1. The system 1 includes a control device 10 and a vertical take-off and landing aircraft 20. The control device 10 is capable of communicating with the vertical take-off and landing aircraft 20 via a network 30. Although Fig. 1 shows only one vertical take-off and landing aircraft 20, the number of vertical take-off and landing aircraft 20 included in the system 1 is not limited to this.

[0012] The control device 10 is a computer installed in a facility such as a data center. The control device 10 is, for example, a server belonging to a cloud computing system or other computing system. In this embodiment, the control device 10 is operated by an operator that manages vertical landing sites and runways that serve as landing locations for vertical take-off and landing aircraft 20.

[0013] The vertical take-off and landing aircraft 20 includes an eVTOL (electric vertical takeoff and landing aircraft), which is an electrically powered vertical take-off and landing aircraft. The vertical take-off and landing aircraft 20 may be manned or unmanned. If manned, the vertical take-off and landing aircraft 20 is piloted by a pilot. The vertical take-off and landing aircraft 20 may be capable of movement by autopilot. If the vertical take-off and landing aircraft 20 has fixed wings in addition to rotary wings, it is capable of performing a taxiing landing in addition to a vertical landing. In this embodiment, the system 1 includes a plurality of vertical take-off and landing aircraft 20. Each of the plurality of vertical take-off and landing aircraft 20 includes a mixture of aircraft with fixed wings and aircraft without fixed wings.

[0014] Network 30 may include the Internet, at least one WAN, at least one MAN, or any combination thereof. "WAN" is an abbreviation for wide area network. "MAN" is an abbreviation for metropolitan area network. Network 30 may include at least one wireless network, at least one optical network, or any combination thereof. A wireless network may be, for example, an ad hoc network, a cellular network, a wireless LAN, a satellite communication network, or a terrestrial microwave network. "LAN" is an abbreviation for local area network.

[0015] First, an overview of this embodiment will be described, and details will be described later. When the control device 10 receives a landing request from the vertical take-off and landing aircraft 20, it determines whether the vertical take-off and landing aircraft 20 is capable of a runway landing, and if it is capable of a runway landing, it acquires reference information that indicates the environment for landing of the vertical take-off and landing aircraft 20, and transmits an instruction to the vertical take-off and landing aircraft 20 to land in one of the landing modes, either a vertical landing or a runway landing, based on the reference information.

[0016] According to this embodiment, the control device 10 determines the most appropriate landing mode depending on the situation and instructs the vertical take-off and landing aircraft 20 to land safely. Therefore, it is possible to improve the technology for landing a vertical take-off and landing aircraft, which is capable of multiple landing modes, in a landing mode that is more appropriate depending on the situation.

[0017] The configuration of a control device 10 according to this embodiment will be described with reference to Fig. 1. The control device 10 includes a control unit 11, a storage unit 12, and a communication unit 13.

[0018] The control unit 11 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. An example of the programmable circuit is an FPGA. "FPGA" is an abbreviation for field-programmable gate array. An example of the dedicated circuit is an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 11 controls each part of the control unit 10 and executes processing related to the operation of the control unit 10.

[0019] The storage unit 12 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM, a ROM, or a flash memory. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. ROM is, for example, an EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. Flash memory is, for example, an SSD. "SSD" is an abbreviation for solid-state drive. Magnetic memory is, for example, an HDD. "HDD" is an abbreviation for hard disk drive. The storage unit 12 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 12 stores information used in the operation of the control device 10 and information obtained by the operation of the control device 10.

[0020] The communication unit 13 includes at least one communication module. The communication module is, for example, a module that complies with a wired LAN communication standard such as Ethernet (registered trademark) or a wireless LAN communication standard such as IEEE802.11. "IEEE" is an abbreviation for Institute of Electrical and Electronics Engineers. The communication unit 13 communicates with devices other than the control device 10. The communication unit 13 receives information used in the operation of the control device 10 and transmits information obtained by the operation of the control device 10.

[0021] The configuration of a vertical take-off and landing aircraft 20 according to this embodiment will be described with reference to Fig. 1. The vertical take-off and landing aircraft 20 includes a control unit 21, a storage unit 22, a communication unit 23, an input unit 24, and an output unit 25.

[0022] The control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, at least one ECU, or any combination thereof. "ECU" is an abbreviation for electronic control unit. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a specific process. The programmable circuit is, for example, an FPGA. The dedicated circuit is, for example, an ASIC. The control unit 21 controls each part of the vertical take-off and landing aircraft 20 and executes processes related to the operation of the vertical take-off and landing aircraft 20.

[0023] The storage unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM or a ROM. The RAM is, for example, an SRAM or a DRAM. The ROM is, for example, an EEPROM. The storage unit 22 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores data used in the operation of the vertical take-off and landing aircraft 20 and data obtained by the operation of the vertical take-off and landing aircraft 20.

[0024] The communication unit 23 includes at least one communication interface. The communication interface is, for example, an interface compatible with a mobile communication standard such as LTE, the 4G standard, or the 5G standard, an interface compatible with short-range wireless communication such as Bluetooth (registered trademark), or a LAN interface. "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. The communication unit 23 receives data used in the operation of the vertical take-off and landing aircraft 20, and transmits data obtained by the operation of the vertical take-off and landing aircraft 20.

