Ground control system and ground control method

Abstract

To ensure that aircraft fly along safer flight paths within controlled airspace. [Solution] The ground control system is a ground control system that instructs the flight plans of multiple aircraft in a designated controlled airspace, and includes: a movement space allocation unit that plans the flight paths that each aircraft can fly and calculates the movement space along the flight path and allocates it to each aircraft; a closed space allocation unit that calculates a dedicated closed space that each aircraft can fly in so as to encompass the movement space allocated by the movement space allocation unit and allocates it to each aircraft; and a collision detection unit that outputs a command to instruct a specific aircraft to decelerate or stop if a specific aircraft among the multiple aircraft deviates from the specific closed space allocated to it by the closed space allocation unit, wherein the closed space allocation unit calculates the volume of the closed space by a preset collision probability requirement and the volume of the movement space which is composed of the cumulative volume associated with the flight of each aircraft moving forward within a certain period of time.

Description

[Technical Field]

[0001] The present invention is particularly suitable for application to ground control systems and ground control methods relating to techniques for controlling aircraft. [Background technology]

[0002] In recent years, delivery businesses using unmanned aircraft have been considered. Demand is expected to increase, particularly for delivery services in urban areas. As a method for controlling the aircraft, for example, Patent Document 1 discloses a technology that reduces the risk of collisions between multiple aircraft by pre-setting a loop-shaped tunnel as the flight path and installing a signaling system to ensure safety. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Patent Application Publication No. 2003-006798 [Overview of the project] [Problems that the invention aims to solve]

[0004] However, in the technology disclosed in Patent Document 1, pre-setting flight paths was insufficient from a safety standpoint because it lacked flexibility in responding to unforeseen circumstances within controlled airspace.

[0005] This invention has been made in consideration of the above points, and aims to propose a ground control system and ground control method that enables aircraft to fly along safer flight paths within controlled airspace. [Means for solving the problem]

[0006] To solve these problems, the present invention provides a ground control system for instructing the flight plans of multiple aircraft in a designated controlled airspace, comprising: a movement space allocation unit that plans a flight path that each aircraft can fly, calculates a movement space along the flight path and allocates it to each aircraft; a closed space allocation unit that calculates a dedicated closed space that each aircraft can fly in so as to encompass the movement space allocated by the movement space allocation unit and allocates it to each aircraft; and a collision detection unit that outputs a command to instruct a specific aircraft to decelerate or stop if a specific aircraft among the multiple aircraft deviates from the specific closed space allocated to it by the closed space allocation unit, wherein the closed space allocation unit calculates the volume of the closed space based on a preset collision probability requirement and the volume of the movement space, which is composed of the cumulative volume associated with the flight of each aircraft moving forward within a certain period of time.

[0007] Furthermore, in the present invention, in a ground control method for a ground control system that instructs the flight plans of multiple aircraft in a designated controlled airspace, the method includes: a movement space allocation step in which a movement space allocation unit plans a flight path that each aircraft can fly, calculates a movement space along the flight path and allocates it to each aircraft; a closed space allocation step in which a closed space allocation unit calculates a dedicated closed space that each aircraft can fly in so as to encompass the movement space allocated by the movement space allocation unit and allocates it to each aircraft; and a collision detection step in which a collision detection unit outputs a command to instruct a specific aircraft to decelerate or stop if a specific aircraft among the multiple aircraft deviates from a specific closed space allocated to it by the closed space allocation unit, wherein in the closed space allocation step, the closed space allocation unit calculates the volume of the closed space based on a preset collision probability requirement and the volume of the movement space, which is composed of the cumulative volume associated with the flight of each aircraft moving forward within a certain period of time. [Effects of the Invention]

[0008] According to the present invention, an aircraft can be flown along a safer flight path within controlled airspace.

Brief Description of the Drawings

[0009] [Figure 1] It is a perspective view showing an example of the state in which an aircraft flies according to flight control by a ground control system according to the first embodiment. [Figure 2] It is a perspective view showing an example of the state in which an aircraft takes off and lands with respect to a landing port. [Figure 3] It is a system configuration diagram showing an example of the state in which flight control of a plurality of aircraft is performed by a ground control system according to the first embodiment. [Figure 4] It is a diagram showing an example of a closed space. [Figure 5] It is a diagram showing an example of the state in which a plurality of closed spaces as shown in FIG. 1 are arranged so as to contact at a collision point. [Figure 6] It is a system configuration diagram showing an example of the configuration of the ground control system and the aircraft according to the present embodiment. [Figure 7] It is a flowchart showing an example of a ground control method according to the first embodiment. [Figure 8] It is a diagram showing an example of an update example of a movement space and a closed space of a navigation window. <000011​​​​​​​​​​​​​​​​​​​​​​ An embodiment of the present invention will be described in detail below with reference to the drawings. (1) First Embodiment Figure 1 is a perspective view showing an example of how aircraft 100 and 100A fly in response to flight control by the ground control system 1 according to the first embodiment. In this example, the configuration of aircraft 100 and 100A is simplified, similar to Figure 2 which will be described later.

