Information control system, information control method, or program

Abstract

To provide safer air traffic control in airspace areas where manned and unmanned aircraft are present or likely to be present together. [Solution] An information processing system having a control function for the movements of manned and unmanned aircraft in a predetermined target airspace area or target takeoff and landing area, comprising: an aircraft information acquisition unit that acquires information including aircraft type information that can identify whether it is a manned or unmanned aircraft; an aircraft entry determination unit that detects or predicts the entry of a manned aircraft into the target airspace area or target takeoff and landing area; an air traffic control command determination unit that determines an air traffic control command for an unmanned aircraft based on the determination result regarding the entry of a manned aircraft by the aircraft entry determination unit; and a communication unit that, when an entry of a manned aircraft into the target airspace area or target takeoff and landing area is detected or predicted, notifies an air traffic control command for an unmanned aircraft or the operator terminal of an unmanned aircraft of an air traffic control command for an unmanned aircraft.

Description

Technical Field

[0001] The present invention relates to an information control system, an information control method, or a program.

Background Art

[0002] In Patent Document 1, as a technology for safely operating an aircraft without a pilot and an existing aircraft with a pilot under the same air traffic control, there is provided an aircraft without a pilot capable of communicating with air traffic control, the aircraft including a collision detection unit 2 that non-contact detects an object to be collided with existing around the aircraft body, an instruction receiving means 3 that receives object-to-be-collided information 2a including position information of the object to be collided with and instruction information 3a related to a flight instruction by the air traffic control, a determination means 4 that determines whether or not to change preset flight route information 41 based on the object-to-be-collided information, the instruction information, and a preset change condition 38, and a determination transmission means 5 that transmits determination information 4a including data regarding whether or not to change the flight route information to the air traffic control.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, during emergencies such as natural disasters, there has been an increasing need to fly unmanned aerial vehicles (UAVs) and other aircraft in the airspace near disaster sites for various purposes, including on-site surveys, emergency medical transport, news reporting, firefighting, and rescue operations. Furthermore, there is a growing need to use UAVs for acquiring aerial data and for logistics during normal times, when emergencies are not occurring. As the use of UAVs becomes more widespread in both emergencies and normal times, the number of cases where manned and unmanned aircraft fly together in the same airspace will increase, requiring air traffic control that takes into account the coexistence of manned and unmanned aircraft.

[0005] Patent Document 1 discloses a technology for air traffic control in airspace areas where manned and unmanned aircraft coexist, as described above. This technology involves an unmanned aircraft, without a pilot, automatically determining the presence or absence of collision objects around the aircraft and whether or not a pre-set flight path information needs to be changed. The aircraft then transmits the results to air traffic control, allowing air traffic control to understand the aircraft's future movements. However, it does not discuss air traffic control methods or specific examples that prioritize manned aircraft over unmanned aircraft.

[0006] In the event of a collision involving a pilot or other person on board a manned aircraft, human lives are at risk. Therefore, from the perspective of protecting human lives, air traffic control methods that prioritize manned aircraft over unmanned aircraft are required. However, Patent Document 1 and other prior art have not considered air traffic control methods that prioritize manned aircraft in airspace areas where manned and unmanned aircraft coexist.

[0007] The present invention has been made in consideration of at least one of the above-mentioned problems, and aims to provide an information processing system, information processing method, or program that enables safer air traffic control in airspace areas where manned and unmanned aircraft are mixed or likely to be mixed. [Means for solving the problem]

[0008] To achieve the above objective, the information processing system includes an information processing system having a control function for the movements of manned and unmanned aircraft located in a predetermined target airspace area or target takeoff and landing area, comprising: an aircraft information acquisition unit that acquires information including aircraft type information that can identify whether an aircraft is a manned or unmanned aircraft; an aircraft entry determination unit that detects or predicts the entry of a manned aircraft into the target airspace area or target takeoff and landing area; an air traffic control command determination unit that determines an air traffic control command for an unmanned aircraft based on the determination result regarding the entry of a manned aircraft by the aircraft entry determination unit; and a communication unit that, when the entry of a manned aircraft into the target airspace area or target takeoff and landing area is detected or predicted, transmits the air traffic control command for the unmanned aircraft or information related to the air traffic control command to at least one of the unmanned aircraft or the unmanned aircraft's pilot terminal or a terminal of a person concerned with the target airspace area or target takeoff and landing area. [Effects of the Invention]

[0009] According to the present invention, safer air traffic control can be performed in airspace areas where manned and unmanned aircraft are present or may be present together. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram of an information control system 1 according to one embodiment of the present invention. [Figure 2] This is a configuration diagram showing the main functions of the control base system 2000. [Figure 3] This figure shows an example of a means of communication with the unmanned aerial vehicle 1001. [Figure 4] This is a functional block diagram showing the main functions of the manned aircraft 3001. [Figure 5] This is a functional block diagram of the UTM4200. [Figure 6] This is a functional block diagram of the ATM4300. [Figure 7]It is a functional block diagram of the aircraft operation system 2200 of the control point system 2000. [Figure 8] It is a functional block diagram showing the functions of the airspace monitoring system 4100. [Figure 9] It is a flowchart diagram showing the processing flow of the information control system 1. [Figure 10] It is a sequence diagram showing the operation processing of the information control system 1. [Figure 11] It is a diagram showing an example of the prior information pre-acquired by the information import section 4110. [Figure 12] It is a flowchart diagram showing the aircraft detection processing flow by the aircraft detection determination section 4120. [Figure 13] It is a diagram showing an example of the aircraft information acquired by the aircraft information acquisition section 4130. [Figure 14] It is a diagram showing the determination criteria for the safety requirement level by the safety requirement level determination section 4150. [Figure 15] It is a flowchart diagram showing the notification processing of the entry etc. of a manned aircraft by the communication section 4180. [Figure 16] It is a flowchart diagram showing the operation determination processing of an aircraft by the air traffic control command decision section 4170. [Figure 17] It is a flowchart diagram showing the determination processing of the countermeasure operation in case of abnormality of an aircraft by the air traffic control command decision section 4170. [Figure 18] It is a block diagram showing the hardware configuration of the airspace monitoring system 4100 etc.

Mode for Carrying Out the Invention

[0011] The contents of the embodiments of the present invention will be listed and described. The present invention has the following configuration. [Item 1] An information processing system having a function of controlling the operations of manned aircraft and unmanned aircraft present in a predetermined target airspace area or target departure / arrival area, A flight vehicle information acquisition unit that acquires information including flight vehicle type information capable of identifying whether it is one of the manned flight vehicle and the unmanned flight vehicle; A flight vehicle entry determination unit that detects or predicts the entry of the manned flight vehicle into the target airspace area or the target departure / arrival area; A control command determination unit that determines a control command for the unmanned flight vehicle based on a determination result regarding the entry of the manned flight vehicle by the flight vehicle entry determination unit; An information processing system including a communication unit that transmits the control command for the unmanned flight vehicle or information regarding the control command to at least one of the unmanned flight vehicle, the operator terminal of the unmanned flight vehicle, and the terminal of a person related to the target airspace area or the target departure / arrival area when the entry of the manned flight vehicle into the target airspace area or the target departure / arrival area is detected or predicted. [Item 2] The information processing system according to Item 1, When the flight vehicle entry determination unit detects or predicts the entry of the manned flight vehicle into the target airspace area or the target departure / arrival area, The control command determination unit determines a takeoff prohibition command for the unmanned flight vehicle that is preparing for takeoff in the target departure / arrival area as the control command, The communication unit transmits the takeoff prohibition command to the unmanned flight vehicle or the operator terminal of the unmanned flight vehicle. An information processing system. [Item 3] The information processing system according to Item 1 or 2, The control command determination unit calculates a takeoff prohibition prediction time regarding a prediction period for prohibiting the takeoff of the unmanned flight vehicle based on information regarding the flight plan or flight prediction of the manned flight vehicle, The takeoff prohibition command transmitted by the communication unit includes information on the takeoff prohibition prediction time. An information processing system. [Item 4] The information processing system according to any one of Items 1 to 3, When the communication unit transmits the takeoff prohibition command to the unmanned aircraft or the pilot terminal of the unmanned aircraft, and the manned aircraft has completed its flight or operation in the target airspace area or target takeoff and landing area, or has determined or predicted the completion of its flight or operation, The aforementioned air traffic control command determination unit determines a takeoff permission command for the unmanned aircraft that is preparing for takeoff in the target takeoff and landing area as the air traffic control command. The communication unit is an information processing system that transmits the takeoff permission command to the unmanned aircraft or the pilot terminal of the unmanned aircraft. [Item 5] An information processing system as described in any of items 1 to 4, When the aircraft entry determination unit detects or predicts the entry of the manned aircraft into the target takeoff and landing area, The aforementioned air traffic control command determination unit determines a landing prohibition command for the unmanned aircraft scheduled to land in the target takeoff and landing area as the air traffic control command. The communication unit is an information processing system that transmits the takeoff prohibition command to the unmanned aircraft or the pilot terminal of the unmanned aircraft. [Item 6] An information processing system described in any of items 1 to 5, The air traffic control decision unit calculates a predicted landing prohibition time for the predicted period during which the landing of the unmanned aircraft is prohibited, based on information regarding the flight plan or flight forecast of the manned aircraft. An information processing system in which the landing prohibition command transmitted by the communication unit includes information on the predicted time of the landing prohibition. [Item 7] An information processing system described in any of items 1 to 6, When the communication unit transmits the landing prohibition command to the unmanned aircraft or the pilot terminal of the unmanned aircraft, and the manned aircraft has completed its flight or operation in the target airspace area or the target takeoff and landing area, or has determined or predicted the completion of its flight or operation, The aforementioned air traffic control command determination unit determines a landing permission command for the unmanned aircraft scheduled to land in the target takeoff and landing area as the air traffic control command. The communication unit is an information processing system that transmits the landing permission command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle. [Item 8] An information processing system described in any of items 1 to 7, When the aircraft approach determination unit detects or predicts the manned aircraft's entry into the target airspace area or the target takeoff and landing area, The control command determination unit determines a waiting flight command for the unmanned aircraft flying in the target airspace area as the control command, The communication unit is an information processing system that transmits the standby flight command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle. [Item 9] An information processing system described in any of items 1 to 8, The aforementioned control command decision unit determines the location of the waiting flight area for which the unmanned aircraft will be kept in a waiting flight, An information processing system in which the standby flight command transmitted by the communication unit includes information about the standby flight area. [Item 10] An information processing system described in any of items 1 to 9, The air traffic control command determination unit is located in an airspace area that is a predetermined distance or more away from the predicted flight path of the manned aircraft, A waiting area in the air above an altitude higher than the predicted flight path of the aforementioned manned aircraft, Or a low-altitude waiting area at an altitude lower than the predicted flight path of the manned aircraft, Alternatively, an information processing system that determines an airspace area where the predicted flight path and altitude of the manned aircraft are approximately the same as the waiting flight area. [Item 11] An information processing system described in any of items 1 to 10, When the aircraft approach determination unit detects or predicts the manned aircraft's entry into the target airspace area or the target takeoff and landing area, The aforementioned air traffic control command determination unit determines a landing command for the unmanned aircraft flying in the target airspace area as the air traffic control command, The communication unit is an information processing system that transmits the landing command or information relating to the landing command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle. [Item 12] An information processing system described in any of items 1 to 11, The aforementioned air traffic control command unit determines at least one of the landing position and landing path for the unmanned aircraft, An information processing system wherein the landing command transmitted by the communication unit includes information on at least one of the landing position and the landing path. [Item 13] An information processing system described in any of items 1 to 12, The aforementioned air traffic control command decision unit is an information processing system that determines a position or path that is a predetermined distance or greater from the predicted flight path of the manned aircraft as the landing position or the landing path. [Item 14] An information processing system described in any of items 1 to 13, When the aircraft approach determination unit detects or predicts the approach of the manned aircraft to the target airspace area or the target takeoff and landing area, The air traffic control command determination unit determines a detour flight command for the unmanned aircraft flying in the target airspace area as the air traffic control command, The communication unit is an information processing system that transmits the detour flight command or information relating to the detour flight command to the unmanned aircraft or the operator terminal of the unmanned aircraft. [Item 15] An information processing system described in any of items 1 to 14, The control command decision unit determines the detour route in two-dimensional or three-dimensional space when the unmanned aircraft is to take a detour. An information processing system in which the detour flight command transmitted by the communication unit includes information about the detour route. [Item 16] An information processing system described in any of items 1 to 15, The aforementioned air traffic control command decision unit is an information processing system that determines a detour route that is located at or beyond a predetermined distance from the predicted flight path of the manned aircraft. [Item 17] An information processing system described in any of items 1 to 16, When the aircraft approach determination unit detects or predicts the approach of the manned aircraft to the target airspace area or the target takeoff and landing area, The control command determination unit determines a control command to instruct the unmanned aircraft flying in the target airspace area to exit the target airspace area, The communication unit is an information processing system that transmits the exit command or information relating to the exit command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle. [Item 18] An information processing system described in any of items 1 to 17, If the control command determination unit determines an unmanned aircraft operation command for the unmanned aircraft, including one of the following: a takeoff prohibition command, a waiting flight command, a landing command, a detour flight command, or a command to exit the target airspace area, and the communication unit transmits the unmanned aircraft operation command to the unmanned aircraft or the unmanned aircraft's operator terminal, and the unmanned aircraft or the unmanned aircraft's operator terminal does not receive a reception confirmation signal or a user viewing confirmation signal for the unmanned aircraft operation command for a predetermined period of time or longer, The communication unit is an information processing system that retransmits the unmanned aircraft operation command or information relating to the unmanned aircraft operation command, or transmits a reception confirmation request command or information relating to the reception confirmation request command to the unmanned aircraft or the operator terminal of the unmanned aircraft. [Item 19] An information processing system described in any of items 1 to 18, The system includes a safety requirement level determination unit that determines the safety requirement level for controlling an aircraft in the aforementioned target airspace area or the aforementioned target takeoff and landing area. The communication unit is an information processing system that transmits information regarding the safety requirement level to at least one of the manned aircraft, the pilot terminal of the manned aircraft, the unmanned aircraft, or the pilot terminal of the unmanned aircraft, which are located in the target airspace area or the target takeoff and landing area. [Item 20] An information processing system described in any of items 1 to 19, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to the number or density of manned and unmanned aircraft in the target airspace area or the target takeoff and landing area. [Item 21] An information processing system described in any of items 1 to 20, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to whether or not there are regular flight paths passing through at least a part of the target airspace area or the target takeoff and landing area, or within a predetermined distance range from the target airspace area or the target takeoff and landing area. [Item 22] An information processing system described in any of items 1 to 21, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to attribute information of surrounding facilities within a predetermined distance range from the target airspace area or the target takeoff and landing area. [Item 23] An information processing system as described in any of items 1 to 22, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to the flight purpose of the manned aircraft or unmanned aircraft located in the target airspace area or the target takeoff and landing area. [Item 24] An information processing system described in any of items 1 to 23, The safety requirement level determination unit is an information processing system that determines the safety requirement level based on whether or not there is an unplanned operation, an operation contrary to air traffic control instructions, other inappropriate operation, or equipment failure of at least one of the manned aircraft or unmanned aircraft in the target airspace area or the target takeoff and landing area. [Item 25] An information processing system as described in any of items 1 to 24, The aircraft approach determination unit is an information processing system that detects or predicts the approach of a manned aircraft to the target airspace area or the target takeoff and landing area based on at least one of the detection information of the manned aircraft by an aerial radar and the received information received from the manned aircraft via wireless communication. [Item 26] An information processing system described in any of items 1 to 25, The communication unit is an information processing system that notifies at least one of the unmanned aircraft or the unmanned aircraft's pilot terminal, or a terminal of a person concerned with the target airspace area or the target takeoff and landing area, of information regarding the manned aircraft's entry into or prediction of entry into the airspace area, or the manned aircraft's flight plan. [Item 27] An information processing system described in any of items 1 to 26, The aforementioned aircraft approach determination unit is an information processing system that determines the current flight state and predicted future flight state of the manned aircraft. [Item 28] An information processing method for controlling the movements of manned and unmanned aircraft located in a designated target airspace area or target takeoff and landing area, Computers A flight information acquisition step that acquires information including flight type information that can identify whether it is a manned or unmanned aircraft, A flight approach determination step that detects or predicts the entry of the manned aircraft into the aforementioned target airspace area or the aforementioned target takeoff and landing area, A control command determination step of determining a control command for the unmanned aircraft based on the determination result regarding the entry of the manned aircraft in the aircraft entry determination step; When detecting or predicting the entry of the manned aircraft into the target airspace area or the target departure / arrival area, a communication step of notifying at least one of the unmanned aircraft, the operator terminal of the unmanned aircraft, and the terminal of a person related to the target airspace area or the target departure / arrival area of the control command for the unmanned aircraft is executed. An information processing method. [Item 29] A program capable of controlling the operations of a manned aircraft and an unmanned aircraft existing in a predetermined target airspace area or target departure / arrival area, to a computer, an aircraft information acquisition command for acquiring information including aircraft type information capable of identifying whether it is one of the manned aircraft and the unmanned aircraft; an aircraft entry determination command for detecting or predicting the entry of the manned aircraft into the target airspace area or the target departure / arrival area; a control command determination command for determining a control command for the unmanned aircraft based on the determination result regarding the entry of the manned aircraft in the aircraft entry determination command; When detecting or predicting the entry of the manned aircraft into the target airspace area or the target departure / arrival area, a communication command for causing at least one of the unmanned aircraft, the operator terminal of the unmanned aircraft, and the terminal of a person related to the target airspace area or the target departure / arrival area to execute a communication for notifying the control command for the unmanned aircraft. A program.