[0025] The input unit 24 includes at least one input interface. The input interface is, for example, a physical key, a capacitive key, a pointing device, a touch screen integrated with a display, or a microphone. The input unit 24 accepts an operation to input data used in the operation of the vertical take-off and landing aircraft 20. The input unit 24 may be connected to the vertical take-off and landing aircraft 20 as an external input device instead of being provided in the vertical take-off and landing aircraft 20. Any connection method may be used, for example, USB, HDMI (registered trademark), or Bluetooth (registered trademark). "USB" is an abbreviation for Universal Serial Bus. "HDMI (registered trademark)" is an abbreviation for High-Definition Multimedia Interface.

[0026] The output unit 25 includes at least one output interface. The output interface is, for example, a display or a speaker. The display is, for example, an LCD or an organic EL display. "LCD" is an abbreviation for liquid crystal display. "EL" is an abbreviation for electroluminescence. The output unit 25 outputs data obtained by the operation of the vertical take-off and landing aircraft 20. The output unit 25 may be connected to the vertical take-off and landing aircraft 20 as an external output device instead of being provided in the vertical take-off and landing aircraft 20. Any connection method can be used, for example, USB, HDMI (registered trademark), or Bluetooth (registered trademark).

[0027] The functions of the control device 10 or the vertical take-off and landing aircraft 20 are realized by executing a program according to this embodiment on a processor serving as the control unit 11 or the control unit 21. That is, the functions of the control device 10 or the vertical take-off and landing aircraft 20 are realized by software. The program causes a computer to execute the operations of the control device 10 or the vertical take-off and landing aircraft 20, thereby causing the computer to function as the control device 10 or the vertical take-off and landing aircraft 20. That is, the computer functions as the control device 10 or the vertical take-off and landing aircraft 20 by executing the operations of the control device 10 or the vertical take-off and landing aircraft 20 in accordance with the program.

[0028] The program can be stored on a non-transitory computer-readable medium. Examples of non-transitory computer-readable media include flash memory, magnetic recording devices, optical disks, magneto-optical recording media, and ROMs. The program can be distributed by selling, transferring, or lending portable media such as SD cards, DVDs, or CD-ROMs that store the program. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program can also be distributed by storing it in the storage of a server and transferring it from the server to another computer. The program can also be provided as a program product.

[0029] A computer temporarily stores a program stored on a portable medium or transferred from a server in its main storage device. The computer then reads the program stored in the main storage device using a processor and executes processing in accordance with the read program. The computer may also read the program directly from a portable medium and execute processing in accordance with the program. The computer may also execute processing in accordance with the received program each time a program is transferred from a server to the computer. Processing may also be executed through a so-called ASP-type service that achieves its functions by issuing execution instructions and obtaining results without transferring the program from the server to the computer. "ASP" is an abbreviation for application service provider. A program is information used for processing by a computer and includes something equivalent to a program. For example, data that is not a direct instruction to a computer but has properties that specify computer processing falls under the category of "something equivalent to a program."

[0030] Some or all of the functions of the control device 10 or the vertical take-off and landing aircraft 20 may be realized by a programmable circuit or a dedicated circuit as the control unit 11 or the control unit 21. In other words, some or all of the functions of the control device 10 or the vertical take-off and landing aircraft 20 may be realized by hardware.

[0031] The operation of the system 1 according to this embodiment will be described with reference to Fig. 2. Among the operations shown in Fig. 2, the operation of the control device 10 corresponds to the method according to this embodiment. In the following, it is assumed that communication between the control device 10 and an external device is performed via the communication unit 13 and the network 30, and communication between the vertical take-off and landing aircraft 20 and the external device is performed via the communication unit 23 and the network 30.

[0032] 2, the control unit 21 of the vertical take-off and landing aircraft 20 transmits a landing request to the control device 10. The landing request may include an identifier for identifying the pilot, a scheduled landing time, and the like.

[0033] In S102, the control unit 11 of the control device 10 acquires a landing request by receiving it from the vertical take-off and landing aircraft 20. The control unit 11 may communicate with a server device of any organization that accepts flight schedules and the like for the vertical take-off and landing aircraft 20, and receive, from the server device, information indicating that the vertical take-off and landing aircraft 20 will land, as the landing request.

[0034] In S103, the control unit 11 determines whether the vertical take-off and landing aircraft 20 is capable of a runway landing. If it is determined that the vertical take-off and landing aircraft 20 is capable of a runway landing (YES in S103), the operation of the control unit 11 proceeds to S105. If it is determined that the vertical take-off and landing aircraft 20 is not capable of a runway landing (NO in S103), the processing of the control unit 11 proceeds to S104. For example, the control unit 11 receives information indicating the type of the vertical take-off and landing aircraft 20 from the vertical take-off and landing aircraft 20. The information may be included in the landing request, or may be recorded in advance in a database in association with an identifier that identifies the pilot. The database may be stored in the storage unit 12. For each type of vertical take-off and landing aircraft 20, the control unit 11 may refer to information indicating whether the vertical take-off and landing aircraft 20 is a fixed-wing aircraft, and determine whether the vertical take-off and landing aircraft 20 is capable of a runway landing based on the information. The information may be set in advance and stored in the storage unit 12. In this case, the control unit 11 determines that the vertical take-off and landing aircraft 20 is capable of a runway landing if the type of the vertical take-off and landing aircraft 20 is a fixed-wing aircraft, and determines that the vertical take-off and landing aircraft 20 is not capable of a runway landing if the type of the vertical take-off and landing aircraft 20 is a non-fixed-wing aircraft.