[0011] Ground control system 1 controls the flight of unmanned aircraft 100 and 100A flying over multiple buildings 401 within Area 8. Before describing the configuration of ground control system 1, we will first explain the prerequisites for describing its configuration. Therefore, details of ground control system 1 itself will be described later.

[0012] There are multiple flight paths that aircraft 100 and 100A can take over Area 8. Flight control of aircraft 100 and 100A is performed by ground control system 1 to ensure they fly along each of these flight paths.

[0013] Figure 2 is a perspective view showing an example of aircraft 100 and 100A taking off and landing at landing port 19. By supporting the cargo 5 with its underside while flying, aircraft 10 can transport the cargo 5 from the departure landing port 19 to the destination landing port 19.

[0014] The landing port 19 is located, for example, on the roof of building 401 within Area 8. Alternatively, the landing port 19 may be located on the ground within Area 8. The landing port 19 has a landing area 25 from which aircraft 100 and 100A can take off and land.

[0015] Figure 3 is a system configuration diagram showing an example of how the ground control system 1 according to the first embodiment controls the flight of multiple aircraft 100 and 100A. In the following description, when it is not necessary to distinguish between multiple aircraft 100 and 100A, aircraft 100 will be referred to as an example.

[0016] The flying object 100 is a so-called multicopter. The flying object 100 includes, for example, wings and propellers. In the flying object 100, the propellers are provided substantially perpendicular to the ground, but are configured to be somewhat changeable in direction. By controlling the direction of the propellers, the flying object 100 can change its flight direction. The flying object 100 can fly not only in the horizontal direction but also in the vertical direction.

[0017] The pilot controls the flight of the flying objects 100, 100A by wireless communication within the management area range W by operating the remote controller 300. The ground control system 1 can communicate wirelessly with each flying object 100 via its communication unit 400B.

[0018] FIG. 4 is a diagram showing an example of the closed space 99. The closed space 99 includes the moving space 9. The closed space 99 is, for example, in a tubular tunnel shape that encloses the moving space 9. The closed space 99 is allocated so as to surround the moving space 9 in order to ensure a safe and smooth flight state. The closed space 99 is a space in which the allocated flying object 100 can fly freely without considering the flight state of other flying objects 100A.

[0019] On the other hand, the moving space 9 is, for example, in a tubular tunnel shape in which the flying object 100 was originally planned to fly. The illustrated V closed represents the volume [m 3 of the closed space 99, and the illustrated V move represents the volume [m 3 of the moving space 9.

[0020] The collision probability P collision , for example, when two flying objects 100, 100A are mentioned, is estimated as P collision = P SL 2 as follows. Here, the space density P SL indicates the required safety level as a target. The space density P SL is V move / V closedTherefore, the closed space 99 satisfies the required collision probability, and V closed =V move / P SL The following equation holds true.

[0021] Figure 5 shows an example of how multiple closed spaces 99, as shown in Figure 1 above, are arranged to come into contact at the collision point CP. In the closed space 99 shown at the top, the moving space 9 is set parallel to the direction in which the closed space 99 extends.

[0022] On the other hand, the closed space 99 shown below illustrates the situation where the aircraft 100B is in a malfunctioning state during flight. As a result, the flight direction of the aircraft 100B is unstable, and the moving space 9 in which the aircraft 100 is scheduled to fly is set to be different from the direction in which the closed space extends. Consequently, one end of the moving space 9 is in contact with the other closed space 99 shown above at the collision point CP. At the collision point CP, the collision probability is less than or equal to the required safety level. The required safety level is defined in the required safety level information described later.

[0023] Here, the collision probability P at the collision point CP where the two closed spaces 99 come into contact is... collision This is defined as being below the required safety level ε set by, for example, the National Aviation Administration or other regulatory bodies.

[0024] Volume V of a closed space 99 closed [m 3 The formula for defining [the probability of collision P] is explained below. collision This is estimated as shown in equation (1) below. P collision =P A ·P B ... (1) However, P A P is the spatial density of the flying object 100. B This is the spatial density of aircraft 100A.

