UAV surveying system and UAV surveying program

Abstract

The present invention aims to provide a UAV surveying system that can perform surveys in a short amount of time. [Solution] The UAV surveying system of the present invention comprises a plurality of surveying UAVs having one or more measuring devices, a transport UAV that transports the plurality of surveying UAVs, and a control device that controls the plurality of surveying UAVs and the transport UAV, wherein the control device (1) flies the transport UAV carrying the plurality of surveying UAVs from a takeoff position to a target position, (2) launches the plurality of surveying UAVs from the transport UAV located at the target position, (3) causes each of the plurality of surveying UAVs flying on different routes to conduct ground surveys corresponding to each different route using the at least one or more measuring devices and transmit the survey data for each different route to itself, and (4) synthesizes the survey data for each different route that it has received.

Description

Technical Field

[0001] The present invention relates to a UAV surveying system and a UAV surveying program.

Background Art

[0002] As a method for quickly and efficiently grasping the situation on the ground, a method of remotely surveying by mounting surveying equipment on an unmanned aerial vehicle (hereinafter referred to as UAV (Unmanned Aerial Vehicle) in this specification) (remote sensing) is known. Here, as surveying methods, there are methods such as laser distance measurement (including electromagnetic waves and infrared rays), thermal image analysis, camera video analysis, and ultrasonic data analysis. By associating satellite positioning information (GPS information) of each surveying position with a plurality of surveying data transmitted from the UAV to an external computer via a communication network and synthesizing them, detailed and highly accurate survey results can be obtained quickly. In addition, as an application scenario of remote sensing, for example, grasping the situation during a disaster has been studied (see Non-Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Non-patent document 1 discloses an example of how UAVs can be used in the event of a disaster, such as taking photographs with a single UAV, but does not disclose how multiple UAVs can be used.

[0005] The present invention aims to provide a surveying system using multiple surveying UAVs. More specifically, one of its objectives is to provide a UAV surveying system that can perform surveys in a shorter time compared to surveying with a single surveying UAV. [Means for solving the problem]

[0006] The UAV surveying system of the first embodiment is Multiple surveying UAVs, each having at least one type of measuring device, A transport UAV that carries the aforementioned multiple surveying UAVs and transports the aforementioned multiple surveying UAVs, A control device that is communicatively connected to the plurality of surveying UAVs and the transport UAVs, and controls the plurality of surveying UAVs and the transport UAVs, Equipped with, The control device (1) flies the transport UAV, which is pre-loaded with the plurality of surveying UAVs, from the takeoff position to each of the target positions; (2) launches the plurality of surveying UAVs from the transport UAV located at each of the target positions so that each of the plurality of surveying UAVs flies a pre-set route that is different from the others; (3) causes each of the plurality of surveying UAVs flying on different routes to conduct ground surveys corresponding to each different route using at least one type of measuring device and transmit the survey data for each different route to itself; and (4) synthesizes the survey data for each different route that it has received to calculate the survey result for the entire route. The UAV surveying system of the second embodiment is moreover, In (3), the control device causes each of the multiple surveying UAVs to transmit the survey data for each of the different routes multiple times at predetermined timings, and in (4), it receives the survey data for each of the different routes multiple times at predetermined timings, and calculates the survey results up to that point by combining the multiple sets of survey data for each of the different routes that have been received in the past. The UAV surveying system of the third embodiment is moreover, At least a portion of the pre-set route in one of the multiple surveying UAVs is set to correspond to at least a portion of the pre-set route in the other surveying UAVs. In (4), the control device calculates the survey results for the entire route and the observation results for the entire route. The UAV surveying system of the fourth aspect is moreover, If the control device finds that, in the survey results obtained up to that point, there is a difference between the survey results of one route and the survey results of all the remaining routes that exceeds a preset survey difference, it modifies the preset route of at least one of the plurality of survey UAVs that are flying on routes other than the one route, so that the survey area corresponding to the one route is surrounded by the survey areas corresponding to all the remaining routes. The UAV surveying system of the fifth aspect is moreover, If the control device finds that, in the survey results obtained up to that point, there is a difference between the survey results of one route and the survey results of all the remaining routes that exceeds a preset survey difference, it modifies the preset route of at least one of the plurality of survey UAVs that are flying on routes other than the one route, so that the survey area corresponding to the one route is surrounded by the survey areas corresponding to all the remaining routes. The UAV surveying system of the sixth aspect is: moreover, The control device is communicatively connected to a weather information storage device that stores weather information, The control device combines the observation results of the entire route with weather information received from the weather information storage device to predict the observation results for the area corresponding to the entire route going forward. The UAV surveying system of the seventh aspect is moreover, The control device is communicatively connected to a survey information storage device that stores survey information for the entire route. The control device further combines the survey information for the entire route received from the survey information storage device to predict the observation results for the area corresponding to the entire route in the future. The UAV surveying program of the first embodiment is Using the UAV surveying system of the first or second embodiment, The control device, A function to fly the transport UAV, which is pre-loaded with the aforementioned multiple surveying UAVs, from the takeoff position to each target position, A function to launch the multiple surveying UAVs from the transport UAV located at each of the target positions, such that each of the multiple surveying UAVs flies along a predetermined route that is different from the others. Each of the multiple survey UAVs flying on different routes has a function to transmit survey data for each different route to itself while conducting ground surveys corresponding to each different route using at least one type of measuring device, The system has a function to synthesize the survey data for each of the different routes it has received to calculate the survey results for all routes, and also to calculate the observation results for all routes. Make it run. The UAV surveying program of the second embodiment is: Using the UAV surveying system of the first or second embodiment, The control device, A function to fly the transport UAV, which is pre-loaded with the aforementioned multiple surveying UAVs, from the takeoff position to each target position, A function to launch the plurality of survey UAVs from the transport UAV located at each target position so that each of the plurality of survey UAVs flies along preset routes that are different from each other. A function to cause each of the plurality of survey UAVs flying along different routes to perform ground surveys corresponding to the different routes using the at least one type of measurement device and to transmit measurement data of the different routes to itself. A function to calculate the survey results of all routes by synthesizing the measurement data of the different routes received by itself and to calculate the observation results of all routes. Using a prediction model machine-learned with the correlation between a plurality of observation results observed in the past along routes different from each of the all routes and the weather information at the time of each of the plurality of observations as teacher data, to predict the future survey results for the all routes from the observation results of the all routes and the weather information of the all routes at the time of calculating the observation results of the all routes. To execute. The UAV survey program of the third aspect Using the UAV survey system of the fourth aspect For the control device A function to fly the transport UAV on which the plurality of survey UAVs are mounted in advance from the takeoff position to each target position. A function to launch the plurality of survey UAVs from the transport UAV located at each target position so that each of the plurality of survey UAVs flies along preset routes that are different from each other. A function to cause each of the plurality of survey UAVs flying along different routes to perform ground surveys corresponding to the different routes using the at least one type of measurement device at a predetermined timing and to transmit the measurement data of the different routes to itself a plurality of times. Calculate the survey results for all routes by synthesizing the survey data of each different route received multiple times at the predetermined timing, and calculate the previous survey results by synthesizing the survey data of each different route received multiple times in the past, and In the previous survey results, if there is a difference greater than or equal to a preset survey difference between the survey result of one route and the survey results of all the remaining routes, so that the survey area corresponding to the one route is surrounded by the survey areas corresponding to all the remaining routes, change the preset route of at least one or more survey UAVs that fly the routes other than the one route among the plurality of survey UAVs, and Execute it.