[0035] The determination method is not limited to this, and any method may be adopted. The control unit 11 may receive an image of the vertical take-off and landing aircraft 20 from an outdoor camera that photographs the vertical take-off and landing aircraft 20, and analyze whether the vertical take-off and landing aircraft 20 has fixed wings based on the image using any image analysis technology. In this case, the control unit 11 determines that the vertical take-off and landing aircraft 20 captured in the image is capable of a runway landing if it has fixed wings, and determines that it is not capable of a runway landing if it does not have fixed wings. The control unit 11 may receive information from the vertical take-off and landing aircraft 20 indicating whether it is capable of a runway landing, and determine whether it is capable of a runway landing based on the information.

[0036] First, a case will be described in which the control unit 11 determines in S103 that the vertical take-off and landing aircraft 20 is not capable of performing a runway landing. In S104, the control unit 11 determines vertical landing as the landing mode to be instructed to the vertical take-off and landing aircraft 20. Thereafter, the processing of the control unit 11 proceeds to S107.

[0037] Next, a case will be described where, in S103, the control unit 11 determines that the vertical take-off and landing aircraft 20 is capable of performing a runway landing. In S105, the control unit 11 acquires reference information that indicates the environment for landing of the vertical take-off and landing aircraft 20. The control unit 11 may acquire the reference information by reading out reference information that has been set in advance and stored in the storage unit 12. The control unit 11 may also acquire the reference information by receiving it from an external device.

[0038] The reference information may include the degree of congestion of the vertical landing field and the runway, which are landing locations for the vertical take-off and landing aircraft 20. Specifically, the degree of congestion may be indicated in stages, such as "high," "medium," or "low." The degree of congestion may also be information indicating whether the vertical landing field and the runway are available. The control unit 11 may acquire the reference information by communicating with a server device of any organization that accepts flight schedules for each air vehicle, including the vertical take-off and landing aircraft 20, and receiving information indicating the degree of congestion from the server device. For example, the control unit 11 may receive images of the vertical landing field and the runway from an outdoor camera and analyze the degree of congestion of the vertical landing field and the runway based on the images using any image analysis technology. Specifically, the control unit 11 analyzes the number of aircraft present on each of the vertical landing field and the runway from the images. The aircraft may include aircraft such as airplanes, helicopters, multicopters, and unmanned aerial vehicles. The aircraft may also include vehicles that maintain the vertical landing field and the runway. The control unit 11 may generate reference information indicating that the degree of congestion is "low" when the number of aircraft is less than a first threshold, "medium" when the number is equal to or greater than the first threshold and less than a second threshold, and "high" when the number is equal to or greater than the second threshold. The first threshold and the second threshold may be stored in the storage unit 12.

[0039] When the landing request includes a scheduled landing time, the control unit 11 may acquire reference information based on information indicating the degree of congestion expected at the scheduled landing time. Specifically, the control unit 11 reads information recording the average or median of the degree of congestion for the same day of the week and the same time period in the past from the storage unit 12. The control unit 11 may generate reference information indicating that the degree of congestion is "low" if the average or median is less than a first threshold, "medium" if the average or median is equal to or greater than the first threshold and less than a second threshold, and "high" if the average or median is equal to or greater than the second threshold.

[0040] The reference information may include the pilot's experience with vertical landings and runway landings of the vertical take-off and landing aircraft 20. The experience may be the total number of times or the total time the pilot has performed vertical landings or runway landings while piloting the vertical take-off and landing aircraft 20 or another air vehicle. The control unit 11 may acquire the experience input by the pilot to the input unit 24 of the vertical take-off and landing aircraft 20 as the reference information by receiving it from the vertical take-off and landing aircraft 20. When the landing request includes the pilot's identifier, the control unit 11 may acquire the experience as the reference information by referring to a database in which the pilot's experience is recorded in association with the identifier. The database may be stored in advance in the memory unit 12.

[0041] The reference information may include weather at each of the vertical landing field and the runway, which are the landing locations for the vertical take-off and landing aircraft 20. In this case, the reference information may include at least one of information about wind, information about rain or snow, and information about fog as weather. The information about wind includes wind volume, wind speed, etc. The information about rain or snow includes the amount of rainfall or snowfall. The information about fog includes the degree of fog. The control unit 11 may acquire the information indicating the weather by communicating with a server device provided in a meteorological observation center or the like and receiving it as reference information. Without being limited to these, the reference information may include information about the degree of a dust storm, sand storm, etc. as weather. When the landing request includes a scheduled landing time, the reference information may include the weather expected at the scheduled landing time.

[0042] In S106, the control unit 11 determines, based on the reference information, one of vertical landing and runway landing as the landing mode to be instructed to the vertical take-off and landing aircraft 20.

[0043] For example, when the reference information includes the degree of congestion of each of the vertical take-off and landing field and the runway, the control unit 11 determines the landing configuration corresponding to the landing site with the least degree of congestion as the landing configuration to instruct the vertical take-off and landing aircraft 20. This makes it possible to automatically instruct the vertical take-off and landing aircraft 20 to select a landing configuration with the least degree of congestion that allows the vertical take-off and landing aircraft 20 to land safely.

[0044] For example, when the reference information includes the pilot's experience with vertical landings and runway landings, the control unit 11 determines the landing mode with which the pilot of the vertical take-off and landing aircraft 20 has more experience as the landing mode to instruct the vertical take-off and landing aircraft 20. This makes it possible to automatically instruct the vertical take-off and landing aircraft 20 to select the landing mode with which the pilot has more experience and is more familiar.

