Flight Planning Method

Abstract

A flight planning system 100 according to the present invention comprises an acquiring means 121 that acquires flight history information expressing a flight history of an unmanned aerial vehicle and response information expressing a response to the flight history by the operator of the unmanned aerial vehicle, and a planning means 122 that plans the flight of the unmanned aerial vehicle on the basis of the flight history information and the response information.

Description

[Technical field]

[0001] The present invention relates to a flight planning method, a flight planning system, and a program. [Background technology]

[0002] In recent years, unmanned aerial vehicles, known as drones or UAVs (Unmanned Aerial Vehicles), have been used in various fields. For example, unmanned aerial vehicles are used to take photographs in places where people have difficulty accessing, inspect various devices, and even deliver goods. In some cases, an operator flies the unmanned aerial vehicle by controlling it within the visible range using a remote control device, but when flying it too far away for the operator to see it, the flight route may be determined in advance and the vehicle may fly autonomously.

[0003] In the case of autonomous flight following a flight route as described above, it is necessary to fly safely while taking into consideration the circumstances of flying objects such as other aircraft and birds, weather, buildings, the location of drone ports, etc. For this reason, as described in Patent Document 1, control of the unmanned aircraft is required, and the flight route may need to be approved in advance by a control operator. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-165931 A [Patent Document 2] JP 2019-113467 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the flight state of an unmanned aircraft may vary depending on the state of the aircraft and the operation and settings by the operator, and stable flight may not be achieved. For example, the unmanned aircraft may have a malfunction, the aircraft may be poorly maintained, or the operator may lack the skills to operate or set the flight route. In such cases, there is a possibility that the unmanned aircraft may deviate from its flight route or have an accident, and a problem may arise in that a safe and stable flight cannot be achieved.

[0006] Here, Patent Document 2 describes a technology for the safety of unmanned aerial vehicles that performs risk calculations for insurance products related to unmanned aerial vehicles. However, Patent Document 2 only collects information indicating maintenance history and cumulative flight distance in order to calculate the risk of insurance products related to unmanned aerial vehicles, and is not a technology for realizing safe and stable flight, so there is a problem in that it is still not possible to improve the safety and stability of the flight state of unmanned aerial vehicles.

[0007] Therefore, an object of the present invention is to provide a flight planning method that can solve the above-mentioned problem of being unable to improve the safety and stability of flights in unmanned aerial vehicles. [Means for solving the problem]

[0008] A flight planning method according to one aspect of the present invention includes: Acquire flight history information representing a flight history of the unmanned aerial vehicle and response information representing a response by an operator of the unmanned aerial vehicle to the flight history; Planning a flight by the unmanned aerial vehicle based on the flight history information and the corresponding information; The structure is as follows.

[0009] In addition, a flight planning system according to one embodiment of the present invention includes: An acquisition means for acquiring flight history information representing a flight history of the unmanned aerial vehicle and response information representing a response by an operator of the unmanned aerial vehicle to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the corresponding information; Equipped with The structure is as follows.

[0010] In addition, a program according to one aspect of the present invention includes: In the information processing device, An acquisition means for acquiring flight history information representing a flight history of the unmanned aerial vehicle and response information representing a response by an operator of the unmanned aerial vehicle to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the corresponding information; To achieve this, The structure is as follows. Effect of the Invention

[0011] By being configured as described above, the present invention can improve the safety and stability of flight in unmanned aerial vehicles. [Brief description of the drawings]

