Information processing device and display control method

Abstract

To provide an information processor and a display control method capable of reporting information for urging caution to observers in situations where near misses or collisions between unmanned aerial vehicles are determined to be highly likely.SOLUTION: A UAV monitoring server SA acquires position information indicating a position of each of a plurality of pieces of UAVn in flight, acquires direction information indicating a front direction of each of the plurality of pieces of UAVn, and displays information for urging caution to UAV objects of the two or more pieces of UAVn on a two-dimensional map screen when two or more pieces of UAVn are included among the plurality of pieces of UAVn, wherein a distance between positions indicated by the position information is less than a first threshold and front directions indicated by the direction information are opposite to each other.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to technical fields such as systems that can properly monitor the flight status of an unmanned aerial vehicle by displaying an object representing an unmanned aerial vehicle in flight on a two-dimensional map screen. [Background technology]

[0002] A conventional technique is known, as disclosed in Patent Document 1, for example, which calculates the distance between two adjacent aircraft, judges whether the obtained distance between the aircraft is smaller than the safe distance, and if it is judged that the distance between the aircraft is smaller than the safe distance, displays a surveillance mark on a display screen, which is made up of a triangle whose three vertices are aircraft symbols corresponding to the two adjacent aircraft and a third point having a specific relationship with the aircraft symbols. This enables air traffic controllers to visually grasp the relative relationship in the flight status of each aircraft and detect the possibility of a near miss or collision between the aircraft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-132499 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above conventional technology, although the direction of travel of each aircraft is displayed as a scaled vector extending from each aircraft symbol in the direction of travel, the direction of travel of each aircraft is not taken into consideration when determining whether or not to display a surveillance mark (in other words, a determination for detecting near misses between aircraft, etc.). Therefore, in the above conventional technology, the display of a surveillance mark may result in information about near misses between aircraft being notified to the observer more than necessary.

[0005] Therefore, one example of the objective of the present invention is to provide an information processing device and a display control method that are capable of notifying a supervisor of information to alert him or her when a situation is determined in which there is a high possibility of a near miss or collision between unmanned aerial vehicles. [Means for solving the problem]

[0006] (Application Example 1) In order to solve the above problem, the information processing device of this application example includes a first acquisition unit that acquires position information indicating the position of each of multiple unmanned aerial vehicles in flight, a second acquisition unit that acquires direction information indicating the forward direction of each of the multiple unmanned aerial vehicles, and a display control unit that displays objects representing each of the multiple unmanned aerial vehicles on a two-dimensional map screen based on the position information, and is characterized in that when the multiple unmanned aerial vehicles include two or more unmanned aerial vehicles that are in a positional relationship such that the distance between the positions indicated by the position information is equal to or less than a predetermined first threshold value and the forward directions indicated by the direction information are facing each other, the display control unit displays information calling attention to the objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the objects.

[0007] (Application Example 2) The display control method of this application example is a display control method executed by one or more computers, and includes the steps of acquiring position information indicating the position of each of a plurality of unmanned aerial vehicles in flight, acquiring direction information indicating the forward direction of each of the plurality of unmanned aerial vehicles, displaying objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information, and, when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles that are in a positional relationship such that the distance between the positions indicated by the position information is below a predetermined threshold value and the forward directions indicated by the direction information of each vehicle are facing each other, displaying information calling attention to the objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the objects. Effect of the Invention

[0008] According to the present invention, it is possible to provide information to alert an observer in a situation in which it is determined that there is a high possibility of a near miss or collision between unmanned aerial vehicles. [Brief description of the drawings]