[0045] For example, when the reference information includes information about wind as weather, and there is a predetermined amount of tailwind or crosswind in the direction in which the vertical take-off and landing aircraft 20 is approaching the runway, the control unit 11 determines that vertical landing is the landing mode to be instructed to the vertical take-off and landing aircraft 20. This makes it possible to automatically instruct the vertical take-off and landing aircraft 20 to perform a vertical landing in bad weather conditions where the tailwind or crosswind is strong and it is difficult to control a running landing.

[0046] For example, when the reference information includes information about rain or snow as weather and the amount of rainfall or snowfall on the runway is equal to or greater than a predetermined amount, the control unit 11 determines that a vertical landing is the landing mode to be instructed to the vertical take-off and landing aircraft 20. This makes it possible to automatically instruct the vertical take-off and landing aircraft 20 to perform a vertical landing when visibility is impaired due to rain or snow, resulting in bad weather that is not suitable for a running landing.

[0047] For example, when the reference information includes information about fog as weather and the amount of fog on the runway is equal to or greater than a predetermined amount, the control unit 11 determines that a vertical landing is the landing mode to be instructed to the vertical take-off and landing aircraft 20. This makes it possible to automatically instruct the vertical take-off and landing aircraft 20 to perform a vertical landing when visibility is impaired by fog and the weather is unsuitable for a running landing.

[0048] The control unit 11 may determine the landing mode between vertical landing and runway landing that is more suitable for the weather indicated by the reference information. For example, if the reference information includes information on the severity of a dust storm, sandstorm, or the like as weather, and the severity of the dust storm, sandstorm, or the like is equal to or greater than a predetermined level, the control unit 11 determines vertical landing as the landing mode to be instructed to the vertical take-off and landing aircraft 20. The information indicating the predetermined level may be set in advance and stored in the memory unit 12.

[0049] For example, when the reference information includes multiple pieces of information related to the environment for landing of the vertical take-off and landing aircraft 20, the control unit 11 may determine the landing mode based on a predetermined priority of each piece of information. For example, the reference information may include the level of congestion, weather, and the pilot's experience, and the level of congestion may be "high" for the vertical landing field and "low" for the runway, with the amount of rainfall as weather being equal to or greater than a predetermined amount. The total number of landings as the pilot's experience may be greater for vertical landings than for runway landings. The priority is set in descending order of the level of congestion, weather, and pilot's experience. In this case, the control unit 11 may determine a runway landing as the landing mode to instruct the vertical take-off and landing aircraft 20 based on the level of congestion, which has the highest priority.

[0050] For example, the control unit 11 may dynamically reset the priorities so that the highest priority is assigned when a predetermined priority threshold is exceeded for each of the multiple pieces of information included in the reference information. For example, assume that the priorities are set in descending order of congestion level, weather, and pilot's experience level, and the priority threshold for rainfall as weather is set to X [mm / h]. When the rainfall indicated by the acquired reference information is equal to or greater than the priority threshold X, the control unit 11 may reset the priorities in descending order of weather, congestion level, and pilot's experience level, and determine a vertical landing as the landing mode to instruct the vertical take-off and landing aircraft 20 to perform.

[0051] In S107, the control unit 11 transmits an instruction to the vertical take-off and landing aircraft 20 to land in the landing mode determined in S104 or S106. Specifically, the control unit 11 transmits a signal to the vertical take-off and landing aircraft 20 to instruct it to land in the determined landing mode.

[0052] As shown in S105 to S107, the control unit 11 transmits to the vertical take-off and landing aircraft 20 an instruction to land in one of the landing modes of vertical landing and runway landing, based on the reference information.

[0053] The control unit 11 may update the pilot's experience of vertical landing or runway landing indicated by the reference information based on the instructed landing mode. For example, the control unit 11 may update the reference information by incrementing the number of experiences of one of the instructed landing modes, either vertical landing or runway landing, by one, and store the updated reference information in the storage unit 12.

[0054] In S108, the control unit 21 of the vertical take-off and landing aircraft 20 receives an instruction from the control device 10. The control unit 21 controls each unit of the vertical take-off and landing aircraft 20 to land on a vertical landing pad if the received instruction signal is a signal instructing a vertical landing, or to land on a runway if the received instruction signal is a signal instructing a runway landing. Thereafter, the operation of the system 1 ends.

[0055] The landing of the vertical take-off and landing aircraft 20 may be controlled primarily by the control unit 11 of the control device 10. In this case, the control unit 11 may transmit to the vertical take-off and landing aircraft 20 signals for controlling each unit of the vertical take-off and landing aircraft 20, in addition to a signal instructing the aircraft to land in one of the landing modes of vertical landing and runway landing.

[0056] The present disclosure is not limited to the above-described embodiments. For example, two or more blocks shown in the block diagrams may be integrated, or one block may be divided. Two or more steps shown in the flowcharts may be executed in parallel or in a different order, instead of being executed in chronological order as described, depending on the processing capabilities of the device executing each step, or as needed. Other modifications are possible within the scope of the present disclosure.

[0057] In one modification of this embodiment, the control unit 11 determines the takeoff mode from either vertical takeoff or taxiing takeoff, and transmits to the vertical takeoff and landing aircraft 20 an instruction to take off in the determined takeoff mode.

