Information processing device, information processing method, and program

Abstract

[Problem] To provide an information processing device, an information processing method, and a program that, in order to avoid conflicts between mobile bodies, are configured so that some aircraft are not delayed excessively, to the extent possible. [Solution] An information processing device of the present technology includes a control unit. On the basis of a movement plan for which a permissible delay time has been set, the control unit predicts the movement path of a first mobile body, and determines whether the movement path which was predicted and a movement path of a second mobile body will conflict.

Description

[Technical field]

[0001] The present technology relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] Conventionally, it has been proposed to utilize a system consisting of multiple moving objects when, for example, taking aerial photographs of scenery or performing remote patrol security, etc. In such a system, a technology is adopted to avoid conflicts (abnormal approach) between the moving objects (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-029661 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a system having multiple moving bodies, in order to avoid conflicts between the moving bodies, some of the bodies may be delayed excessively from the scheduled time of the original flight plan.

[0005] Therefore, the present disclosure proposes an information processing device, an information processing method, and a program that avoid excessive delays in some of the moving bodies as much as possible in order to avoid conflicts between moving bodies. [Means for solving the problem]

[0006] In order to solve the above problems, an information processing device according to an embodiment of the present technology includes a control unit. The control unit is predicting a movement route of a first moving object based on a movement plan in which an allowable delay time is set; It is determined whether or not there is a conflict between the predicted movement path and the movement path of the second moving object.

[0007] The movement route of the second moving object may be a movement route predicted based on a movement plan of the second moving object.

[0008] The movement plan of the second moving body may include information regarding an allowable delay time set for the second moving body.

[0009] The control unit may determine a moving body that will avoid the conflict based on the order of registration when the movement plans of the first and second moving bodies were registered in the information processing device and the allowable delay time, and instruct the determined moving body to avoid the conflict.

[0010] The control unit may instruct one of the first and second moving bodies, whose movement plan is registered later in the information processing device, to avoid the conflict.

[0011] The control unit may determine whether or not the allowable delay time can be realized for the first moving object based on a remaining power supply of the first moving object.

[0012] The control unit is predicting a delay time for the first moving body to avoid the conflict; The movement plan may be modified if the predicted delay time exceeds the tolerable delay time.

[0013] The control unit may determine whether or not there is a conflict between the first moving object and the second moving object.

[0014] The control unit is predicting a delay time for the first moving body to avoid the conflict; If the predicted delay time exceeds the allowable delay time, the second moving object may be instructed to avoid the conflict.

[0015] At least one of the first moving body or the second moving body may be an air vehicle.

[0016] The information processing device may be a server.

[0017] In order to solve the above problems, an information processing device according to an embodiment of the present technology includes a control unit. The control unit is Obtaining a movement plan for each of a plurality of moving objects; predicting a delay time for each of the plurality of moving bodies when avoiding a conflict between the plurality of moving bodies; determining whether the predicted delay time is less than an allowable delay time for each of the plurality of moving objects; A priority order for avoiding the conflict is determined by giving priority to mobile units whose predicted delay times are equal to or greater than the allowable delay time over mobile units whose predicted delay times are less than the allowable delay time.

[0018] In order to solve the above problem, an information processing method of an information processing device according to an embodiment of the present technology includes: A movement route of a first moving object is predicted based on a movement plan in which an allowable delay time is set. It is determined whether or not there is a conflict between the predicted movement path and the movement path of the second moving object.

[0019] In order to solve the above problem, a program according to an embodiment of the present technology causes an information processing device to execute the following steps. A step of predicting a movement route of the first moving object based on the movement plan in which an allowable delay time is set. A step of determining whether or not there is a conflict between the predicted movement path and a movement path of a second moving object. [Brief description of the drawings]

[0020] [Figure 1] 1 is a schematic diagram illustrating a configuration example of an information processing system according to a first embodiment of the present technology. [Diagram 2]FIG. 2 is a block diagram showing a configuration example of the information processing system. [Diagram 3] 2 is a block diagram showing an example of a hardware configuration of an information processing device, an external information device, and a control device of the information processing system. FIG. [Figure 4] 4 is a flowchart showing a typical operation flow of the information processing system. [Diagram 5] FIG. 2 is a diagram showing an example of a flight plan data table. [Figure 6] FIG. 1 is a conceptual diagram showing a predicted trajectory of a drone aircraft. [Figure 7] FIG. 13 is a diagram illustrating an example of a data table showing an update history of a drone's flight plan. [Figure 8] 4 is a flowchart showing one step of the operation of the information processing system. [Figure 9] FIG. 1 is a conceptual diagram showing the trajectory of a drone body during flight. [Figure 10] 10 is a flowchart showing a typical operation flow of an information processing system according to a second embodiment. [Figure 11] 4 is a flowchart showing one step of the operation of the information processing system. [Figure 12] A conceptual diagram showing the trajectories of each of multiple drones in flight. [Figure 13] A conceptual diagram showing the process of changing the priority order for each of multiple drones. [Figure 14] FIG. 13 is a schematic diagram illustrating a configuration example of an information processing system according to a third embodiment of the present technology. [Figure 15] FIG. 2 is a block diagram showing a configuration example of the information processing system. [Figure 16] 4 is a flowchart showing a typical operation flow of the information processing system. [Figure 17] 4 is a flowchart showing one step of the operation of the information processing system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0022] <First embodiment> [Information processing system configuration] Fig. 1 is a schematic diagram showing a configuration example of an information processing system 1 according to the first embodiment, and Fig. 2 is a block diagram showing the configuration example of the information processing system 1. As shown in Fig. 1, the information processing system 1 includes a radar 10, an information processing device 20, an external information device 30, a control device 40, and drone bodies 50 and 60.

[0023] The information processing device 20, the external information device 30, and the control device 40 are connected to each other so as to be able to communicate with each other via a network N. The network N may be the Internet, a mobile communication network, a local area network, or the like, or may be a network that combines a plurality of these types of networks.

[0024] (radar) The radar 10 is a surveillance radar that uses reflected radio waves to detect drones 50, 60 in flight and measure the positions of the drones 50, 60. For example, the radar 10 radiates radio waves toward the drones 50, 60, receives radio waves reflected by the target, or radio waves re-radiated by the target, and measures the position of the drones 50, 60 from the round-trip time of the radio waves and the direction in which the radio waves return.

[0025] The radar 10 outputs position information of the drones 50, 60 obtained by detecting the drones 50, 60 to the information processing device 20. The radar 10 may be, for example, an air route surveillance radar (ARSR), an airport surveillance radar (ASR), a secondary surveillance radar (SSR), an airport surface detection radar (ASDR), or a precision penetration radar (PAR), and the type is not important.