[0012] [Figure 1] 1 is a diagram showing the overall configuration of a flight planning system in a first embodiment of the present invention. [Diagram 2] 2 is a block diagram showing a configuration of the agent device disclosed in FIG. 1. [Diagram 3] 2 is a block diagram showing the configuration of the control device disclosed in FIG. 1. [Figure 4A] 2 is a diagram showing an example of information stored in the control device disclosed in FIG. 1; [Figure 4B] FIG. 2 is a diagram showing an example of information generated by the flight planning system disclosed in FIG. 1. [Diagram 5] FIG. 2 is a diagram showing a processing flow of the flight planning system disclosed in FIG. 1. [Figure 6] 2 is a flowchart showing the operation of a process performed by the control device disclosed in FIG. 1. [Figure 7] 2 is a flowchart showing the operation of a process performed by the control device disclosed in FIG. 1. [Figure 8] FIG. 11 is a block diagram showing the hardware configuration of a flight planning system in a second embodiment of the present invention. [Figure 9] FIG. 4 is a block diagram showing the configuration of a flight planning system in a second embodiment of the present invention. [Figure 10] 10 is a flowchart showing the operation of a flight planning system in embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] <Embodiment 1> A first embodiment of the present invention will be described with reference to Figures 1 to 6. Figures 1 to 3 are diagrams for explaining the configuration of a flight planning system, and Figures 4 to 6 are diagrams for explaining the processing operation of the flight planning system.

[0014] [composition] The flight planning system in this embodiment is a system for planning the flight of an unmanned aerial vehicle. As an example, the flight planning system in this embodiment described below is mainly composed of a control device managed by a control company that approves the flight route of the unmanned aerial vehicle. However, the flight planning system may be composed of a device managed by any company that plans flights by unmanned aerial vehicles, such as a delivery company that delivers packages using unmanned aerial vehicles or a photography company that takes aerial photographs using unmanned aerial vehicles.

[0015] As shown in Fig. 1, the flight planning system in this embodiment includes an agent device 1 managed by an agent who flies the unmanned aerial vehicle, and a control device 2 managed by an air traffic control company (special organization) who controls the unmanned aerial vehicle. The agent device 1 and the control device 2 are connected to each other via a network so that they can send and receive information to each other. In the example of Fig. 1, multiple agent devices 1 managed by different agents are connected to the network, but there may be only one agent device 1.

[0016] The contractor device 1 is an information processing device managed by a specific contractor. Here, the contractor is, for example, a delivery contractor that delivers packages or a photography contractor that takes pictures of aircraft, and owns or manages an unmanned aerial vehicle such as a drone D used for delivering packages or taking pictures from the air. The contractor creates a flight route for the drone D, requests approval of the created flight route from air traffic control, controls the flight of the drone D along the approved flight route, and further performs maintenance on the drone D.

[0017] The agent device 1 is composed of one or more information processing devices each having a calculation device and a storage device. As shown in FIG. 2, the agent device 1 is composed of a flight route creation unit 11, an approval request unit 12, a flight processing unit 13, and an aircraft management unit 14. The functions of the flight route creation unit 11, the approval request unit 12, the flight processing unit 13, and the aircraft management unit 14 can be realized by the calculation device executing a program for realizing each function stored in the storage device. The agent device 1 is also composed of an aircraft information storage unit 15, and a flight area information storage unit 16. The aircraft information storage unit 15 and the flight area information storage unit 16 are composed of a storage device. Each component will be described in detail below.

[0018] The flight route creation unit 11 creates a flight route for the drone D and requests the control device 2 to approve the flight route. Here, the flight area information storage unit 16 of the agent device 1 stores area information related to the flight route of a specific area. For example, the area information includes information that affects the flight of the drone D, and examples of the area information include event information, weather information, flying object information such as birds, and drone port location information. For this reason, the flight route creation unit 11 refers to the above-mentioned area information and creates a flight route that allows the drone D to fly stably to the destination in a short time. For example, the flight route creation unit 11 creates a flight route that avoids the sky above the event venue, flies in an area where it is not raining and the wind speed is low, or flies in an area where there are few flying objects such as birds.

[0019] The approval request unit 12 requests the control device 2 to approve the created flight route of the drone D. At this time, the approval request unit 12 transmits information on operators related to the drone D, such as the operator who created the flight route and the operator in charge of maintaining the drone D, together with the flight route of the drone D to the control device 2, and requests approval of the flight route. Then, when the approval request unit 12 obtains an approval result for the flight route from the control device 2, it notifies the flight processing unit 13 of the approval result for the flight route. In response to this, the flight processing unit 13 controls the drone D to fly according to the approved flight route.