[0058] The configuration of the system 1 according to this modification is the same as that of the embodiment described above, and therefore a description thereof will be omitted. The configurations of the control device 10 and the vertical take-off and landing aircraft 20 according to this modification are the same as those of the embodiment described above, and therefore a description thereof will be omitted.

[0059] The operation of the system 1 according to this modification will be described below with reference to FIG.

[0060] In S201, the control unit 21 of the vertical take-off and landing aircraft 20 transmits a take-off request to the control device 10. The take-off request may include an identifier that identifies the pilot, a scheduled take-off time, and the like.

[0061] In S202, the control unit 11 of the control device 10 acquires a takeoff request by receiving it from the vertical takeoff and landing aircraft 20. The control unit 11 may communicate with a server device of any organization that accepts flight schedules and the like for the vertical takeoff and landing aircraft 20, and receive, from the server device, information indicating that the vertical takeoff and landing aircraft 20 will take off, as a takeoff request.

[0062] In S203, the control unit 11 determines whether the vertical take-off and landing aircraft 20 is capable of taxiing takeoff. If it is determined that the vertical take-off and landing aircraft 20 is capable of taxiing takeoff (S203: YES), the operation of the control unit 11 proceeds to S205. If it is determined that the vertical take-off and landing aircraft 20 is not capable of taxiing takeoff (S203: NO), the processing of the control unit 11 proceeds to S204. As in the above-described embodiment, the control unit 11 may refer to information indicating whether the vertical take-off and landing aircraft 20 is a fixed-wing aircraft, for each type of vertical take-off and landing aircraft 20, and determine whether the vertical take-off and landing aircraft 20 is capable of taxiing takeoff based on the information. As in the above-described embodiment, the control unit 11 may determine whether the vertical take-off and landing aircraft 20 is capable of taxiing takeoff based on an image captured by an outdoor camera that captures the vertical take-off and the information. As in the above-described embodiment, the control unit 11 may receive information indicating whether the vertical take-off and landing aircraft 20 is capable of taxiing takeoff from the vertical take-off and determine whether the vertical take-off and landing aircraft 20 is capable of taxiing takeoff based on the information.

[0063] First, a case will be described in which the control unit 11 determines in S203 that the vertical take-off and landing aircraft 20 is not compatible with taxiing take-off. In S204, the control unit 11 determines vertical take-off as the take-off mode to be instructed to the vertical take-off and landing aircraft 20. Thereafter, the processing of the control unit 11 proceeds to S207.

[0064] Next, a case where the control unit 11 determines in S203 that the vertical take-off and landing aircraft 20 is capable of taxiing take-off will be described. In S205, the control unit 11 acquires take-off reference information that indicates the environment for take-off of the vertical take-off and landing aircraft. The control unit 11 may acquire the take-off reference information by reading out the take-off reference information that has been set in advance and stored in the memory unit 12. The control unit 11 may also acquire the take-off reference information by receiving it from an external device.

[0065] Similar to the reference information according to the above-described embodiment, the takeoff reference information may include the degree of congestion of the vertical takeoff field and the runway serving as takeoff locations for the vertical takeoff and landing aircraft 20. Specifically, the degree of congestion may be indicated in stages, such as "high," "medium," or "low." The control unit 11 may acquire the information indicating the degree of congestion by communicating with a server device provided by an organization or the like that accepts flight schedules for aircraft, and receiving the information indicating the degree of congestion as reference information. For example, the control unit 11 may receive images of the vertical takeoff field and the runway from an outdoor camera and analyze the degree of congestion of the vertical takeoff field and the runway from the images using any image analysis technology. For example, when a takeoff request includes a scheduled takeoff time, the control unit 11 may acquire the takeoff reference information based on information indicating the degree of congestion expected at the scheduled takeoff time.

[0066] Similar to the reference information according to the above-described embodiments, the takeoff reference information may include the pilot's experience with vertical takeoff and taxiing takeoff. The control unit 11 may acquire the experience input by the pilot to the input unit 24 of the vertical takeoff and landing aircraft 20 as reference information by receiving the experience from the vertical takeoff and landing aircraft 20. When the takeoff request includes a pilot's identifier, the control unit 11 may acquire the experience as reference information by referring to a database in which the pilot's experience is recorded in association with the identifier. The database may be stored in advance in the storage unit 12.

[0067] Similar to the reference information according to the above-described embodiment, the takeoff reference information may include weather information at each of the vertical takeoff field and the runway as the takeoff location of the vertical takeoff and landing aircraft 20. In this case, the reference information may include at least one of information about wind, information about rain or snow, and information about fog as weather information. When the takeoff request includes a scheduled takeoff time, the takeoff reference information may include weather information predicted at the scheduled takeoff time.

[0068] In S206, the control unit 11 determines, based on the takeoff reference information, one of vertical takeoff and taxiing takeoff as the takeoff mode to be instructed to the vertical takeoff and landing aircraft 20.