[0026] (Information processing device) The information processing device 20 has a control unit 21, a storage unit 22, a display unit 23, and a communication unit 24. The information processing device 20 is typically a server device, but is not limited to this, and may be any other computer such as a PC. Alternatively, the information processing device 20 may be a control device that controls the flight of the drone bodies 50, 60 to ensure safe and smooth operation of the drone bodies 50, 60.

[0027] The control unit 21 controls the overall operation of the information processing device 20 or a part of it in accordance with a program stored in the memory unit 22. The control unit 21 functionally includes an acquisition unit 211, an operation management unit 212, and a traffic management unit 213.

[0028] The acquisition unit 211 acquires position information of the drones 50, 60 in flight from the radar 10 and outputs this position information to the traffic management unit 213.

[0029] The operations management unit 212 mainly adjusts the flight plan of the user piloting the drone body 50, and registers and manages the adjusted flight plan.

[0030] As shown in FIG. 2, the operation management unit 212 includes a flight plan management unit 2121, a trajectory generation unit 2122, and a simulation unit 2123.

[0031] The flight plan management unit 2121 accepts the registration of a flight plan from a user who pilots the drone body 50, 60. The flight plan management unit 2121 registers the flight plan in the storage unit 22 in coordination with the user who pilots the drone body 50, 60 based on the delay time calculated by the delay time estimation unit 2123b described later.

[0032] The trajectory generation unit 2122 generates a predicted trajectory on the flight plan. The simulation unit 2123 has a conflict detection unit 2123a and a delay time estimation unit 2123b. The trajectory corresponds to the "travel route" in the claims. Note that the "trajectory" is a track represented by a set of latitude, longitude, altitude, and time, and the same applies in the following explanation.

[0033] The conflict detection unit 2123a determines whether or not there is a conflict between the predicted trajectory of the drone body 50 and the predicted trajectory of the drone body 60. The delay time estimation unit 2123b calculates the delay time when the conflict is avoided. Note that the above-mentioned "conflict avoidance" means, for example, a process in which the information processing device 20 stops (hovers, etc.) the drone body near the intersection point of the predicted trajectory, changes the speed, or changes the setting position of the waypoint in the vertical and horizontal directions, and the same applies in the following explanation.

[0034] The traffic management unit 213 predicts future trajectories of the drones 50, 60 based on their flight plans and flight trajectories, predicts or avoids conflicts between the drones 50, 60 during flight, and manages the order of landing at the airport.

[0035] The traffic management unit 213 includes a trajectory generation unit 2131 and a simulation unit 2132 .

[0036] 2, the trajectory generation unit 2131 has a flight plan acquisition unit 2131a, an external information acquisition unit 2131b, and a position acquisition unit 2131c. The flight plan acquisition unit 2131a acquires a flight plan for each of the multiple drone bodies 50 in flight.

[0037] The external information acquisition unit 2131b acquires environmental information including weather information, terrain information, obstacle information, prohibited airspace information, and manned aircraft position information from the external information device 30. The position acquisition unit 2131c acquires position information for each of the multiple drone bodies 50 in flight.

[0038] The trajectory generation unit 2131 calculates the trajectory of the drone aircraft 50, 60 from the departure airport to its current position based on the position information and flight plan for each drone aircraft 50, 60 in flight and the environmental information acquired by the external information acquisition unit 2131b, and predicts the future trajectory of the aircraft.

[0039] The simulation unit 2132 includes a conflict detection unit 2132a, a priority determination unit 2132b, and an avoidance instruction unit 2132c. The simulation unit 2132 determines whether or not there is a conflict between the flying drones 50, 60. Specifically, the conflict detection unit 2132a determines whether or not there is a conflict between the predicted trajectories of the flying drones 50, 60.

[0040] The priority order determination unit 2132b prioritizes the predicted trajectories for each of the flying drones 50, 60. The simulation unit 2132 determines how to avoid conflicts between the flying drones 50, 60 while regenerating the predicted trajectories according to the priority order. The avoidance instruction unit 2132c outputs an instruction to the drone 50 or drone 60 via the communication unit 24 to avoid a conflict.

[0041] The storage unit 22 stores the flight plan of the drones 50, 60 and the update history of this flight plan (FIG. 7). The storage unit 22 stores the calculation results of the delay time estimation unit 2123b and the conflict detection unit 2132a.

[0042] The display unit 23 is, for example, a display device such as an LCD or an organic EL display, etc. The display unit 23 displays the results obtained by the processing of the information processing device 20.

[0043] The communication unit 24 communicates with the external information device 30 and the control device 40 via the network N. The communication unit 24 functions as a communication interface for the information processing device 20.

[0044] (External information device) The external information device 30 has a control unit 31 and a storage unit 32. The control unit 31 controls the overall operation of the external information device 30 or a part of it in accordance with a program stored in the storage unit 32. The external information device 30 is typically a server device, but is not limited to this, and may be any other computer such as a PC.

[0045] The storage unit 32 stores environmental information including meteorological information, terrain information, obstacle information, prohibited airspace information, and manned aircraft position information. These pieces of information are output to the external information device 30 from external intelligence agencies, companies (not shown), and the like, via the network N. The meteorological information, terrain information, obstacle information, prohibited airspace information, and manned aircraft position information in this embodiment are defined as follows.

[0046] Weather information is information obtained from local aviation weather stations or private weather information companies, and includes, for example, information on typhoons, information on heavy rain, information on record-breaking short-term heavy rain, information on low pressure, information on light rain, information on sea ice, and information on tide levels.

[0047] The topographical information and obstacle information are, for example, topographical data obtained from the Geospatial Information Authority of Japan, and information obtained from the AW3D (registered trademark) global digital 3D map obtained from NTT Data (registered trademark).

[0048] Prohibited airspace information includes information obtained from the Geospatial Information Authority of Japan indicating areas where navigation of aircraft and other moving objects is not permitted, information obtained from SORAPASS (registered trademark), or information obtained from DJI (registered trademark) flight maps.

[0049] Manned aircraft position information is information indicating the position of manned aircraft obtained from the Air Traffic Management Center (ATM Center).

[0050] (Flying device) The control device 40 has a display unit 41, an input unit 42, a control unit 43, a storage unit 44, and a communication unit 45. The control device 40 is typically a terminal device such as a laptop PC or a smartphone, but is not limited to this and may be a control device such as a controller.

[0051] The display unit 41 is, for example, a display device such as an LCD or an organic EL display. The display unit 41 displays an image captured by a camera (not shown) mounted on the drone body 50. This allows the user to operate (pilot) the drone body 50 while viewing the image displayed on the display unit 41.

[0052] The input unit 42 is a device operated by a user, such as a keyboard, a mouse, etc. The user operates the input unit 42 to input various data to the control device 40 and to instruct processing operations.

[0053] The control unit 43 controls all or part of the operation of the control device 40 in accordance with a program stored in the memory unit 44.

[0054] The communication unit 45 communicates with the information processing device 20 and the external information device 30 via the network N. The communication unit 45 functions as a communication interface for the control device 40.