[0025] Collision probability P collisionThis must be less than equation (2). However, the collision probability P collision Since this is the maximum value when the closed space 99 is to be minimized, it can be considered as equation (3). P collision ≤ε ··· (2) P collision= ε ··· (3)

[0026] P A and P B Taking these factors into consideration, equation (4) is derived from equations (1) and (3). P A =P B =√ε ··· (4) Here, P is the volume V of the closed space 99. closed And the volume V of the moving space 9 move The ratio of these two factors allows us to derive equation (5) as follows. Pi=V move / V closed ... (5) However, i∈{A,B}

[0027] V in closed space 99 closed From equations (4) and (5), it is defined by equation (6) as follows: V closed =V move / √ε ··· (6)

[0028] Volume V move This is defined by equation (7). Here, S is the projected area of ​​the circularly approximated aircraft 100,100A, v is the typical flight speed, t is the time until separation due to collision avoidance mode, and α is the typical deceleration. The first term "S·v·t" represents the volume of the flight space due to the time delay required for the separation operation. The second term "S·(v 2 The value of / 2α) indicates the volume of free run until the flight stops. This volume V move This is estimated based on flight conditions. V move =S·v·t+S·(v 2 / 2α) ···(7)

[0029] As a result, in this embodiment, the volume V of the moving space 9 move The volume V of the enclosed space 99 is designed in advance. closed If we estimate the collision probability P, collision This is uniquely determined. In other words, a closed space 99 that satisfies safety requirements can be designed.

[0030] Figure 6 is a system configuration diagram showing an example of the configuration of the ground control system 1 and the aircraft 100 according to this embodiment.

[0031] The ground control system 1 includes an object detection unit 210, a wind forecasting unit 220, a warning unit 230, a flight planning unit 240, and a communication unit 400B.

[0032] The object detection unit 210 is an example of a detection unit and detects which of the cells 24 that divide the controlled airspace 11 above the landing port 19 a flying aircraft 100 that can fly from the landing site 25 is flying in.

[0033] The object detection unit 210 includes a camera 211, a radar 212, a LiDAR 213, and an object detection unit 214. The camera 211 photographs objects in the airspace. The radar 212 measures the distance and direction to an object by emitting radio waves toward the object and measuring the reflected waves. The LiDAR 213 irradiates objects in the airspace with laser light and measures the distance and shape of the object from the measurement data collected by the optical sensor from the reflected light.

[0034] The object detection unit 214 detects objects in the airspace based on images of objects captured in the airspace by the camera 211. The object detection unit 214 also detects objects in the airspace based on measurement data measured by the radar 212 and LiDAR 213, and outputs object information about the detected objects.

[0035] The wind forecasting unit 220 includes a wind sensor 221, a terrain model 222, and a wind simulator 223. The wind sensor 221 measures the wind force and direction of the wind blowing within the controlled airspace 11. The terrain model 222 is a model of the terrain of area 8 (and its vicinity). The wind simulator 223 simulates the wind within the controlled airspace 11 based on the measurement data measured by the wind sensor 221 and the terrain model 222.

[0036] The warning unit 230 issues a warning if there is an impediment to the flight of the aircraft 100, based on the wind simulation results within the controlled airspace 11 by the wind simulator 223.

[0037] Ground control system 1 has the function of directing the flight plans of multiple aircraft 100, 100A in a designated controlled airspace 11. Ground control system 1 includes a flight planning unit 240 as follows:

[0038] The flight planning unit 240 includes a mobile space allocation unit 241, a closed space allocation unit 242, a collision detection unit 243, and required safety level information 244.

[0039] The mobile space allocation unit 241 has the function of planning flight paths that each aircraft 100, 100A can fly, and calculating the mobile space 9 along the said flight path and allocating it to each aircraft 100, 100A.

[0040] The space allocation unit 241 plans the flight path considering the width of the closed space 99, which is defined by a predetermined width or a variable width depending on the flight environment.

[0041] The required safety level information 244 is an example of a pre-set collision probability requirement, and defines the required safety level. The required safety level information 244 is read by the closed space allocation unit 242.

[0042] The closed space allocation unit 242 has the function of calculating and updating at least one of the dedicated closed spaces 99 in which each aircraft 100, 100A can fly, so as to encompass the mobile space 9 allocated by the mobile space allocation unit 241, and allocating these spaces to each aircraft 100, 100A.

[0043] The closed space allocation unit 242 calculates the volume of the closed space 99 using the required safety level information 244, which is an example of a pre-set collision probability requirement, and the volume of the moving space 9, which is composed of the cumulative volume associated with the flight of each aircraft 100, 101A moving forward within a certain period of time.

[0044] When the closed space allocation unit 242 detects the flight of a specific aircraft 100 within the controlled airspace 11, it calculates a closed space 99 corresponding to the presence of the specific aircraft 100.