[0009] [Figure 1] A diagram showing an example of the general configuration of a UAV monitoring system S. [Diagram 2] FIG. 1 is a diagram illustrating an example of a schematic configuration of UAVn. [Diagram 3] A diagram showing an example of the appearance of UAVn in a state of landing at port P. [Figure 4] A diagram showing an example of the schematic configuration of a UAV monitoring server SA. [Diagram 5] FIG. 2 is a diagram showing an example of functional blocks in a control unit 23. [Figure 6] This is a diagram showing an example of a two-dimensional map screen display on which a UAV object of UAVn and a figure representing the front direction of the UAVn are placed. [Figure 7] This is a conceptual diagram showing, using UAV objects, examples of states (a) and (b) in which the frontal directions of two UAVn are determined to be facing each other, and (c) in which the frontal directions of two UAVn are determined to be not facing each other. [Figure 8] This figure shows an example of a two-dimensional map screen display on which a UAV object of a UAVn that is the subject of attention, a figure representing the forward direction of the UAVn, and information calling attention are displayed. [Figure 9] This figure shows an example of how to set the relationship between the speed difference between UAVn that are the subject of attention and the display mode of the figures associated with each UAV object of the UAVn. [Figure 10] This figure shows an example of a two-dimensional map screen display on which a UAV object of a UAVn that is the target of attention, a numerical value indicating the speed of the UAVn, a figure representing the forward direction and speed of the UAVn, and information calling attention are displayed. [Figure 11]This figure shows an example of a two-dimensional map screen display on which a UAV object of a UAVn that is not a target of attention, a figure representing the forward direction of the UAVn, and information indicating that no attention is required are displayed. [Figure 12] This figure shows an example of the operation screen (a) when there is no UAVn to be aware of, and an example of the operation screen (b) when there is a UAVn to be aware of. [Figure 13] FIG. 2 is a diagram illustrating an example of a schematic configuration of a monitor terminal T. [Figure 14] 13 is a flowchart showing an example of UAV monitoring processing of the control unit 23 in the UAV monitoring server SA. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The following embodiment is an embodiment in which the present invention is applied to a UAV monitoring system for monitoring the flight status of an unmanned aerial vehicle (hereinafter, referred to as "UAV (Unmanned Aerial Vehicle)") such as a drone or a multicopter.

[0011] [ 1. Overview of the configuration and operation of the UAV surveillance system S ] First, referring to FIG. 1, the configuration and operation of a UAV monitoring system S according to this embodiment will be described. FIG. 1 is a diagram showing an example of a schematic configuration of the UAV monitoring system S. As shown in FIG. 1, the UAV monitoring system S includes a plurality of UAVs (n=1, 2, etc.), a UAV monitoring server SA, and a monitor terminal T. Here, the UAV monitoring server SA is an example of an information processing device of the present invention. The UAVs, the UAV monitoring server SA, and the monitor terminal T are each connected to a communication network NW. The communication network NW is, for example, configured from the Internet, a mobile communication network, and its wireless base station, etc.

[0012] The UAVn is controlled to depart from a takeoff and landing port for a specific purpose such as transporting goods (e.g., delivery) or surveying, and to return to the takeoff and landing port or another takeoff and landing port. A base having a takeoff and landing port used for takeoff or landing of the UAVn in this way is called a UAV base. The UAV base includes, for example, a site (or a rooftop of a building) having an area at least equal to or larger than the area of ​​the takeoff and landing port. The UAV base may include a specific range in the sky above the site (or the rooftop of a building). The monitor terminal T is used by a monitor of multiple UAVn in flight. The monitor, as an operator, can also give operational instructions related to flight control to the UAVn from the monitor terminal T. Operation instruction information indicating such an operation instruction is transmitted to the UAV monitoring server SA via the communication network NW together with the aircraft ID of the UAVn.

[0013] [ 1-1.UAVn configuration and functions ] Next, the configuration and functions of UAVn will be described with reference to FIG. 2. FIG. 2 is a diagram showing an example of a schematic configuration of UAVn. As shown in FIG. 2, UAVn includes a drive unit 11, a positioning unit 12, a communication unit 13, a sensor unit 14, a storage unit 15, and a control unit 16. Although not shown, UAVn includes a battery that supplies power to each unit in UAVn, and rotors (propellers) that are multiple horizontal rotors. UAVn may include a holding member that holds an article to be loaded. Furthermore, UAVn may include a linear member such as a wire connected to the holding member, and a reel (winch) that sends out or winds up the linear member.