[0012] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted. Further, the embodiments shown below are merely examples, and other known elements and alternative means can be adopted according to the use, purpose, scale, etc.

[0013] <A. One Embodiment> [A-1. Configuration] (A-1-1. Overview) Figure 1 is an overall configuration diagram of an information control system 1 (hereinafter also referred to as "System 1") according to one embodiment of the present invention. As shown in Figure 1, the information control system 1 includes an unmanned aircraft 1000, a control base system 2000, a manned aircraft 3000, a control system 4000, and a spatial information data utilization system 7000. The control system 4000 also includes an airspace monitoring system 4100, an unmanned aircraft operation management system (UAS Traffic Management (hereinafter also referred to as "UTM")) 4200, and an air traffic control system (Air Traffic Management (hereinafter also referred to as "ATM")) 4300.

[0014] Various aircraft and other flying objects, including unmanned aerial vehicles (UAVs) 1000 and manned aerial vehicles (UAVs) 3000, fly within the airspace area controlled by the control system 4000. Furthermore, the UAVs 1000 (UAVs 1001 and 1002) are controlled based on control commands received via wireless communication from the control base system 2000 and remote control terminals 2002. The UAVs 1000 and manned aerial vehicles 3000 include objects that fly for various purposes and objectives. For example, an object intended to collect measurement data from a target area is equipped with sensors such as optical cameras, infrared cameras, and laser sensors including LiDAR, and uses these sensors to acquire information about the target area from above as measurement data. Additionally, objects flown for disaster relief purposes have the capability and functionality to transport victims, and objects flown for the purpose of transporting medical supplies have the capability and functionality to transport supplies.

[0015] The control base system 2000 receives flight status information from the unmanned aerial vehicle 1001, which is the target of control, via control communication, and transmits flight control commands to the unmanned aerial vehicle 1001 to remotely control its flight. The control base system 2000 also has the function of receiving measurement data acquired by the unmanned aerial vehicle 1001 via measurement data communication and transmitting the received measurement data to the spatial information data utilization system 5000, which will be described later. The control base system 2000 is not limited to fixed structures, but can also be composed of movable vehicles, ships, or aircraft.

[0016] The airspace surveillance system 4100 is a system that monitors a target airspace area or target takeoff and landing area and controls one or more aircraft (including unmanned aircraft 1000 and manned aircraft 3000) present in the target airspace area or target takeoff and landing area. The airspace surveillance system 4100 has the function of constantly detecting aircraft flying in the airspace using aircraft detection devices such as radar and sonar. In addition, the airspace surveillance system 4100 acquires various information about the aircraft and flight status of the unmanned aircraft 1000 and manned aircraft 3000 via the UTM 4200 and ATM 4300 described later. The detailed functions of the airspace surveillance system 4100 will be described later.

[0017] The UTM4200 is a system commonly known as an Unmanned Aircraft Traffic Management (UAS) system. Its purpose is to ensure the safe and efficient operation of 1000 unmanned aircraft within its designated airspace by collecting aircraft information, weather information, and other data within the airspace. This information is then shared with the 1000 unmanned aircraft via wireless communication, thereby preventing accidents and other incidents involving the 1000 unmanned aircraft. Further details will be provided later.

[0018] The ATM4300 is a system commonly known as an Air Traffic Management system. Its purpose is to ensure the safe and efficient operation of 3000 manned aircraft within its designated airspace by collecting information on 3000 manned aircraft, weather information, and other relevant data. This information is then shared with the 3000 manned aircraft via radio communication, thereby preventing accidents and other incidents involving them. Further details will be provided later.

[0019] The spatial information data utilization system 5000 is connected to the control base system 2000 by wired or wireless communication and receives measurement data acquired by the unmanned aerial vehicle 1000 from the control base system 2000. The spatial information data utilization system 5000 processes the received measurement data to make it easier for users to understand the state of the measurement target area, and provides the processed data to user terminals, etc. For example, if the measurement data is an image measured by an optical camera or infrared camera, it generates a wide-area image by stitching together multiple images, or a wide-area orthorectified image by orthorectifying and stitching together multiple images, or a map image by integrating the wide-area image or wide-area orthorectified image with geographic information. Also, if the measurement data is point cloud data acquired by a laser sensor, it processes the point cloud data to generate three-dimensional spatial data represented by a Digital Surface Model (DSM) or Digital Elevation Model (DEM), or a map image by integrating the three-dimensional spatial data with geographic information.

[0020] Furthermore, the spatial information data utilization system 5000 may have a function to estimate and display the time when the data processing described above will be completed. In addition, when utilizing satellite measurement data acquired by artificial satellites as well as aerial measurement data acquired by aircraft, both types of data can be combined and displayed in a way that allows for identification. It is also possible to display the processed information of the data acquired earlier (for example, satellite measurement data) first, and then update and display the processed information of the data acquired later. Furthermore, the aerial measurement data and satellite measurement data may each be displayed on a timeline based on the measurement time. The spatial information data utilization system 5000 can also acquire information regarding the planned update schedule and update completion of the wide-area aerial image area from the pilot base system 2000 and display this information.

[0021] Furthermore, the wired or wireless communication between each component of the information control system 1 shown in Figure 1 (unmanned aircraft 1000, control base system 2000, manned aircraft 3000, airspace monitoring system 4100, UTM 4200, ATM 4300, spatial information data utilization system 5000) may be interconnected via a communication network such as an internet line or a communication method such as LTE. Each wireless communication may constitute a dedicated wireless communication network or utilize existing wireless infrastructure. In addition, the control communication for sending and receiving the control-related information described above (e.g., Command and Control link) and the measurement data communication for sending and receiving measurement data (e.g., payload link) are each assigned a different communication frequency band or a different communication path and communicated via a different wireless communication link.

[0022] (A-1-2. Overview of the Control Base System 2000) Next, the main functions of the control base system 2000 and its communication connectivity with other systems will be explained. Figure 2 is a configuration diagram showing the main functions of the control base system 2000. The control base system 2000 includes a communication infrastructure management system 2100, an aircraft operation operation system 2200, an operation management system 2300, and an acquired data management system 2400.

[0023] The communication infrastructure management system 2100 has a communication function to transmit control-related information, including control command information and flight status information, and other information such as measurement data, directly or via the communication satellite 8000 to the unmanned aircraft 1001, which is the target of the control base system 2000. It may also have a communication function to receive detection position information and flight status information of aircraft within the monitored airspace from the airspace monitoring system 4100. Furthermore, it has a communication function to transmit information such as measurement data to the spatial information data utilization system 5000. The communication infrastructure management system 2100 may also have a function to determine the communication connection status and a means for switching communication means. Specifically, it can monitor the communication loss status, communication strength, and communication speed status, and determine a suitable communication means according to the stability and speed required for communication, and execute a switch to that communication means. The communication processing may be, for example, parallel transmission or switching transmission.

[0024] The aircraft operation system 2200 is a system that controls the unmanned aircraft 1001 by generating a flight mission for the unmanned aircraft 1001 to be remotely controlled, acquiring the real-time flight status (including position and speed) of the unmanned aircraft 1001, and transmitting control target values ​​to the unmanned aircraft 1001 as control commands. The flight mission is, for example, a control command that includes the movement path and movement speed of the unmanned aircraft 1001. In addition, the aircraft operation system 2200 can receive input from the pilot regarding mediation negotiations when mediation negotiations with other aircraft are necessary.

[0025] The flight management system 2300 is a system that makes decisions and gives instructions for the operation of the unmanned aerial vehicle 1001 to be controlled. The flight management system 2500 plans the operations of the unmanned aerial vehicle 1001, including sensing and flight, and transmits the plan to the aircraft operation system 2200, causing the aircraft operation system 2200 to generate flight missions and the like according to the plan.

[0026] The acquired data management system 2400 is a system that manages measurement data acquired by the unmanned aerial vehicle 1001 that is being controlled. Specifically, it performs the following actions on the vast amount of measurement data acquired via the communication infrastructure management system 2100: determining whether or not the measurement data contains defective data, recording the measurement data, and determining whether or not to transmit the measurement data to the spatial information data utilization system 5000.