[0045] The closed space allocation unit 242 calculates the movement space 9 corresponding to the presence of a specific aircraft 100, for example, based on navigation accuracy which depends on position detection error, control accuracy which depends on flight control performance, delayed movement distance until evasive action is initiated, and movement distance until flight is stopped.

[0046] If the closed space allocation unit 242 detects that multiple closed spaces 99 are in conflict with each other, it updates the flight path and the closed spaces 99 to avoid this conflict.

[0047] The collision detection unit 243 has the function of outputting a command to instruct a specific aircraft 100 to decelerate or stop if that aircraft 100 deviates from the specific closed space 99 assigned to it by the closed space allocation unit 242.

[0048] The collision detection unit 243 outputs a command to instruct the specific aircraft 100 to decelerate or stop when the moving space 9 corresponding to the presence of a specific aircraft 100 approaches the other closed space 99 corresponding to the presence of another aircraft 100A among the multiple aircraft 100,100A.

[0049] Meanwhile, the aircraft 100 includes a flight control unit 110, a rotor control unit 120, an aileron control unit 130, a rudder control unit 140, and a communication unit 400A. The aircraft 100 receives commands received by the communication unit 400A.

[0050] The flight control unit 110 includes a navigation unit 111, a guidance unit 112, a control unit 113, a status monitor unit 114, and a map 115.

[0051] The navigation unit 111 has a navigation function. The navigation unit 111 includes a position sensor 111A, an altitude sensor 111B, and a speed sensor 111C. The position sensor 111A measures the position of the aircraft 100 and outputs measurement data. The altitude sensor 111B measures the altitude of the aircraft 100 and outputs measurement data. The speed sensor 111C measures the flight speed of the aircraft 100 and outputs measurement data. This measurement data is also referred to as flight data.

[0052] The status monitoring unit 114 generates navigation commands for the guidance unit 112 based on commands received from the ground control system 1 via the communication unit 400A and measurement data from the navigation unit 111.

[0053] The guidance unit 112 generates guidance commands based on the received navigation commands and map 115. The guidance unit 112 includes a flight mode selection unit 112A and a course planning unit 112B.

[0054] The flight mode selection unit 112A selects one of the multiple flight modes of the aircraft 100 based on the received navigation command and map 115.

[0055] Based on the received navigation commands and map 115, the flight path planning unit 112B plans the path that the aircraft 100 should take when landing (or taking off) in the controlled airspace 11. Furthermore, based on the planned path, the flight path planning unit 112B determines a route search cell 24A consisting of at least one cell from among the cells 24 in the controlled airspace 11 that the aircraft 100 should fly through.

[0056] The control unit 113 redraws the aircraft 100 based on the route search cell 24A from the guidance unit 112. The control unit 113 has an actuator assignment unit 113A. The actuator assignment unit 113A assigns multiple actuators mounted on the aircraft 100. Each of the multiple actuators drives, for example, each propeller. The control unit 113 controls at least one of the rotor control unit 120, aileron control unit 130, and rudder control unit 140 according to the assignment. The rotor control unit 120 controls the drive state of the rotor for rotating the propellers of the aircraft 100.

[0057] The configuration example of the ground control system 1 according to this embodiment is as described above. Next, an example of a ground control method according to the first embodiment will be described with reference to Figures 1 to 6. First, an overview of the ground control method will be described.

[0058] The ground control method is a ground control method of a ground control system 1 that instructs the flight plans of multiple aircraft 100, 100A in a designated control airspace 11, and comprises a movement space allocation step in which a movement space allocation unit 241 plans a flight path that each aircraft 100, 100A can fly, calculates a movement space 9 along the flight path and allocates it to each aircraft 100, 100A, and a closed space allocation unit 242 calculates a dedicated closed space 99 that each aircraft 100, 100A can fly in so as to encompass the movement space 9 allocated by the movement space allocation unit 241 and allocates it to each aircraft 100, 100A The system includes an assignment step and a collision detection step in which the collision detection unit 243 outputs a command to instruct a specific aircraft 100 to decelerate or stop if the aircraft 100 deviates from a specific closed space 99 assigned to it by the closed space assignment unit 242. In the closed space assignment step, the closed space assignment unit 242 calculates the volume of the closed space 99 using required safety level information 244 as an example of a pre-set collision probability requirement and the volume of the moving space 9, which is composed of the cumulative volume associated with the flight of each aircraft 100, 101A moving forward within a certain period of time.

[0059] Figure 7 is a flowchart showing an example of a ground control method according to the first embodiment. The dashed arrows connecting multiple flowcharts, where each step is arranged vertically, indicate that the steps indicated by the arrows are related to each other. The wind forecasting unit 220 described above continuously monitors, for example, the wind direction and wind speed at various locations within the controlled airspace 11.