[0055] (Drone unit) The drone aircraft 50, 60 is an air vehicle operated (piloted) by a user via the control device 40. The drone aircraft 50, 60 is connected to the control device 40 via wireless communication. The communication standard connecting the drone aircraft 50, 60 and the control device 40 may be, for example, LTE (Long Term Evolution) communication or Wi-Fi, and the type is not important.

[0056] The drone airframes 50, 60 may be, for example, fixed-wing or rotary-wing aircraft. If the drone airframes 50, 60 are rotary-wing aircraft, they may be, for example, tricopters, quadcopter, hexacopter, or octocopter, and the type does not matter. The drone airframe 50 is an example of a "first moving body" in the claims, and the drone airframe 60 is an example of a "second moving body."

[0057] (Hardware configuration) 3 is a block diagram showing an example of the hardware configuration of the information processing device 20, the external information device 30, and the control device 40. The information processing device 20, the external information device 30, and the control device 40 may be realized by an information processing device 100 shown in FIG.

[0058] The information processing device 100 includes a central processing unit (CPU) 101, a read only memory (ROM) 102, and a random access memory (RAM) 103. The control units 21, 31, and 43 may be the CPU 101.

[0059] The information processing device 100 may have a configuration including a host bus 104 , a bridge 105 , an external bus 106 , an interface 107 , an input device 108 , an output device 109 , a storage device 110 , a drive 111 , a connection port 123 , and a communication device 113 .

[0060] Furthermore, the information processing device 100 may have an imaging device 114 and a sensor 115, as necessary. Furthermore, instead of or in addition to the CPU 101, the information processing device 100 may have a processing circuit such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array).

[0061] The CPU 101 functions as an arithmetic processing device and a control device, and controls all or part of the operations in the information processing device 100 in accordance with various programs recorded in the ROM 102, the RAM 103, the storage device 110, or the removable recording medium 80. The memories 22, 32, and 44 may be the ROM 102, the RAM 103, the storage device 110, or the removable recording medium 80.

[0062] The ROM 102 stores programs and calculation parameters used by the CPU 101. The RAM 103 temporarily stores programs used during execution by the CPU 101 and parameters that change appropriately during the execution of the programs.

[0063] The CPU 101, ROM 102, and RAM 103 are connected to each other by a host bus 104, which is an internal bus such as a CPU bus. Furthermore, the host bus 104 is connected to an external bus 106, such as a PCI (Peripheral Component Interconnect / Interface) bus, via a bridge 105.

[0064] The input device 108 is a device operated by a user, such as a mouse, a keyboard, a touch panel, a button, a switch, a lever, etc. The input device 108 may be, for example, a remote control device that uses infrared rays or other radio waves, or may be an external connection device 70 such as a mobile phone that supports the operation of the information processing device 100.

[0065] The input device 108 includes an input control circuit that generates an input signal based on information input by a user and outputs the input signal to the CPU 101. The user operates the input device 108 to input various data and instruct processing operations to the information processing device 100. The input unit 42 may be the input device 108.

[0066] The output device 109 is configured with a device capable of notifying the user of acquired information using senses such as vision, hearing, touch, etc. The output device 109 can be, for example, a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display, an audio output device such as a speaker or headphones, or a vibrator.

[0067] The output device 109 outputs the results obtained by the processing of the information processing device 100 as video such as text or images, sound such as voice or audio, vibration, etc. The display units 23 and 41 may be the output device 109.

[0068] The storage device 110 is a data storage device configured as an example of a storage unit of the information processing device 100. The storage device 110 is configured, for example, with a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, or a magneto-optical storage device. The storage device 110 stores, for example, programs and various data executed by the CPU 101, and various data acquired from the outside.

[0069] The drive 111 is a reader / writer for a removable recording medium 80 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, and is built into or externally attached to the information processing device 100. The drive 111 reads out information recorded on the attached removable recording medium 80 and outputs it to the RAM 103. The drive 111 also writes information onto the attached removable recording medium 80.

[0070] The connection port 112 is a port for connecting a device to the information processing device 100. The connection port 112 can be, for example, a Universal Serial Bus (USB) port, an IEEE 1394 port, or a Small Computer System Interface (SCSI) port.

[0071] Furthermore, the connection port 112 may be an RS-232C port, an optical audio terminal, an HDMI (registered trademark) (High-Definition Multimedia Interface) port, etc. By connecting an external connection device 70 to the connection port 112, various types of data can be exchanged between the information processing device 100 and the external connection device 70.

[0072] The communication device 113 is, for example, a communication interface configured with a communication device for connecting to the network N. The communication device 113 can be, for example, a communication card for a LAN (Local Area Network), Bluetooth (registered trademark), Wi-Fi, or WUSB (Wireless USB).

[0073] The communication device 113 may be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various types of communication. The communication device 113 transmits and receives signals between the Internet and other communication devices using a predetermined protocol such as TCP / IP.

[0074] Furthermore, the network N connected to the communication device 113 is a wired or wirelessly connected network, and may include, for example, the Internet, a home LAN, infrared communication, radio wave communication, or satellite communication.

[0075] The imaging device 114 is a device that captures real space and generates a captured image using various components such as an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device) and a lens for controlling the formation of a subject image on the imaging element. The imaging device 114 may capture a still image or a moving image.

[0076] The sensor 115 is, for example, one of various sensors such as an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an illuminance sensor, a temperature sensor, an air pressure sensor, or a sound sensor (microphone).

[0077] The sensor 115 acquires information on the state of the information processing device 100 itself, such as the attitude of the housing of the information processing device 100, and information on the surrounding environment of the information processing device 100, such as the brightness and noise around the information processing device 100. The sensor 115 may also include a Global Positioning System (GPS) receiver that receives a GPS signal to measure the latitude, longitude, and altitude of the device.

[0078] An example of the configuration of an information processing system has been shown above. Each of the above components may be configured using general-purpose components, or may be configured using components specialized for the function of each component. Such a configuration may be appropriately changed depending on the technical level at the time of implementation.

[0079] [Operation of information processing system] 4 is a flowchart showing a typical operation flow of the information processing system 1. The operation of the information processing system 1 will be described below with reference to FIG.

[0080] (Step S101: Register a flight plan) 5 is a diagram showing an example of a data table of a flight plan. A user who pilots the drone body 50, 60 registers the flight plan of the drone body 50, 60 in the information processing device 20 (flight plan management unit 2121) via the piloting device 40. The flight plan is an example of a "movement plan" in the claims.

[0081] As shown in Figure 5, a flight plan is data that includes information such as the application date and time (the date and time when the flight plan was registered in the flight plan management unit 2121), aircraft name, aircraft model, aircraft specifications, departure airport, scheduled departure time, destination airport, scheduled arrival time, position information (longitude, latitude, altitude) of waypoints (intermediate stopover points between the departure airport and the destination airport), flight speed, and allowable delay time, and the same applies in the following explanation.

