Flight equipment, programs, flight management systems

Abstract

The flying device will avoid colliding with objects that it needs to avoid. [Solution] The flying device 2 includes a detection unit 272 that detects an object to be avoided, which is an object that the flying device 2 is intended to avoid, located within an area captured by an image of the area including the ground surface below the flight path it is flying; a calculation unit 273 that calculates a movable area, which is an area in which the object to be avoided may move within a predetermined time; a specification unit 274 that identifies the area to which the flying device 2 may fall onto the ground within a predetermined time based on the flight state of the flying device 2; and a modification unit 275 that, if the movable area of ​​the object to be avoided is included in the identified area to be avoided, changes the flight path to a modified route, which is a modified route in which the movable area is not included in the identified area to be avoided, based on the flight state corresponding to the modified route.

Description

Technical Field

[0001] The present invention relates to a flying device, a program, and a flight management system.

Background Art

[0002] Conventionally, there has been known a flying device that flies based on a flight route indicated by a predetermined flight plan (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] It is required that an object such as a person who needs to be avoided by a flying device does not collide with the flying device while it is flying on a flight route.

[0005] Therefore, the present invention has been made in view of these points, and an object thereof is to prevent a flying device from colliding with an object that needs to avoid a collision.

Means for Solving the Problems

[0006] A first aspect of the present invention is a flying device that flies in the air based on a flight route, comprising: an imaging unit that images an area including the ground surface below the flight route on which the flying device flies; a detection unit that detects an object to be avoided, which is an object to be avoided by the flying device, located within the area based on the image captured by the imaging unit; a calculation unit that calculates a movable area, which is an area in which the object to be avoided detected by the detection unit may move within a predetermined time; a specification unit that identifies the area to which the flying device may fall to the ground within the predetermined time based on the flight state of the flying device; and a modification unit that, if the movable area calculated by the calculation unit is included in the fall area identified by the specification unit, modifies the flight route to a modified route in which the movable area calculated by the calculation unit is not included in the fall area identified by the specification unit based on the flight state corresponding to the modified route.

[0007] The detection unit may detect objects that meet predetermined conditions among the objects located within the region as objects to be avoided. The detection unit may identify the type of object and, on the condition that the identified type of object is of a predetermined type, identify the object to be avoided.

[0008] If the type of object is a person, the detection unit may determine, based on the image captured by the imaging unit, whether the person as an object is involved in the operation of the aircraft, and, on the condition that the person as an object is not involved, detect the person as the object to be avoided.

[0009] If the type of object is a vehicle, the detection unit may determine, based on the image captured by the imaging unit, whether the vehicle as an object can move within the predetermined time, and if the vehicle can move within the predetermined time, it may detect the vehicle as the object to be avoided.

[0010] The detection unit may identify the object as the object to be avoided, provided that the type of object identified is one of the predetermined types defined for the flight level indicating the high level of flight technology of the aircraft.

[0011] The detection unit may identify the object as the object to be avoided, provided that the type of object identified is one of the predetermined types determined for the flight level of the aircraft as determined by the flight control device that manages the operation of the aircraft.

[0012] The detection unit may identify the direction of movement of the object to be avoided, and the calculation unit may calculate the movable area of ​​the object to be avoided based on the direction of movement of the object to be avoided identified by the detection unit.

[0013] The calculation unit may calculate the movable area of ​​the object to be avoided based on the altitude of the ground surface included in map information showing the ground surface included in the area. The detection unit identifies the direction of movement of the object to be avoided, and the modification unit may change the flight path to the modified path which does not pass in front of the direction of movement of the object to be avoided.

[0014] The detection unit identifies the direction and speed of movement of the object to be avoided, and the modification unit may determine, based on the direction and speed of movement of the object to be avoided and the direction and speed of movement of the aircraft as the flight state of the aircraft, whether to set the flight route to the modified route that passes in front of the direction of movement of the object to be avoided, or to set the flight route to the modified route that passes behind the direction of movement of the object to be avoided.

[0015] The modification unit may identify a plurality of modified routes, identify the amount of battery consumption of the aircraft when the aircraft flies along each of the identified modified routes, and change the flight route to the modified route with the relatively lower consumption.

[0016] The modification unit may specify the battery consumption of the aircraft for each of the following routes: a first modified route in which the aircraft waits or slows down so that the movable area is not included in the modified fall range, and a second modified route in which the aircraft avoids the movable area so that the movable area is not included in the modified fall range. The flight route may then be changed to the modified route between the first and second modified routes that has a relatively lower specified battery consumption.