[0060] In step S1, the flight planning unit 240 sets the controlled airspace 11. In step S2, the object detection unit 210 detects aircraft 100 within the controlled airspace 11 and acquires flight data from all detected aircraft 100.

[0061] In step S3, the flight planning unit 240 updates the flight path for each aircraft 100. In step S4, the flight planning unit 240 updates the moving space 9 and the enclosed space 99. In step S5, the flight planning unit 240 transmits the enclosed space information regarding the enclosed space 99 to, for example, the pilot's remote controller 300.

[0062] In step S6, the closed space allocation unit 242 determines whether or not there is an aircraft 100 deviating from the closed space 99. If it is determined in step S6 that there is an aircraft 100 deviating from the closed space 99, the closed space allocation unit 242 executes step S7. In step S7, the closed space allocation unit 242 controls the warning unit 230 to transmit an alarm. The aircraft 100 performs flight control to return to the controlled airspace 11 in response to a deceleration / stop command received via the remote controller 300 held by the pilot, as will be described later.

[0063] On the other hand, if it is not determined in step S6 that there is an aircraft 100 deviating from the closed space 99, or if step S7 is performed, the closed space allocation unit 242 performs step S8. Thereafter, steps S1 to S7 are repeatedly performed until the closed space allocation unit 242 no longer detects any aircraft 100 flying within the controlled airspace 11 (step S8).

[0064] If, in step S8, the flight planning unit 240 determines that it has detected an aircraft 100 flying in the controlled airspace 11, it returns to step S1 and proceeds to execute the next step. On the other hand, if, in step S8, the flight planning unit 240 determines that it did not detect an aircraft 100 flying in the controlled airspace 11, it terminates the flight control processing for the aircraft 100.

[0065] In step S11, the pilot begins operating the aircraft 100. In step S12, the flight control unit 110 acquires flight data of the aircraft 100. In step S13, the pilot operates the aircraft 100 within the enclosed space 99.

[0066] In step S14, the remote controller 300 determines whether it has received an alert from the ground control system 1. If it has received an alert, it outputs the alert and executes step S15. In step S15, the pilot who received the alert sends a deceleration / stop command to the aircraft 100 from the remote controller 300. Steps S12 to S15 described above are repeated until the aircraft 100 lands (step S16).

[0067] Next, the aircraft 100 will be described. In step S21, the aircraft 100 performs flight control. In step S22, the aircraft 100 transmits flight data to the remote controller 300 and the ground control system 1. Steps S21 to S22 described above are repeated until the aircraft 100 lands (step S23).

[0068] Figures 8 and 9 show examples of updating the navigation window's movement space 9 and closed space 99, respectively. Figure 8 shows the state before the update, and Figure 9 shows the state after the update.

[0069] First, the pilot of aircraft 100 controls the flight of aircraft 100 to ensure that it does not deviate from the designated enclosed space 99, for example, by referring to the air traffic control screen displayed on the laptop computer's display.

[0070] This air traffic control screen includes a flight status window and a navigation window. The flight status window displays the flight status of aircraft 100. The navigation window displays, for example, the enclosed space 99 and the mobile space 9 along with the landing port 19.

[0071] As shown in Figure 8, when the movable space 9, which can move according to the flight state of the aircraft 100, approaches or comes into contact with the edge of the closed space 99, the closed space allocation unit 242 updates the closed space 99 as follows, and displays the updated closed space 99 as shown in Figure 9.

[0072] In Figure 9, the inner end of the closed space 99 is separated from the outer end of the moving space 9 while maintaining a predetermined margin. Therefore, even if the aircraft 100 continues to fly, the closed space allocation unit 242 updates the spatial range of the closed space 99 and outputs a command from the command generation unit 253 to display the closed space 99, so that the outer end of the moving space 9 does not come into contact with the inner end of the closed space.

[0073] Figures 10 and 11 show examples of updates to the moving space 9 and closed space 99 of the navigation window, respectively. Figure 10 shows the state before the update, and Figure 11 shows the state after the update. In the examples shown in Figures 10 and 11, unlike the examples shown in Figures 8 and 9, there is another aircraft 100A approaching the aircraft 100 along with the aircraft 100.

[0074] For example, in the case of abnormal flight where deviations from the original flight path frequently occur due to gusts of wind or emergencies, as shown in Figure 10, another aircraft 100A may approach the enclosed space 99 of aircraft 100. At this time, the enclosed space allocation unit 242 attempts to update the enclosed space 99 to widen it in the direction of movement of aircraft 100, but does not permit it because, for example, another aircraft 100A is present in the direction of widening. As a result, aircraft 100 either stops flying, or the ground control system 1 creates an alternative flight path as shown in Figure 11 to prevent aircraft 100 from colliding with the other aircraft 100A.