[0069] For example, when the takeoff reference information includes the degree of congestion at each of the vertical takeoff field and the runway, the control unit 11 determines the takeoff configuration corresponding to the takeoff location with the lower degree of congestion as the takeoff configuration to instruct the vertical takeoff and landing aircraft 20. For example, when the takeoff reference information includes the pilot of the vertical takeoff and landing aircraft 20's experience with vertical takeoff and taxiing takeoff, the control unit 11 determines the takeoff configuration with the pilot's greater experience as the takeoff configuration to instruct the vertical takeoff and landing aircraft 20. For example, when the takeoff reference information includes information about wind as weather and there is a predetermined amount or more of a tailwind or crosswind in the departure direction of the vertical takeoff and landing aircraft 20 from the runway, the control unit 11 determines vertical takeoff as the takeoff configuration to instruct the vertical takeoff and landing aircraft 20. For example, when the takeoff reference information includes information about rain or snow as weather and there is a predetermined amount or more of rainfall or snowfall on the runway, the control unit 11 determines vertical takeoff as the takeoff configuration to instruct the vertical takeoff and landing aircraft 20. For example, when the takeoff reference information includes information about fog as weather and the amount of fog on the runway is equal to or greater than a predetermined amount, the control unit 11 determines that vertical takeoff is the takeoff mode to instruct the vertical takeoff and landing aircraft 20 to take off.

[0070] As in the above-described embodiment, when the takeoff reference information includes multiple pieces of information related to the environment for takeoff of the vertical takeoff and landing aircraft 20, the control unit 11 may determine the takeoff mode based on a predetermined priority of each piece of information. As in the above-described embodiment, when a predetermined priority threshold is exceeded for each piece of information included in the takeoff reference information, the control unit 11 may dynamically reset the priority so that the priority is highest.

[0071] In S207, the control unit 11 transmits to the vertical take-off and landing aircraft 20 an instruction to take off in the take-off mode determined in S204 or S206. The control unit 11 may update the pilot's experience of vertical take-off or taxiing take-off, which is included in the take-off reference information, based on the instructed take-off mode. For example, the control unit 11 may update the take-off reference information by incrementing the number of times the pilot has experienced one of the instructed take-off modes, either vertical take-off or taxiing take-off, by one, and store the updated take-off reference information in the memory unit 12.

[0072] In S208, the control unit 21 of the vertical take-off and landing aircraft 20 receives an instruction from the control device 10. The control unit 21 controls each unit of the vertical take-off and landing aircraft 20 to take off from a vertical take-off field if the received instruction signal is a signal instructing vertical take-off, or to take off from a runway if the signal is a signal instructing taxiing take-off. Thereafter, the operation of the system 1 ends.

[0073] The takeoff of the vertical take-off and landing aircraft 20 may be controlled primarily by the control unit 11 of the control device 10. In this case, the control unit 11 may transmit to the vertical take-off and landing aircraft 20 a signal to control each unit of the vertical take-off and landing aircraft 20, in addition to a signal to instruct the aircraft to take off using one of the vertical take-off and the taxiing take-off.