[0020] The flight processing unit 13 controls the drone D to fly along the route indicated by the flight route as described above, and also acquires the flight history and passes it to the aircraft management unit 14. For example, the flight processing unit 13 acquires flight information indicating the speed, altitude, position, time, status, etc. during flight transmitted from the drone D under flight control as flight history information.

[0021] The aircraft management unit 14 stores and manages information about the aircraft, which is the drone D, in the aircraft information storage unit 15. For example, the aircraft management unit 14 stores the flight route created as described above for each aircraft, and acquires and stores actual flight history information of the actual drone D from the flight processing unit 13 in association with the flight route. At this time, the aircraft management unit 14 also stores information about the maintenance status of the aircraft, the operator who performed the maintenance, and the operator who created the flight route for each aircraft. Then, the aircraft management unit 14 transmits information about each aircraft, that is, information about the maintenance status of each drone D and the operator involved, the flight route, and flight history information for the flight route, to the control device 2.

[0022] In addition, when the aircraft management unit 14 receives an instruction for the operator of the drone D from the control device 2 as described later, the aircraft management unit 14 outputs the instruction for the operator to notify the corresponding operator. For example, when the aircraft management unit 14 receives an instruction for the operator to maintain the drone D or an instruction to receive skill training, the aircraft management unit 14 notifies the corresponding operator of the instruction by e-mail, groupware, or the like. In response to such an instruction, the operator takes measures such as maintaining the drone D or receiving skill training to acquire skills, and the aircraft management unit 14 accepts the response results by inputting them into the control device 2 and stores them in the aircraft information storage unit 15. As a result, the aircraft management unit 14 stores the response results (for example, maintenance status, skill acquisition status, response date and time, etc.) corresponding to the instruction as response information in the aircraft information storage unit 15, for example, in association with the instruction information from the control device 2 for each aircraft. Then, the aircraft management unit 14 transmits to the control device 2 information for each aircraft, that is, response information indicating the result of the response to the instruction from the control device 2, similar to the flight history information described above.

[0023] The control device 2 is composed of one or more information processing devices each having a calculation device and a storage device. As shown in FIG. 3, the control device 2 is composed of a flight information acquisition unit 21, an aircraft information acquisition unit 22, an approval request acceptance unit 23, and an approval determination unit 24. The functions of the flight information acquisition unit 21, the aircraft information acquisition unit 22, the approval request acceptance unit 23, and the approval determination unit 24 can be realized by the calculation device executing a program for realizing each function stored in the storage device. The control device 2 is also composed of an aircraft management information storage unit 25, and a flight route storage unit 26. The aircraft management information storage unit 25 and the flight route storage unit 26 are composed of a storage device. Each component will be described in detail below.

[0024] The flight information acquisition unit 21 (acquisition unit) acquires information on the drone D, which is transmitted from the above-mentioned contractor device 1, and stores it in the vehicle management information storage unit 25. For example, as described above, the flight information acquisition unit 21 acquires information on the operator involved in the maintenance of the drone D and the creation of the flight route, the flight route, and flight history information for the flight route from the contractor device 1, and stores it in the vehicle management information storage unit 25 as shown in FIG. 4A. At this time, the flight information acquisition unit 21 compares the acquired flight route of the drone D with the flight history information, and determines whether the flight of the drone D is normal or abnormal based on the comparison result between the flight route and the speed, altitude, position, time, state, etc. during flight included in the flight history information, and stores the determination result in the "flight history" column. For example, the flight information acquisition unit 21 determines that the flight of the drone D is abnormal if the arrival time at the destination is delayed, the route is deviated, or the destination cannot be reached, with respect to the flight route, and stores the contents in the flight history column.