[0082] Here, in the flight plan of this embodiment, an allowable delay time is set by the user who pilots the drone body 50, 60, as shown in Fig. 5. The allowable delay time is a delay time that the user is willing to accept and tolerate with respect to the scheduled time it takes for the drone body 50, 60 to arrive at the destination from the departure point, and the same applies in the following explanation.

[0083] (Step S102: Is the allowable delay time feasible?) The flight plan management unit 2121 determines whether the allowable delay time set by the user is feasible. For example, the flight plan management unit 2121 determines whether the allowable delay time set for the drones 50, 60 is feasible from the remaining power of the drones 50, 60, which are the aircraft specifications of the flight plan registered in the information processing device 20 in the previous step S101.

[0084] If the flight plan management unit 2121 determines that the allowable delay time cannot be realized (NO in step S102), it requests the user to reset the allowable delay time via the pilot device 40 (step S103). On the other hand, if the flight plan management unit 2121 determines that the allowable delay time can be realized (YES in step S102), it outputs information about the flight plan to the trajectory generation unit 2122.

[0085] (Step S104: Pre-flight simulation) The trajectory generation unit 2122 calculates predicted trajectories R1, R2 for the drone bodies 50, 60 from the departure airport to the destination airport based on the flight plan obtained from the flight plan management unit 2121, and outputs the calculation results to the simulation unit 2123.

[0086] Specifically, the trajectory generation unit 2122 calculates a predicted trajectory by simulating the passage times, assuming that the route connecting the waypoints of the submitted flight plan will be traveled at a cruising speed or a set speed. At this time, the trajectory generation unit 2122 also simulates the set speed difference between the waypoints and temporary speed changes due to turning (such as a curve turn or a straight turn including a stop), taking into account the aircraft performance.

[0087] FIG. 6 is a conceptual diagram showing the predicted trajectories R1, R2 of the drone bodies 50, 60. The conflict detection unit 2123a determines whether or not the predicted trajectories R1, R2 of the drone bodies 50, 60 conflict. Here, a conflict means an abnormal approach including a collision between the drone bodies 50, 60, and the same applies in the following description. For example, the conflict detection unit 2123a determines that a conflict occurs when the distance between the drone bodies 50, 60 is less than 30 m, and determines that no conflict occurs when the distance is 30 m or more.

[0088] When the conflict detection unit 2123a determines that the predicted trajectories R1, R2 conflict, it outputs an instruction to pass through the conflict point (the intersection point of the predicted trajectories R1, R2) to the control device 40 that controls the drone body 50, 60 whose flight plan was registered in the information processing device 20 earlier, and outputs an instruction to avoid the conflict to the control device 40 that controls the drone body whose flight plan was registered in the information processing device 20 later. As a result, an instruction to avoid the conflict is output from the control device 40 to one of the drone bodies 50, 60 whose flight plan was registered in the information processing device 20 later, and the execution of this instruction is planned.

[0089] Fig. 7 is a diagram showing an example of a data table showing the update history of the flight plan of the drones 50, 60. The storage unit 22 stores the update history of various drones as a data table such as that shown in Fig. 7. Note that the specific numerical values ​​in Figs. 5 and 7 are merely examples, and the values ​​are of course not limited to these values.

[0090] The memory unit 22 updates the data table each time it acquires a flight plan from the drone body 50, 60 or acquires calculation results from the delay time estimation unit 2123b and the conflict detection unit 2132a.

[0091] 7, for example, when the flight plan of the drone 60 is registered in the information processing device 20 before the flight plan of the drone 50, the delay time estimation unit 2123b predicts the delay time when the drone 50 avoids the conflict between the predicted trajectories R1 and R2. The delay time is the delay time predicted before the flight of the drone 50.

[0092] Specifically, the delay time estimation unit 2123b calculates the delay time as the difference between the predicted time for drone body 50 to arrive at the destination airport from the departure airport (the difference between the scheduled departure time and the scheduled arrival time in the flight plan of drone body 50) and the predicted time for drone body 50 to avoid conflicts in the predicted trajectories R1, R2 after departing from the departure airport and arrive at the destination airport (the flight time resimulated when passing through these waypoints, assuming that the route connecting the waypoints reset to avoid conflicts is moved at cruising speed or a set speed).

[0093] (Step S105: Is the delay time within the allowable range?) 7, if the delay time calculated (predicted) in the previous step S104 exceeds the allowable delay time (NO in step S105), the delay time estimation unit 2123b requests the user to reset the flight plan via the pilot device 40 (step S106). At this time, the delay time estimation unit 2123b requests the user piloting the drone body 50 or drone body 60 to change various parameters (scheduled departure time, scheduled arrival time, flight speed, allowable delay time, etc.) that constitute the flight plan.

[0094] On the other hand, if the delay time calculated (predicted) in the previous step S104 is within the allowable delay time (YES in step S105), the traffic management unit 213 executes step S107 described below.

[0095] (Step S107: In-flight simulation) 8 is a flowchart showing the details of step S107. Step S107 will be described below with reference to FIG.

[0096] The position acquisition unit 2131c acquires position information of the drones 50, 60 flying in the airspace from the control device 40. Alternatively, the position acquisition unit 2131c acquires position information of the drones 50, 60 from a radar (step S1071).

[0097] In addition, the external information acquisition unit 2131b acquires environmental information (weather information, terrain information, obstacle information, prohibited airspace information, manned aircraft position information) stored in the memory unit 32 from the external information device 30. Furthermore, the flight plan acquisition unit 2131a acquires the flight plans of the drones 50 and 60 registered in the flight plan management unit 2121 from the operation management unit 212.

[0098] Next, the trajectory generation unit 2131 calculates the trajectories R1', R2' of the drone bodies 50, 60 flying from the departure airport to the current position based on the position information of the drone bodies 50, 60, environmental information, and the flight plan of the drone bodies 50, 60, and predicts the trajectory R1", R2" from the current position to the destination airport (step S1072). At this time, the trajectory generation unit 2131 re-simulates the predicted trajectory R1", R2" based on, for example, the current position information of the drone bodies 50, 60, the set flight plan, the aircraft status (such as remaining battery power and various malfunction information), and the weather conditions to the destination. The trajectory generation unit 2131 outputs the calculation results of the trajectories R1', R2', R1", and R2" to the simulation unit 2132.

[0099] FIG. 9 is a conceptual diagram showing trajectories R1', R2', R1", and R2" of drone bodies 50 and 60 in flight. The conflict detection unit 2132a determines whether or not the predicted trajectories R1", R2" conflict.

[0100] When the conflict detection unit 2132a determines that the predicted trajectories R1", R2" conflict (YES in step S1073), it predicts the delay time required to avoid the conflict for each of the drones 50, 60. The delay time is the delay time predicted for the drones 50, 60 in flight.