[0017] A program according to a second aspect of the present invention causes a flying device that flies in the air based on a flight path to function as follows: a detection unit that detects an object to be avoided, which is an object that the flying device is to avoid, located within a region, based on an image captured by an imaging unit that images a region including the ground surface below the flight path in which the flying device is flying; a calculation unit that calculates a movable region, which is a region in which the object to be avoided detected by the detection unit may move within a predetermined time; a specification unit that identifies the range in which the flying device may fall to the ground surface within the predetermined time based on the flight state of the flying device; and a modification unit that, if the movable region calculated by the calculation unit is included in the fall range identified by the specification unit, modifies the flight path to a modified route in which the flight path is modified, and in which the movable region calculated by the calculation unit is not included in the fall range identified by the specification unit based on the flight state corresponding to the modified route.

[0018] A third aspect of the present invention is a flight management system comprising an operation management device and a flight device that flies in the air based on a flight route applied for by the operation management device, wherein the operation management device has a setting unit that sets a flight level indicating the level of the flight skill of the flight device before the flight device starts flying, and the flight device has an imaging unit that images an area including the ground surface below the flight route in which the flight device flies, and an avoidance target object which is an object located within the area that the flight device needs to take evasive action to avoid collision with, based on the image captured by the imaging unit, as set by the setting unit The system includes: a detection unit that detects based on a level; a calculation unit that calculates a movable area which is an area in which the object to be avoided detected by the detection unit may move within a predetermined time; a specification unit that identifies the area within which the flying device may fall to the ground within the predetermined time based on the flight state of the flying device; and a modification unit that, if the movable area calculated by the calculation unit is included in the fall area identified by the specification unit, modifies the flight route to a modified route in which the movable area calculated by the calculation unit is not included in the fall area identified by the specification unit based on the flight state corresponding to the modified route.

[0019] The setting unit may set the flight level based on at least one of the following: the application details for the flight of the flight route of the aircraft, the flight license of the aircraft held by the user of the aircraft, and the insurance policy held by the user of the aircraft in relation to the aircraft. [Effects of the Invention]

[0020] According to the present invention, the flying device can avoid colliding with objects that it needs to avoid colliding with. [Brief explanation of the drawing]

[0021] [Figure 1] This diagram shows an overview of the aircraft management system. [Figure 2]This is a diagram showing the functional configuration of the aircraft management device. [Figure 3] This is a diagram showing an example of flight plan information. [Figure 4] This is a diagram showing the functional configuration of the aircraft. [Figure 5] This is a flowchart showing the flow of processing related to the flight control of the aircraft.

Embodiments for Carrying Out the Invention

[0022] [Overview of Flight Management System S] Figure 1 is a diagram showing the overview of the flight management system S. The flight management system S is a system for controlling the flight of the aircraft 2, and includes an operation management device 1 and an aircraft 2. The operation management device 1 is a computer that manages the flight of the aircraft 2. The aircraft 2 is, for example, an autonomous flight-capable drone. In Figure 1, only one aircraft 2 is shown, but it is assumed that the flight management system S has a plurality of aircraft 2.

[0023] The operation management device 1 receives the registration of a flight plan indicating the flight route of the aircraft 2, including the starting position and the ending position of the aircraft 2, from the user of the aircraft 2, and stores the flight plan information indicating the flight plan. Before the aircraft 2 starts flying, the operation management device 1 sets the flight plan and the flight level indicating the altitude of the flight technology of the aircraft 2 based on the flight plan in the aircraft 2 ((1) in Figure 1). Here, flight technology refers to the flight control technology required for the aircraft when it autonomously flies.

[0024] Subsequently, the flight device 2 flies according to the flight route indicated by the flight plan set by the flight control device 1 (Figure 1 (2)). During flight, the flight device 2 images the area including the ground surface below its flight route and detects objects to be avoided O, which are objects within that area that the flight device 2 must take evasive action to avoid collision with, based on the set flight level. The flight device 2 then calculates the movable area Ao, which is the area to which the detected objects to be avoided O may move within a predetermined time, and identifies the area A2 within which it may fall to the ground within a predetermined time based on its own flight state.