[0014] The driving unit 11 includes a motor, a rotating shaft, and the like. The driving unit 11 rotates a plurality of rotors by the motor and the rotating shaft, which are driven according to a control signal output from the control unit 16. The positioning unit 12 includes a radio receiver, an altitude sensor, and the like. For example, the positioning unit 12 receives radio waves transmitted from a satellite of the Global Navigation Satellite System (GNSS) by a radio receiver, and detects the current horizontal position (latitude and longitude) of the UAVn based on the radio waves. The current horizontal position of the UAVn may be corrected based on an image captured by a camera of the sensor unit 14. Position information indicating the current position detected by the positioning unit 12 is output to the control unit 16. Furthermore, the positioning unit 12 may detect the current vertical position (altitude) of the UAVn by an altitude sensor such as a barometric pressure sensor. In this case, the position information output to the control unit 16 indicates the horizontal position and the vertical position of the UAVn.

[0015] The communication unit 13 has a wireless communication function and is responsible for controlling communication performed via the communication network NW. The sensor unit 14 has various sensors used for flight control of the UAVn. The various sensors include, for example, an optical sensor, a speed sensor, a three-axis angular velocity sensor, a three-axis acceleration sensor, and a geomagnetic sensor. The optical sensor includes a camera (for example, an RGB camera, an infrared camera), and continuously captures real space within the camera's angle of view. The sensing information obtained by the sensing of the sensor unit 14 is output to the control unit 16. The storage unit 15 is composed of a non-volatile memory, etc., and stores various programs and data. The storage unit 15 also stores the aircraft ID of the UAVn. The aircraft ID is identification information for identifying each UAVn.

[0016] The control unit 16 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), and executes various types of control according to programs stored in the ROM or the storage unit 15. The various types of control include flight control (including takeoff control and landing control). In flight control, the control unit 16 uses position information acquired from the positioning unit 12, sensing information acquired from the sensor unit 14, flight path information, and the like to control the rotor rotation speed, the position, attitude, and direction of travel of the UAVn. This allows the control unit 16 to fly the UAVn autonomously.

[0017] Here, the flight path information is acquired from, for example, the UAV monitoring server SA. The flight path information includes, for example, position information indicating the positions of a plurality of waypoints on the flight path of the UAVn. The position of the waypoint is expressed, for example, by a horizontal position (latitude and longitude). Alternatively, the position of the waypoint may be expressed, for example, by a horizontal position (latitude and longitude) and a current vertical position (altitude). In addition, when the UAVn is used for delivering goods, the flight path information includes position information of the delivery destination of the goods. Furthermore, the control unit 16 can also perform flight control of the UAVn according to control information from the UAV monitoring server SA. Such control information includes, for example, control information for making the UAVn make an emergency stop (for example, hover) on the spot, control information for making the UAVn return to the UAV base, control information for making the UAVn fly to an emergency landing point and land, or control information for making the UAVn land on the spot. The control information may also include, for example, control information for taking off the UAVn at the UAV base, or control information for landing the UAVn at the UAV base.

[0018] The control unit 16 also acquires direction information indicating the front direction (travel direction) of the UAVn, position information indicating the position of the UAVn, and speed information indicating the speed (i.e., flight speed) of the UAVn. The direction information, position information, and speed information thus acquired are sequentially transmitted to the UAV monitoring server SA by the communication unit 13 together with the aircraft ID of the UAV1. Here, the front direction of the UAVn is identified, for example, based on sensing information from a three-axis acceleration sensor and a geomagnetic sensor included in the sensor unit 14. The front direction of the UAVn means, for example, the direction (azimuth) in which the front of the UAVn faces. The "face" of the front is not limited to a plane, and may be a curved surface. The front of the UAVn is a surface facing the travel direction of the UAVn (i.e., a surface that receives a headwind), and is set in advance. The front direction of the UAVn is expressed, for example, as eastward, westward, southward, northward, east-westward, or southeastward on a two-dimensional plane.