[0101] Specifically, the conflict detection unit 2132a calculates the delay time as the difference between the predicted time it takes for the drone aircraft 50, 60 to arrive at the destination airport from its current position and the predicted time it takes for the drone aircraft 50, 60 to avoid the conflict from its current position and arrive at the destination airport (the flight time resimulated when passing through these waypoints, assuming that the route connecting the waypoints reconfigured to avoid the conflict is traveled at cruising speed or a set speed).

[0102] Here, the priority determination unit 2132b outputs an instruction to the control device 40 controlling the drone 50, 60 in flight whose predicted delay time exceeds the allowable delay time to pass through the conflict point (the intersection point of the predicted trajectories R1", R2"), and outputs an instruction to the control device 40 controlling the drone 50, 60 whose predicted delay time is less than the allowable delay time to avoid the conflict (step S1074).

[0103] As a result, an instruction to avoid the conflict is output from the control device 40 to one of the flying drones 50, 60 whose predicted delay time is less than the allowable delay time, and this instruction is executed (step S1075).

[0104] For example, as shown in FIG. 7, when the predicted delay time of drone aircraft 50 in flight exceeds the allowable delay time and the predicted delay time of drone aircraft 60 in flight does not exceed the allowable delay time, the avoidance instruction unit 2132bc outputs an instruction to avoid a conflict between the predicted trajectories R1", R2", i.e., an instruction to avoid a conflict between drone aircraft 50, 60 in flight, to the control device 40 of the user controlling drone aircraft 60.

[0105] [Actions and Effects] The control unit 21 determines which of the drone aircraft 50, 60 will avoid a conflict between the trajectories of these aircraft based on the order of registration and the allowable delay time when the flight plans of the drone aircraft 50, 60 are registered in the information processing device 20, and instructs the determined aircraft to avoid the conflict.

[0106] This allows the drone bodies 50, 60 to fly in accordance with the flight conditions at the time the flight plan for the drone bodies 50, 60 is registered in the information processing device 20. In other words, during pre-flight simulation, drones 50, 60 can be flown according to a plan in which it has been determined in advance which of drones 50, 60 will be tasked with avoiding a conflict. Therefore, the flight plan of one of the drones 50, 60 is prevented from being disrupted by the other drone, ensuring fairness in avoiding conflicts.

[0107] In addition, the control unit 21 of this embodiment determines whether or not there is a conflict between the moving drone bodies 50, 60. At this time, the control unit 21, for example, predicts a delay time when the drone body 50 avoids the conflict, and when the predicted delay time exceeds an allowable delay time set for the drone body 50, instructs the moving drone body 60 to avoid the conflict. As a result, instead of drone aircraft 50, whose predicted delay time would exceed the allowable delay time if a conflict were avoided between moving drone aircraft 50, 60, drone aircraft 60, whose predicted delay time would be less than the allowable delay time even if the conflict were avoided, avoids the conflict. Therefore, in avoiding a conflict between the moving drones 50, 60, the drone 50 is not excessively delayed, and the conflict is avoided within the allowable delay time for both drones 50, 60. In other words, the time burden in avoiding a conflict between the moving drones 50, 60 is prevented from being unilaterally borne by the drone 50 alone.

[0108] <Second embodiment> [Operation of information processing system] Fig. 10 is a flowchart showing a typical operation flow of the information processing system 1 of the second embodiment. The operation of the information processing system 1 of the second embodiment will be described below with reference to Fig. 10. Note that the same configurations and steps as those of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0109] The second embodiment differs from the first embodiment in that flight plans for each of two or more drone aircraft are registered in the information processing device 20, and conflicts between these aircraft are avoided cooperatively.

[0110] (Step S201: Register flight plan) Each user who pilots each of the multiple drones registers the flight plan of each of the multiple drones in the information processing device 20 (flight plan management unit 2121) via the piloting device 40. As a result, the control unit 21 acquires the flight plan of each of the multiple drones.

[0111] (Step S202: In-flight simulation) 11 is a flowchart showing the details of step S202. Step S202 will be described below with reference to FIG.

[0112] The position acquisition unit 2131c acquires position information of each of the multiple drones flying in the airspace from the control device 40. Alternatively, the position acquisition unit 2131c acquires position information of each of the multiple drones from a radar (step S2021).

[0113] In addition, the external information acquisition unit 2131b acquires environmental information (weather information, terrain information, obstacle information, prohibited airspace information, manned aircraft position information) stored in the memory unit 32 from the external information device 30. Furthermore, the flight plan acquisition unit 2131a acquires the flight plans of each of the multiple drones registered in the flight plan management unit 2121 from the operation management unit 212.

[0114] Next, the trajectory generation unit 2131 calculates the trajectory R of each of the drones from the departure airport to the current position based on the position information of each of the drones, the environmental information, and the flight plan of each of the drones, and predicts the trajectory R' from the current position to the destination flight information (step S2022, see FIG. 12). At this time, the trajectory generation unit 2131 resimulates the predicted trajectory R' based on, for example, the current position information of each of the drones, the set flight plan, the aircraft status (such as the remaining battery level and various malfunction information), and the weather conditions up to the destination.

[0115] 12 is a conceptual diagram showing the trajectories R, R' of multiple drones in flight. The conflict detection unit 2132a determines whether or not the predicted trajectories R' of the multiple drones conflict with each other.

[0116] When it is determined that the predicted trajectory R' causes a conflict (YES in step S2023), the conflict detection unit 2132a predicts a delay time required to avoid a conflict between the drones for each of the multiple drones in flight.

[0117] Specifically, the conflict detection unit 2132a calculates, for each of the multiple drones, the delay time as the difference between the predicted time required to arrive at the destination airport from the current position and the predicted time required to avoid conflicts and arrive at the destination airport from the current position (the flight time resimulated when passing through these waypoints, assuming that the route connecting the waypoints reconfigured to avoid conflicts is traveled at cruising speed or the set speed).

[0118] Next, the priority order determination unit 2132b determines whether the predicted delay time is less than the allowable delay time for each of the multiple drones in flight. Furthermore, the priority order determination unit 2132b determines the priority order for avoiding conflicts between drones such that a drone whose predicted delay time is equal to or greater than the allowable delay time is given priority over a drone whose predicted delay time is less than the allowable delay time (step S2024). Below, a specific example of the priority order determination method will be described with reference to FIG. 13.

[0119] 13 is a conceptual diagram showing the process of changing the priority order of each of the multiple drones. In the following explanation, the multiple drones are referred to as drones D1, D2, D3, D4, and D5 in the order in which their flight plans were registered in the information processing device 20. This registration order is the initial priority order for avoiding conflicts between the drones.

[0120] First, the priority determination unit 2132b predicts the delay time for each of the drones D1 and D2 when avoiding a conflict between the drones D1 and D2 (Figure 13a).