[0025] If the identified fall area A2 includes the calculated movable area Ao, the flight device 2 changes its flight route to a modified route in which the identified fall area A2, based on the flight state corresponding to the modified route, does not include the calculated movable area Ao (Figure 1 (3)). In this way, the flight management system S can prevent the flight device 2 from colliding with an object that it needs to avoid.

[0026] [Functional configuration of flight control device 1] Next, the functional configuration of the flight control device 1 will be described. Figure 2 is a diagram showing the functional configuration of the flight control device 1. The flight control device 1 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0027] The communication unit 11 is a communication interface for sending and receiving data with the flight device 2, etc., via a communication network such as a mobile phone line or the internet. The memory unit 12 is a storage medium for storing various types of data, and includes ROM (Read Only Memory), RAM (Random Access Memory), hard disk, and SSD (Solid State Drive). The memory unit 12 stores programs to be executed by the control unit 13. The memory unit 12 also stores programs that enable the control unit 13 to function as the registration unit 131 and the setting unit 132.

[0028] Furthermore, the storage unit 12 stores flight plan information that shows the flight plan of the aircraft 2, including the flight route of the aircraft 2 requested by the user of the aircraft 2, in accordance with the control of the control unit 13. Figure 3 is a diagram showing an example of flight plan information. As shown in Figure 3, the flight plan information is information that associates a user ID for identifying the user of the aircraft 2, an aircraft ID for identifying the aircraft 2, and the flight plan of the aircraft 2.

[0029] The flight plan includes, for example, the scheduled flight date of the aircraft 2, route information indicating the flight route, an execution plan indicating the actions to be performed by the aircraft 2, license information indicating the license held by the user of the aircraft 2, and insurance information indicating the insurance that the user has taken out for the aircraft 2.

[0030] Route information includes at least the starting position of the flight route, the starting flight time which is the time when the flight device 2 flies over the starting position, the ending position of the flight route, and the positions of one or more waypoints. The starting position, ending position, and waypoint positions include information such as latitude, longitude, and altitude. The waypoint positions are items that the user can optionally register and do not have to be included in the route information. The execution plan also includes operation information that shows the operation of the flight device 2 at one or more waypoints.

[0031] The execution plan is information indicating predetermined actions to be performed by the flight device 2 at the starting point, ending point, or one or more waypoints. For example, it is information that associates point identification information for identifying the starting point, ending point, and one or more waypoints with information indicating predetermined actions. Predetermined actions include, for example, imaging, surveying, and equipment inspection. Note that predetermined actions do not have to be performed at all of the starting point, ending point, and one or more waypoints, but may be performed at some of the starting point, ending point, and one or more waypoints.

[0032] The control unit 13 is, for example, a CPU (Central Processing Unit). The control unit 13 functions as the registration unit 131 and the setting unit 132 by executing the program stored in the storage unit 12. Details of the functions of the control unit 13 will be described later.

[0033] [Functional configuration of the flying device 2] Next, the functional configuration of the flight device 2 will be described. Figure 4 is a diagram showing the functional configuration of the flight device 2. The flight device 2 includes a communication unit 21, a storage unit 22, an imaging unit 23, a position sensor 24, an acceleration sensor 25, a flight mechanism 26, and a control unit 27.

[0034] The communication unit 21 is a communication interface for sending and receiving data with the flight management device 1, etc., via a communication network such as a mobile phone line or the internet. The memory unit 22 is a storage medium for storing various types of data, and includes ROM, RAM, hard disk, SSD, and flash memory. The memory unit 22 stores the programs executed by the control unit 27. The memory unit 22 stores programs that cause the control unit 27 to function as the flight control unit 271, detection unit 272, calculation unit 273, identification unit 274, and modification unit 275. The memory unit 22 also stores flight plan information and flight levels received from the flight management device 1 in accordance with the control of the control unit 27.

[0035] The imaging unit 23 is, for example, a digital camera, and generates an image by imaging an area including the ground surface below the flight path of the flying device 2. The imaging unit 23 outputs the generated image to the control unit 27.

[0036] The position sensor 24 is, for example, a GPS sensor that acquires GPS signals. The position sensor 24 acquires the position of the flying device 2, including the altitude at which the flying device 2 is located. The position sensor 24 outputs position data indicating the position of the flying device 2 to the control unit 27. The acceleration sensor 25 is a 3-axis acceleration sensor that detects the acceleration acting on the flight device 2. The acceleration sensor 25 outputs acceleration data indicating the detected acceleration to the control unit 27.