[0019] Alternatively, the front direction of UAVn may be expressed as an angle based on, for example, north on a two-dimensional plane. A mark such as a company logo, name, or model number may be attached to the front of UAVn. FIG. 3 is a diagram showing an example of the appearance of UAV1 in a state of landing on port P. In the example of FIG. 3, a mark M indicating that the front of UAV1 is the front is attached, and the front of UAV1 faces south (that is, the front direction of UAV1 faces south). The speed of UAVn is identified based on speed information from a speed sensor included in the sensor unit 14, for example.

[0020] [ 1-2. Configuration and Functions of UAV Monitoring Server SA ] Next, the configuration and functions of the UAV monitoring server SA will be described with reference to FIG. 4. FIG. 4 is a diagram showing an example of a schematic configuration of the UAV monitoring server SA. As shown in FIG. 4, the UAV monitoring server SA includes a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 is responsible for controlling communication via the communication network NW. The position information, direction information, speed information, and the like transmitted from the UAVn are received by the communication unit 21. In addition, the operation instruction information, and the like transmitted from the monitor terminal T are received by the communication unit 21. The storage unit 22 is composed of, for example, a hard disk drive or a solid state drive, and stores various programs, including an operating system.

[0021] The storage unit 22 stores data constituting a two-dimensional map screen into which the two-dimensional map image data is incorporated. The data constituting the two-dimensional map screen is provided to the monitor terminal T. As a result, the two-dimensional map screen is displayed on the display (monitor) of the monitor terminal T. The storage unit 22 also stores data of elements (e.g., objects and figures described below) displayed on the two-dimensional map screen. The storage unit 22 also stores data constituting an operation screen for receiving operation instructions related to flight control of the UAVn from the monitor. The data constituting the operation screen is provided to the monitor terminal T. As a result, the operation screen is displayed on the display of the monitor terminal T. The storage unit 22 has a buffer memory that associates the position information, direction information, and speed information received from the UAVn with the aircraft ID of the UAVn and accumulates the information while updating it sequentially for each UAVn.

[0022] Furthermore, a UAV management database (DB) 221 and the like are constructed in the storage unit 22. The UAV management database 221 is a database for managing information related to the UAVn to be monitored. In the UAV management database 221, for example, the aircraft ID, flight route information, and operation status information of the UAVn to be monitored are stored in association with each UAVn. Here, the operation status information indicates the operation status of the UAVn. Such an operation status indicates, for example, in flight or waiting, and is updated as appropriate. Waiting indicates a situation in which, for example, the UAVn has completed preparation for flight at the UAV base and the UAVn is waiting to take off. In flight indicates a situation in which the UAVn is flying. The situation in which the UAVn is flying may include a situation in which the UAVn is hovering.

[0023] The control unit 23 includes a CPU, a ROM, a RAM, etc. Fig. 5 is a diagram showing an example of functional blocks in the control unit 23. The control unit 23 functions as a position information acquisition unit 231 (an example of a first acquisition unit), a direction information acquisition unit 232 (an example of a second acquisition unit), a speed information acquisition unit 233 (an example of a third acquisition unit), a speed difference calculation unit 234 (an example of a calculation unit), a display control unit 235, a flight control unit 236, and the like, as shown in Fig. 5, in accordance with a program (a group of program codes) stored in, for example, the ROM or the storage unit 22.

[0024] The position information acquisition unit 231 acquires position information indicating the position of each of the multiple UAVn in flight among the multiple UAVn to be monitored from each UAVn via the communication unit 21. For example, the position information acquisition unit 231 acquires each piece of position information from a buffer memory in the storage unit 22. Such position information indicates at least the horizontal position (latitude and longitude) of the UAVn. Alternatively, such position information may indicate the vertical position (altitude) in addition to the horizontal position of the UAVn.