[0121] If the predicted delay times for drone aircraft D1 and D2 are both less than the allowable delay time, the priority determination unit 2132b then predicts the delay times for drone aircraft D2 and D3, respectively, in order to avoid a conflict between drone aircraft D2 and D3 (Figure 13b).

[0122] Here, if the predicted delay time of drone aircraft D3 exceeds the allowable delay time and the predicted delay time of drone aircraft D2 does not exceed the allowable delay time, the priority determination unit 2132b switches the priorities of drone aircraft D2 and D3 (Figure 13c) and predicts the delay time for each of drone aircraft D1 and D3 to avoid conflict between drone aircraft D1 and D3 (Figure 13d).

[0123] Next, if the predicted delay time of drone aircraft D3 exceeds the allowable delay time and the predicted delay time of drone aircraft D1 does not exceed the allowable delay time, the priority determination unit 2132b switches the priorities of drone aircraft D1 and D3 (Figure 13e) and predicts the delay time for each of drone aircraft D2 and D4 to avoid conflicts between drone aircraft D2 and D4 (Figure 13f).

[0124] Here, if the predicted delay time of drone aircraft D2 exceeds the allowable delay time and the predicted delay time of drone aircraft D4 does not exceed the allowable delay time, the priority determination unit 2132b switches the priority of drone aircraft D2 and D4 (Figure 13g) and predicts the delay time for each of drone aircraft D1 and D4 to avoid conflict between drone aircraft D1 and D4 (Figure 13h).

[0125] Next, if the predicted delay time of drone aircraft D4 exceeds the allowable delay time and the predicted delay time of drone aircraft D1 does not exceed the allowable delay time, the priority determination unit 2132b switches the priority of drone aircraft D1 and D4 (Figure 13i) and predicts the delay time for each of drone aircraft D3 and D4 to avoid conflict between drone aircraft D3 and D4 (Figure 13j).

[0126] Here, if the predicted delay times for drone aircraft D3 and D4 are both less than the allowable delay time, the priority determination unit 2132b then predicts the delay times for drone aircraft D2 and D5, respectively, in order to avoid a conflict between drone aircraft D2 and D5 (Figure 13k).

[0127] Similarly, the priority determination unit 2132b compares the delay time occurring under the current priority order with the allowable delay time, executes the priority change process for all drones, and determines the priority order for avoiding conflicts between drones. The avoidance instruction unit 2123b outputs an avoidance instruction according to the priority order thus determined to each of the multiple drones, and the instruction is executed (step S2025).

[0128] Specifically, for example, if the priority order for avoiding conflicts between multiple drone aircraft is determined to be D3, D4, D1, D2, D5, the avoidance instruction unit 2123b outputs an instruction to the control device 40 of the user piloting drone aircraft D3 to pass through all of the conflict points (intersection points of the predicted trajectories) between the predicted trajectory R' of drone aircraft D3 and the predicted trajectory R' of drone aircraft D1, D2, D4, and D5 (see Figure 12).

[0129] In addition, the avoidance instruction unit 2123b outputs instructions to the control device 40 of the user piloting the drone aircraft D4 to pass through the conflict point between the predicted trajectory R' of the drone aircraft D4 and the predicted trajectory R' of the drone aircraft D1, D2, and D5, and to avoid the conflict point between the predicted trajectory R' of the drone aircraft D4 and the predicted trajectory R' of the drone aircraft D3 (see Figure 12).

[0130] Furthermore, the avoidance instruction unit 2123b outputs instructions to the control device 40 of the user piloting the drone aircraft D1 to pass through the conflict point between the predicted trajectory R' of the drone aircraft D1 and the predicted trajectory R' of the drone aircraft D2 and D5, and to avoid the conflict point between the predicted trajectory R' of the drone aircraft D1 and the predicted trajectory R' of the drone aircraft D3 and D4 (see Figure 12).

[0131] In addition, the avoidance instruction unit 2123b outputs instructions to the control device 40 of the user piloting the drone aircraft D2 to pass through the conflict point between the predicted trajectory R' of the drone aircraft D2 and the predicted trajectory R' of the drone aircraft D5, and to avoid the conflict point between the predicted trajectory R' of the drone aircraft D2 and the predicted trajectory R' of the drone aircraft D1, D3, and D4 (see Figure 12).

[0132] In addition, the avoidance instruction unit 2123b outputs instructions to the control device 40 of the user piloting the drone body D5 to avoid all conflict points (intersection points of the predicted trajectories) between the predicted trajectory R' of the drone body D5 and the predicted trajectories R' of the drone bodies D1, D2, D3, and D4 (see Figure 12).

[0133] This allows the drones D1 to D5 to cooperatively alleviate the time burden caused by conflicts that arise between these drones, and prevents some of the drones from being excessively delayed beyond the allowable delay time set by the user in order to avoid the conflicts.

[0134] <Third embodiment> [Information processing system configuration] Fig. 14 is a schematic diagram showing a configuration example of an information processing system 1 according to the third embodiment, and Fig. 15 is a block diagram showing a configuration example of the information processing system 1. Hereinafter, the same components as those in the information processing system 1 of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified.

[0135] In the third embodiment, the information processing device 20, the external information device 30, and the drone bodies 50 and 60 are connected to each other so as to be able to communicate with each other via a network N. The drone bodies 50 and 60 are connected to the information processing device 20 by wireless communication. The communication standard connecting the drone bodies 50 and 60 and the information processing device 20 may be, for example, LTE (Long Term Evolution) communication or Wi-Fi, and the type is not important.

[0136] The drone aircraft 50, 60 of the third embodiment differ from the first embodiment in that a flight plan is input into the information processing device 20 before or during flight, and the drone aircraft 50, 60 flies autonomously based on the input flight plan.

[0137] [Operation of information processing system] 16 is a flowchart showing a typical operation flow of the information processing system 1 of the third embodiment. The operation of the information processing system 1 of the third embodiment will be described below with reference to FIG.

[0138] (Step S301: Register flight plan) The user registers a flight plan for the drones 50, 60 in the information processing device 20 (flight plan management unit 2121).

[0139] (Step S302: Is the allowable delay time feasible?) The flight plan management unit 2121 determines whether the allowable delay time set by the user is feasible. For example, the flight plan management unit 2121 determines whether the allowable delay time set for the drones 50 and 60 is feasible from the remaining power of the drones 50 and 60, which are the aircraft specifications of the flight plan registered in the information processing device 20 in the previous step S301.

[0140] Here, if the flight plan management unit 2121 determines that the allowable delay time cannot be realized (NO in step S302), it requests the drones 50 and 60 to reset the allowable delay time (step S303). On the other hand, if the flight plan management unit 2121 determines that the allowable delay time can be realized (YES in step S302), the flight plan management unit 2121 outputs information about the flight plan to the trajectory generation unit 2122.