[0025] The aircraft information acquisition unit 22 generates information instructing the operator involved in the corresponding drone D to respond according to the contents of the "flight history" column based on the above-mentioned flight history information, that is, the information in the "flight history" column. Then, the aircraft information acquisition unit 22 stores the generated response instruction in the aircraft management information storage unit 25 as shown in FIG. 4A and transmits it to the agent terminal 1. For example, when the information in the "flight history" column is "delay", it is possible that the operator who created the flight route lacks the skills, so information instructing "operator training" is transmitted to the agent device 1. Also, for example, when the information in the "flight history" column is "deviation (from the flight route)", it is possible that the aircraft is poorly maintained or the operator who created the flight route lacks the skills, so information instructing "aircraft maintenance" and "operator training" is transmitted to the agent device 1. The aircraft information acquisition unit 22 may transmit other instructions to the operator.

[0026] Then, after transmitting the above-mentioned instruction to the operator to respond, the machine information acquisition unit 22 acquires response information indicating the result of the operator's response to the instruction from the agent device 1. Then, the machine information acquisition unit 22 stores the acquired response information as the response result as shown in Fig. 4A. For example, when the machine information acquisition unit 22 instructs machine maintenance, it acquires and stores whether the maintenance status of the machine has been responded to or not, and when the machine information acquisition unit 22 instructs operator training, it acquires and stores whether the skill acquisition status through training has been responded to or not.

[0027] The approval request receiving unit 23 receives an approval request for the flight route transmitted from the agent device 1. At this time, the approval request receiving unit 23 receives information identifying the drone D flying the flight route, as well as information identifying the operator who maintained the drone D or who was involved in creating the flight route.

[0028] The approval determination unit 24 (planning means) determines whether or not to approve the flight route received from the agent device 1, and transmits the approval result to the agent device 1. At this time, the approval determination unit 24 determines whether or not to approve the flight route by taking into account other flight routes stored in the flight route storage unit 26, but also takes into account information stored in the aircraft management information storage unit 25. Specifically, the approval determination unit 24 identifies the aircraft and operator of the drone D for which approval of the flight route is requested, and reads out information by the aircraft and operator, that is, flight history information and correspondence information. For example, the approval determination unit 24 reads out flight history information and correspondence information for the aircraft No. "0001" of the drone D and the operator "BBBB" as shown in FIG. 4A. Then, the approval determination unit 24 determines whether or not to approve the flight route for which approval is newly requested, depending on the contents of the flight history information and correspondence information. For example, the approval determination unit 24 determines whether or not to approve the flight route based on the flight history information and correspondence information according to a preset criterion.

[0029] As an example, the approval determination unit 24 determines not to approve the flight route when there is a predetermined number of histories determined to be "abnormal" from the flight history information, or when there is a response instruction that has not yet been addressed from the response information. As another example, the approval determination unit 24 may determine approval even when there is a predetermined number of histories determined to be "abnormal" from the flight history information, if the response instructions for all "abnormalities" have been addressed from the response information. Note that the above-mentioned approval determination by the approval determination unit 24 is just an example, and any determination may be made from the flight history information and the response information.

[0030] As described above, the approval determination unit 24 determines the approval of the flight route, thereby planning the flight of the drone D. However, in this embodiment, as a function in place of the approval determination unit 24, a function of planning a flight by determining whether or not to fly the drone D based on the flight history information and the corresponding information described above may be provided. For example, such a function may be provided in the agent device 1.

[0031] In addition, the approval determination unit 24 may generate information indicating a problem regarding the aircraft or the operator based on the action information referred to when making the above-mentioned flight route approval determination or at any timing, and notify the agent device 1 of the information. As an example, the approval determination unit 24 refers to the above-mentioned action information, and when a long time has passed since the date on which the aircraft maintenance was completed, for example, when the recommended maintenance time is approaching or has passed, issues a notification to encourage the maintenance of the aircraft. As another example, the approval determination unit 24 refers to the action information, and when a long time has passed since the date on which the operator's training was completed, for example, when the expiration date of the qualification acquired by the operator through the training is approaching or has become invalid, issues a notification to encourage the operator to undergo training.