[0075] When the movable space 9, which can move according to the flight state of the aircraft 100, approaches or comes into contact with the edge of the closed space 99, the closed space allocation unit 242 updates the closed space 99 as follows, and outputs a command from the command generation unit 253 to display the updated closed space 99 as shown in Figure 11.

[0076] In Figure 11, the outer end of the enclosed space 99 of the aircraft 100 is set so as not to come into contact with the outer end of the adjacent aircraft 100A. Therefore, even if the aircraft 100 continues to fly, it can avoid colliding with the other aircraft 100A.

[0077] Figure 12 is a conceptual diagram illustrating an example of the procedure for updating the flight path plan of aircraft 100. Assume that aircraft 100 is flying in the airspace between multiple buildings 401.

[0078] First, the closed space allocation unit 242 can design the closed space 99, shown in the diagram with dashed lines, to have the intended width. Therefore, the closed space allocation unit 242 can plan a feasible flight path for the aircraft 100 to reach the landing point 25 of the target landing port 19, while taking into account the width of the planned closed space 99.

[0079] The closed space allocation unit 242 generates the flight path of the aircraft 100, for example, at each predicted update cycle for the closed space 99, while setting 70 waypoints (hereinafter referred to as "waypoints") 70WP of the flight path, assuming that the flight speed of the aircraft 100 flying through each dashed cell at times t0 to t6 is constant. This makes it possible to avoid collisions between the aircraft 100 and other aircraft 100A in advance and to enhance safety regarding the flight control of the aircraft 100.

[0080] Figure 13 is a conceptual diagram illustrating an example of the procedure for updating the plan for an alternative flight path for aircraft 100. It is assumed that aircraft 100 is flying in the airspace between multiple buildings 401. Unless otherwise specified, Figure 13 is the same as that described in Figure 12.

[0081] First, each aircraft 100, 100A is assigned a priority in advance. In the illustrated example, aircraft 100 has its flight path planned before other aircraft 100A, and then the other aircraft 100A has its flight path planned while avoiding conflicts in position and flight time with aircraft 100. In the illustrated example, the positions of aircraft 100 and other aircraft 100A may overlap, but their flight times do not, so this plan is acceptable. This measure improves the efficiency of flight path planning and allows for flight control to be performed so that more aircraft 101 etc. can fly within the controlled airspace 11.

[0082] (2) Second embodiment The ground control system according to the second embodiment has substantially the same configuration and operation as the ground control system 1 according to the first embodiment described above. Therefore, the explanation of the similar configuration and operation will be omitted, and the following explanation will focus on the differences from the ground control system 1 according to the first embodiment.

[0083] Unlike the ground control system 1 of the first embodiment, in which a pilot controls the flight of the aircraft 100 using a remote controller 300, the ground control system according to the second embodiment directly controls the flight of the aircraft 100 wirelessly.

[0084] Figure 14 is a flowchart showing an example of a ground control method according to the second embodiment. The dashed arrows connecting multiple flowcharts arranged vertically indicate that the processes indicated by the arrows are related to each other. The wind forecasting unit 220, as described above, constantly monitors the wind direction and speed at various locations within the controlled airspace 11. Steps S1 to S4 are the same as steps S1 to S4 shown in Figure 7 above, so their explanation is omitted.

[0085] In step S5, the flight planning unit 240 transmits closed space information regarding the closed space 99 to the aircraft 100, for example, directly.

[0086] In step S6, similar to the first embodiment, the closed space allocation unit 242 determines whether or not there is an aircraft 100 deviating from the closed space 99. If it is determined in step S6 that there is an aircraft 100 deviating from the closed space 99, the closed space allocation unit 242 executes step S7A. In step S7A, the closed space allocation unit 242 sends, for example, a deceleration / stop command directly to the aircraft 100. The aircraft 100 performs flight control to return to the controlled airspace 11 in response to the deceleration / stop command.

[0087] On the other hand, if it is not determined in step S6 that there is an aircraft 100 deviating from the closed space 99, or if step S7 is performed, the closed space allocation unit 242 performs step S8. Thereafter, steps S1 to S7 are repeatedly performed until the closed space allocation unit 242 no longer detects any aircraft 100 flying within the controlled airspace 11 (step S8).

[0088] According to the above embodiment, compared to the first embodiment, it is no longer necessary to provide a pilot or remote controller 300, and therefore the flight control of the aircraft 100 and 100A can be automated.