Advantages of the Invention

[0007] According to the UAV survey system of the first aspect, compared with the case of surveying with a single survey UAV, surveying can be performed in a shorter time. According to the UAV survey system of the second aspect, the previous survey results can be calculated before the survey results for all routes are calculated. According to the UAV survey system of the third aspect, observation results can be obtained by calculating a plurality of survey results. According to the UAV survey systems of the fourth and fifth aspects, the preset route (survey area) can be changed to obtain more appropriate survey results. According to the UAV survey systems of the sixth and seventh aspects, by combining meteorological information with the current observation results, the subsequent observation results can be predicted more appropriately. According to the UAV survey program of the first aspect, compared with the case of surveying with a single survey UAV, the UAV survey system can be made to perform surveys in a shorter time. According to the UAV survey program of the second aspect, the UAV survey system can be made to predict future survey results. Also, according to the UAV survey program of the second aspect, the UAV survey system can be provided with observation results from the past to the future. According to the UAV surveying program of the third embodiment, the pre-set route (survey area) can be changed, and appropriate survey results can be obtained by the UAV surveying system. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the UAV surveying system according to the first embodiment. [Figure 2] This is a schematic diagram of the management server included in the UAV surveying system of the first embodiment. [Figure 3A] This diagram illustrates the operation of the UAV surveying system according to the first embodiment, and is a schematic diagram of the takeoff position and target position of a large UAV, as well as the surrounding area. [Figure 3B] Figure 3A is a schematic diagram showing the situation when a large UAV is set up at the takeoff position. [Figure 3C] Figure 3A is a schematic diagram showing what happens when a large UAV arrives at the target location and multiple smaller UAVs are launched from the large UAV. [Figure 3D] This is a schematic diagram of the survey area in the schematic diagram of Figure 3C, viewed from above in the vertical direction. [Figure 3E] This is a flowchart illustrating the operation of the UAV surveying system according to the first embodiment. [Figure 4A] This is a schematic diagram of a UAV surveying system according to a second embodiment, showing the survey area viewed from above in the vertical direction immediately after a large UAV reaches the first target position. [Figure 4B] This is a schematic diagram of a UAV surveying system according to a second embodiment, showing the survey area viewed from above in the vertical direction immediately after a large UAV reaches the second target position. [Figure 5] This is a flowchart illustrating the operation of the UAV surveying system according to the third embodiment. [Figure 6A] This is a flowchart illustrating the operation of the UAV surveying system according to the fourth embodiment. [Figure 6B] This is a partial flowchart of the revision review (S70B) in the flowchart of Figure 6A. [Figure 6C]This is a schematic diagram illustrating the route before and after a route change in the UAV surveying system of the fourth embodiment, in the case where the route is changed as a result of the revision study. [Figure 7] This is a flowchart illustrating the operation of the UAV surveying system according to the fifth embodiment. [Figure 8] This is a flowchart illustrating the operation of the UAV surveying system according to the sixth embodiment. [Figure 9] This is a flowchart illustrating the operation of the first modified UAV surveying system. [Figure 10] This is a schematic diagram of a second modified UAV surveying system, showing the survey area viewed from above in the vertical direction immediately after a large UAV reaches the target position. [Figure 11] This is a flowchart illustrating the operation of the third modified UAV surveying system. [Figure 12] This is a partial flowchart of the revision study (S70F) in the flowchart of the fourth modified example. [Figure 13] This is a schematic diagram of the fifth modified UAV surveying system, showing the survey area viewed from above in the vertical direction immediately after the large UAV reaches the target position. [Figure 14] This is a flowchart illustrating the operation of the UAV surveying system in the sixth modified example. [Modes for carrying out the invention]

[0009] ≪Overview≫ The following describes the first to sixth embodiments, several modifications, and reference examples. Note that in this specification, the same or similar reference numerals are used for components having similar functions in the drawings referenced in different embodiments, etc.