[0141] (Step S304: Pre-flight simulation) The trajectory generation unit 2122 calculates predicted trajectories R1, R2 for the drone bodies 50, 60 from the departure airport to the destination airport based on the flight plan obtained from the flight plan management unit 2121, and outputs the calculation results to the simulation unit 2123.

[0142] Specifically, the trajectory generation unit 2122 calculates a predicted trajectory by simulating the passage times, assuming that the route connecting the waypoints of the submitted flight plan will be traveled at a cruising speed or a set speed. At this time, the trajectory generation unit 2122 also simulates the set speed difference between the waypoints and temporary speed changes due to turning (such as a curve turn or a straight turn including a stop), taking into account the aircraft performance.

[0143] The conflict detection unit 2123a determines whether or not the predicted trajectories R1, R2 of the drones 50, 60 conflict. When the conflict detection unit 2123a determines that the predicted trajectories R1, R2 conflict, it outputs an instruction to pass through the conflict point (the intersection point of the predicted trajectories R1, R2) to the drone of the drones 50, 60 whose flight plan was registered earlier in the information processing device 20, and outputs an instruction to avoid the conflict to the drone whose flight plan was registered later in the information processing device 20, and the execution of this instruction is planned.

[0144] 7, for example, when the flight plan of the drone 60 is registered in the information processing device 20 before the flight plan of the drone 50, the delay time estimation unit 2123b predicts the delay time when the drone 50 avoids the conflict between the predicted trajectories R1 and R2. The delay time is the delay time predicted before the flight of the drone 50.

[0145] (Step S305: Is the delay time within the allowable range?) If the delay time calculated (predicted) in the previous step S304 exceeds the allowable delay time (NO in step S305) as shown in Fig. 7, the delay time estimation unit 2123b requests the user to reset the flight plan (step S306). At this time, the delay time estimation unit 2123b requests the user to change various parameters (scheduled departure time, scheduled arrival time, flight speed, allowable delay time, etc.) that constitute the flight plan, for example.

[0146] On the other hand, if the delay time calculated (predicted) in the previous step S304 is within the allowable delay time (YES in step S305), the traffic management unit 213 executes step S307 described below.

[0147] (Step S307: In-flight simulation) 17 is a flowchart showing details of step S307. Step S307 will be described below with reference to FIG.

[0148] The position acquisition unit 2131c acquires position information of the drones 50, 60 flying in the airspace from the drones 50, 60 (step S3071).

[0149] In addition, the external information acquisition unit 2131b acquires environmental information (weather information, terrain information, obstacle information, prohibited airspace information, manned aircraft position information) stored in the memory unit 32 from the external information device 30. Furthermore, the flight plan acquisition unit 2131a acquires the flight plans of the drones 50 and 60 registered in the flight plan management unit 2121 from the operation management unit 212.

[0150] Next, the trajectory generation unit 2131 calculates the trajectories R1', R2' of the drone bodies 50, 60 flying from the departure airport to the current position based on the position information of the drone bodies 50, 60, environmental information, and the flight plan of the drone bodies 50, 60, and predicts the trajectory R1", R2" from the current position to the destination airport (step S3072). At this time, the trajectory generation unit 2131 re-simulates the predicted trajectory R1", R2" based on, for example, the current position information of the drone bodies 50, 60, the set flight plan, the aircraft status (such as remaining battery power and various malfunction information), and the weather conditions to the destination. The trajectory generation unit 2131 outputs the calculation results of the trajectories R1', R2', R1", and R2" to the simulation unit 2132.

[0151] The conflict detection unit 2132a determines whether the predicted trajectories R1", R2" conflict. If the conflict detection unit 2132a determines that the predicted trajectories R1", R2" conflict (YES in step S3073), it predicts the delay time required to avoid the conflict for each of the drone bodies 50, 60. The delay time is the delay time predicted for the drone bodies 50, 60 in flight.

[0152] Specifically, the conflict detection unit 2132a calculates the delay time as the difference between the predicted time it takes for the drone aircraft 50, 60 to arrive at the destination airport from its current position and the predicted time it takes for the drone aircraft 50, 60 to avoid the conflict from its current position and arrive at the destination airport (the flight time resimulated when passing through these waypoints, assuming that the route connecting the waypoints reconfigured to avoid the conflict is traveled at cruising speed or a set speed).

[0153] Here, the priority determination unit 2132b outputs an instruction to pass through the conflict point (the intersection point of the predicted trajectories R1", R2") to any of the flying drones 50, 60 whose predicted delay time exceeds the allowable delay time, and outputs an instruction to avoid the conflict to any of the drones whose predicted delay time is less than the allowable delay time (step S3074).

[0154] As a result, an instruction to avoid the conflict is output to one of the flying drones 50, 60 whose predicted delay time is less than the allowable delay time, and this instruction is executed (step S3075).

[0155] For example, as shown in FIG. 7, when the predicted delay time of drone aircraft 50 in flight exceeds the allowable delay time and the predicted delay time of drone aircraft 60 in flight does not exceed the allowable delay time, the avoidance instruction unit 2132bc outputs an instruction to drone aircraft 60 to avoid a conflict between predicted trajectories R1", R2", i.e., an instruction to avoid a conflict between drone aircraft 50, 60 in flight.

[0156] <Modification> Although the embodiments of the present technology have been described above, it goes without saying that the present technology is not limited to the above-described embodiments and various modifications can be made.

[0157] For example, the control unit 21 in the above embodiment determines whether the allowable delay time set for the drone aircraft 50, 60 can be realized based on the remaining power level of the drone aircraft 50, 60, and if it determines that the allowable delay time cannot be realized, requests the user to reconfigure the allowable delay time, but this is not limited to the above. For example, the control unit 21 may request the user to set a minimum allowable delay time so that conflicts that arise due to unexpected factors such as a deterioration in weather while the drones 50, 60 are flying can be mitigated in a cooperative manner.

[0158] In addition, in the above embodiment, when a conflict with a previously registered flight plan is expected when registering a flight plan for the drone, the control unit 21 may display on the display unit 41 the delay time that will be caused by avoiding this conflict, and may request that the user take that delay amount when setting the allowable delay time.

[0159] Furthermore, the flight plan in the above embodiment is data including information such as the application date and time (the date and time when the flight plan is registered in the flight plan management unit 2121), aircraft name, aircraft type, aircraft specifications, departure airport, scheduled departure time, destination airport, scheduled arrival time, position information (longitude, latitude, altitude) of waypoints (intermediate stopover points between the departure airport and the destination airport), flight speed, and allowable delay time, but is not limited to this, and may be information including at least one of the information such as the application date and time, aircraft name, aircraft type, aircraft specifications, departure airport, scheduled departure time, destination airport, scheduled arrival time, position information of waypoints, flight speed, and allowable delay time.

[0160] In addition, the conflict point in the above embodiment is not limited to the intersection point of the predicted trajectory, but may be a landing site of the drone aircraft, for example, a charging point of the drone aircraft.