[0074] Some embodiments of the present disclosure will be described below as examples, however, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] A control device including a memory unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, The control unit when a landing request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of performing a runway landing; a control device that, if the vertical take-off and landing aircraft is compatible with the runway landing, acquires reference information indicating an environment for landing of the vertical take-off and landing aircraft, and transmits to the vertical take-off and landing aircraft an instruction to land using one of the landing modes of vertical landing and the runway landing based on the reference information. [Appendix 2] 10. The control device of claim 1, the reference information includes the degree of congestion of a vertical landing field and a runway as landing locations for the vertical take-off and landing aircraft, The control unit transmits to the vertical take-off and landing aircraft an instruction to land using a landing mode corresponding to the landing location with the lower degree of congestion. [Appendix 3] 3. The control device according to claim 1, the reference information includes an amount of vertical landing and runway landing experience of the pilot of the vertical take-off and landing aircraft; The control unit transmits to the vertical take-off and landing aircraft an instruction to land in the landing mode with which the control unit has more experience. [Appendix 4] 4. The control device according to any one of claims 1 to 3, the reference information includes weather conditions at each of a vertical landing field and a runway as a landing location for the vertical take-off and landing aircraft; The control unit transmits to the vertical take-off and landing aircraft an instruction to land in a landing pattern that is more suitable for landing under the weather conditions. [Appendix 5] 5. The control device according to claim 4, the reference information includes information about wind as the weather; A control device wherein, when a tailwind or crosswind in the direction of approach of the vertical take-off and landing aircraft to the runway is equal to or greater than a predetermined amount, the control unit transmits an instruction to the vertical take-off and landing aircraft to land by vertical landing. [Appendix 6] 6. The control device according to claim 4 or 5, the reference information includes information regarding rain or snow as the weather, A control device wherein, when the amount of rainfall or snowfall on the runway is equal to or greater than a predetermined amount, the control unit transmits an instruction to the vertical take-off and landing aircraft to land by vertical landing. [Appendix 7] 7. The control device according to any one of claims 4 to 6, the reference information includes information about fog as the weather; A control device wherein, when the amount of fog on the runway is equal to or greater than a predetermined amount, the control unit transmits an instruction to the vertical take-off and landing aircraft to land by vertical landing. [Appendix 8] 8. The control device according to any one of claims 1 to 7, The control unit when a takeoff request is received from the vertical takeoff and landing aircraft via the communication unit, determining whether the vertical takeoff and landing aircraft is capable of taxiing takeoff; If the vertical take-off and landing aircraft is compatible with the taxiing take-off, the control device acquires take-off reference information indicating the environment for take-off of the vertical take-off and landing aircraft, and transmits to the vertical take-off and landing aircraft an instruction to take off using one of the take-off modes, vertical take-off or taxiing take-off, based on the take-off reference information. [Appendix 9] A method executed by a control device including a memory unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, The control unit when a landing request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of performing a runway landing; If the vertical take-off and landing aircraft is capable of performing a runway landing, acquiring reference information indicating an environment for landing of the vertical take-off and landing aircraft, and transmitting to the vertical take-off and landing aircraft an instruction to land in one of the landing modes of a vertical landing and the runway landing based on the reference information. A method comprising: [Appendix 10] 10. The method of claim 9, the reference information includes the degree of congestion of a vertical landing field and a runway as landing locations for the vertical take-off and landing aircraft, The method further includes the control unit transmitting to the vertical take-off and landing aircraft an instruction to land using a landing configuration corresponding to the landing location with the lower level of congestion. [Appendix 11] 11. The method according to claim 9 or 10, the reference information includes an amount of vertical landing and runway landing experience of the pilot of the vertical take-off and landing aircraft; The method further includes the control unit transmitting, to the vertical take-off and landing aircraft, an instruction to land using the landing configuration for which the amount of experience is greater. [Appendix 12] 12. The method of any one of appendices 9 to 11, comprising: the reference information includes weather conditions at each of a vertical landing field and a runway as a landing location for the vertical take-off and landing aircraft; The method further includes the control unit transmitting to the vertical take-off and landing aircraft an instruction to land using a landing configuration that is more suitable for landing under the weather conditions. [Appendix 13] 13. The method of claim 12, the reference information includes information about wind as the weather; The method further includes, when a tailwind or crosswind in the direction of approach of the vertical take-off and landing aircraft to the runway is equal to or greater than a predetermined amount, the control unit sending an instruction to the vertical take-off and landing aircraft to land by vertical landing. [Appendix 14] 14. The method according to claim 12 or 13, the reference information includes information regarding rain or snow as the weather, The method further includes, when an amount of rainfall or snowfall on the runway is equal to or greater than a predetermined amount, the control unit sending an instruction to the vertical take-off and landing aircraft to land by vertical landing. [Appendix 15] 15. The method of any one of appendices 12 to 14, comprising: the reference information includes information about fog as the weather; The method further includes the control unit sending an instruction to the vertical take-off and landing aircraft to land by vertical landing when the amount of fog on the runway is equal to or greater than a predetermined amount. [Appendix 16] 16. The method of any one of appendices 9 to 15, comprising: The control unit when a takeoff request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of taxiing takeoff; If the vertical take-off and landing aircraft is compatible with the taxiing take-off, the method further includes acquiring take-off reference information indicating an environment for take-off of the vertical take-off and landing aircraft, and transmitting to the vertical take-off and landing aircraft an instruction to take off using one of the take-off modes, vertical take-off or taxiing take-off, based on the take-off reference information. [Appendix 17] A computer as a control device including a storage unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, when a landing request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of performing a runway landing; If the vertical take-off and landing aircraft is capable of performing a runway landing, acquiring reference information indicating an environment for landing of the vertical take-off and landing aircraft, and transmitting to the vertical take-off and landing aircraft an instruction to land in one of the landing modes of a vertical landing and the runway landing based on the reference information. A program that causes an operation including [Appendix 18] 18. The program of claim 17, the reference information includes the degree of congestion of a vertical landing field and a runway as landing locations for the vertical take-off and landing aircraft, The operations further include transmitting instructions to the vertical take-off and landing aircraft to land using a landing configuration corresponding to the less congested landing location. [Appendix 19] 19. The program according to claim 17 or 18, the reference information includes an amount of vertical landing and runway landing experience of the pilot of the vertical take-off and landing aircraft; The program, wherein the operations further include transmitting to the vertical take-off and landing aircraft an instruction to land using the landing configuration for which the amount of experience is greater. [Appendix 20] 20. The program according to any one of appendices 17 to 19, the reference information includes weather conditions at each of a vertical landing field and a runway as a landing location for the vertical take-off and landing aircraft; The program, wherein the operations further include transmitting to the vertical take-off and landing aircraft instructions to land using a landing configuration that is more suitable for landing under the weather conditions. [Explanation of symbols]

[0075] 1 System 10 Control device 11 Control section 12 Storage section 13 Communications Department 20 Vertical Take-Off and Landing Aircraft 21 Control section 22 Memory section 23 Communications Department 24 Input section 25 Output section 30 Network

Claims

1. A control device including a memory unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, The control unit when a landing request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of performing a runway landing; a control device that, if the vertical take-off and landing aircraft is compatible with the runway landing, acquires reference information indicating an environment for landing of the vertical take-off and landing aircraft, and transmits to the vertical take-off and landing aircraft an instruction to land using one of the landing modes of vertical landing and the runway landing based on the reference information.

2. The control device according to claim 1, the reference information includes the degree of congestion of a vertical landing field and a runway as landing locations for the vertical take-off and landing aircraft, The control unit transmits to the vertical take-off and landing aircraft an instruction to land using a landing mode corresponding to the landing location with the lower degree of congestion.

3. The control device according to claim 1 or 2, the reference information includes an amount of vertical landing and runway landing experience of the pilot of the vertical take-off and landing aircraft; The control unit transmits to the vertical take-off and landing aircraft an instruction to land in the landing mode with which the control unit has more experience.

4. The control device according to claim 1 or 2, the reference information includes weather conditions at each of a vertical landing field and a runway as a landing location for the vertical take-off and landing aircraft; The control unit transmits to the vertical take-off and landing aircraft an instruction to land in a landing pattern that is more suitable for landing under the weather conditions.