[0010] ≪First Embodiment≫ First, the UAV surveying system MS1 of the first embodiment (see Figure 1, etc.) will be explained in terms of its functions and configuration, operation, and effects, with reference to Figures 1 to 3E.

[0011] <Function and configuration of the first embodiment> The UAV surveying system MS1 of this embodiment has the following functions: (1) transports multiple small UAVs 20 (an example of multiple surveying UAVs) from the takeoff position SP to the target position TP using a large UAV 10 (an example of a transport UAV); (2) surveys each of the multiple small UAVs 20 that divide the area surrounding the target position TP (surveying area); and (3) calculates the surveying result of the surveying area by combining the multiple surveying results. The purpose of using the UAV surveying system MS1 in this embodiment is, for example, to quickly investigate the situation of a disaster in a certain area when a disaster such as an earthquake, fire, or flood occurs in that area. In this embodiment, the purpose of using the UAV surveying system MS1 is, as an example, to investigate the situation of a disaster in a certain area, but please note that the purpose of using the UAV surveying system MS1 may be to investigate other types of surveys.

[0012] As shown in Figure 1, the UAV surveying system MS1 comprises a large UAV 10, multiple small UAVs 20, a management server 30 (an example of a control device), an external server 40, and a user terminal 50. These components are connected via a communication network NW (for example, the Internet) with the management server 30 at its center.

[0013] (Large UAV) The large UAV 10 has the function of carrying multiple small UAVs 20 and transporting them from a takeoff position SP to a target position TP (see Figures 3B and 3C). Here, the takeoff position SP refers to a position from which the large UAV 10 can take off even if a disaster is occurring, that is, a position from which it can take off without being affected by the disaster. The target position TP refers to a position in the disaster-affected area from which multiple small UAVs 20 are detached (departed). The setting of the target position TP and the flight route from the takeoff position SP to the target position TP is performed by the user U (operator) using, for example, the user terminal 50 described later. The large UAV10 is equipped with a GPS receiver (not shown in the diagram).

[0014] (Multiple small UAVs) Each of the multiple small UAVs 20 is detached from the large UAV at the target location TP and has the function of surveying each of the divided areas (survey area) surrounding the target location TP, while transmitting the survey data to the management server 30. In this embodiment, the number of small UAVs 20 is set to four as an example, but it may be two to three or five or more. The multiple small UAVs 20 are designated as small UAVs 20A, 20B, 20C, and 20D (see Figures 1, 3D, etc.). The aforementioned divided regions, as shown in Figure 3D, refer to, for example, the first region, the second region, the third region, and the fourth region. The aforementioned surveying of each region means collecting geographical information on the ground in each region and accurately measuring its position, shape, height, etc. Each of the multiple small UAV20s is equipped with at least one type of measuring device (not shown) for surveying each area. For example, it is equipped with devices for measurement using laser ranging (including electromagnetic waves and infrared), thermal image analysis, camera image analysis, ultrasonic data analysis, etc. Each of the multiple small UAV20s is equipped with a GPS receiver (not shown in the diagram).

[0015] (Management server) As shown in Figure 1, the management server 30 is connected to the large UAV 10, multiple small UAVs 20, an external server 40, and user terminals 50 via a communication network NW. The management server 30 is, for example, a so-called cloud server located on the cloud CLD. The management server 30 has the function of controlling the large UAV 10 and multiple small UAVs 20 based on commands (instruction information) received from the user terminal 50. The management server 30 also has the function of transferring information (location information, survey information) transmitted from the large UAV 10 and multiple small UAVs 20 to the user terminal 50, and the function of synthesizing the said survey information and transferring it to the user terminal 50 again. As shown in Figure 2, the management server 30 comprises a processing unit 32 (CPU (Central Processing Unit)) and a storage unit 34 (Memory). The processing unit 32 reads the data stored in the storage unit 34 and performs calculations. This data includes, as an example, an application AP. The application AP consists of a program PG1, a data file DF, and various libraries LB. The control method for the large UAV10 and multiple small UAV20s by the management server 30, as well as the program PG1, will be explained in the operation description below.

[0016] (External server) External server 40 is, for example, a server located on the cloud CLD and is a separate server from management server 30. External server 40 stores, for example, map information, past disaster information (date and time, weather at the time, damage information and other information), survey results obtained from the past execution of programs PG1 to PG6, etc., and information on past and present weather. When management server 30 sends a request to external server 40 to retrieve this information (for example, a request via Web API), management server 30 can receive this information via the communication network NW.