[0032] Here, an example of information transmitted and received between the control device 2 and the agent device 1 as described above will be described with reference to FIG. 4B. The control device 2 generates response instruction information for the operator involved in the corresponding drone D based on the flight history information by the above-mentioned aircraft information acquisition unit 22, and generates information such as that shown in FIG. 4B(1). The response instruction information in FIG. 4B(1) includes information on "operator ID", "date and time", "location", "flight history", and "necessary response". As an example, when the information in the "flight history" field is "route deviation", an instruction such as "operator training" is generated as the "necessary response". Note that the "operator ID" may be other information for identifying the operator, such as a name, or a link may be embedded in the "operator ID" to display detailed information about the operator at the link destination. In addition, the "location" may be embedded in an address, and map information may be displayed at the link destination, or may be displayed in latitude and longitude. In addition, a link may be embedded in the "route deviation" of the "flight history", and deviation information may be displayed in detail at the link destination, for example, the planned flight route and the deviated route may be superimposed on a map. In addition, the "necessary action" may include a deadline for the action, or may display a more specific training name, training details, training application information, or a link to the application site. Note that while FIG. 4B(1) illustrates an example in which the "flight history" is "route deviation," the "performance history" may also be "delay," in which case the delay time may be displayed. Furthermore, the action instruction information may include a "drone ID" instead of an "operator ID," and may instruct "aircraft maintenance" as the "necessary action."

[0033] After transmitting the response instruction information to the operator by the above-mentioned aircraft information acquisition unit 22, the control device 2 acquires from the agent device 1 response information indicating the result of the response by the operator to the response instruction, for example, the response information as shown in FIG. 4B(2). The response information in FIG. 4B(2) includes, in addition to the above-mentioned response instruction information, the "date and time" and information indicating that "operator training has been completed" as details of the "response information". When the control device 2 acquires the response information in FIG. 4B(2), the content is stored in the aircraft management information storage unit 25 as shown in FIG. 4A, and is later referred to when the controller decides to approve the flight route.

[0034] The control device 2 also uses the above-mentioned approval determination unit 24 to determine whether or not to approve the flight route received from the agent device 1 and transmits the approval result to the agent device 1, for example by generating and transmitting approval result information as shown in Fig. 4B(3). The approval result information in Fig. 4B(3) includes, in addition to the above-mentioned response instruction information and response information, information of "flight approval "OK"" indicating that the requested flight route is approved.

[0035] [Operation] Next, the operation of the above-mentioned flight planning system will be described with reference to Fig. 5 to Fig. 7. Fig. 5 shows the flow of processing in the entire flight planning system, and Fig. 6 to Fig. 7 show a flowchart of the processing operation of the control device 2.

[0036] First, the control device 2 acquires information on the drone D from the contractor device 1 (arrow Y1 in FIG. 5, step S1 in FIG. 6). For example, the control device 2 acquires information on the operator involved in the maintenance of the drone D and the creation of the flight route, the flight route, and flight history information for the flight route, and stores them in the aircraft management information storage unit 25 as shown in FIG. 4. The contractor device 1 stores flight routes and flight history information for past flights for the drone D it manages, and also stores information on the operators involved with the drone D, and transmits such information to the control device 2.

[0037] Then, the control device 2 compares the acquired flight route of the drone D with the flight history information, and determines whether the flight of the drone D is normal or abnormal based on the comparison result between the flight route and the flight speed, altitude, position, time, status, etc. included in the flight history information, and stores the determination result in the "flight history" field. Then, when the flight of the drone D is abnormal, such as when the arrival time at the destination is delayed, the route is deviated, or the drone cannot arrive at the destination, the control device 2 instructs the operator of the drone D to take action (arrow Y2 in FIG. 5, step S3 in FIG. 6).

[0038] As described above, the contractor's device 1, which has received a response instruction from the control device 2, outputs the response instruction to the operator. When the operator performs maintenance or skill training on the drone D in response to this, the contractor's device 1 accepts the input of the response result and outputs it to the control device 2. The control device 2 then acquires response information indicating the response result to the response instruction according to the flight history information (arrow 3 in FIG. 5, step S4 in FIG. 6) and stores it (step S5 in FIG. 6). As a result, the control device 2 stores flight history information for the past flight route for each drone D and its associated operator, and response information for the response instruction from the control device 2, as shown in FIG. 4.