[0037] The flight mechanism 26 includes a propeller, a motor for rotating the propeller, and a rudder, etc. By operating these mechanisms, the flight mechanism 26 can change the flight altitude, flight speed, and flight direction of the flight device 2.

[0038] The control unit 27 is, for example, a CPU. The control unit 27 functions as a flight control unit 271, a detection unit 272, a calculation unit 273, a specific unit 274, and a modification unit 275 by executing a program stored in the memory unit 22.

[0039] [Register flight plan] Next, we will explain the details of the control unit 13 of the flight control system 1 and the control unit 27 of the flight system 2. First, we will explain the process by which the flight control system 1 registers a flight plan.

[0040] The registration unit 131 registers the flight plan by receiving it from, for example, a user terminal (not shown) used by the user of the aircraft 2. Specifically, the registration unit 131 displays an input screen for receiving the flight plan on the user terminal and receives the aircraft ID of the aircraft 2 and the flight plan of the aircraft 2 through this input screen.

[0041] As described above, the flight plan includes the scheduled date on which the flight device 2 will fly, the flight route of the flight device 2, and the execution plan. For example, the registration unit 131 accepts the starting point position, ending point position, starting flight time, and the positions of one or more waypoints as part of the flight route. The registration unit 131 also accepts information indicating a predetermined operation to be performed by the flight device 2 at each of the one or more waypoints as an execution plan for the predetermined operation.

[0042] The registration unit 131 also receives license information indicating the flight license for the aircraft 2 held by the user of the aircraft 2, and insurance information indicating the insurance policy the user of the aircraft 2 has taken out in connection with the aircraft 2. The registration unit 131 stores flight plan information in the storage unit 22, which associates the user ID of the user of the aircraft 2, the aircraft ID of the aircraft 2 received via the input screen, the flight plan, the license information, and the insurance information.

[0043] [Setting flight plans and flight levels] Next, the process of setting the flight plan and flight level will be described. Before the flight device 2 starts flying, the setting unit 132 sets the flight plan indicated by the flight plan information of the flight device 2 stored in the memory unit 12 to the flight device 2. For example, when the flight device 2 is positioned at a predetermined location such as a drone port and the flight device 2 and the flight control device 1 can communicate, the setting unit 132 transmits the flight plan information of the flight device 2 stored in the memory unit 12 to the flight device 2 and stores the flight plan information in the memory unit 22 of the flight device 2.

[0044] Furthermore, before the flying device 2 begins flight, the setting unit 132 sets a flight level for the flying device 2 that indicates the level of the flying device 2's flight skills. First, the setting unit 132 sets the flight level based on at least one of the following: the application details for the flight route of the flying device 2, the flight license for the flying device 2 held by the user of the flying device 2, and the insurance policy that the user of the flying device has taken out for the flying device 2.

[0045] For example, the setting unit 132 stores, in association with multiple flight levels, the flight area corresponding to the flight level, the license type, the insurance details, and the conditions for whether or not insurance applies. Based on the flight route as part of the application details for the flight route, the setting unit 132 identifies the flight area of ​​the flight device 2.

[0046] The setting unit 132 then identifies the highest flight level among the flight levels that satisfy the combination of the identified flight area, the type of license and whether or not a license exists as indicated by the license information included in the flight plan information, and the insurance details indicated by the insurance information included in the flight plan information, as the flight level for the flight device 2. Here, the higher the flight level, the more advanced the flight skills required. Before the flight device 2 starts flying, the setting unit 132 transmits flight level information indicating the identified flight level to the flight device 2 and stores the flight level information in the memory unit 22 of the flight device 2, thereby setting the flight level for the flight device 2.

[0047] The factors used to determine the flight level are not limited to those mentioned above. For example, the setting unit 132 may determine the flight level based on at least one of the flight mode of the aircraft, the purpose of the flight, and the flight area, such as when flying over densely populated areas, night flights, beyond visual line of sight (BVLOS) flights in areas where the aircraft cannot be seen by the administrator, flights where a predetermined distance (e.g., 30m) or more cannot be maintained from people or objects, flights over event venues, transport of dangerous goods, or dropping of objects.

[0048] [Flight control in flight device 2] Next, we will explain the processing related to flight control in the flight device 2. The flight control unit 271 controls the flight of the flight device 2 based on the flight route included in the flight plan information stored in the memory unit 22. The flight control unit 271 also performs various operations based on the execution plan included in the flight plan information stored in the memory unit 22.