[0017] (User terminal) The user terminal 50 is a terminal used by user U (operator) and is capable of transmitting information on surveying conditions entered by user U to the management server 30 via the communication network NW. The user terminal 50 is also capable of receiving information (location information, surveying information) transmitted to the management server 30 from the large UAV 10 and multiple small UAVs 20, as well as surveying information synthesized by the management server 30.

[0018] The above describes the functions and configuration of the UAV surveying system MS1 according to the first embodiment.

[0019] <Operation of the first embodiment> Next, the operation of the UAV surveying system MS1 of the first embodiment will be explained with reference to Figures 3A to 3E.

[0020] (S10) When a disaster occurs in a certain area (see Figure 3A), user U (operator) estimates the location of the disaster area and identifies the target location TP and survey area. This information is then transmitted from the user terminal 50 to the management server 30 (see Figure 1). Accordingly, the management server 30 receives map information of the survey area from the external server 40 and divides it into portions corresponding to the number of small UAVs 20. This division is set by the management server 30 while referring to the map information so that the survey time can be completed in the shortest possible time. (S20) Next, an operator (not shown) sets up the large UAV10, which is equipped with multiple (4) small UAV20s, at the takeoff position SP (see Figure 3B). The operator then notifies the management server 30 via the communication network NW that the setup is complete using their own information terminal (not shown). As a result, the management server 30 initiates the large UAV 10's takeoff. The management server 30 determines the large UAV 10's flight position from the GPS device's position information.

[0021] (S30) Next, when the management server 30 determines that the large UAV 10 has reached the target position TP, it detaches four small UAVs 20 from the large UAV 10 in mid-air, and then launches each of the four small UAVs 20 toward a pre-defined (divided) survey area (areas 1 to 4 (see Figure 3D)).

[0022] (S40) Next, the management server 30 instructs each of the four small UAVs 20 to fly along a pre-set route for each survey area (areas 1 to 4 (see Figure 3D)) (see Figure 3D). The management server 30 also instructs the four flying small UAVs 20 to perform surveys at predetermined timings using their respective measuring devices and transmit the survey data to itself along with GPS information (location information). Here, the predetermined timing is set to, for example, 1 to 3 seconds, but it can be shorter or longer than this example as long as a large amount of data can be acquired during the period of flying the entire route. The survey data includes data from laser ranging (including electromagnetic waves and infrared rays), thermal image analysis, camera image analysis, ultrasonic data analysis, etc.

[0023] (Showa 50 and Showa 60) Next, when the management server 30 determines that the four small UAVs 20 have completed flight and surveying of all routes within their respective survey areas (areas 1 to 4 (see Figure 3D)) (S50), it synthesizes the multiple measurement data received from each of the four small UAVs 20 to calculate the measurement results for the entire measurement area (all routes), and the measurement operation program PG1 terminates (S60). Furthermore, once the management server 30 has finished calculating the measurement results, it transmits the results to the user terminal 50 via the communication network NW.

[0024] (Summary of control operations) Here, the operation flow (or algorithm of program PG1) of Figure 3E, which was referenced in the above explanation, can be summarized as follows: The management server 30 (1) has a large UAV 10, which is pre-loaded with multiple small UAVs 20, fly from the takeoff position SP to their respective target positions TP, (2) launches multiple small UAVs 20 (20A to 20D) from the large UAV 10 located at their respective target positions TP so that each of the multiple small UAVs 20 (20A to 20D) flies a pre-set route that is different from the others, (3) has each of the multiple small UAVs 20 (20A to 20D), which are flying different routes in each survey area (areas 1 to 4), perform ground measurements corresponding to each different route using at least one type of measuring device (measurements by laser ranging (including electromagnetic waves and infrared), thermal image analysis, camera image analysis, ultrasonic data analysis, etc.) and transmits the measurement data for each different route to itself, and (4) synthesizes the measurement data for each different route that it has received to calculate the measurement result for the entire route (or the entire survey area).

[0025] The above describes the operation of the UAV surveying system MS1 according to the first embodiment.

[0026] <Effects of the First Embodiment> Next, the effects of the first embodiment will be described.

[0027] (First effect) In this embodiment, multiple small UAVs 20 that perform surveying while flying in the surveying area are transported by a large UAV 10 from the takeoff position SP to the target position TP (see Figure 3C). Therefore, during the period when multiple small UAV20s are being transported to the large UAV10, the energy from batteries and other sources on each of them is not consumed by flight operations. Therefore, this embodiment allows for surveying over a wider area compared to the case where multiple small UAVs 20 take off from a takeoff position SP and perform surveying.

[0028] (Second effect) Furthermore, in this embodiment, the number of small UAVs 20 transported from the takeoff position SP to the target position TP by the large UAV 10 is multiple (four in this embodiment as an example) (see Figure 3B). Therefore, if each of the small UAV20A, 20B, 20C, and 20D flies and surveys the first to fourth regions, which are divided into portions equal to the number of small UAV20s, the survey of the entire survey area will be completed (see Figure 3D). Therefore, this embodiment allows for faster surveying compared to surveying the entire measurement area with a single surveying UAV (small UAV). Consequently, the user terminal 50, which receives the survey results from the management server 30, allows the user U (operator) to obtain survey results of the disaster situation in a particular area (survey area) more quickly.

[0029] The above describes the effects of the first embodiment. The above also describes this embodiment.