[0027] (A-1-3. Overview of Unmanned Aerial Vehicle 1001) Next, the unmanned aerial vehicle 1001 will be described. Figure 3 is a functional block diagram showing the main functions of the unmanned aerial vehicle 1001. In this specification, "flying vehicle" refers to all flying vehicles that have flight capabilities, regardless of the means of power (electricity, prime mover, etc.), control method (wireless or wired, fully autonomous or partially manual control, etc.), and whether they are manned or unmanned. Furthermore, "unmanned aerial vehicle" refers to an unmanned flying vehicle, and may be referred to as an unmanned aerial vehicle (UAV), multicopter, RPAS (Remote Piloted Aircraft System), or UAS (Unmanned Aircraft System), etc.

[0028] The unmanned aerial vehicle 1000 is an unmanned aircraft or other unmanned aerial vehicle. The unmanned aerial vehicle 1001 may be a fixed-wing aircraft, a rotary-wing aircraft, or a vertical take-off and landing aircraft (VTOL) equipped with both fixed wings and rotary wings. The unmanned aerial vehicle 1001 comprises a flight unit 1100, a measurement unit 1200, a communication unit 1300, a self-state determination unit 1400, and an aerial vehicle information recording unit 1500.

[0029] (A-1-3-1. Flight Unit 1100) The flight unit 1100 is a functional unit that flies the unmanned aircraft 1001 and includes a self-position measurement unit 1110, an attitude measurement unit 1120, a flight control unit 1130, and an other aircraft detection unit 1140.

[0030] The self-position measurement unit 1110 measures the aircraft's position (absolute position). The self-position measurement unit 1110 is not particularly limited, but for example, it measures its current position using GNSS (Global Navigation Satellite System), GPS (Global Positioning System), etc. As a method for measuring the self-position, for example, RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System) can also be used. The position information includes at least two-dimensional coordinate information in a planar view (e.g., latitude, longitude), and preferably three-dimensional coordinate information including altitude information. Note that the self-position measurement unit 1110 may measure information such as velocity and acceleration, not just the aircraft's position.

[0031] The attitude measurement unit 1120 measures the attitude (orientation) of the aircraft. The attitude measurement unit 1120 measures the current orientation of the aircraft using, for example, a geomagnetic sensor, a GNSS compass, etc. The attitude information includes at least the attitude angle (azimuth) in a plan view around the Z axis, and preferably includes attitude information around the three axes of the X, Y, and Z axes. The attitude measurement unit 1120 may also measure information on angular velocity and angular acceleration, not just the attitude of the aircraft.

[0032] The flight control unit 1130 is a mechanism and function unit that causes the unmanned aerial vehicle 1001 to fly, and generates thrust in the airframe to lift the unmanned aerial vehicle 1001 and move it in a desired direction. The flight control unit 1130 has a processing unit also called a flight controller. The processing unit may have one or more processors such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP). The processing unit has access to memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.

[0033] The processing unit includes a control module configured to control the state of the unmanned aerial vehicle 1001. For example, the control module adjusts the spatial arrangement, attitude angle, angular velocity, angular acceleration, angular jerk velocity, and / or acceleration of the unmanned aerial vehicle 1001, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). In other words, the flight control unit 1130 causes the unmanned aerial vehicle 1001 to perform various operations such as lift-off, forward movement, turning, and landing, and controls the attitude angle and flight movements of the unmanned aerial vehicle 1001 from takeoff through flight and landing.

[0034] The flight control unit 1130 can control the flight of the unmanned aerial vehicle 1001 based on an autonomous flight program acquired from, for example, the aircraft operation system 2200. The flight control unit 1130 can also control the flight of the unmanned aerial vehicle 1001 by controlling the motors based on various information such as the measurement target area, flight permission / prohibition area, corresponding flight geofence information, map information including 2D or 3D map data, the current position information of the unmanned aerial vehicle 1001, attitude information (heading information), speed information, and acceleration information, as well as any combination thereof.

[0035] The other aircraft detection unit 1140 is a functional unit that detects manned aircraft 3000 or other unmanned aircraft flying in the airspace surrounding the aircraft. The other aircraft detection unit 1150 detects other aircraft using sensors such as radar and laser (LiDAR).

[0036] (A-1-3-2. Measurement unit 1200) The measurement unit 1200 is a functional unit that acquires information about the area to be measured using the measurement sensor 1210. The measurement unit 1200 comprises the measurement sensor 1210, the sensor attitude control unit 1220, and the sensor control unit 1230.

[0037] The measurement sensor 1210 consists of, for example, an optical camera for acquiring optical images, an infrared camera for acquiring infrared images, a laser sensor such as LiDAR for acquiring point cloud data, and a radar sensor. The measurement sensor 1210 acquires optical images, infrared images, and point cloud data of the ground surface of the area to be measured from above the area to be measured as measurement data.

[0038] The sensor attitude control unit 1220 controls the attitude angle of at least one of the three axes of the measurement sensor 1210 relative to the body of the unmanned aerial vehicle 1001 by operating an attitude changing device such as a gimbal that supports the measurement sensor. The sensor attitude control unit 1220 may control either or both the pitch angle relative to the horizontal attitude of the aircraft and the yaw angle relative to a predetermined reference direction. The sensor attitude control unit 1220 controls the orientation of the measurement sensor 1210 by adjusting the sensor attitude changing device so that the measurement target area can be photographed from a pre-set flight path.

[0039] The sensor control unit 1230 controls the measurement parameters of the measurement sensor 1210, such as the timing of data acquisition and the zoom amount. The sensor control unit 1230 controls the measurement sensor 1210 so that images are taken according to pre-set measurement conditions such as data acquisition timing and zoom amount. For example, if the measurement sensor is an optical camera, the sensor control unit 1230 may also control the image acquisition timing, shutter speed, resolution, etc.

[0040] (A-1-3-3. Communications Department 1300) The communication unit 1300 includes a radio communication module capable of radio communication. The communication unit 1300 also comprises a UTM communication unit 1310 for communicating with the UTM 4200, a monitoring system communication unit 1320 for communicating with the airspace monitoring system 4100, and a base station communication unit 1330 for communicating directly with the control base system 2000 or via the communication satellite 8000. Each of these communication units can utilize wireless communication via a communication network NW, or direct wireless communication using Wi-Fi, 2.4GHz, or 5.6-5.8GHz frequency bands. The communication unit 1300 can utilize a communication network NW that utilizes a communication standard such as LTE (Long Term Evolution).

[0041] The UTM communication unit 1310 transmits control status information, such as measurement information including the self-position measured by the self-position measurement unit 1110 and measurement information of the aircraft's attitude measured by the attitude measurement unit 1120, to the UTM 4200, and receives flight commands and other information from the UTM 4200.

[0042] The monitoring system communication unit 1320 transmits, for example, measurement information such as the self-position measured by the self-position measurement unit 1110 and control status information such as the aircraft attitude measured by the attitude measurement unit 1120 to the airspace monitoring system 4100, and receives information on the operation of other aircraft within the monitored airspace from the airspace monitoring system 4100.

[0043] The base communication unit 1330 transmits control status information, such as measurement information including the self-position measured by the self-position measurement unit 1110 and measurement information regarding the aircraft's attitude measured by the attitude measurement unit 1120, to the control base system 2000. It also receives flight control commands for the flight control unit 1130, sensor attitude control commands for the sensor attitude control unit 1220, and sensor control commands for the sensor control unit 1230 from the control base system 2000. The base communication unit 1330 also transmits measurement data (optical images, infrared images, point cloud data, etc. of the ground surface of the measurement target area, etc.) measured by the measurement unit 1200 of the unmanned aircraft 1001 to the control base system 2000.

[0044] (A-1-3-4. Player's status determination unit 1400) The aircraft status determination unit 1400 is a functional unit that determines the aircraft's operational status (e.g., in emergency operation, rushing to the scene, waiting for work instructions, returning after work completion), as well as its internal status, including fuel depletion, equipment failure or abnormalities within the aircraft. The aircraft's operational status may be received from the control base system 2000 or determined by the aircraft itself.

[0045] (A-1-3-5. Aircraft Information Recording Unit 1500) The aircraft information recording unit 1500 comprises an aircraft type information recording unit 1510, a work status recording unit 1520, an aircraft status recording unit 1530, and a flight plan recording unit 1540. The aircraft type information recording unit 1510 records information about the aircraft type, including whether it is a manned or unmanned aircraft, and aircraft specifications, including the size and weight of the aircraft. The work status recording unit 1520 records the work status of the aircraft (e.g., in emergency operation, rushing to the scene, waiting for work instructions, returning after work completion) as determined by the aircraft status determination unit 1400. The aircraft status recording unit 1530 records the internal state of the aircraft as determined by the aircraft status determination unit 1400. The flight plan recording unit 1540 is a functional unit that records the aircraft's planned course and flight purpose.

[0046] (A-1-4.Manned Aircraft 3001) Next, the manned aircraft 3001 will be described. Figure 4 is a functional block diagram showing the main functions of the manned aircraft 3001. In this specification, "manned aircraft" refers to an aircraft capable of carrying a person. The manned aircraft 3001 comprises a flight unit 3100, a measurement unit 3200, a communication unit 3300, a self-state determination unit 3400, an aircraft information recording unit 3500, and a control unit 3600. The flight unit 3100, measurement unit 3200, self-state determination unit 3400, and aircraft information recording unit 3500 can have the same functions as the flight unit 1100, measurement unit 1200, self-state determination unit 1400, and aircraft information recording unit 1500 of the unmanned aircraft 1001.

[0047] The communication unit 3300 comprises an ATM communication unit 3310 and an air traffic control system communication unit 3320. The ATM communication unit 3310 transmits control status information, such as measurement information including the aircraft's position measured by the self-position measurement unit 3110 and measurement information regarding the aircraft's attitude measured by the attitude measurement unit 3120, to the ATM 4300, and receives flight commands and other information from the ATM 4300.

[0048] The control system communication unit 3320 transmits control status information, such as measurement information including the self-position measured by the self-position measurement unit 3110 and measurement information regarding the aircraft's attitude measured by the attitude measurement unit 3120, to the airspace monitoring system 4100, and can receive information on the operation of other aircraft within the monitored airspace from the airspace monitoring system 4100.

[0049] The control unit 3600 is a functional unit for a pilot aboard the manned aircraft 3001 to control the manned aircraft 3001. The control unit 3600 includes a display unit 3610, a speaker 3620, a control command input unit 3630, an aircraft status input unit 3640, and a mediation negotiation input unit 3650.

[0050] The display unit 3610 is a functional unit that displays various information to the pilot, such as flight control information from the flight unit 3100, measurement information from the measurement unit 3200, navigation information of other aircraft acquired by the communication unit 3300, and the aircraft's status determined by the aircraft status determination unit 3400. The display unit 3610 can also output information related to mediation negotiations acquired by the air traffic control system communication unit 3320 as audio. The speaker 3620 is a functional unit that outputs audio information to the pilot, and can, for example, output information related to mediation negotiations acquired by the air traffic control system communication unit 3320 as audio.

[0051] The control command input unit 3630 is a functional unit that receives control command input from the pilot. The aircraft status input unit 3640 is a functional unit that receives input from the pilot regarding the aircraft's flight purpose, operational status (e.g., emergency operation in progress, rushing to the scene, waiting for work instructions, returning after work completion), and internal status information including fuel depletion, equipment failure or abnormalities within the aircraft. The mediation negotiation input unit 3650 is a functional unit that receives input of the pilot's response information to mediation negotiation information acquired by the air traffic control system communication unit 3320.

[0052] (A-1-5.UTM4200) Next, we will describe the UTM4200. Figure 5 is a functional block diagram of the UTM. The UTM4200 comprises an unmanned aircraft information acquisition unit 4210, an air traffic control unit 4220, an aircraft communication unit 4230, and an external system communication unit 4240.

[0053] The Unmanned Aircraft Information Acquisition Unit 4210 is a functional unit that acquires information on unmanned aircraft within the target airspace or target takeoff and landing area for which flight operations are managed. The Unmanned Aircraft Information Acquisition Unit 4210 receives control status information such as the self-position measured by the self-position measurement unit 1110 and the aircraft attitude measured by the attitude measurement unit 1120 of the unmanned aircraft 1001, with which the UTM 4200 communicates wirelessly. Furthermore, it receives information on unmanned and manned aircraft within the monitored airspace detected by the aircraft detection and determination unit 4120 of the airspace monitoring system 4100 via the external system communication unit 4240, which will be described later. In addition, the Unmanned Aircraft Information Acquisition Unit 4210 can receive control status information such as the position, speed, and attitude of manned aircraft 3000 operated by the ATM 4300, which is directly or indirectly connected to the ATM 4300 for communication purposes.

[0054] The flight control unit 4220 generates flight commands for the unmanned aircraft 1000 that communicates via radio and flight status information for other aircraft in the target airspace, based on the control status information of unmanned aircraft within the target airspace or takeoff and landing area acquired by the unmanned aircraft information acquisition unit 4210, and transmits the flight commands and flight status information to the unmanned aircraft 1000 via the aircraft communication unit 4230, which will be described later.