[0089] As described above, the ground control system 1 according to this embodiment is a ground control system 1 that instructs the flight plans of multiple aircraft 100, 100A in a designated controlled airspace 11, and includes a movement space allocation unit 241 that plans the flight paths that each aircraft 100, 100A can fly, calculates the movement space 9 along the flight path and allocates it to each aircraft 100, 100A, and calculates a dedicated closed space 99 that each aircraft 100, 100A can fly in so as to encompass the movement space 9 allocated by the movement space allocation unit 241, and each aircraft 100, 1 The system includes a closed space allocation unit 242 that assigns space to 00A, and a collision detection unit 243 that outputs a command to instruct a specific aircraft 100 to decelerate or stop if that aircraft deviates from the specific closed space 99 assigned to it by the closed space allocation unit 242. The closed space allocation unit 242 calculates the volume of the closed space 99 based on a preset collision probability requirement and the volume of the moving space 9, which is composed of the cumulative volume associated with the flight of each aircraft 100, 101A moving forward within a certain period of time.

[0090] The ground control method of the ground control system 1 according to the above-described embodiment is a ground control method of the ground control system 1 that instructs the flight plans of multiple aircraft 100, 100A in a designated control airspace 11, and comprises a movement space allocation step in which a movement space allocation unit 241 plans a flight path that each aircraft 100, 100A can fly, calculates a movement space 9 along the flight path and allocates it to each aircraft 100, 100A, and a closed space allocation unit 242 calculates a dedicated closed space 99 that each aircraft 100, 100A can fly in so as to encompass the movement space 9 allocated by the movement space allocation unit 241, and each aircraft 100, 100 The system includes a closed space allocation step for assigning A, and a collision detection step in which the collision detection unit 243 outputs a command to instruct a specific aircraft 100 to decelerate or stop if a specific aircraft 100 among a plurality of aircraft 100, 100A deviates from a specific closed space 99 assigned to it by the closed space allocation unit 242. In the closed space allocation step, the closed space allocation unit 242 calculates the volume of the closed space 99 using required safety level information 244 as an example of a preset collision probability requirement, and the volume of the moving space 9, which is composed of the cumulative volume associated with the flight of each aircraft 100, 101A moving forward within a certain period of time.

[0091] According to the embodiment described above, for each aircraft 100,100A, a closed space 99 is defined as a dedicated three-dimensional airspace that takes hazard risks into consideration. Each aircraft 100,100A is assigned a closed space 99 free from intruders. Hazard risk is estimated by the probability of collision between each aircraft 100,100A. The collision probability is defined by the spatial density of, for example, two aircraft 100,100A in each occupied space. Spatial density is defined by the ratio of the closed space 99 to the moving space 9. The moving space 9 is defined as the area of ​​unavoidable collision. This allows each aircraft 100,100A to fly along a safer flight path within the controlled airspace. In other words, it is possible to increase the density of aircraft 100,100A within the controlled airspace 11, comply with a predetermined required safety level, and accommodate various forms of aircraft 100,100A. It can accommodate various operators and also improves the flexibility of planning for the mobile space 9 and enclosed space 99.

[0092] In this embodiment, when the closed space allocation unit 242 detects the flight of a specific aircraft 100 within the controlled airspace 11, it calculates a closed space 99 corresponding to the presence of the specific aircraft 100. In this way, according to the calculation result of such a closed space 99, each aircraft 100, 100A can be made to fly along a safer flight path within the controlled airspace 11.

[0093] In this embodiment, the closed space allocation unit 242 calculates the movement space 9 corresponding to the presence of a specific aircraft 100, for example, based on navigation accuracy which depends on position detection error, control accuracy which depends on flight control performance, delayed movement distance until evasive action is initiated, and movement distance until flight is stopped. In this way, each aircraft 100, 100A can be flown along a safer flight path within the controlled airspace 11 according to the calculation results of such movement distances.

[0094] In this embodiment, the collision detection unit 243 outputs a command to instruct the specific aircraft 100 to decelerate or stop when the moving space 9 corresponding to the presence of a specific aircraft 100 approaches the other closed space 99 corresponding to the presence of another aircraft 100A among the multiple aircraft 100,100A. In this way, such a command allows each aircraft 100,100A to fly along a safer flight path within the controlled airspace 11.

[0095] In this embodiment, when the closed space allocation unit 242 detects that multiple closed spaces 99 are in conflict with each other, it updates the flight paths and closed spaces 99 to avoid this conflict. In this way, each aircraft 100, 100A can fly along a safer flight path within the controlled airspace 11 according to the results of such updates to the closed spaces 99.

[0096] In this embodiment, the space allocation unit 241 plans the flight path considering the width of the closed space 99, which is defined by a predetermined width or a variable width depending on the flight environment. In this way, each aircraft 100, 100A can be flown along a safer flight path within the controlled airspace.