[0030] ≪Second Embodiment≫ Next, the UAV surveying system MS2 of the second embodiment will be described with reference to Figures 4A and 4B. The following description will only cover the parts of this embodiment that differ from the first embodiment described above (see Figures 1 to 3E). In the following description, the entire survey area will be the same location and range in both the first embodiment and this embodiment.

[0031] In the first embodiment, the target position TP is a single location in the center of the entire survey area (see Figure 3D). In the first embodiment, measurements by the multiple small UAVs 20 will not begin until the large UAV 10 arrives at the target position TP1, which is set in the center of the entire survey area.

[0032] In contrast, in this embodiment, target positions TP1 and TP2 are set at two locations (multiple locations): one at the periphery of the entire survey area (target position TP1) and target position TP2 which is slightly offset from the center of the entire survey area. In this embodiment, (1) when passing through target position TP1, which is set at the periphery of the entire survey area and in two areas (for example, the second and third areas), the two small UAVs 20B and 20C are detached from the large UAV 10 and begin flight and surveying in each area (the second and third areas) (see Figure 4A), and (2) then, when the large UAV 10 reaches target position TP2, the remaining two small UAVs 20A and 20D are detached from the large UAV 10 and begin flight and surveying in the remaining areas (the first and fourth areas) (see Figure 4B). In this embodiment, the management server 30 sets, for example, (1) the areas of the second and third regions to be larger than the areas of the first and fourth regions, and (2) the flights of each small UAV 20A, 20B, 20C, and 20D in all regions (regions 1 to 4) to end at the same time.

[0033] Therefore, in this embodiment, the calculation of the survey results for the entire survey area can be completed in a shorter time compared to the first embodiment described above.

[0034] The above concludes the description of the second embodiment.

[0035] ≪Third Embodiment≫ Next, the UAV surveying system MS3 of the third embodiment will be described with reference to Figure 5. The following description will only cover the parts of this embodiment that differ from the first embodiment described above (see Figures 1 to 3E).

[0036] In the first embodiment, the management server 30 (1) has the four small UAVs 20 complete the flight and surveying of the entire route of the survey area (the first to fourth areas (see Figure 3D)) (see S40 and S50 in Figure 3E), and then (2) synthesizes the multiple measurement data received from each of the four small UAVs 20 to calculate the measurement results for the entire measurement area (entire route) (see S60 in Figure 3E).

[0037] In contrast, in this embodiment, the management server 30 (1) has four small UAVs 20 fly along routes for their respective survey areas (the first to fourth areas (see Figure 3D)) and transmit survey data at predetermined timings (see S40 in Figure 5), and then (2) synthesizes the survey data received from the four small UAVs 20 at the predetermined timings each time, that is, synthesizes the survey data for each route up to that point, and calculates the measurement results for the measurement area (the route up to that point) up to that point (see S60A and S50 in Figure 5).

[0038] Therefore, in this embodiment, unlike the first and second embodiments, the survey results up to that point can be calculated before the survey results for the entire route are calculated. Accordingly, the user terminal 50, which has received the (intermediate) survey results up to that point from the management server 30, allows the user U (operator) to obtain the survey results of the disaster situation in a certain area (survey area) up to that point.

[0039] The above is a description of the third embodiment.

[0040] ≪Fourth Embodiment≫ Next, the UAV surveying system MS4 of the fourth embodiment will be described with reference to Figures 6A to 6C. The following description will only cover the parts of this embodiment that differ from the third embodiment (see Figure 5) described above.

[0041] In the fourth embodiment, the management server 30 synthesizes the survey data received from the four small UAVs 20 at predetermined timings and calculates the survey results for the measurement area (the route taken so far) up to that point (hereinafter referred to as the intermediate survey calculation operation). This operation continues until the flight of all four small UAVs 20A, 20B, 20C, and 20D along their respective routes is completed by the decision step S50 (see S60A and S50 in Figure 5).

[0042] In contrast, in this embodiment, if the management server 30 makes a negative judgment in the judgment step S50, it performs S70 (a step to make a decision on correcting the route) during the intermediate survey calculation operation (see Figure 6A). (S71B) Here, in S70, (1) first, it is determined in the judgment step S71B whether the route was changed in the past. If the route was changed in the past (positive judgment), proceed to S40 (Figure 6A). On the other hand, if the route was not changed in the past (negative judgment), proceed to the judgment step S72B. (S72B) Next, in the judgment step S72B, if, as a result of the surveys conducted so far, the values ​​obtained from the survey data in one of the divided survey areas (areas 1 to 4) do not have a predetermined difference (a difference greater than a certain value) compared to the values ​​obtained from the survey data in the other (all remaining) areas (in the case of a negative judgment), the process proceeds to S40 (Figure 6A). On the other hand, if there is a predetermined difference (a difference greater than a certain value) (in the case of a positive judgment), the process proceeds to S73B. (S73B) In S73B, the survey results that were deemed positive in S72B are transmitted to the user terminal 50 via the management server 30. Therefore, the survey results are reported to the user U (operator) using the user terminal 50. Here, in the survey results, for example, the temperature value obtained from the survey data in the second region (an example of one region) is set to be greater than or equal to a predetermined difference (for example, 300°C) compared to the temperature values ​​obtained from the survey data in the first, third, and fourth regions (all the remaining regions). (S74B and S75B) Next, when user U sends a route change instruction from user terminal 50 to management server 30, management server 30 makes a positive decision in decision step S74B, and the route change is performed (see Figure 6C). Specifically, user U, who has been notified of the survey results as described above, will likely think that it would be better to change the survey so that, for example, the second area is more centrally located within the entire survey area, rather than continuing the survey with the originally planned entire survey area (see Figure 6C, immediately before route correction), in order to obtain more of the desired disaster information. Therefore, in the program PG4 of this embodiment, in step S70B of the modification consideration, the route is modified so that the second region is surrounded by the first, third, and fourth regions (see Figure 6C). In general, in this embodiment, if the management server 30 finds that, in the survey results up to the decision step S60A, there is a difference between the survey results of one route and the survey results of all the remaining routes that exceeds a preset survey difference, it modifies the preset routes of at least one of the multiple small UAVs 20 that are flying on routes other than one route, so that the survey area corresponding to one route is surrounded by the survey areas corresponding to all the remaining routes. If user U sends an instruction from user terminal 50 to management server 30 stating that it will not change the route, management server 30 makes a negative determination in decision step S74B and proceeds to S40 (see Figure 6C).