[0039] Thereafter, the agent device 1 creates a new flight route for the specified drone D and requests approval of the flight route from the control device 2. At this time, the agent device 1 also transmits information on the operator related to the drone D together with the flight route of the drone D.

[0040] Then, the control device 2 receives a new request for approval of the flight route of the drone D from the agent device 1 as described above (arrow Y4 in FIG. 5, step S11 in FIG. 7). Then, the control device 2 determines whether to approve the flight route by considering other flight routes stored in the flight route storage unit 26, but also considers the flight history information and response information stored in the aircraft management information storage unit 25 (step S12 in FIG. 7). Specifically, the control device 2 identifies the aircraft and operator of the drone D for which approval of the flight route is requested, and reads out information by the aircraft and the operator, that is, the flight history information and the response information. Then, the control device 2 determines whether to approve the flight route for which approval is newly requested, depending on the contents of the flight history information and the response information. For example, the control device 2 determines not to approve the flight route when there is a predetermined number of histories determined to be "abnormal" from the flight history information, or when there is a response instruction that has not been responded to from the response information.

[0041] When the control device 2 determines whether the new flight route is approved as described above, it notifies the agent device 1 of the determination result (arrow Y5 in FIG. 5, step S13 in FIG. 7). Then, when the flight route is approved, the agent device 1 controls the drone D to fly along the route indicated by the flight route.

[0042] As described above, according to this embodiment, a flight is planned, such as determining approval of a new flight route for the drone D, based on the past flight history information of the drone D and the response information indicating the response by the operator of the drone D to the flight history. This makes it possible to improve the safety and stability of the flight of the drone D.

[0043] <Embodiment 2> Next, a second embodiment of the present invention will be described with reference to Fig. 8 to Fig. 10. Fig. 8 to Fig. 9 are block diagrams showing the configuration of a flight planning system in the second embodiment, and Fig. 10 is a flowchart showing the operation of the flight planning system. Note that this embodiment shows an outline of the configuration of the flight planning system and the flight planning method described in the above-mentioned embodiment.

[0044] First, a hardware configuration of a flight planning system 100 in this embodiment will be described with reference to Fig. 8. The flight planning system 100 is configured with a general information processing device, and is equipped with the following hardware configuration, as an example. ·CPU(Central Processing Unit)101(Arithmetic unit) ROM (Read Only Memory) 102 (storage device) RAM (Random Access Memory) 103 (storage device) · Programs 104 loaded into RAM 103 A storage device 105 for storing a program group 104 A drive device 106 that reads and writes data from a storage medium 110 external to the information processing device A communication interface 107 for connecting to a communication network 111 outside the information processing device Input / output interface 108 for inputting and outputting data Bus 109 connecting each component

[0045] The flight planning system 100 can be equipped with the acquisition means 121 and the planning means 122 shown in Fig. 9 by the CPU 101 acquiring the group of programs 104 and executing them. The group of programs 104 is stored in the storage device 105 or the ROM 102 in advance, for example, and the CPU 101 loads the group of programs 104 into the RAM 103 and executes them as necessary. The group of programs 104 may be supplied to the CPU 101 via the communication network 111, or may be stored in the storage medium 110 in advance, and the drive device 106 may read out the programs and supply them to the CPU 101. However, the acquisition means 121 and the planning means 122 described above may be constructed of dedicated electronic circuits for realizing such means.

[0046] 8 shows an example of the hardware configuration of the information processing device that is the flight planning system 100, and the hardware configuration of the information processing device is not limited to the above-mentioned case. For example, the information processing device may be configured with a part of the above-mentioned configuration, such as not having the drive device 106.

[0047] The flight planning system 100 executes the flight planning method shown in the flowchart of FIG. 10 by the functions of the acquisition means 121 and the planning means 122 constructed by the program as described above.

[0048] As shown in FIG. 10, the flight planning system 100 includes: Acquire flight history information representing the flight history of the unmanned aerial vehicle and response information representing responses by the operator of the unmanned aerial vehicle to the flight history (step S101); A flight of the unmanned aerial vehicle is planned based on the flight history information and the corresponding information (step S102); The following process is executed.