5. The control device according to claim 4, the reference information includes information about wind as the weather; A control device wherein, when a tailwind or crosswind in the direction of approach of the vertical take-off and landing aircraft to the runway is equal to or greater than a predetermined amount, the control unit transmits an instruction to the vertical take-off and landing aircraft to land by vertical landing.

6. The control device according to claim 4, the reference information includes information regarding rain or snow as the weather, A control device wherein, when the amount of rainfall or snowfall on the runway is equal to or greater than a predetermined amount, the control unit transmits an instruction to the vertical take-off and landing aircraft to land by vertical landing.

7. The control device according to claim 4, the reference information includes information about fog as the weather; A control device wherein, when the amount of fog on the runway is equal to or greater than a predetermined amount, the control unit transmits an instruction to the vertical take-off and landing aircraft to land by vertical landing.

8. The control device according to claim 1 or 2, The control unit when a takeoff request is received from the vertical takeoff and landing aircraft via the communication unit, determining whether the vertical takeoff and landing aircraft is capable of taxiing takeoff; If the vertical take-off and landing aircraft is compatible with the taxiing take-off, the control device acquires take-off reference information indicating the environment for take-off of the vertical take-off and landing aircraft, and transmits to the vertical take-off and landing aircraft an instruction to take off using one of the take-off modes, vertical take-off or taxiing take-off, based on the take-off reference information.

9. A method executed by a control device including a memory unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, The control unit when a landing request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of performing a runway landing; If the vertical take-off and landing aircraft is capable of performing a runway landing, acquiring reference information indicating an environment for landing of the vertical take-off and landing aircraft, and transmitting to the vertical take-off and landing aircraft an instruction to land in one of the landing modes of a vertical landing and the runway landing based on the reference information. A method comprising:

10. 10. The method of claim 9, the reference information includes the degree of congestion of a vertical landing field and a runway as landing locations for the vertical take-off and landing aircraft, The method further includes the control unit transmitting to the vertical take-off and landing aircraft an instruction to land using a landing configuration corresponding to the landing location with the lower level of congestion.

11. 11. The method of claim 9 or 10, the reference information includes an amount of vertical landing and runway landing experience of the pilot of the vertical take-off and landing aircraft; The method further includes the control unit transmitting, to the vertical take-off and landing aircraft, an instruction to land using the landing configuration for which the amount of experience is greater.

12. 11. The method of claim 9 or 10, the reference information includes weather conditions at each of a vertical landing field and a runway as a landing location for the vertical take-off and landing aircraft; The method further includes the control unit transmitting to the vertical take-off and landing aircraft an instruction to land using a landing configuration that is more suitable for landing under the weather conditions.

13. 13. The method of claim 12, the reference information includes information about wind as the weather; The method further includes, when a tailwind or crosswind in the direction of approach of the vertical take-off and landing aircraft to the runway is equal to or greater than a predetermined amount, the control unit sending an instruction to the vertical take-off and landing aircraft to land by vertical landing.

14. 13. The method of claim 12, the reference information includes information regarding rain or snow as the weather, The method further includes, when an amount of rainfall or snowfall on the runway is equal to or greater than a predetermined amount, the control unit sending an instruction to the vertical take-off and landing aircraft to land by vertical landing.

15. 13. The method of claim 12, the reference information includes information about fog as the weather; The method further includes the control unit sending an instruction to the vertical take-off and landing aircraft to land by vertical landing when the amount of fog on the runway is equal to or greater than a predetermined amount.

16. 11. The method of claim 9 or 10, The control unit when a takeoff request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of taxiing takeoff; If the vertical take-off and landing aircraft is compatible with the taxiing take-off, the method further includes acquiring take-off reference information indicating an environment for take-off of the vertical take-off and landing aircraft, and transmitting to the vertical take-off and landing aircraft an instruction to take off using one of the take-off modes, vertical take-off or taxiing take-off, based on the take-off reference information.

17. A computer as a control device including a storage unit, a communication unit that communicates with a vertical take-off and landing aircraft, and a control unit, when a landing request is received from the vertical take-off and landing aircraft via the communication unit, determining whether the vertical take-off and landing aircraft is capable of performing a runway landing; If the vertical take-off and landing aircraft is capable of performing a runway landing, acquiring reference information indicating an environment for landing of the vertical take-off and landing aircraft, and transmitting to the vertical take-off and landing aircraft an instruction to land in one of the landing modes of a vertical landing and the runway landing based on the reference information. A program that causes an operation including

18. 18. The program of claim 17, the reference information includes the degree of congestion of a vertical landing field and a runway as landing locations for the vertical take-off and landing aircraft, The operations further include transmitting instructions to the vertical take-off and landing aircraft to land using a landing configuration corresponding to the less congested landing location.

19. 19. The program according to claim 17 or 18, the reference information includes an amount of vertical landing and runway landing experience of the pilot of the vertical take-off and landing aircraft; The program, wherein the operations further include transmitting to the vertical take-off and landing aircraft an instruction to land using the landing configuration for which the amount of experience is greater.

20. 19. The program according to claim 17 or 18, the reference information includes weather conditions at each of a vertical landing field and a runway as a landing location for the vertical take-off and landing aircraft; The program, wherein the operations further include transmitting to the vertical take-off and landing aircraft instructions to land using a landing configuration that is more suitable for landing under the weather conditions.

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