[0043] Therefore, according to this embodiment, it is possible to change the pre-set route (survey area) to obtain more appropriate survey results.

[0044] The above concludes the description of the fourth embodiment.

[0045] ≪Fifth Embodiment≫ Next, the UAV surveying system MS5 of the fifth embodiment will be described with reference to Figure 7. The following description will only cover the parts of this embodiment that differ from the third embodiment (see Figure 5) described above.

[0046] In the third embodiment, the management server 30 terminates if it makes an affirmative decision in the decision step S50 following S60A. That is, in the third embodiment, the process terminates when the survey results for the entire survey area are calculated. However, after this, the management server 30 transmits the calculated survey results to the user terminal 50 (not shown).

[0047] In contrast, in this embodiment, the management server 30 does not terminate by making an affirmative decision in the judgment step S50, but rather terminates after performing S80C. In the S80C, the management server 30 receives the survey results for the entire survey area (survey information for the entire route) that were previously obtained and stored in the external server 40 (an example of a survey information storage device), and compares them with the survey results for the same entire survey area that were calculated this time. Here, the survey results for the entire survey area (survey information for the entire route) obtained in the past refers to data that was obtained in advance using the UAV measurement system MS5 of this embodiment a few days before the disaster (before the disaster occurred) was anticipated, for example, because the occurrence of the disaster (e.g., a typhoon) was expected.

[0048] In this embodiment, the management server 30 compares the survey results for the entire survey area obtained at the time of the affirmative decision in S50 with the pre-disaster (normal) survey results for the entire survey area obtained from the external server 40 in S80, thereby calculating the locations and extent of damage caused by the disaster as observation results. Furthermore, the management server 30 transmits the survey results during and before the disaster to the user terminal 50, allowing the user U (operator) to compare the two survey results and use them for observation, etc.

[0049] The above concludes the description of the fifth embodiment.

[0050] ≪Sixth Embodiment≫ Next, the UAV surveying system MS6 of the sixth embodiment will be described with reference to Figure 8. The following description will only cover the parts of this embodiment that differ from the fifth embodiment (see Figure 7) described above.

[0051] In the fifth embodiment, the management server 30 (1) has each small UAV 20A, 20B, 20C, and 20D fly and survey routes in areas that do not overlap with each other (areas 1 to 4) (see S40 in Figure 7 and the related Figure 3D), and then (2) synthesizes the measurement data of each route up to the time of transmission to calculate the survey results up to the time of transmission (see S60A in Figure 7).

[0052] In contrast, in this embodiment, S40D is performed instead of S40, and S60D is performed instead of S60A. Specifically, in S40D, the management server 30 instructs each of the small UAVs 20A, 20B, 20C, and 20D to fly and survey across two regions, for example, assigning two routes to small UAV 20A (region 1 and region 2), two routes to small UAV 20B (region 2 and region 3), two routes to small UAV 20C (region 3 and region 4), and two routes to small UAV 20D (region 4 and region 1) (refer to Figure 3D for regions 1 to 4). Furthermore, the S60D calculates the survey results by sequentially combining the measurement data transmitted during the S40D. In addition, since each route is surveyed twice with a time difference, the resulting changes in measurement results (observation results) are also calculated. Furthermore, in the S80D, the management server 30 receives information about past and present weather (weather information) stored in the external server 40 (an example of a weather information storage device). Then, the management server 30 combines the observation results obtained at the end of S50 with weather information to predict the future disaster situation (future survey results).

[0053] Therefore, according to this embodiment, by combining the observation results at the present time with meteorological information, it is possible to more accurately predict the observation results immediately following.

[0054] The above concludes the description of the sixth embodiment.

[0055] ≪Multiple Variations≫ As described above, the first to sixth embodiments have been presented as examples of the present invention, but the present invention is not limited to these forms. The following several modifications are also examples of the present invention. Furthermore, within the technical scope of the present invention, some constituent elements of one embodiment among the embodiments described above and the multiple modifications described later may be replaced with some constituent elements of another embodiment, or some constituent elements of another embodiment may be added to one embodiment.