[0055] The aircraft communication unit 4230 is communication equipment for direct communication with the unmanned aircraft 1000, and includes communication equipment such as a wireless communication antenna. The wireless communication antenna is communication equipment for direct communication with the unmanned aircraft 1000. In addition, for direct wireless communication between the unmanned aircraft 1000 and the UTM 4200, communication channels using various frequency bands can be applied, similar to the aircraft communication unit 4300 of the airspace surveillance system 4100.

[0056] The external system communication unit 4240 is a functional unit that communicates with other interconnected systems, namely the airspace monitoring system 4100, the control base system 2000, and the ATM 4300.

[0057] (A-1-6.ATM4300) Next, we will describe the ATM4300. Figure 6 is a functional block diagram of the ATM4300. The ATM4300 comprises a manned aircraft information acquisition unit 4310, an air traffic control unit 4320, an aircraft communication unit 4330, and an external system communication unit 4340.

[0058] The Manned Aircraft Information Acquisition Unit 4310 is a functional unit that acquires information on manned aircraft within the target airspace and takeoff / landing area for which flight management is performed. The Manned Aircraft Information Acquisition Unit 4310 receives control status information, including measurement information such as its own position and aircraft attitude, measured by the manned aircraft 3001 with which the ATM 4300 communicates wirelessly. Furthermore, it receives information on unmanned and manned aircraft within the monitored airspace detected by the aircraft detection and determination unit 4120 of the airspace monitoring system 4100 via the external system communication unit 4340, which will be described later. In addition, the Manned Aircraft Information Acquisition Unit 4310 receives control status information such as the position, speed, and attitude of the unmanned aircraft 1000 operated by the UTM 4200, which is directly or indirectly connected to the Manned Aircraft Information Acquisition Unit 4310 for flight management.

[0059] The flight control unit 4320 generates flight commands for the manned aircraft 3000 that communicates via radio and flight status information for other aircraft flying in the target airspace, based on the control status information of manned aircraft within the target airspace or takeoff and landing area acquired by the manned aircraft information acquisition unit 4310, and transmits the flight commands and flight status information to the manned aircraft 3000 via the aircraft communication unit 4330, which will be described later.

[0060] The aircraft communication unit 4330 is a communication facility for direct communication with the manned aircraft 3000, and is equipped with communication equipment such as a radio communication antenna. The radio communication antenna is a communication facility for direct communication with the manned aircraft 3000. In addition, for direct radio communication between the manned aircraft 3000 and the ATM 4300, communication channels using various frequency bands can be applied, similar to the aircraft communication unit 4300 of the airspace surveillance system 4100.

[0061] The external system communication unit 4340 is a functional unit that communicates with other interconnected systems, namely the airspace monitoring system 4100, the control base system 2000, and the UTM 4200.

[0062] (A-1-6. Overview of Aircraft Operation System 2200) Next, the aircraft operation system 2200 of the control base system 2000 will be described. Figure 7 is a functional block diagram of the aircraft operation system 2200 of the control base system 2000. The aircraft operation system 2200 comprises a command unit 2210 and a control unit 2220.

[0063] (A-1-6-1. Command Department 2210) The command unit 2210 comprises a mission generation unit 2211, a control target value generation unit 2212, and a command output unit 2213. The mission generation unit 2211 generates a flight mission, including planned information on the movement path and movement speed of the unmanned aerial vehicle 1001, based on the flight plan of the unmanned aerial vehicle 1001 obtained from the flight management system 2300. Furthermore, if the mission generation unit 2211 receives input from the pilot of a change in the flight plan from the piloting unit 2230 (described later), it generates a flight mission based on that information.

[0064] The control target value generation unit 2212 generates control target values ​​based on the generated flight mission and control state information acquired from the unmanned aerial vehicle 1001 (including flight position, attitude information, direction of movement, and speed of movement measured by the unmanned aerial vehicle 1001). The command output unit 2213 transmits the command information of the generated control target values ​​to the unmanned aerial vehicle 1001, which is the target of the control, via the communication infrastructure management system 2100.

[0065] (A-1-6-2. Remote control unit 2220) The remote control unit 2220 includes a display unit 2221, a speaker 2222, a control command input unit 2223, an aircraft status input unit 2224, and a mediation / negotiation input unit 2225.

[0066] The display unit 2221 outputs various information to the operator controlling the unmanned aircraft 1001 via the remote control unit 2220. For example, it is a functional unit that displays various information to the operator performing remote control, such as flight control information from the flight unit 1100 of the unmanned aircraft 1001, measurement information from the measurement unit 1200, navigation information of other aircraft acquired by the communication unit 1300, and the status of the aircraft determined by the aircraft status determination unit 1400.

[0067] The display unit 2221 also has the function of displaying flight mission information generated by the mission generation unit 2211 and input information entered by the control command input unit 2223, which will be described later. The speaker 2222 outputs various information by voice to the pilot who controls the unmanned aircraft 1001 by the remote control unit 2220. For example, it can output by voice information related to mediation negotiations obtained from the airspace monitoring system 4100.

[0068] The control command input unit 2233 is a functional unit that receives control commands input by the operator of the remote control unit 2220 to the unmanned aircraft 1001. The control command input unit 2223 receives control commands from the operator via hardware such as a touch panel, control levers, and input buttons. The control command input unit 2223 can input commands such as the direction of movement, attitude, and speed of the unmanned aircraft 1001, and can also input modifications to the flight mission displayed as a control command.

[0069] The aircraft status input unit 2224 is a functional unit that receives input from the pilot regarding the flight purpose of the unmanned aircraft 1001 being controlled, the aircraft's operational status (e.g., in emergency operation, rushing to the scene, waiting for work instructions, returning after work completion), and information regarding the aircraft's internal status, including fuel depletion, equipment failure or abnormalities within the aircraft. The mediation negotiation input unit 2225 is a functional unit that receives input of the pilot's response information to mediation negotiation information obtained from the airspace monitoring system 4100.

[0070] (A-1-7. Overview of the Airspace Monitoring System 4100) Next, the airspace monitoring system 4100 will be described. Figure 8 is a functional block diagram showing the functions of the airspace monitoring system. The airspace monitoring system 4100 includes an information import unit 4110, an aircraft detection and determination unit 4120, an aircraft information acquisition unit 4130, an aircraft approach determination unit 4140, a safety requirement level determination unit 4150, a mediation unit 4160, an air traffic control command determination unit 4170, a communication unit 4180, an operator interface unit 4190, and another communication unit 4180.

[0071] (A-1-7-1. Information Import Unit 4110) The information import unit 4110 is a functional unit that acquires prior information necessary for processing each functional unit within the airspace monitoring system 4100. Figure 11 shows an example of the prior information acquired by the information import unit 4110. As shown in Figure 11, the information import unit 4110 acquires information such as priority determination criteria, interference judgment criteria, and arbitration judgment criteria as prior information. The priority determination criteria include information on criteria for determining priority, such as priority by aircraft type, priority by aircraft specifications, priority by flight purpose, priority by aircraft status, priority by operating status, and others (priority by desired arrival time / airspace entry time). These priority criteria can also be set by manual intervention by the user.

[0072] Furthermore, the interference determination criteria are reference information used by the arbitration unit 4160, described later, to determine whether or not interference is occurring. These criteria include, for example, that the distance of the planned path or predicted path is less than or equal to a predetermined distance, or that the distance of the predicted movement position at each future time is less than or equal to a predetermined distance.

[0073] Furthermore, the arbitration criteria are reference information for arbitration processing performed by the arbitration unit 4160, and include, for example, arbitration criteria information for deciding to command the lower-priority aircraft to take evasive action when the difference in priority between each aircraft is greater than or equal to a predetermined value.

[0074] (A-1-7-2. Aircraft detection and determination unit 4120) The aircraft detection and determination unit 4120 is a functional unit that searches for the target airspace area or target takeoff and landing area to be monitored and detects aircraft present in said target airspace area or target takeoff and landing area. Here, the target airspace area may include the airspace of the landing approach path or takeoff approach path to the target takeoff and landing area. It includes an aircraft detection sensor 4121 and an aircraft determination unit 4122.

[0075] The aircraft detection sensor 4121 can consist of a radar sensor, a laser sensor, or other sensor capable of non-contact detection of objects. When using a radar sensor, radar waves (electromagnetic waves) are irradiated from the ground or sea where the airspace surveillance system 4100 is installed toward the airspace area to be monitored by the airspace surveillance system 4100, and aircraft within the target area are detected by detecting the reflected waves that are reflected by aircraft within the target airspace area or target takeoff and landing area. On the other hand, when using a laser sensor, similarly, laser light is irradiated from the ground or sea where the airspace surveillance system 4100 is installed toward the airspace area or target takeoff and landing area to be monitored by the airspace surveillance system 4100, and aircraft within the target airspace area are detected by detecting the reflected light that is reflected by aircraft within the target area.

[0076] The aircraft detection unit 4122 determines at least one of the aircraft's position, direction of movement, speed of movement, and acceleration of movement based on detection information of reflected radar waves or reflected laser light obtained by the aircraft detection sensor 4121. The aircraft detection unit 4122 also has a function to determine whether or not a target aircraft exists within the monitored area. For example, if the size of the object determined by the detection information is smaller than a predetermined size, it can be determined to be noise information such as a bird rather than an aircraft. In addition to the presence of an aircraft, the aircraft may also be identified by giving it unique characteristics (curvature, reflectivity) and determining these unique characteristics using reflected laser light or radar waves.

[0077] (A-1-7-3. Aircraft information acquisition section 4130) The aircraft information acquisition unit 4130 is a functional unit that acquires aircraft information, including aircraft type information that can identify whether the aircraft is a manned or unmanned aircraft. The aircraft information acquisition unit 4130 can acquire the above information from unmanned aircraft 1000, control base system 2000, or manned aircraft 3000 in the monitored area. The aircraft information acquisition unit 4130 comprises a manned / unmanned aircraft information acquisition unit 4131, an aircraft information acquisition unit 4132, and a flight plan acquisition unit 4133. Figure 13 is a diagram showing an example of aircraft information acquired by the aircraft information acquisition unit 4130.

[0078] The manned / unmanned information acquisition unit 4131 is a functional unit that acquires information that can identify whether an aircraft is a manned or unmanned aircraft. As shown in Figure 13, the manned / unmanned information acquisition unit 4131 acquires information that can identify whether an aircraft is a manned or unmanned aircraft as its aircraft type.

[0079] The aircraft information acquisition unit 4132 is a functional unit that acquires various information regarding the aircraft specifications, flight purpose, aircraft condition, and operating status of an aircraft (including a manned aircraft). As shown in Figure 13, the aircraft specifications include information that can identify the size and weight of the aircraft. The flight purpose includes purposes related to saving human lives, such as disaster relief, firefighting, emergency medical services, and rescue operations, as well as information related to the aircraft's flight purpose, such as news reporting, data acquisition, scheduled flights, special instructions from headquarters, and other purposes. The flight purpose may also include acquiring measurement data in a predetermined area, transporting luggage or people to the predetermined area, outputting audio, light, or display information in the predetermined area, and guiding evacuations in the predetermined area.

[0080] Furthermore, as shown in Figure 13, aircraft status includes aircraft abnormalities (temporary, reversible abnormalities), aircraft malfunctions (irreversible malfunctions), fuel level status (just before running out of fuel, running out of fuel, etc.), charge level status (just before running out of charge, running out of charge, etc.), and normal status. Operating status includes moving towards the target area, performing the flight objective, returning after completing the flight objective, and waiting for instructions for the flight objective. In addition to the above, information regarding operating status may also include disaster emergency response, responding to special instructions from headquarters, performing disaster response missions, and performing normal operations.

[0081] The flight plan acquisition unit 4133 is a functional unit that acquires information regarding the flight plan of an aircraft (including a manned aircraft). As shown in Figure 13, the flight plan acquires information regarding the current flight status and future flight plan of an aircraft, including a manned aircraft. As shown in Figure 13, the flight plan includes information such as the departure point, destination, flight path, departure time, estimated arrival time, and flight speed. The flight plan acquisition unit 4133 can acquire the above information from UTM4200, ATM4300, or ADS-B, etc.

[0082] (A-1-7-4. Aircraft approach determination section 4140) The aircraft approach determination unit 4140 is a functional unit that detects or predicts the entry of a manned aircraft into a target airspace area or target takeoff and landing area. The aircraft approach determination unit 4140 may also have the function of detecting or predicting the entry of unmanned aircraft into the target airspace area or target takeoff and landing area, not limited to manned aircraft. The aircraft approach determination unit 4140 comprises an approach determination unit 4141 and a flight state determination unit 4142.