[0049] By being configured as described above, the present invention can improve the safety and stability of flight in unmanned aerial vehicles.

[0050] The above-mentioned program can be stored and supplied to a computer using various types of non-transitory computer readable media. The non-transitory computer readable medium includes various types of tangible storage media. Examples of the non-transitory computer readable medium include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be supplied to a computer by various types of transitory computer readable media. Examples of the transitory computer readable medium include electric signals, optical signals, and electromagnetic waves. The transitory computer readable medium can supply the program to a computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0051] Although the present invention has been described above with reference to the above-mentioned embodiment, the present invention is not limited to the above-mentioned embodiment. Various modifications that can be understood by a person skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. In addition, at least one or more functions of the above-mentioned acquisition means and planning means may be executed by an information processing device installed and connected anywhere on a network, that is, they may be executed by so-called cloud computing.

[0052] <Additional Notes> A part or all of the above-described embodiments can be described as follows: Below, an outline of the configuration of the flight planning method, flight planning system, and program according to the present invention will be described. However, the present invention is not limited to the following configuration. (Appendix 1) Acquire flight history information representing a flight history of the unmanned aerial vehicle and response information representing a response by an operator of the unmanned aerial vehicle to the flight history; Planning a flight by the unmanned aerial vehicle based on the flight history information and the corresponding information; Flight planning methods. (Appendix 2) 2. The flight planning method according to claim 1, Acquiring a flight history of the unmanned aerial vehicle with respect to a preset flight route as the flight history information; Flight planning methods. (Appendix 3) 3. The flight planning method according to claim 2, Acquiring a flight history of deviations from a preset flight route of the unmanned aerial vehicle as the flight history information; Flight planning methods. (Appendix 4) A flight planning method according to any one of appendixes 1 to 3, Acquiring a maintenance status of the unmanned aerial vehicle by an operator as the corresponding information; Flight planning methods. (Appendix 5) A flight planning method according to any one of appendix 1 to 4, Acquire the operator's skill acquisition status regarding the unmanned aerial vehicle as the corresponding information; Flight planning methods. (Appendix 6) A flight planning method according to any one of appendixes 1 to 5, instructing an operator to respond according to the content of the acquired flight history information, and acquiring the response information indicating the response by the operator to the instruction; Flight planning methods. (Appendix 7) 7. The flight planning method according to claim 6, instructing an operator to take a response according to the content of the acquired flight history information, and acquiring the response information indicating the response by the operator to the instruction; Flight planning methods. (Appendix 8) An acquisition means for acquiring flight history information representing a flight history of the unmanned aerial vehicle and response information representing a response by an operator of the unmanned aerial vehicle to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the corresponding information; A flight planning system with (Appendix 9) 9. The flight planning system of claim 8, The acquisition means acquires a flight history of the unmanned aerial vehicle with respect to a preset flight route as the flight history information. Flight planning system. (Appendix 10) 10. The flight planning system of claim 9, The acquisition means acquires a flight history of deviations from a preset flight route of the unmanned aerial vehicle as the flight history information. Flight planning system. (Appendix 11) 11. The flight planning system according to any one of claims 8 to 10, The acquisition means acquires a maintenance status of the unmanned aerial vehicle by an operator as the corresponding information. Flight planning system. (Appendix 12) 12. The flight planning system according to any one of claims 8 to 11, The acquisition means acquires the operator's skill acquisition status regarding the unmanned aerial vehicle as the corresponding information. Flight planning system. (Appendix 13) 13. The flight planning system of claim 8, further comprising: The acquisition means instructs an operator to respond according to the content of the acquired flight history information, and acquires the response information indicating the response by the operator to the instruction. Flight planning system. (Appendix 14) 14. The flight planning system of claim 13, The acquisition means instructs an operator to take a response according to the content of the acquired flight history information, and acquires the response information indicating the response by the operator to the instruction. Flight planning system. (Appendix 15) In the information processing device, An acquisition means for acquiring flight history information representing a flight history of the unmanned aerial vehicle and response information representing a response by an operator of the unmanned aerial vehicle to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the corresponding information; A program to achieve this. [Explanation of symbols]