[0056] <First variation> In the first embodiment, the division of the entire survey area (the first to fourth areas (see Figure 3D)) was described as being set by the management server 30 while referring to map information so that the survey time would be completed in the shortest possible time. However, as shown in the first modified example of the UAV surveying system MS7 (program PG7) in Figure 9, when the entire survey area is divided into multiple areas, weather information may be obtained from an external server 40, and the shape of the divided areas may be determined so that the survey operation can be completed more quickly, taking into account the air resistance of the small UAV 20 during flight based on the weather information (see S5E). In this modified example, S10 may be performed after S5E.

[0057] <Second variation> In the first embodiment, the target position TP was set to the center of the entire survey area (see Figure 3D). However, as shown in the second modified example of the UAV surveying system MS8 (program PG8) in Figure 10, the target position TP may be set at the periphery of the entire measurement area, and all the small UAVs 20A, 20B, 20C, and 20D may be launched from the target position TP set at the periphery. In this modified example, depending on the shape of the entire measurement area, the surveying operation can be completed faster than in the first embodiment.

[0058] <Third variation> Before the large UAV10 takes off, the takeoff position SP, the survey area, and the number of smaller UAVs 20 are predetermined. Furthermore, the time required to complete the survey operation varies depending on the shape of the survey area, the division of the entire survey area, and the setting of the target position TP. Therefore, as shown in the third modified example of the UAV surveying system MS9 (program PG9) in Figure 11, the management server 30 may be instructed to calculate the division of the entire surveying area and the target position TP (S5G) using the position and shape of the surveying area, the location of the takeoff position SP, and the number of multiple small UAVs 20 as parameters, so that the time required until the surveying operation is completed (time from takeoff until the flight and surveying of the entire surveying area is completed) is the shortest possible time. In S5G, for example, it may be set to one of the cases of the first embodiment (see Figure 3D), the second embodiment (see Figure 4A), or the second modified example (see Figure 10).

[0059] <Fourth variation> In the fourth embodiment, S70 (modification study), the system was configured to change the route when user U (operator) instructed to do so (see S74B and S75B in Figure 6B). However, as shown in S70F (modification review) of the UAV surveying system MS10 (program PG10) in the fourth modified example in Figure 12, if the judgment in the decision step S72B is positive, the route may be automatically changed. Furthermore, in this case, along with the route change, the management server 30 may notify the user terminal 50 that the route has been changed (S75F).

[0060] <Fifth variation> In the first embodiment, the function of the large UAV 10 was described as transporting multiple small UAVs 20 from the takeoff position SP to the target position TP. However, as shown in the fifth modified example of the UAV surveying system MS11 (program PG11) in Figure 13, the large UAV 10 may be equipped with the function to survey a portion of the entire survey area (for example, the fifth area).

[0061] <Sixth variation> In the sixth embodiment (see Figure 8), the management server 30 receives information on past and present weather (weather information) from the external server 40 (S80D), and combines the observation results obtained after the completion of the surveying operation (after the completion of S50) with the weather information to predict the future disaster situation (future surveying results). However, as shown in the sixth modified example of the UAV surveying system MS12 (program PG12) in Figure 14, future survey results (disaster prediction) may be generated using AI (S80H). Specifically, a predictive model is generated using machine learning as training data, based on (1) information on multiple past disasters (location, extent of disaster spread (time change)) and (2) the correlation between the weather information at the time of the disaster at those locations, all of which are recorded on the external server 40. Then, by inputting the observation results obtained after the completion of S50 and the actual weather information at that location into this predictive model, the future disaster situation (future survey results) may be predicted (S80H). Here, (1) multiple past disaster information (location, extent of disaster spread (changes over time)) refers to multiple observation results observed in the past along routes different from the entire route within the survey area that is the subject of this survey.

[0062] The above is an explanation of several variations.

[0063] ≪Reference example≫ The aforementioned embodiments and modifications relate to inventions that are based on the premise of performing surveying. However, the constituent elements included in these forms may be used for inventions other than surveying. For example, the idea that a large UAV 10 takes off from a takeoff position SP and detaches multiple small UAVs 20 at an aerial target position TP can be used by replacing the multiple drones used in so-called drone shows with multiple small UAVs 20. This form eliminates the need for power during takeoff of multiple drones and also eliminates the need for space to launch multiple drones. Furthermore, the idea of ​​using weather information to determine the flight areas (flight routes) of each small UAV 20A, 20B, etc., when separating multiple small UAVs 20 from a large UAV 10 at a target location TP, could also be used in agricultural applications such as pesticide spraying, observation of buildings, forests, etc.

[0064] The above is an explanation of the example. [Explanation of symbols]

[0065] 10. Large UAVs (an example of a transport UAV) 20. Multiple small UAVs (Examples of multiple surveying UAVs) 20A Small UAV (An example of a surveying UAV) 20B Small UAV (An example of a surveying UAV) 20C Small UAV (An example of a surveying UAV) 20D Small UAV (An example of a surveying UAV) 30 Management Server (Example of a control device) 32 Processing Units 34 Storage section 40. External servers (examples of weather information storage devices and surveying information storage devices) 50 user terminals AP Application CLD Cloud DF data file LB various libraries MS1-12 UAV Surveying System NW (Network Communication Network) PG1-12 Programs SP Takeoff Position TP target position TP1 Target position TP2 target position U User (Operator)

Claims

1. Multiple surveying UAVs, each having at least one type of measuring device, A transport UAV that carries the multiple surveying UAVs and transports the multiple surveying UAVs, A control device that is communicatively connected to the plurality of surveying UAVs and the transport UAVs, and controls the plurality of surveying UAVs and the transport UAVs, Equipped with, The control device (1) flies the transport UAV, which is pre-loaded with the plurality of surveying UAVs, from the takeoff position to each of the target positions; (2) launches the plurality of surveying UAVs from the transport UAV located at each of the target positions so that each of the plurality of surveying UAVs flies a pre-set route that is different from the others; (3) causes each of the plurality of surveying UAVs flying on different routes to conduct ground surveys corresponding to each different route using at least one type of measuring device and transmit the survey data for each different route to itself; and (4) synthesizes the survey data for each of the different routes that it has received to calculate the survey result for the entire route. UAV surveying system.