[0083] The approach determination unit 4141 has the function of detecting or predicting when a manned aircraft (and unmanned aircraft) has entered a target airspace area or target takeoff and landing area. For example, it can detect and determine when a manned aircraft (and unmanned aircraft) has entered a target airspace area or target takeoff and landing area based on aircraft detection information using aircraft radar, etc., by the aircraft detection determination unit 4120. In addition, the approach determination unit 4141 can detect or predict when a manned aircraft (and unmanned aircraft) has entered a target airspace area or target takeoff and landing area based on information obtained from the manned aircraft via wireless communication, etc., by the flight plan acquisition unit 4133 regarding the current flight status and future flight plan of the manned aircraft (and unmanned aircraft) located in the area outside the target airspace area or target takeoff and landing area.

[0084] The flight state determination unit 4142 is a functional unit that determines the current operating state and predicted future operating state of a manned aircraft (and unmanned aircraft). For example, the flight state determination unit 4142 can determine the current operating state and predicted future operating state of a manned aircraft (and unmanned aircraft) based on aircraft detection information obtained by the aircraft detection determination unit 4120, aircraft operating state information obtained by the aircraft information acquisition unit 4132, or aircraft flight plan information obtained by the flight plan acquisition unit 4133. As an example, the flight state determination unit 4142 determines the current position, speed, direction of travel, heading direction, and path history of a manned aircraft (and unmanned aircraft), or predicts the future position, speed, direction of travel, heading direction, and path history. Note that the current operating state and predicted future operating state determined here are not limited to the target airspace area, but also include the operating state and predicted operating state outside the target airspace area.

[0085] (A-1-7-5. Safety requirement level determination unit 4150) The safety requirement level determination unit 4150 is a functional unit that determines the safety requirement level for the operation of aircraft (including manned and unmanned aircraft) in the target airspace area or target takeoff and landing area. Here, the safety requirement level refers to the level of safe navigation required when an aircraft is navigating in the target airspace area or target takeoff and landing area, and the higher the level, the more emphasis is placed on safe operation when piloting the aircraft.

[0086] There are various methods for determining the safety requirement level by the safety requirement level determination unit 4150. Figure 14 shows the criteria for determining the safety requirement level by the safety requirement level determination unit 4150. As shown in Figure 14, the methods for determining the safety requirement level include determination by aircraft density, determination by scheduled flight routes, determination by surrounding facilities, and determination by the purpose of the aircraft's flight.

[0087] For example, the safety requirement level determination unit 4150 can determine the safety requirement level according to the number or density of manned and unmanned aircraft in the target airspace area or target takeoff and landing area. In other words, the more aircraft there are in the target area, or the higher the aircraft density, the shorter the distance between aircraft becomes, and the higher the risk of collision between aircraft. Therefore, it is desirable to set a higher safety requirement level as the number of aircraft or the aircraft density increases. In particular, since manned aircraft require a higher level of safety than unmanned aircraft, the safety requirement level may also be set according to the number or density of manned aircraft.

[0088] As another example, the safety requirement level determination unit 4150 can determine the safety requirement level depending on whether there are regular flight paths passing through at least a portion of the target airspace area or target takeoff and landing area, or within a predetermined distance range from the target airspace area or target takeoff and landing area. In other words, if regular flight paths exist within or near the target area, it is desirable to set a higher safety requirement level than if they do not exist.

[0089] As another example, the safety requirement level determination unit 4150 can determine the safety requirement level according to the attribute information of surrounding facilities within a predetermined distance range from the target airspace area or target takeoff and landing area. In other words, if there are bases, power plants, or other designated important facilities near the target area, it is desirable to set a higher safety requirement level than if there were no such facilities. For example, the safety requirement level can be set higher than in other airspaces for the airspace directly above the facilities or within a predetermined horizontal distance.

[0090] As another example, the safety requirement level determination unit 4150 can determine the safety requirement level according to the flight purpose of manned or unmanned aircraft present in the target airspace area or target takeoff and landing area. In other words, if aircraft whose purpose is to respond to emergencies such as disaster response, accident response, emergency transport, or rescue are present in the target area, it is desirable to set a high safety requirement level so as not to impede the safe navigation of aircraft performing critical missions involving human lives.

[0091] As another example, the safety requirement level determination unit 4150 can determine the safety requirement level based on whether or not there is an unplanned operation, an operation contrary to air traffic control instructions, other inappropriate operation, or equipment failure of at least one manned or unmanned aircraft in the target airspace area or target takeoff and landing area. In other words, if there is an aircraft in the target area that is performing an operation different from the predicted operation predicted by the airspace monitoring system 4100, or an aircraft that is highly likely to perform an operation different from the predicted operation, it is desirable to set a high safety requirement level. Information regarding the presence or absence of unplanned operations, operations contrary to air traffic control instructions, other inappropriate operations, or equipment failures can be obtained by the aircraft detection determination unit 4120 and the aircraft information acquisition unit 4130.

[0092] (A-1-7-6.Mediation Department 4160) The arbitration unit 4160 is a functional unit that determines whether or not there is interference between a manned aircraft and an unmanned aircraft in the target airspace area or target takeoff and landing area, and performs arbitration if interference occurs. The arbitration unit 4160 comprises an interference determination unit 4161 and an arbitration execution unit 4162.

[0093] The interference determination unit 4161 is a functional unit that predicts or grasps the time-series predicted movement position of an aircraft (including manned aircraft, unmanned aircraft, and other flying objects) during flight or takeoff and landing in the target airspace area or target takeoff and landing area, based on information on the flight status and predicted flight status of an aircraft (including manned aircraft, unmanned aircraft, and other flying objects) acquired by the flight plan acquisition unit 4133, etc., and interference determination conditions acquired as prior information. Based on the time-series predicted movement position, it determines interference of the predicted movement position in at least one of the target airspace area and the target takeoff and landing area. Here, the time-series predicted movement position means including the predicted movement position at each future time.

[0094] The interference determination unit 4161 can determine interference based on the time-series predicted movement positions of multiple aircraft if the time difference between the date and time when the predicted movement positions are less than or equal to a predetermined distance is less than or equal to a predetermined time, or if other aircraft are present in the planned landing position or the take-off / landing airspace to the planned landing position. The interference detection determination unit 4152 may also have a function to determine interference between aircraft, including birds and other aircraft detected by the aircraft detection determination unit 4120, and to determine interference between aircraft and other aircraft. By determining interference of predicted movement positions in at least one of the target airspace area and the target take-off / landing area based on the above criteria, the interference determination unit 4161 can perform overlapping use determination of take-off / landing fields, overlapping flight paths or near miss determination where the distance is closer than a predetermined distance, and overlapping flight space including the surrounding space of the flight path.

[0095] The mediation execution unit 4162 is a functional unit that mediates between aircraft (including manned aircraft 3000 and unmanned aircraft 1000) that the interference determination unit 4161 has determined to be interfering with each other. The mediation execution unit 4162 can perform mediation based on priority determination conditions and mediation determination conditions acquired as prior information. In this case, the mediation execution unit 4162 can mediate between manned aircraft, between unmanned aircraft, and between manned aircraft and unmanned aircraft. For example, the mediation execution unit 4162 compares the priorities of multiple aircraft and determines that aircraft with lower priority than other aircraft are evasion aircraft that require evasion action, and determines that aircraft with relatively higher priority are priority aircraft (hereinafter also referred to as second aircraft) that will take priority action. Alternatively, the mediation execution unit 4162 can determine that an aircraft with a priority lower than other aircraft by a predetermined value or more is an evasive aircraft requiring evasive action, and that an aircraft with a priority higher than other aircraft by a predetermined value or more is a priority aircraft that should take priority action. This allows for the determination of evasive aircraft requiring evasive action and priority aircraft not only when the difference in priority is small and the priorities are almost the same, but also when the difference in priority is large.

[0096] Furthermore, the mediation execution unit 4162 may, for example, determine, after comparing the priorities of multiple aircraft, that their priorities are approximately the same, the difference in priorities is within a predetermined range, or other mediation criteria are met, and decide to transmit information regarding the mediation negotiation to multiple aircraft or the aircraft's control terminals (control base system 2000) via the communication unit 4180 described later. It may also decide to display information regarding the mediation negotiation of multiple aircraft on the display unit 4191 of the operator interface unit 4190 described later. The mediation execution unit 4162 may also decide to transmit requests for additional information or inquiry information regarding the permissibility of evasive maneuvers to multiple aircraft or the aircraft's control terminals (control base system 2000) via the communication unit 4180.

[0097] (A-1-7-7.Control command determination unit 4170) The air traffic control command determination unit 4170 is a functional unit that determines air traffic control commands for the unmanned aircraft 1000 based on the aircraft approach determination result of the aircraft approach determination unit 4140 regarding the approach of the manned aircraft 3000, and transmits the air traffic control commands to the unmanned aircraft, etc. The air traffic control commands may include flight commands, landing commands, takeoff commands, etc., and may also include information on movement speed and time limits. The air traffic control command determination unit 4170 is equipped with an aircraft operation determination unit 4171 and an abnormal situation response operation determination unit 4172.

[0098] The aircraft operation determination unit 4171 determines a control command for the unmanned aircraft 1000 based on the determination result regarding the approach of the manned aircraft 3000 by the aircraft approach determination unit 4140. For example, if the aircraft operation determination unit 4171 detects or predicts the approach of the manned aircraft 3000 to the target airspace area or target takeoff / landing area by the aircraft approach determination unit 4140, it determines a takeoff prohibition command as a control command to prohibit takeoff for the unmanned aircraft that is preparing for takeoff in the target takeoff / landing area, and can transmit the takeoff prohibition command to the unmanned aircraft or the unmanned aircraft's pilot terminal using the control command transmission unit 4183, which will be described later. Furthermore, when transmitting a no-takeoff command in this manner, the aircraft operation determination unit 4171 may have a function to calculate the predicted takeoff prohibition time for the predicted period during which the unmanned aircraft 1000 is prohibited from taking off by the no-takeoff command, based on information regarding the flight plan or flight forecast of the manned aircraft 3000, and to transmit a no-takeoff command including the predicted takeoff prohibition time to the unmanned aircraft or the unmanned aircraft's pilot terminal.

[0099] Furthermore, as described above, if a no-takeoff command is determined as an air traffic control command and transmitted to the unmanned aircraft or the unmanned aircraft's pilot terminal (such as the control base system 2000), and the manned aircraft has completed its flight or operation in the target airspace area or target takeoff / landing area, or if the completion of the flight or operation is determined or predicted, the aircraft operation determination unit 4171 may also determine a takeoff permission command for the unmanned aircraft preparing for takeoff in the target takeoff / landing area as an air traffic control command, and transmit the takeoff permission command to the unmanned aircraft or the unmanned aircraft's pilot terminal via the air traffic control command transmission unit 4183, which will be described later.

[0100] In another example, when the aircraft approach determination unit 4140 detects or predicts the entry of a manned aircraft 3000 into the target takeoff and landing area, the aircraft operation determination unit 4171 can determine a no-landing command as an air traffic control command for the unmanned aircraft 1000 that is scheduled to land in the target takeoff and landing area, and transmit the no-landing command to the unmanned aircraft or the unmanned aircraft's pilot terminal using the air traffic control command transmission unit 4183, which will be described later. When transmitting a no-landing command as an air traffic control command in this manner, the predicted no-landing time for the period during which the unmanned aircraft 1000 is prohibited from landing can be calculated based on information regarding the manned aircraft 3000's flight plan or flight forecast, and the no-landing command including the predicted no-landing time information can be transmitted to the unmanned aircraft or the unmanned aircraft's pilot terminal using the air traffic control command transmission unit 4183, which will be described later.

[0101] Furthermore, as described above, when a no-landing command is determined as an air traffic control command and transmitted to an unmanned aircraft or the unmanned aircraft's pilot terminal (such as the control base system 2000), and the manned aircraft 3000 has completed its flight or operation in the target airspace area or target takeoff and landing area, or when the completion of the flight or operation is determined or predicted, the aircraft operation determination unit 4171 determines a landing permission command for the unmanned aircraft scheduled to land in the target takeoff and landing area as an air traffic control command, and the air traffic control command transmission unit 4183, described later, can transmit the landing permission command to the unmanned aircraft or the unmanned aircraft's pilot terminal.

[0102] In another example, when the aircraft approach determination unit 4140 detects or predicts the entry of a manned aircraft 3000 into a target airspace area or target takeoff and landing area, the aircraft operation determination unit 4171 determines a standby flight command as a control command for the unmanned aircraft 1000 flying in the target airspace area, and the control command transmission unit 4183, described later, can transmit the standby flight command to the unmanned aircraft or the unmanned aircraft's pilot terminal. When transmitting a standby flight command as a control command in this manner, the aircraft operation determination unit 4171 has a function to determine the standby flight area, which is the location of the standby flight area for the unmanned aircraft 1000 to stand by, and the control command transmission unit 4183, described later, can transmit a standby flight command including information about the standby flight area to the unmanned aircraft or the unmanned aircraft's pilot terminal. In this case, the information about the standby flight area can be displayed in map format.