[0049] When the flying device 2 is in flight, the detection unit 272 causes the imaging unit 23 to image the lower region, which is the area including the ground surface below the flight path of the flying device 2. Based on the image captured by the imaging unit 23, the detection unit 272 detects objects to be avoided, which are objects that the flying device 2 is intended to avoid, that are located within the lower region.

[0050] The detection unit 272 detects objects that meet predetermined conditions among the objects located within the lower region of the captured image as objects to be avoided. Specifically, the detection unit 272 identifies predetermined types of objects located in the lower region by analyzing the lower region of the captured image. These predetermined types include, for example, people or objects that carry people, such as automobiles, bicycles, trains, ships, and people.

[0051] For example, the detection unit 272 identifies an object as one to be avoided, provided that the type of object it identifies is of a predetermined type. The predetermined types are set in advance for each flight level, and the higher the flight level, that is, the more advanced the flight technology of the aircraft, the fewer the number of predetermined types.

[0052] The detection unit 272 identifies an object to be avoided on the condition that the type of object identified is a predetermined type set for the flight level determined by the flight control device 1 and is set for the flight device 2. In this way, the flight device 2 will detect different types of objects to be avoided depending on the flight skill of the flight device 2 corresponding to the flight level. For example, in the case of a flight device 2 with advanced flight skills, the number of types of objects to be detected to be avoided can be reduced.

[0053] Furthermore, if the detection unit 272 includes a person in the predetermined category, and the type of object identified in the captured image is a person, the imaging unit 23 may determine, based on the captured image, whether the person as an object is a person involved in the operation of the flying device 2.

[0054] For example, the detection unit 272 determines that a person inside the lower area is involved in the operation of the aircraft 2, provided that it has determined from the captured image that the identified person is wearing a predetermined helmet, work clothes, etc. Alternatively, if the detection unit 272 can recognize the face of a person inside the lower area, it may determine that a person inside the lower area is involved in the operation of the aircraft 2 by determining whether the recognized face matches a pre-registered face of a person involved in the operation of the aircraft 2.

[0055] Furthermore, if the type of object identified in the captured image is a person, the detection unit 272 may detect that person as an object to be avoided, provided that the person is not involved in the operation of the aircraft 2. However, if the person is involved in the operation of the aircraft 2, the detection unit 272 may not detect that person as an object to be avoided. In this way, the aircraft 2 can exclude from being an object to be avoided a person identified from the captured image if that person is involved in the operation of the aircraft 2 and is capable of paying attention to the aircraft 2.

[0056] Furthermore, if the detection unit 272 includes vehicles in the predetermined categories and the type of object identified in the captured image is a vehicle, it may determine, based on the captured image taken by the imaging unit 23, whether the vehicle is capable of moving within a predetermined time. For example, if the detection unit 272 can determine the state of the driver's seat of the identified vehicle based on the captured image, it may determine, on the condition that a person is sitting in the driver's seat, whether the vehicle is capable of moving within a predetermined time.

[0057] Furthermore, if the type of object identified in the captured image is a vehicle, the detection unit 272 may detect the vehicle as an object to be avoided, provided that the vehicle is able to move within a predetermined time. If the vehicle is not able to move within the predetermined time, the detection unit does not need to detect the vehicle as an object to be avoided. In this way, the flying device 2 can exclude a parked vehicle from being an object to be avoided if it is identified in the captured image.

[0058] Furthermore, when the detection unit 272 detects an object to be avoided, it determines the direction and speed of movement of the object to be avoided based on its position in the lower region of the object detected in multiple captured images taken by the imaging unit 23.

[0059] The calculation unit 273 calculates the movable area, which is the region in which the object to be avoided, detected by the detection unit 272, may move within a predetermined time. For example, the calculation unit 273 calculates the movable area of ​​the object to be avoided based on the direction of movement and the speed of movement of the object to be avoided, as identified by the detection unit 272.

[0060] The calculation unit 273 may pre-determine a predetermined movement speed for each type of object to be avoided, and calculate the movable area of ​​the object to be avoided based on the movement direction of the object to be avoided identified by the detection unit 272 and the movement speed corresponding to the type of object to be avoided. Alternatively, the detection unit 272 may identify a path that the object to be avoided can move along based on the image captured by the imaging unit 23. Then, the calculation unit 273 may calculate the movable area of ​​the object to be avoided based on the movement direction of the object to be avoided identified by the detection unit 272, the movement speed, and the path that the object to be avoided can move along.