2. In (3), the control device causes each of the multiple surveying UAVs to transmit the survey data for each of the different routes multiple times at predetermined timings, and in (4), it receives the survey data for each of the different routes multiple times at predetermined timings, and calculates the survey results up to that point by combining the multiple sets of survey data for each of the different routes that have been received in the past. The UAV surveying system according to claim 1.

3. At least a portion of the pre-set route in one of the plurality of surveying UAVs is set to correspond to at least a portion of the pre-set route in the other surveying UAVs. The control device, in (4), calculates the survey results for the entire route and the observation results for the entire route. The UAV surveying system according to claim 1 or 2.

4. If the control device finds that, in the survey results obtained up to that point, there is a difference between the survey results of one route and the survey results of all the remaining routes that exceeds a preset difference, it will change the preset route of at least one of the multiple survey UAVs flying on routes other than the one route so that the survey area corresponding to the one route is surrounded by the survey areas corresponding to all the remaining routes. The UAV surveying system according to claim 2.

5. If the control device finds that, in the survey results obtained up to that point, there is a difference between the survey results of one route and the survey results of all the remaining routes that exceeds a preset difference, it will change the preset route of at least one of the multiple survey UAVs flying on routes other than the one route so that the survey area corresponding to the one route is surrounded by the survey areas corresponding to all the remaining routes. A UAV surveying system that references only claim 2 of claim 3.

6. The control device is communicatively connected to a weather information storage device that stores weather information, The control device combines the observation results of the entire route with weather information received from the weather information storage device to predict the observation results for the area corresponding to the entire route going forward. A UAV surveying system according to any one of claims 3 to 5.

7. The control device is communicatively connected to a survey information storage device that stores survey information for the entire route. The control device further combines the survey information of the entire route received from the survey information storage device to predict the observation results of the area corresponding to the entire route in the future. The UAV surveying system according to claim 6.

8. Using the UAV surveying system described in claim 1 or 2, The control device, A function to fly the transport UAV, which is pre-loaded with the aforementioned multiple surveying UAVs, from the takeoff position to each target position, A function to launch the multiple surveying UAVs from the transport UAV located at each of the target positions, such that each of the multiple surveying UAVs flies along a predetermined route that is different from the others. Each of the multiple surveying UAVs flying on different routes has a function to transmit survey data for each different route to itself while conducting ground surveys corresponding to each different route using at least one type of measuring device, The system has a function to synthesize the survey data for each of the different routes it has received to calculate the survey results for all routes, and also to calculate the observation results for all routes. To execute UAV surveying program.

9. Using the UAV surveying system described in claim 1 or 2, The control device, A function to fly the transport UAV, which is pre-loaded with the aforementioned multiple surveying UAVs, from the takeoff position to each target position, A function to launch the multiple surveying UAVs from the transport UAV located at each of the target positions, such that each of the multiple surveying UAVs flies along a predetermined route that is different from the others. Each of the multiple surveying UAVs flying on different routes has a function to transmit survey data for each different route to itself while conducting ground surveys corresponding to each different route using at least one type of measuring device, The system has a function to synthesize the survey data for each of the different routes it has received to calculate the survey results for all routes, and also to calculate the observation results for all routes. A function to predict future survey results for all routes using a predictive model trained with machine learning, which uses the correlation between multiple observation results previously observed on routes different from all routes and the weather information at the time of each observation as training data, based on the observation results for all routes and the weather information for all routes at the time the observation results for all routes were calculated. To execute UAV surveying program.

10. Using the UAV surveying system described in claim 4, The control device, A function to fly the transport UAV, which is pre-loaded with the aforementioned multiple surveying UAVs, from the takeoff position to each target position, A function to launch the multiple surveying UAVs from the transport UAV located at each of the target positions, such that each of the multiple surveying UAVs flies along a predetermined route that is different from the others. The system provides a function that causes each of the multiple survey UAVs flying on different routes to perform ground surveys corresponding to each different route using at least one type of measuring device at predetermined timings, while simultaneously transmitting survey data for each different route to itself multiple times. The system has a function to synthesize the survey data for each of the different routes that it has received multiple times at predetermined timings to calculate the survey result for the entire route, and also to synthesize the survey data for each of the different routes that it has received multiple times in the past to calculate the survey result up to that point. In the survey results obtained up to that point, if there is a difference between the survey results of one route and the survey results of all the remaining routes that exceeds a predetermined measurement difference, the function to change the predetermined route of at least one of the multiple survey UAVs flying on routes other than the one route so that the survey area corresponding to the one route is surrounded by the survey areas corresponding to all the remaining routes, To execute UAV surveying program.

Images