[0097] It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications and equivalent configurations within the spirit of the attached claims. For example, the embodiments described above are described in detail to make the present invention easier to understand, and the present invention is not necessarily limited to having all the configurations described. Also, each element described in parallel in the first embodiment may be configured such that at least one of each element is connected in series with respect to the other elements. [Industrial applicability]

[0098] The present invention can be applied, for example, to ground control systems related to the technology of controlling aircraft. [Explanation of Symbols]

[0099] 1...Ground control system, 240...Flight planning unit, 241...Moving space allocation unit, 242...Closed space allocation unit, 243...Collision detection unit, 244...Required safety level information

Claims

1. In a ground control system that directs the flight plans of multiple aircraft within a designated controlled airspace, A movement space allocation unit plans the possible flight paths for each aircraft, calculates the movement space along the flight path, and allocates it to each aircraft. A closed space allocation unit calculates a dedicated closed space in which each aircraft can fly, so as to encompass the mobile space allocated by the mobile space allocation unit, and allocates it to each aircraft; A collision detection unit outputs a command to instruct a specific aircraft to decelerate or stop when a specific aircraft among the plurality of aircraft deviates from the specific closed space assigned to it by the closed space allocation unit. Equipped with, The closed space allocation unit is, The volume of the enclosed space is calculated based on a predetermined collision probability requirement and the volume of the moving space, which is composed of the cumulative volume associated with the flight of each of the aircraft moving forward within a certain period of time. A ground control system characterized by the following features.

2. The closed space allocation unit is, When the flight of the specific aircraft is detected within the controlled airspace, the closed space corresponding to the presence of the specific aircraft is calculated. The ground control system according to feature 1.

3. The closed space allocation unit is, The movement space corresponding to the presence of the specific aircraft is calculated according to the navigation accuracy which depends on the position detection error, the control accuracy which depends on the flight control performance, the delayed movement distance until the start of evasive action, and the movement distance until the aircraft stops. The ground control system according to feature 1.

4. The collision detection unit, When the moving space corresponding to the presence of the specific aircraft approaches the other closed space corresponding to the presence of another of the multiple aircraft, a command is output to instruct the specific aircraft to decelerate or stop. The ground control system according to feature 1.

5. The closed space allocation unit is, If it is detected that multiple closed spaces are competing with each other, the flight path and the closed spaces will be updated to avoid the competition between the multiple closed spaces. The ground control system according to feature 1.

6. The aforementioned moving space allocation unit is, The flight path is planned considering the width of a closed space defined by a predetermined width or a variable width depending on the flight environment. The ground control system according to feature 1.

7. In a ground control method for a ground control system that directs the flight plans of multiple aircraft in a designated controlled airspace, A movement space allocation unit plans the flight paths that each aircraft can fly, calculates the movement space along the flight paths, and allocates it to each aircraft in a movement space allocation step. A closed space allocation step involves calculating a dedicated closed space in which each aircraft can fly, such that the closed space allocation unit includes the mobile space allocated by the mobile space allocation unit, and allocating this closed space to each aircraft. A collision detection step in which the collision detection unit outputs a command to instruct a specific aircraft to decelerate or stop when a specific aircraft among the plurality of aircraft deviates from a specific closed space assigned to it by the closed space allocation unit, It has, In the closed space allocation step, The closed space allocation unit calculates the volume of the closed space based on a predetermined collision probability requirement and the volume of the moving space, which is composed of the cumulative volume associated with the flight of each of the aircraft moving forward within a certain period of time. A ground control method characterized by the following features.

8. In the closed space allocation step, When the closed space allocation unit detects the flight of the specific aircraft within the controlled airspace, it calculates the closed space corresponding to the presence of the specific aircraft. The ground control method according to feature 7.

9. In the closed space allocation step, The closed space allocation unit calculates the movement space corresponding to the presence of the specific aircraft, according to the navigation accuracy which depends on the position detection error, the control accuracy which depends on the flight control performance, the delayed movement distance until the start of evasive action, and the movement distance until the aircraft stops. The ground control method according to feature 7.

10. In the aforementioned collision detection step, When the collision detection unit detects that the moving space corresponding to the presence of the specific aircraft approaches the other closed space corresponding to the presence of another aircraft among the plurality of aircraft, it outputs a command to instruct the specific aircraft to decelerate or stop. The ground control method according to feature 7.

11. In the closed space allocation step, If the closed space allocation unit detects that multiple closed spaces are in conflict with each other, it updates the flight path and the closed spaces to avoid the conflict. The ground control method according to feature 7.

12. In the aforementioned movement space allocation step, The aforementioned space allocation unit plans the flight path considering the width of a closed space defined by a predetermined width or a variable width according to the flight environment. The ground control method according to feature 7.

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