[0103] As described above, when transmitting a standby flight command as an air traffic control command, the standby flight area can be determined to be an airspace area located at a predetermined distance or more from the predicted flight path of the manned aircraft 3000, and which is either an upper-altitude standby area at a higher altitude than the predicted flight path of the manned aircraft 3000, a low-altitude standby area at a lower altitude than the predicted flight path of the manned aircraft 3000, or an airspace area at approximately the same altitude as the predicted flight path of the manned aircraft. Furthermore, when determining the standby area as described above, the aircraft operation determination unit 4171 can set the standby area to be in a direction away from the predicted flight path of the manned aircraft 3000. The aircraft operation determination unit 4171 may also have a function to select one standby area from among the multiple candidates for the standby area described above.

[0104] In another example, when the aircraft approach determination unit 4140 detects or predicts the entry of a manned aircraft 3000 into a target airspace area or target takeoff and landing area, the aircraft operation determination unit 4171 determines a landing command for the unmanned aircraft 1000 flying in the target airspace area as an air traffic control command, and the air traffic control command transmission unit 4183, described later, can transmit the landing command or information related to the landing command (for example, landing recommendation information that can be displayed on the pilot terminal) to the unmanned aircraft or the unmanned aircraft's pilot terminal. Furthermore, when determining a landing command as an air traffic control command in this way, the aircraft operation determination unit 4171 determines at least one of the landing position and landing path for the unmanned aircraft, and the landing command transmitted by the air traffic control command transmission unit 4183, described later, includes information on at least one of the landing position and landing path, and transmits this landing command to the unmanned aircraft or the unmanned aircraft's pilot terminal.

[0105] Furthermore, as described above, when determining at least one of the landing position and landing path of an unmanned aircraft, a position or path that is a predetermined distance or greater from the predicted flight path of the manned aircraft 3000 can be determined as the landing position or landing path.

[0106] In another example, when the aircraft approach determination unit 4140 detects or predicts the approach of a manned aircraft to the target airspace area or target takeoff and landing area, the air traffic control command determination unit 4170 determines a detour flight command for an unmanned aircraft flying in the target airspace area as an air traffic control command, and the air traffic control command transmission unit 4183 can transmit the detour flight command or information related to the detour flight command (for example, detour flight recommendation information that can be displayed on the pilot terminal) to the unmanned aircraft or the unmanned aircraft's pilot terminal.

[0107] Thus, when a detour flight command is determined as an air traffic control command, the air traffic control command determination unit 4170 determines a detour route in two-dimensional or three-dimensional space for the unmanned aircraft to take a detour, and the air traffic control command transmission unit 4183 transmits a detour flight command containing information about the detour route to the unmanned aircraft or the unmanned aircraft's pilot terminal. Furthermore, when determining the detour route, a route that is a predetermined distance or more away from the predicted flight path of the manned aircraft 3000 can be determined as the detour route.

[0108] In another example, when the aircraft approach determination unit 4140 detects or predicts the approach of a manned aircraft 3000 to the target airspace area or target takeoff and landing area, the air traffic control command determination unit 4170 determines an exit command for an unmanned aircraft flying in the target airspace area to leave the target airspace area as an air traffic control command, and the air traffic control command transmission unit 4183 can transmit the exit command or information related to the exit command (for example, exit recommendation information displayed on the pilot terminal) to the unmanned aircraft 1000 or the pilot terminal of the unmanned aircraft 1000.

[0109] As another example, if the mediation process by the mediation execution unit 4162 takes time, the air traffic control command decision unit 4170 may decide on a standby command during the mediation process and transmit it as an air traffic control command. In this case, the standby command may include flight standby (circling flight standby, standby in altitude change area, hovering flight standby), landing standby, etc., and the estimated standby time may also be notified.

[0110] The abnormal situation response action determination unit 4172 is a functional unit that determines an abnormal situation and determines an abnormal situation response action when there is an aircraft performing abnormal actions that are not following air traffic control instructions within the target airspace area or target takeoff and landing area, or when there is an aircraft performing inappropriate flights that confuse or disorient surrounding aircraft, or when there is an aircraft performing unplanned actions that differ from the predetermined flight plan. For example, if the abnormal situation response action determination unit 4172 determines that an abnormal situation has occurred as described above, it can determine an air traffic control instruction to have all aircraft in the target airspace area or target takeoff and landing area stand by or evacuate.

[0111] (A-1-7-8. Communications Department 4180) The communication unit 4180 is a functional unit that, upon detecting or predicting the entry of a manned aircraft 3000 into the target airspace area or target takeoff and landing area, transmits control commands to the unmanned aircraft 1000, or information related to control commands (such as information on requested or recommended actions included in the control commands), to at least one of the following: the unmanned aircraft 1000, the unmanned aircraft's pilot terminal (pilot base system 2000), or a terminal of a person concerned with the target airspace area or target takeoff and landing area. Here, the destinations to which the communication unit 4180 transmits each piece of information may include at least one of the manned aircraft, the manned aircraft's pilot terminal, the unmanned aircraft, the unmanned aircraft's pilot terminal, or a terminal of a person concerned with the target airspace area or target takeoff and landing area. The communication unit 4180 comprises a notification information generation unit 4181, a notification information transmission unit 4182, a control command transmission unit 4183, and an information receiving unit 4184.

[0112] The notification information generation unit 4181 is a functional unit that generates notification information to be transmitted by the notification information transmission unit 4182. For example, the notification information generation unit 4181 determines the safety requirement level information for the target area determined by the safety requirement level determination unit 4150 as notification information, and the notification information transmission unit 4182 can transmit the safety requirement level information to at least one of a manned aircraft, a manned aircraft pilot terminal, an unmanned aircraft, or an unmanned aircraft pilot terminal located in the target airspace area or target takeoff and landing area.

[0113] Furthermore, the notification information generation unit 4181 may have the function of determining information such as the entry or prediction of entry of a manned aircraft into an airspace area, information regarding the flight plan of the manned aircraft, and other information (such as the aircraft's operating status, flight plan, aircraft pilot identification information, information regarding the arbitration result, and the reason for the arbitration decision) as notification information, and transmitting this information via the notification information transmission unit 4182 to at least one of the following: an unmanned aircraft or the unmanned aircraft's pilot terminal, or a terminal of a person involved in the target airspace area or target takeoff and landing area. In this case, each of the above notification information may also be information that can be displayed in map format.

[0114] Furthermore, if the aircraft operation determination unit 4171 determines an operation command for the unmanned aircraft, including one of the following: a takeoff prohibition command, a waiting flight command, a landing command, a detour flight command, or a command to exit the target airspace area, and transmits the operation command to the unmanned aircraft or the unmanned aircraft's operator terminal, and does not receive a reception confirmation signal or user viewing confirmation signal from the unmanned aircraft or the unmanned aircraft's operator terminal for a predetermined period of time or longer, the notification information generation unit 4181 determines information regarding the unmanned aircraft operation command as retransmission information, or determines a reception confirmation request command as notification information, and the notification information transmission unit 4182 retransmits the unmanned aircraft operation command or information regarding the operation command (e.g., operation recommendation information that can be displayed on the operator terminal) or transmits a reception confirmation request command or information regarding the reception confirmation request command (e.g., information requesting input for reception confirmation that can be displayed on the operator terminal) to the unmanned aircraft or the unmanned aircraft's operator terminal.

[0115] The control command transmission unit 4183 is a functional unit that transmits control commands and information related to control commands determined by the control command decision unit 4170. The information receiving unit 4184 is a functional unit that receives input information from users such as pilots from the unmanned aircraft 1000 or the unmanned aircraft's pilot terminal (including the control base system 2000), the manned aircraft 3000, or terminals of relevant personnel related to the target airspace area or target takeoff and landing area. For example, the information receiving unit 4184 can receive various information about the aircraft, such as aircraft information, operating status, and flight plan.

[0116] (A-1-7-9. Operator Interface Unit 4190) The operator interface unit 4190 is a functional unit that displays and outputs various information to the operator of the airspace monitoring system 4100 and receives input information from the operator. The operator interface unit 4190 comprises a display unit 4191 and an input receiving unit 4192.

[0117] The display unit 4191 is a functional unit that displays and outputs information such as aircraft information to the operator of the airspace monitoring system 4100. For example, it can display and output information such as the safety requirement level in the target area determined by the safety requirement level determination unit 4150, information on the entry or prediction of entry of a manned aircraft into the airspace area, information on the flight plan of the manned aircraft, other information, and operation commands for unmanned aircraft, including any of the following: no takeoff command, waiting flight command, landing command, detour flight command, or exit command to the target airspace area.

[0118] As another example, the display unit 4191 can display information such as the position, direction of movement, speed, and acceleration of an aircraft detected by the aircraft detection and determination unit 4120, as well as information such as the flight purpose, operating status, aircraft status, and movement plan acquired from the aircraft information acquisition unit 4130. The display unit 4191 can also display the above information on a map linked to location information.

[0119] The input reception unit 4192 is a functional unit that receives input information from the operator. For example, it can receive response input information from the operator regarding information about mediation negotiations displayed on the display unit 4191.

[0120] (A-1-8. Control Flowchart) Next, the operation flow of the information processing system 1 will be described. Figure 9 is a flowchart showing the processing flow of the information control system 1. First, the information import unit 4110 acquires various prior information (step 101).

[0121] Next, the aircraft detection and determination unit 4120 searches for the target airspace area and target takeoff and landing area to be monitored and detects aircraft present in the said airspace area and target takeoff and landing area (step 102). The details of this step will be described later.

[0122] Next, the aircraft information acquisition unit 4130 acquires aircraft information (step 103).

[0123] Next, the aircraft approach determination unit 4140 determines whether the manned aircraft is approaching the target airspace area or the target takeoff and landing area (step 104).

[0124] Next, the safety requirement level determination unit 4150 determines the safety requirement level for the target airspace area and the target takeoff and landing area (step 105).

[0125] Next, the communications unit 4180 notifies that a manned aircraft has entered the target airspace area or the target takeoff and landing area (step 106). The details of this step will be described later.

[0126] Next, the control command determination unit 4170 generates control commands for the unmanned aircraft, and the communication unit 4180 transmits the control commands to the unmanned aircraft (step 107). The details of this step will be described later.

[0127] Next, the control command decision unit 4170 determines the emergency response actions to be taken in the event of an anomaly in the target airspace area or target takeoff and landing area, and the communication unit 4180 transmits the control commands for the emergency response actions to the unmanned aircraft, etc. (step 108). The details of this step will be described later.

[0128] (A-1-9. Operation Processing Sequence) Next, we will explain an example of information exchange between the information control system 1 and each system. Figure 10 is a sequence diagram showing the operation process of the information control system 1.

[0129] First, the external system 6000 transmits preliminary information to the control system 4000. The control system 4000 then acquires aircraft information and navigation information from the unmanned aircraft 1001 and the manned aircraft 3001. Based on the acquired information and the detection and determination information from the aircraft detection and determination unit 4120, it performs manned aircraft approach determination, safety requirement level determination, etc., and transmits this determination information to the unmanned aircraft control base system 2000 and the manned aircraft 3001 via the communication unit 4180.

[0130] Next, the control system 4000, using the control command determination unit 4170, generates control commands for the unmanned aircraft 1001 and the manned aircraft 3001, and transmits the control commands to the unmanned aircraft's control base system 2000 and the manned aircraft 3001, etc.

[0131] Next, the control base system 2000 transmits control commands to the unmanned aircraft 1001 based on the received control commands, thereby remotely controlling the unmanned aircraft 1001.

[0132] Next, the control system 4000 again acquires aircraft information and navigation information from the unmanned aircraft 1001 and the manned aircraft 3001, determines whether there are any aircraft performing abnormal actions that differ from the actions instructed by the control command, and if there are aircraft performing abnormal actions, transmits an abnormal response action command to the unmanned aircraft's control base system 2000 or the manned aircraft 3001.

[0133] (A-1-10. Detection and determination of approaching aircraft) Figure 12 is a flowchart showing the flight detection processing flow by the flight detection and determination unit 4120. In particular, it shows the detailed processing of step 102 in Figure 9.

[0134] First, the aircraft detection and determination unit 4120 detects aircraft present within the target airspace area (step 201).

[0135] Next, the aircraft detection and determination unit 4120 detects an aircraft present within the takeoff and landing area (step 202).

[0136] Next, flight plan information for the aircraft is obtained from the external system 6000 (step 203).

[0137] Next, flight plan information for the aircraft is obtained from the unmanned aircraft 1001, the manned aircraft 3001, or the control base system 2000 (step 204).

[0138] Next, the position, direction of movement, speed, and acceleration of the aircraft that has entered the control area are determined based on the acquired information (step 205).

[0139] (A-1-11. Notification processing for approaching aircraft, etc.) Figure 15 is a flowchart illustrating the notification process by the communications unit 4180 regarding the approach of a manned aircraft. In particular, Figure 15 shows the detailed processing of step 106 of the flowchart shown in Figure 9.