[0061] Furthermore, the memory unit 22 may store map information corresponding to the flight route. The calculation unit 273 may then identify the altitude of the ground surface, i.e., the difference in elevation of the ground surface, included in the map information showing the ground surface included in the lower region, which is stored in the memory unit 22, and calculate the movable area of ​​the object to be avoided based on the identified elevation difference of the ground surface. In this way, the flight device 2 can improve the accuracy of the movable area of ​​the object to be avoided.

[0062] The identification unit 274 determines the range of the flying device 2's potential fall to the ground within a predetermined time period, based on the flight state of the flying device 2. For example, the identification unit 274 determines the speed and acceleration of the flying device 2 based on acceleration data acquired from the acceleration sensor 25. The identification unit 274 determines the altitude at which the flying device 2 is located based on position data acquired from the position sensor 24. The identification unit 274 also refers to map information indicating the ground surface included in the lower region, stored in the storage unit 22, and determines the altitude of the ground surface corresponding to the position of the flying device 2 indicated by the position data acquired from the position sensor 24. Based on the altitude at which the flying device 2 is located and the altitude of the ground surface corresponding to the position of the flying device 2, the identification unit 274 determines the altitude of the flying device 2 from the ground surface, and then determines the range of the flying device 2's potential fall to the ground within a predetermined time period, based on the determined altitude and the speed and acceleration of the flying device 2.

[0063] The modification unit 275 modifies the flight route of the aircraft 2, which is indicated by the flight information of the aircraft 2, to a modified route in which the movable area of ​​the object to be avoided, calculated by the calculation unit 273, is not included in the fall range of the aircraft 2 specified by the identification unit 274, based on the flight state corresponding to the modified route.

[0064] For example, the modification unit 275 changes the flight path of the flying device 2 to a modified path that does not pass in front of the direction of movement of the object to be avoided detected by the detection unit 272. In this case, the modification unit 275 identifies a modified path for the flight path of the flying device 2 that does not pass in front of the direction of movement of the object to be avoided detected by the detection unit 272. The modified path is, for example, a detour route that temporarily deviates from the flight path and then returns to the flight path, or a flight path that is the same as the flight path but causes the flying device 2 to temporarily stop or slow down so that the movable area of ​​the object to be avoided is not included in the fall range of the flying device 2.

[0065] The modification unit 275 identifies the flight state of the aircraft 2 when it flies along the identified modified route, and causes the identification unit 274 to identify the area within which the aircraft 2 will fall to the ground within a predetermined time based on that flight state. If the modification unit 275 determines that the movable area is not included in the fall area identified by the identification unit 274, it changes the flight route to the modified route.

[0066] The modification unit 275 may also determine whether to make the flight route a modified route that passes in front of the direction of movement of the object to be avoided, or a modified route that passes behind the direction of movement of the object to be avoided, based on the direction and speed of movement of the flight device as the flight state based on the current flight route before the flight device 2 calculates the modified route.

[0067] The modification unit 275 calculates the approach speed, which is the speed at which the object to be avoided approaches the flight device 2, based on the direction and speed of movement of the object to be avoided and the current direction and speed of movement of the flight device 2 based on the flight route. If the approach speed is less than a predetermined threshold, the modification unit 275 decides to change the flight route to a modified route that passes in front of the direction of movement of the object to be avoided. If the approach speed is equal to or greater than the predetermined threshold, the modification unit 275 decides to change the flight route to a modified route that passes behind the direction of movement of the object to be avoided. In this way, the flight device 2 can avoid the object to be avoided by using a modified route that is appropriate to the movement state of the object to be avoided.

[0068] Furthermore, the modification unit 275 may identify multiple modified routes, determine the battery consumption of the flight device 2 when the flight device 2 flies along each of the identified modified routes, and change the flight route to the modified route with the relatively lower battery consumption.

[0069] For example, the modification unit 275 determines the battery consumption of the aircraft 2 for each of the following modified routes: a first modified route in which the aircraft 2 waits at or near its current position, or decelerates from the flight speed based on the flight plan, so that the movable area is not included in the modified fall range; and a second modified route in which the aircraft 2 flies in a manner that avoids the movable area, so that the movable area is not included in the modified fall range.