[0161] <Supplementary Information> Embodiments of the present technology may include, for example, an information processing device, a system, an information processing method executed by an information processing device or system as described above, a program for functioning an information processing device, and a non-transitory tangible medium on which the program is recorded.

[0162] In addition, in the above embodiment, the drone bodies 50, 60 are assumed to be airborne vehicles, but this is not limited to the above, and at least one of the drone body 50 or the drone body 60 may be an airborne vehicle.

[0163] Furthermore, the present technology may be applied to moving objects (e.g., robots) other than flying objects, and the applications are not particularly limited. In addition to drones, flying objects include airplanes, unmanned aerial vehicles, unmanned helicopters, etc.

[0164] In addition, the effects described herein are merely descriptive or exemplary and are not limiting, that is, the present technology may provide other effects in addition to or in place of the above effects that would be apparent to a person skilled in the art from the description of the present specification.

[0165] Although the preferred embodiment of the present technology has been described in detail above with reference to the accompanying drawings, the present technology is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field of the present technology can conceive of various modified or altered examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present technology.

[0166] The present technology can also be configured as follows.

[0167] (1) predicting a movement route of a first moving object based on a movement plan in which an allowable delay time is set; an information processing device comprising: a control unit that determines whether or not there is a conflict between the predicted movement path and a movement path of a second moving object. (2) The information processing device according to (1), wherein the movement route of the second moving body is a movement route predicted based on a movement plan of the second moving body. (3) The information processing device according to (2) above, wherein the movement plan of the second moving body includes information relating to an allowable delay time set for the second moving body. (4) The information processing device described in any one of (1) to (3), wherein the control unit determines a moving body that will avoid the conflict based on the order of registration when the movement plans of the first and second moving bodies were registered in the information processing device and the allowable delay time, and instructs the determined moving body to avoid the conflict. (5) The information processing device according to any one of (1) to (4), wherein the control unit determines whether the allowable delay time can be realized for the first moving body based on a remaining power supply of the first moving body. (6) The control unit is predicting a delay time for the first moving body to avoid the conflict; The information processing device according to any one of (1) to (5) above, further comprising: changing a movement plan of the first moving object when the predicted delay time exceeds an allowable delay time. (7) The information processing device according to any one of (1) to (6), wherein the control unit determines whether or not there is a conflict between the first moving object that is moving and the second moving object that is moving. (8) The control unit is predicting a delay time for the first moving body to avoid the conflict; The information processing device according to (7) above, wherein, when the predicted delay time exceeds an allowable delay time, an instruction is given to the second moving object that is moving to avoid the conflict. (9) The information processing device according to any one of (1) to (8) above, wherein at least one of the first moving body or the second moving body is an air vehicle. (10) The information processing device according to any one of (1) to (9) above, wherein the information processing device is a server. (11) Obtaining a movement plan for each of a plurality of moving objects; predicting a delay time for each of the plurality of moving bodies when avoiding a conflict between the plurality of moving bodies; determining whether the predicted delay time is less than an allowable delay time for each of the plurality of moving objects; An information processing device comprising: a control unit that determines a priority order for avoiding the conflict by giving priority to a moving body whose predicted delay time is equal to or greater than an allowable delay time over a moving body whose predicted delay time is less than an allowable delay time. (12) An information processing device, predicting a movement route of a first moving object based on a movement plan in which an allowable delay time is set; An information processing method that determines whether or not there is a conflict between the predicted movement path and a movement path of a second moving object. (13) predicting a movement route of a first moving object based on a movement plan in which an allowable delay time is set; determining whether the predicted movement path conflicts with a movement path of a second moving object; A program for causing an information processing device to execute the above. [Explanation of symbols]

[0168] Information Processing System··1 Radar....10 Information processing equipment ···20 External information device...30 Controls··40 Drone unit: 50, 60

Claims

1. predicting a movement route of a first moving object based on a movement plan in which an allowable delay time is set; a control unit that determines whether or not there is a conflict between the predicted movement path and a movement path of a second moving object; The control unit is predicting a delay time for the first moving body to avoid the conflict; an information processing device that instructs the second moving object to avoid the conflict when the predicted delay time exceeds the allowable delay time.

2. The information processing apparatus according to claim 1 , wherein the control unit determines whether or not the predicted delay time exceeds the allowable delay time based on a remaining power supply amount of the first moving object.

3. The information processing device according to claim 1 , wherein at least one of the first moving body and the second moving body is an air vehicle.

4. Obtaining a movement plan for each of a plurality of moving objects; predicting a delay time for each of the plurality of moving bodies when avoiding a conflict between the plurality of moving bodies; determining whether the predicted delay time is less than an allowable delay time for each of the plurality of moving objects; An information processing device comprising: a control unit that determines a priority order for avoiding the conflict by giving priority to a moving body whose predicted delay time is equal to or greater than an allowable delay time over a moving body whose predicted delay time is less than an allowable delay time.

5. The information processing device described in Claim 4, wherein the control unit determines whether each of the predicted delay times for the multiple moving bodies is less than the allowable delay time based on the remaining power supply of each moving body.

6. An information processing device as described in Claim 4, wherein at least one of the multiple moving bodies is an air vehicle.

7. The information processing device according to claim 1 , wherein the information processing device is a server.

8. An information processing device, predicting a movement route of a first moving object based on a movement plan in which an allowable delay time is set; determining whether the predicted path of travel conflicts with a path of travel of a second moving object; predicting a delay time for the first moving body to avoid the conflict; an information processing method for instructing the second moving object, which is moving, to avoid the conflict when the predicted delay time exceeds the allowable delay time.

9. An information processing device comprising: Obtaining a movement plan for each of a plurality of moving objects; predicting a delay time for each of the plurality of moving bodies when avoiding a conflict between the plurality of moving bodies; determining whether the predicted delay time is less than an allowable delay time for each of the plurality of moving objects; An information processing method for determining a priority order for avoiding the conflict by giving priority to a mobile object whose predicted delay time is equal to or greater than an allowable delay time over a mobile object whose predicted delay time is less than an allowable delay time.

10. predicting a movement route of a first moving object based on a movement plan in which an allowable delay time is set; determining whether the predicted movement path conflicts with a movement path of a second moving object; predicting a delay time for the first moving body to avoid the conflict; instructing the second moving object to avoid the conflict when the predicted delay time exceeds the allowable delay time; A program for causing an information processing device to execute the above.

11. A step of acquiring a movement plan for each of a plurality of moving objects; predicting a delay time for each of the plurality of moving bodies when avoiding a conflict between the plurality of moving bodies; determining whether the predicted delay time is less than an allowable delay time for each of the plurality of moving objects; determining a priority order for avoiding the conflict by giving priority to a moving object whose predicted delay time is equal to or greater than an allowable delay time over a moving object whose predicted delay time is less than an allowable delay time; A program for causing an information processing device to execute the above.

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