[0140] First, the notification information generation unit 4181 generates approach notification information to notify that a manned aircraft has entered the target airspace area or target takeoff and landing area (step 301). For example, this can be used as notification information to the pilot of an unmanned aircraft that it will be flying in a mixed space with a manned aircraft.

[0141] Next, the notification information generation unit 4181 generates safety requirement level notification information for notifying the safety requirement level (step 302).

[0142] Next, the notification information generation unit 4181 generates flight status notification information that notifies the flight status within the target airspace area or the movement status within the target takeoff and landing area (step 303). Here, the flight status or movement status may include the position, direction of movement, speed of movement, and acceleration of the aircraft.

[0143] Next, the notification information generation unit 4181 generates flight purpose notification information to notify the flight purpose of an aircraft in the target airspace area or target takeoff and landing area (step 304).

[0144] Next, the notification information transmission unit 4182 transmits the generated notification information to the aircraft, etc. (step 305). In this step, the recipients to which the notification information is transmitted are not limited to the unmanned aircraft 1000, the unmanned aircraft's pilot terminal (pilot base system 2000), or the manned aircraft 3000, but may also include terminal devices of persons using the target airspace area or target takeoff and landing area, or the spatial information data utilization system 5000.

[0145] (A-1-12. Air traffic control decision processing) Figure 16 is a flowchart illustrating the process by which the air traffic control command decision unit 4170 determines the operation of an aircraft. In particular, Figure 16 shows the detailed processing of step 107 of the flowchart shown in Figure 9.

[0146] First, the next processing step to proceed to is determined based on the result of determining whether or not there is an unmanned aircraft preparing for takeoff in the target takeoff / landing area (step 401). If it is determined in this step that there is an unmanned aircraft preparing for takeoff in the target takeoff / landing area, the process proceeds to step 402. On the other hand, if it is determined that there is no unmanned aircraft preparing for takeoff in the target takeoff / landing area, the process proceeds to step 404.

[0147] Next, if step 401 determines that there is an unmanned aircraft preparing for takeoff in the target takeoff and landing area, it is determined whether or not there is a manned aircraft in the airspace area where the unmanned aircraft is to take off, and the next processing step to proceed to is determined according to the result of this determination (step 402). In this step, if it is determined that there is a manned aircraft in the airspace area where the unmanned aircraft is to take off, the process proceeds to step 403. On the other hand, if it is determined that there is no manned aircraft in the airspace area where the unmanned aircraft is to take off, the process proceeds to step 404.

[0148] Next, if step 402 determines that a manned aircraft is present in the airspace area where the unmanned aircraft is to take off, it is decided to issue a takeoff prohibition command to the unmanned aircraft and transmit the takeoff prohibition command to the unmanned aircraft or to the unmanned aircraft's pilot terminal (step 403). In this step, the takeoff prohibition command may also include the predicted takeoff prohibition time for the predicted period during which takeoff is prohibited.

[0149] Next, if step 401 determines that there are no unmanned aircraft preparing for takeoff in the target takeoff and landing area, or if step 402 determines that there are no manned aircraft in the airspace area where the unmanned aircraft will take off, then it is determined whether or not there are unmanned aircraft preparing for landing in the target airspace area, and the next processing step to proceed to is determined according to the result of that determination (step 404). In this step, if it is determined that there are unmanned aircraft preparing for landing in the target airspace area, the process proceeds to step 405; on the other hand, if it is determined that there are no unmanned aircraft preparing for landing in the target airspace area, the process proceeds to step 407.

[0150] Next, if step 404 determines that there is an unmanned aircraft preparing to land in the target airspace area, it is determined whether or not a manned aircraft is present at the planned landing site of the unmanned aircraft, and the next processing step to proceed to is determined according to the result of this determination (step 405). In this step, if it is determined that a manned aircraft is present at the planned landing site of the unmanned aircraft, the process proceeds to step 406; on the other hand, if it is determined that there is no manned aircraft at the planned landing site of the unmanned aircraft, the process proceeds to step 407.

[0151] Next, if step 405 determines that a manned aircraft is present at the planned landing site of the unmanned aircraft, it is decided to issue a landing prohibition command to the unmanned aircraft and transmit the landing prohibition command to the unmanned aircraft or its pilot terminal (step 406). In this step, the landing prohibition command may also include the predicted landing prohibition time for the predicted period during which landing is prohibited.

[0152] Next, if step 404 determines that there are no unmanned aircraft preparing to land in the target airspace area, or if step 405 determines that there are no manned aircraft at the planned landing location of an unmanned aircraft, then it is determined whether or not there are any unmanned aircraft flying in the target airspace area, and the next processing step to proceed to is determined according to the result of that determination (step 407). If it is determined in this step that there are unmanned aircraft flying in the target airspace area, the process proceeds to step 408. On the other hand, if it is determined that there are no unmanned aircraft flying in the target airspace area, the process of this flowchart is terminated.

[0153] Next, if step 407 determines that there is an unmanned aircraft flying in the target airspace area, it is determined whether or not there is a manned aircraft in the same target airspace area, and the next processing step to proceed to is determined according to the result of that determination (step 408). In this step, if it is determined that there is a manned aircraft in the target airspace area, the process proceeds to step 409. On the other hand, if it is determined that there is no manned aircraft in the target airspace area, the process of this flowchart is terminated.

[0154] Next, if it is determined in step 408 that a manned aircraft is present within the target airspace area, a waiting area is set up for the unmanned aircraft to perform a waiting operation (step 409). Here, the waiting operation can include a waiting flight operation or a waiting landing operation. When setting a waiting flight area as the waiting area, the waiting flight area can be determined to be an upper-altitude waiting area at an altitude higher than the predicted flight path of the manned aircraft, a low-altitude waiting area at an altitude lower than the predicted flight path of the manned aircraft, or an airspace area at approximately the same altitude as the predicted flight path of the manned aircraft. Note that the waiting area may be set outside the target airspace area, but is not necessarily limited to this, and may also be set inside the target airspace area.

[0155] Next, a standby command is transmitted to initiate a standby action to the standby area (step 410). The standby command may include information about the standby area. Furthermore, when the need to wait ceases, the command may not be limited to a standby action that returns to the target airspace area to resume activities, but may also transmit an evacuation action that does not involve returning to the target airspace area.

[0156] (A-1-13. Determination process for handling abnormal situations) Figure 17 is a flowchart illustrating the process by which the air traffic control command decision unit 4170 determines the response action to an abnormal situation involving an aircraft. In particular, Figure 17 shows the detailed processing of step 108 of the flowchart shown in Figure 9.

[0157] First, the abnormal response action determination unit 4172 determines whether or not there is an aircraft performing abnormal actions that are not following the air traffic control instructions, and determines the next processing step to proceed to based on the result of this determination (step 501). If it is determined in this step that there is an aircraft performing abnormal actions, the process proceeds to step 505; on the other hand, if it is determined that there is no aircraft performing abnormal actions, the process proceeds to step 502.

[0158] Next, the abnormal situation response action determination unit 4172 determines whether or not there is an aircraft that is performing inappropriate actions that may confuse or confuse surrounding aircraft, and determines the next processing step to proceed to based on the result of this determination (step 502). If it is determined in this step that there is an aircraft performing inappropriate actions, the process proceeds to step 505; on the other hand, if it is determined that there is no aircraft performing inappropriate actions, the process proceeds to step 503.

[0159] Next, the abnormal situation response operation determination unit 4172 determines whether or not there is an aircraft performing an unplanned action that differs from the predetermined flight plan, and determines the next processing step to proceed to based on the result of this determination (step 503). If it is determined in this step that there is an aircraft performing an unplanned action, the process proceeds to step 505; on the other hand, if it is determined that there is no aircraft performing an unplanned action, the process proceeds to step 504.

[0160] Next, the abnormal response operation determination unit 4172 determines whether or not there are aircraft in a state of equipment failure, and determines the next processing step to proceed to based on the result of this determination (step 504). If it is determined in this step that there are aircraft in a state of equipment failure, the process proceeds to step 505. On the other hand, if it is determined that there are no aircraft in a state of equipment failure, the process of this flowchart is terminated.

[0161] Next, if it is determined in step 501 that there is an aircraft performing abnormal behavior, or in step 502 that there is an aircraft performing inappropriate behavior, or in step 503 that there is an aircraft performing unplanned behavior, or in step 504 that there is an aircraft in a state of equipment failure, a standby command is generated to put the aircraft on standby, and the standby command is transmitted to the manned aircraft 3000, the unmanned aircraft 1000, and the pilot terminal of the unmanned aircraft (step 505). Note that, in addition to standby operations, evacuation operations that do not return to the target airspace area may also be transmitted. Furthermore, in addition to the standby operations and evacuation operations described above, detour flights that bypass the flight path may also be performed.

[0162] In step 505, if it is determined that an abnormal situation has occurred, such as abnormal behavior, inappropriate behavior, unplanned behavior, or equipment failure as described above, the control can decide to issue a hold or evacuate command to all aircraft within the target airspace area or target takeoff and landing area. Furthermore, if it is determined that there is an aircraft performing abnormal behavior, the control can also send a retransmission of control instructions, an exit command to the target airspace area, or a landing command to that aircraft.

[0163] (A-1-14. Hardware Configuration) Figure 18 is a configuration diagram showing the hardware configuration of the airspace monitoring system 4100, etc. Here, the airspace monitoring system 4100, the control base system 2000, the UTM 4200, the ATM 4300, the spatial information data utilization system 5000, etc. in the present invention are information processing devices such as server devices and PCs. As shown in the figure, the airspace monitoring system 4100, the control base system 2000, the UTM 4200, the ATM 4300, and the spatial information data utilization system 5000 each have an input device 100, an output device 200, a processing device 300, a main memory 400, an auxiliary memory 500, a communication device 600, and a bus 700 that electrically connects each of these devices.

[0164] The input device 100 is a device for users of each system that constitutes the information processing system 1 to input information or instructions. Specifically, the input device 100 is, for example, a touch panel, keyboard, mouse, or voice input device such as a microphone.

[0165] The output device 200 is a device that outputs information from the airspace monitoring system 4100, the control base system 2000, UTM 4200, ATM 4300, and the information display unit in the spatial information data utilization system 5000. Specifically, the output device 200 is a display device (including eyewear, AR, VR display devices, etc.), a printer, or a speaker.

[0166] The processing unit 300 is, for example, a device that performs arithmetic processing. Specifically, the processing unit 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor device capable of performing calculations.

[0167] The main memory 400 is a memory device such as RAM, which temporarily stores various information read from the system, and ROM, which stores programs executed by the processing unit 300, application programs, and various other information. The auxiliary memory 500 is a non-volatile memory device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory, which can store digital information.

[0168] The communication device 600 is a device that performs wireless or wired information communication with an external device.

[0169] [A-2. Effects of this embodiment] According to this embodiment, safer air traffic control can be performed in airspace areas where manned and unmanned aircraft are present or likely to be present. Specifically, by determining control commands for unmanned aircraft based on the results of the determination regarding the approach of manned aircraft, the operation of unmanned aircraft can be controlled to ensure a higher level of safety depending on the presence or absence of manned aircraft.

[0170] It should be noted that the present invention is not limited to the embodiments described above, and various configurations can be adopted based on the contents of this specification.