[0070] For example, the storage unit 22 stores battery consumption information indicating the battery consumption when the flight device 2 is in standby mode, and the battery consumption for each of several flight speeds. The modification unit 275 refers to the consumption information and calculates the battery consumption when the flight device 2 flies based on the second modified route and returns to the return point, which is the point where it returns to the flight route. The modification unit 275 also refers to the consumption information and calculates the battery consumption when the flight device 2 is in standby mode based on the first modified route, and then returns to the return point mentioned above.

[0071] The modification unit 275 then changes the flight route to the modified route, which has relatively lower battery consumption, from among the first modified route and the second modified route. In this way, the flight device 2 can avoid the object to be avoided based on the modified route that consumes less battery and is more efficient.

[0072] [Processing flow in flight device 2] Next, we will explain the processing flow in the flight device 2. Figure 5 is a flowchart showing the processing flow related to flight control of the flight device 2.

[0073] First, the detection unit 272 acquires an image of the lower region, which is the area including the ground surface below the flight path, captured by the imaging unit 23 (S1). The detection unit 272 analyzes the acquired image and determines whether or not it has detected an object to be avoided within the lower region (S2). If the detection unit 272 determines that it has detected an object to be avoided (YES in S2), it proceeds to S3. If it determines that it has not detected an object to be avoided (NO in S2), it terminates the process related to this flowchart.

[0074] In S3, the calculation unit 273 calculates the movable area, which is the area in which the object to be avoided, detected by the detection unit 272, may move within a predetermined time. Next, the identification unit 274 determines the area within which the flying device 2 will fall to the ground surface within a predetermined time period, based on the flight status of the flying device 2 (S4).

[0075] Next, the modification unit 275 determines whether the calculated movable area is included in the identified fall range (S5). If the modification unit 275 determines that the movable area is included in the fall range (YES in S5), it moves the process to S6. If it determines that the movable area is not included in the fall range (NO in S5), it terminates the process related to this flowchart.

[0076] In S6, the modification unit 275 changes the flight route to a modified route in which the movable area is not included in the fall range of the flight device 2 based on the flight state of the flight device 2 corresponding to the modified route.

[0077] [Effects of this embodiment] As explained above, the flying device 2 detects objects to be avoided, which are objects that the flying device 2 is supposed to avoid, based on an image taken of the area including the ground surface below its flight path. It calculates a movable area, which is the area in which the object to be avoided may move within a predetermined time. If the movable area is included in the area within which the flying device 2 will fall to the ground surface within a predetermined time, it changes its flight path to a modified route in which the movable area is not included in the area within which the fall range, determined based on the flight state corresponding to the modified route, is determined. In this way, the flying device 2 can avoid colliding with objects that need to be avoided.

[0078] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations-led Sustainable Development Goals (SDGs), "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation."

[0079] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of its gist. For example, all or part of the apparatus can be configured by functionally or physically distributing and integrating in any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combinations are combined with the effects of the original embodiments. [Explanation of Symbols]

[0080] 1. Flight control system 2 Flight equipment 11 Communications Department 12 Storage section 13 Control Unit 21 Communications Department 22 Memory section 23 Imaging Unit 24 Position Sensors 25 Accelerometer 26 Flight mechanism 27 Control Unit 131 Registration Department 132 Settings Section 271 Flight Control Unit 272 Detection Unit 273 Calculation Section 274 Specific part 275 Changes

Claims

1. A flying device that flies through the air based on a flight route, An imaging unit that images the area including the ground surface below the flight path in which the aircraft is flying, A detection unit detects an object to be avoided, which is an object that the flying device is intended to avoid, located within the region based on the image captured by the imaging unit, A calculation unit calculates a movable area which is an area in which the object to be avoided detected by the detection unit may move within a predetermined time. Based on the flight status of the aircraft, a determination unit identifies the area within which the aircraft will fall to the ground within the predetermined time period, If the fall range identified by the identification unit includes the movable area calculated by the calculation unit, the modification unit modifies the flight route to a modified route in which the fall range identified by the identification unit, based on the flight state corresponding to the modified route, does not include the movable area calculated by the calculation unit. A flying device having

2. The detection unit detects objects within the region that satisfy predetermined conditions set in advance as objects to be avoided. The flying device according to claim 1.

3. The detection unit identifies the type of object, and, on the condition that the identified type of object is of a predetermined type, identifies the object as the object to be avoided. The flying device according to claim 2.