[0053] 1 Vendor equipment 11 Flight Route Planning Department 12 Approval request section 13 Flight Processing Unit 14 Aircraft Management Department 15. Aircraft information storage unit 16 Flight area information storage section 2 Control device 21 Flight information acquisition section 22 Aircraft information acquisition unit 23 Approval Request Reception Department 24 Approval Judgment Department 25 Aircraft management information storage unit 26 Flight route memory section D. Drone 100 Flight Planning System 101 CPU 102 ROM 103 RAM 104 Programs 105 Storage device 106 Drive device 107 Communication Interface 108 Input / Output Interface 109 Bus 110 Storage medium 111 Communication Network 121 Acquisition means 122 Planning Tools

Claims

1. An information processing device, Acquire flight history information representing the flight history of the unmanned aircraft and response information representing the maintenance status of the unmanned aircraft representing the response by the operator of the unmanned aircraft to the flight history; Plan a flight by the unmanned aerial vehicle based on the flight history information and the corresponding information; Furthermore, when making the plan, a notification is given to an operator based on the response information including information indicating whether the response by the operator has been completed. Flight planning methods.

2. An information processing device, Acquire flight history information representing the flight history of the unmanned aircraft and response information representing a skill acquisition status related to the unmanned aircraft representing a response by an operator of the unmanned aircraft to the flight history, Plan a flight by the unmanned aerial vehicle based on the flight history information and the corresponding information; Furthermore, when making the plan, a notification is given to an operator based on the response information including information indicating whether the response by the operator has been completed. Flight planning methods.

3. 3. A flight planning method according to claim 1 or 2, comprising: The information processing device, When planning, a notification is given to the operator according to the elapsed time since the operator completed the action based on the action information. Flight planning methods.

4. 4. The flight planning method of claim 3, further comprising: The information processing device, instructing an operator on the response and a deadline for the response according to the content of the acquired flight history information, and acquiring the response information including information indicating that the response by the operator in response to the instruction has been completed and the date and time of the response; Flight planning methods.

5. An acquisition means for acquiring flight history information representing the flight history of the unmanned aircraft and response information representing the maintenance status of the unmanned aircraft representing the response by the operator of the unmanned aircraft to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the response information, and notifying an operator at the time of the planning based on the response information including information indicating whether the response by the operator has been completed; A flight planning system with

6. An acquisition means for acquiring flight history information representing the flight history of the unmanned aircraft and response information representing the skill acquisition status regarding the unmanned aircraft representing the response by the operator of the unmanned aircraft to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the response information, and notifying an operator at the time of the planning based on the response information including information indicating whether the response by the operator has been completed; A flight planning system with

7. 7. A flight planning system according to claim 5 or 6, comprising: the planning means, at the time of the planning, notifies the operator according to the lapse of time since the operator completed the action based on the action information; Flight planning system.

8. 8. The flight planning system of claim 7, The acquisition means instructs an operator on the response and the deadline for the response according to the content of the acquired flight history information, and acquires the response information including information indicating that the response by the operator in response to the instruction has been completed and the date and time of the response. Flight planning system.

9. In the information processing device, An acquisition means for acquiring flight history information representing the flight history of the unmanned aircraft and response information representing the maintenance status of the unmanned aircraft representing the response by the operator of the unmanned aircraft to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the response information, and notifying an operator at the time of the planning based on the response information including information indicating whether the response by the operator has been completed; A program to achieve this.

10. In the information processing device, An acquisition means for acquiring flight history information representing the flight history of the unmanned aircraft and response information representing the skill acquisition status regarding the unmanned aircraft representing the response by the operator of the unmanned aircraft to the flight history; A planning means for planning a flight of the unmanned aerial vehicle based on the flight history information and the response information, and notifying an operator at the time of the planning based on the response information including information indicating whether the response by the operator has been completed; A program to achieve this.

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