[0171] The flowchart used in the above embodiment does not necessarily have to be executed in the order shown. Some processing steps may be executed in parallel. Additional processing steps may be adopted, and some processing steps may be omitted. [Explanation of Symbols]

[0172] 1… Information processing system (system) 100...Input device 200...Output device 300... Processing unit 400... Main memory 500... Auxiliary storage device 600... Communication device 700...bus 1000... Unmanned aircraft 1100...Flight unit 1110...Self-positioning unit 1120...Attitude measurement unit 1130...Flight control unit 1140...Other aircraft detection unit 1200... Measuring unit 1210... Measurement sensor 1220...Sensor attitude control unit 1230...Sensor control unit 1300... Communications Department 1310... UTM Communications Department 1320... Surveillance System Communications Department 1330... Base Station Communications Department 1400... Player's status determination unit 1500... Aircraft Information Recording Unit 1510... Aircraft Type Information Recording Unit 1520...Work status recording unit 1530...Aircraft status recording unit 1540... Flight Plan Records Department 2000... Control base system 2100... Communication Infrastructure Management System 2200...Aircraft Operation System 2210...Command Center 2211...Mission Generation Center 2212...Control target value generation unit 2213...Command output unit 2220... Remote control unit 2221... Display unit 2222...Speaker 2223...Control command input unit 2224...Aircraft status input section 2225...Mediation negotiation input section 2300... Flight Management System 2400...Data Acquisition Management System 3000...manned aircraft 3100...Flight unit 3110...Self-positioning unit 3120...Attitude measurement unit 3130...Flight control unit 3140...Other aircraft detected 3200... Measuring unit 3210... Measurement sensor 3220...Sensor attitude control unit 3230...Sensor control unit 3300... Communications Department 3310... UTM Communications Department 3320... Communications unit of the monitoring system 3330... Base station communications unit 3400... Player's status determination unit 3500... Aircraft information recording unit 3510... Aircraft type information recording unit 3520...Work status recording unit 3530...Aircraft status recording unit 3540... Flight Plan Records Department 3600...Control unit 3610...Display unit 3620...Speaker 3630...Control command input unit 3640...Flight status input section 3650...Mediation negotiation input section 4000... Air traffic control system 4100...Airspace surveillance system 4110... Information Import Department 4120...Aircraft detection and determination unit 4121...Aircraft detection sensor 4122...Aircraft determination section 4130…Aircraft information acquisition unit 4131…Manned and unmanned information acquisition unit 4132...Aircraft information acquisition unit 4133...Flight plan acquisition unit 4140…Aircraft approach determination unit 4141…Entry determination unit 4142...Flight status determination unit 4150... Safety requirement level determination unit 4160... Mediation Unit 4161... Interference Determination Unit 4162... Mediation Execution Department 4170…Control command determination unit 4171…Flight operation determination unit 4172... Abnormal Operation Determination Unit 4180... Communications Department 4181... Notification Information Generation Department 4182...Notification Information Transmission Unit 4183...Control Command Transmission Unit 4184... Information Receiving Unit 4190... Operator Interface Unit 4191...Display unit 4192...Input reception unit 4200…UTM 4210... Unmanned Aircraft Information Acquisition Unit 4220... Air Traffic Control Unit 4230...Aircraft communications unit 4240...External system communications unit 4300...ATM 4310…Manned aircraft information acquisition department 4320…Flight control department 4330...Aircraft communications unit 4340...External system communications unit 5000... Spatial Information Data Utilization System 6000…External systems

Claims

1. An information processing system having a control function for the movements of manned and unmanned aircraft located in a designated target airspace area or target takeoff and landing area, An aircraft information acquisition unit acquires information including aircraft type information that can identify whether the aircraft is a manned aircraft or an unmanned aircraft. An aircraft approach determination unit that detects or predicts the entry of the manned aircraft into the target airspace area or the target takeoff and landing area, A control command determination unit determines a control command for the unmanned aircraft based on the determination result regarding the approach of the manned aircraft by the aircraft approach determination unit, An information processing system comprising a communication unit that, when it detects or predicts the entry of a manned aircraft into the target airspace area or the target takeoff and landing area, transmits the control command for the unmanned aircraft, or information relating to the control command, to at least one of the unmanned aircraft or the unmanned aircraft's pilot terminal, or a terminal of a person concerned with the target airspace area or the target takeoff and landing area.

2. The information processing system according to claim 1, When the aircraft approach determination unit detects or predicts the approach of the manned aircraft to the target airspace area or the target takeoff and landing area, The aforementioned air traffic control command determination unit determines a command prohibiting takeoff for the unmanned aircraft that is preparing for takeoff in the target takeoff and landing area as the air traffic control command. The communication unit is an information processing system that transmits the takeoff prohibition command to the unmanned aircraft or the pilot terminal of the unmanned aircraft.

3. The information processing system according to claim 2, The aforementioned air traffic control decision unit calculates a predicted takeoff prohibition time for the predicted period during which the unmanned aircraft is prohibited from taking off, based on information regarding the flight plan or flight forecast of the manned aircraft. An information processing system in which the takeoff prohibition command transmitted by the communication unit includes information on the predicted takeoff prohibition time.

4. The information processing system according to claim 2, When the communication unit transmits the takeoff prohibition command to the unmanned aircraft or the pilot terminal of the unmanned aircraft, and the manned aircraft has completed its flight or operation in the target airspace area or target takeoff and landing area, or has determined or predicted the completion of its flight or operation, The aforementioned air traffic control command determination unit determines a takeoff permission command for the unmanned aircraft that is preparing for takeoff in the target takeoff and landing area as the air traffic control command. The communication unit is an information processing system that transmits the takeoff permission command to the unmanned aircraft or the pilot terminal of the unmanned aircraft.

5. The information processing system according to claim 1, When the aircraft entry determination unit detects or predicts the entry of the manned aircraft into the target takeoff and landing area, The aforementioned air traffic control command determination unit determines a landing prohibition command for the unmanned aircraft scheduled to land in the target takeoff and landing area as the air traffic control command. The communication unit is an information processing system that transmits the takeoff prohibition command to the unmanned aircraft or the pilot terminal of the unmanned aircraft.

6. The information processing system according to claim 5, The air traffic control decision unit calculates a predicted landing prohibition time for the predicted period during which the landing of the unmanned aircraft is prohibited, based on information regarding the flight plan or flight forecast of the manned aircraft. An information processing system in which the landing prohibition command transmitted by the communication unit includes information on the predicted time of the landing prohibition.

7. The information processing system according to claim 5, When the communication unit transmits the landing prohibition command to the unmanned aircraft or the pilot terminal of the unmanned aircraft, and the manned aircraft has completed its flight or operation in the target airspace area or the target takeoff and landing area, or has determined or predicted the completion of its flight or operation, The aforementioned air traffic control command determination unit determines a landing permission command for the unmanned aircraft scheduled to land in the target takeoff and landing area as the air traffic control command. The communication unit is an information processing system that transmits the landing permission command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle.

8. The information processing system according to claim 1, When the aircraft approach determination unit detects or predicts the manned aircraft's entry into the target airspace area or the target takeoff and landing area, The control command determination unit determines a waiting flight command for the unmanned aircraft flying in the target airspace area as the control command, The communication unit is an information processing system that transmits the standby flight command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle.

9. The information processing system according to claim 8, The aforementioned control command decision unit determines the location of the waiting flight area where the unmanned aircraft will be kept in standby flight, An information processing system in which the standby flight command transmitted by the communication unit includes information about the standby flight area.

10. The information processing system according to claim 9, The air traffic control command determination unit is located in an airspace area that is a predetermined distance or more away from the predicted flight path of the manned aircraft, A waiting area in the air above an altitude higher than the predicted flight path of the aforementioned manned aircraft, Or a low-altitude waiting area at an altitude lower than the predicted flight path of the manned aircraft, Alternatively, an information processing system that determines an airspace area where the predicted flight path and altitude of the manned aircraft are approximately the same as the waiting flight area.

11. The information processing system according to claim 1, When the aircraft approach determination unit detects or predicts the manned aircraft's entry into the target airspace area or the target takeoff and landing area, The aforementioned air traffic control command determination unit determines a landing command for the unmanned aircraft flying in the target airspace area as the air traffic control command, The communication unit is an information processing system that transmits the landing command or information relating to the landing command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle.

12. The information processing system according to claim 11, The aforementioned air traffic control command unit determines at least one of the landing position and landing path for the unmanned aircraft, An information processing system wherein the landing command transmitted by the communication unit includes information on at least one of the landing position and the landing path.

13. The information processing system according to claim 12, The aforementioned air traffic control command decision unit is an information processing system that determines a position or path that is a predetermined distance or greater from the predicted flight path of the manned aircraft as the landing position or the landing path.

14. The information processing system according to claim 1, When the aircraft approach determination unit detects or predicts the approach of the manned aircraft to the target airspace area or the target takeoff and landing area, The air traffic control command determination unit determines a detour flight command for the unmanned aircraft flying in the target airspace area as the air traffic control command, The communication unit is an information processing system that transmits the detour flight command or information relating to the detour flight command to the unmanned aircraft or the operator terminal of the unmanned aircraft.

15. The information processing system according to claim 14, The control command decision unit determines the detour route in two-dimensional or three-dimensional space when the unmanned aircraft is to take a detour. An information processing system in which the detour flight command transmitted by the communication unit includes information about the detour route.

16. The information processing system according to claim 15, The aforementioned air traffic control command decision unit is an information processing system that determines a detour route that is located at or beyond a predetermined distance from the predicted flight path of the manned aircraft.

17. The information processing system according to claim 1, When the aircraft approach determination unit detects or predicts the approach of the manned aircraft to the target airspace area or the target takeoff and landing area, The control command determination unit determines a control command to instruct the unmanned aircraft flying in the target airspace area to exit the target airspace area, The communication unit is an information processing system that transmits the exit command or information relating to the exit command to the unmanned aerial vehicle or the operator terminal of the unmanned aerial vehicle.

18. The information processing system according to claim 1, If the control command determination unit determines an unmanned aircraft operation command for the unmanned aircraft, including one of the following: a takeoff prohibition command, a waiting flight command, a landing command, a detour flight command, or a command to exit the target airspace area, and the communication unit transmits the unmanned aircraft operation command to the unmanned aircraft or the unmanned aircraft's operator terminal, and the unmanned aircraft or the unmanned aircraft's operator terminal does not receive a reception confirmation signal or a user viewing confirmation signal for the unmanned aircraft operation command for a predetermined period of time or longer, The communication unit is an information processing system that retransmits the unmanned aircraft operation command or information relating to the unmanned aircraft operation command, or transmits a reception confirmation request command or information relating to the reception confirmation request command to the unmanned aircraft or the operator terminal of the unmanned aircraft.

19. The information processing system according to claim 1, The system includes a safety requirement level determination unit that determines the safety requirement level for controlling an aircraft in the aforementioned target airspace area or the aforementioned target takeoff and landing area. The communication unit is an information processing system that transmits information regarding the safety requirement level to at least one of the manned aircraft, the pilot terminal of the manned aircraft, the unmanned aircraft, or the pilot terminal of the unmanned aircraft, which are located in the target airspace area or the target takeoff and landing area.

20. The information processing system according to claim 19, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to the number or density of manned and unmanned aircraft in the target airspace area or the target takeoff and landing area.

21. The information processing system according to claim 19, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to whether or not there are regular flight paths passing through at least a part of the target airspace area or the target takeoff and landing area, or within a predetermined distance range from the target airspace area or the target takeoff and landing area.

22. The information processing system according to claim 19, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to attribute information of surrounding facilities within a predetermined distance range from the target airspace area or the target takeoff and landing area.

23. The information processing system according to claim 19, The safety requirement level determination unit is an information processing system that determines the safety requirement level according to the flight purpose of the manned aircraft or unmanned aircraft located in the target airspace area or the target takeoff and landing area.

24. The information processing system according to claim 19, The safety requirement level determination unit is an information processing system that determines the safety requirement level based on whether or not there is an unplanned operation, an operation contrary to air traffic control instructions, other inappropriate operation, or equipment failure of at least one of the manned aircraft or unmanned aircraft in the target airspace area or the target takeoff and landing area.

25. The information processing system according to claim 1, The aircraft approach determination unit is an information processing system that detects or predicts the approach of a manned aircraft to the target airspace area or the target takeoff and landing area based on at least one of the detection information of the manned aircraft by an aerial radar and the received information received from the manned aircraft via wireless communication.

26. The information processing system according to claim 1, The communication unit is an information processing system that notifies at least one of the unmanned aircraft or the unmanned aircraft's pilot terminal, or a terminal of a person concerned with the target airspace area or the target takeoff and landing area, of information regarding the manned aircraft's entry into or prediction of entry into the airspace area, or the manned aircraft's flight plan.

27. The information processing system according to claim 1, The aforementioned aircraft approach determination unit is an information processing system that determines the current flight state and predicted future flight state of the manned aircraft.

28. An information processing method for controlling the movements of manned and unmanned aircraft located in a designated target airspace area or target takeoff and landing area, Computers A flight information acquisition step that acquires information including flight type information that can identify whether it is a manned or unmanned aircraft, A flight approach determination step that detects or predicts the entry of the manned aircraft into the aforementioned target airspace area or the aforementioned target takeoff and landing area, A control command determination step in which control commands for the unmanned aircraft are determined based on the determination result regarding the approach of the manned aircraft in the aircraft approach determination step, An information processing method that, when the entry of a manned aircraft into the target airspace area or the target takeoff and landing area is detected or predicted, performs a communication step of notifying at least one of the unmanned aircraft or the unmanned aircraft's pilot terminal, or a terminal of a person concerned with the target airspace area or the target takeoff and landing area, of the control command to the unmanned aircraft.

29. A program capable of controlling the movements of manned and unmanned aircraft located in a designated target airspace area or target takeoff and landing area, On the computer, An aircraft information acquisition command that acquires information including aircraft type information that can identify whether it is a manned aircraft or an unmanned aircraft, An aircraft approach determination command that detects or predicts the entry of the manned aircraft into the aforementioned target airspace area or the aforementioned target takeoff and landing area, A control command decision order is issued to determine a control command for the unmanned aircraft based on the determination result regarding the approach of the manned aircraft by the aforementioned aircraft approach determination order, A program that, upon detecting or predicting the entry of a manned aircraft into the target airspace area or the target takeoff and landing area, causes at least one of the unmanned aircraft or the unmanned aircraft's pilot terminal, or a terminal of a person concerned with the target airspace area or the target takeoff and landing area, to execute a communication command to notify the unmanned aircraft of the control command.

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