4. If the type of object is a person, the detection unit determines, based on the image captured by the imaging unit, whether the person as an object is involved in the operation of the aircraft, and, on the condition that the person as an object is not involved, detects the person as the object to be avoided. The flying device according to claim 3.

5. If the type of object is a vehicle, the detection unit determines, based on the image captured by the imaging unit, whether the vehicle can move within the predetermined time, and detects the vehicle as the object to be avoided, provided that the vehicle can move within the predetermined time. The flying device according to claim 3.

6. The detection unit identifies the object as the object to be avoided, provided that the type of object identified is of a predetermined type defined for the flight level indicating the high level of flight skill of the aircraft. The flying device according to claim 3.

7. The detection unit identifies the object as the object to be avoided, provided that the type of object identified is one of the predetermined types determined for the flight level of the aircraft as determined by the flight control device that manages the operation of the aircraft. The flying device according to claim 6.

8. The detection unit identifies the direction of movement of the object to be avoided, The calculation unit calculates the movable area of ​​the object to be avoided based on the direction of movement of the object to be avoided identified by the detection unit. The flying device according to claim 1.

9. The calculation unit calculates the movable area of ​​the object to be avoided based on the altitude of the ground surface included in the map information showing the ground surface included in the area. The flying device according to claim 1.

10. The detection unit identifies the direction of movement of the object to be avoided, The modification unit changes the flight path to the modified path which does not pass in front of the direction of movement of the object to be avoided. The flying device according to claim 1.

11. The detection unit identifies the direction and speed of movement of the object to be avoided, The modification unit determines, based on the direction and speed of movement of the object to be avoided and the direction and speed of movement of the aircraft as the flight state of the aircraft, whether the flight route should be the modified route that passes in front of the direction of movement of the object to be avoided, or the modified route that passes behind the direction of movement of the object to be avoided. The flying device according to claim 1.

12. The modification unit identifies a plurality of modified routes, identifies the battery consumption of the aircraft when the aircraft flies along each of the identified modified routes, and changes the flight route to the modified route with the relatively lower battery consumption. The flying device according to claim 1.

13. The modification unit identifies the battery consumption of the aircraft for each of the following routes: a first modified route in which the aircraft waits or slows down so that the movable area is not included in the modified fall range, and a second modified route in which the aircraft avoids the movable area so that the movable area is not included in the modified fall range. The modification unit then changes the flight route to the modified route between the first and second modified routes that has a relatively lower battery consumption. The flying device according to claim 12.

14. A flying device that flies through the air based on a flight route, An imaging unit, which images an area including the ground surface below the flight path in which the aircraft is flying, detects an object to be avoided, which is an object that the aircraft is trying to avoid, located within the area, based on the image captured by the imaging unit. A calculation unit calculates a movable area which is an area in which the object to be avoided, detected by the detection unit, may move within a predetermined time. Based on the flight status of the aircraft, a determination unit identifies the area within which the aircraft will fall to the ground within the predetermined time period, and If the fall range identified by the specified unit includes the movable area calculated by the calculation unit, the modified unit changes the flight route to a modified route in which the fall range identified by the specified unit, based on the flight state corresponding to the modified route, does not include the movable area calculated by the calculation unit. A program that makes it function as such.

15. A flight management system comprising a flight control device and a flight device that flies in the air based on a flight route applied for by the flight control device, The aforementioned flight management device is Before the aircraft begins flight, it has a setting unit that sets a flight level indicating the aircraft's level of flight skill, The aforementioned flying device, An imaging unit that images the area including the ground surface below the flight path in which the aircraft is flying, A detection unit detects, based on the image captured by the imaging unit, an object to be avoided, which is an object within the region that the flying device needs to take evasive action to avoid a collision with, based on the flight level set by the setting unit, A calculation unit calculates a movable area which is an area in which the object to be avoided detected by the detection unit may move within a predetermined time. Based on the flight status of the aircraft, a determination unit identifies the area within which the aircraft will fall to the ground within the predetermined time period, If the fall range identified by the identification unit includes the movable area calculated by the calculation unit, the modification unit modifies the flight route to a modified route in which the fall range identified by the identification unit, based on the flight state corresponding to the modified route, does not include the movable area calculated by the calculation unit. Having, Flight management system.

16. The setting unit sets the flight level based on at least one of the following: the application details for the flight of the flight route of the aircraft, the flight license of the aircraft held by the user of the aircraft, and the insurance policy held by the user of the aircraft in relation to the aircraft. The flight management system according to claim 15.

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