[0025] The direction information acquisition unit 232 acquires direction information indicating the forward direction of each of the multiple UAVn in flight among the multiple UAVn to be monitored from each UAVn via the communication unit 21. For example, the direction information acquisition unit 232 acquires each piece of direction information from a buffer memory in the storage unit 22. Note that the direction information acquisition unit 232 may calculate the traveling direction of the UAVn from two different positions of the UAVn. In this case, the direction information acquisition unit 232 acquires direction information indicating the calculated traveling direction.

[0026] The speed information acquisition unit 233 acquires speed information indicating the speed of each of the multiple UAVn in flight among the multiple UAVn to be monitored from each UAVn via the communication unit 21. For example, the speed information acquisition unit 233 acquires each piece of speed information from a buffer memory in the storage unit 22. Note that the speed information acquisition unit 233 may calculate the speed of the UAVn based on the amount of change in the position of the UAVn per unit time. In this case, the speed information acquisition unit 233 acquires speed information indicating the calculated speed.

[0027] The display control unit 235 displays objects (also called icons, hereinafter referred to as "UAV objects") representing each of the multiple UAVs on the two-dimensional map screen of the monitor terminal T based on the position information (position information of UAVs) acquired by the position information acquisition unit 231. Here, displaying the UAV object on the two-dimensional map screen based on the position information of UAVs means displaying the UAV object at a coordinate position corresponding to the position (latitude and longitude) indicated by the position information of UAVs. Such coordinate position is a coordinate position (x, y) on the two-dimensional map screen, for example, a coordinate position with the center of the upper left corner pixel of the two-dimensional map screen as the origin. A UAV object whose coordinate position corresponding to the position information of UAVs falls within the two-dimensional map screen will be displayed. The UAV object is represented by a picture, a figure, a photograph, or the like.

[0028] Further, the display control unit 235 may display on the two-dimensional map screen a figure representing the front direction of each UAVn in association with each UAV object on the two-dimensional map screen based on the direction information (direction information of UAVn) acquired by the direction information acquisition unit 232. FIG. 6 is a diagram showing a display example of a two-dimensional map screen on which UAV objects of UAVn (UAV1 to UAV3) and figures representing the front direction of the UAVn are arranged. In the example of FIG. 6, figures D1 to D3 representing the front direction are associated (added) with (and displayed on) each of the UAV objects O1 to O3 on the two-dimensional map screen Sc. The figures D1 to D3 shown in FIG. 6 are isosceles triangles, and the direction indicated by the apex (obtuse angle) of the triangle is the front direction. Note that the figure representing the front direction is not limited to a triangle, and may be any figure (for example, an arrow figure) that can indicate a direction.

[0029] Then, the display control unit 235 judges whether or not the multiple UAVn to be monitored include two or more UAVn whose positions (e.g., horizontal positions) indicated by their position information are in a positional relationship such that the distance between them is equal to or less than a predetermined first threshold (e.g., several tens of meters) and whose front directions indicated by their directional information are facing each other. When the display control unit 235 judges that such two or more UAVn are included, it displays information to call attention to the UAV objects of the two or more UAVn on the two-dimensional map screen in association with each other. Here, "facing each other" does not necessarily mean that the UAVn are completely facing each other. For example, when two or more UAVn are in a state in which virtual lines extending from the positions indicated by their position information toward the front directions indicated by their directional information intersect within a predetermined range, the UAVn are judged to be facing each other. This makes it possible to quickly judge whether or not the UAVn are facing each other based on the front directions of the UAVn whose current positions are set in a specific coordinate system without predicting the future positions of the UAVn after a certain time.

[0030] In order to determine whether the front directions of two or more UAVn face each other, a process of drawing the virtual line may be executed in a coordinate system in which the current positions of the UAVn are set. However, even if the process is not executed, it may be determined whether the virtual line intersects within a predetermined range from the direction of the UAVn whose current position is set in the coordinate system. Here, the "intersecting state" may correspond not only to a complete intersecting state, but also to a state close to intersecting. In this case, what state corresponds to the state close to intersecting is set in advance. In the following description, two or more UAVn that satisfy the condition that the distance between their positions is equal to or less than a predetermined first threshold and that their front directions face each other are referred to as "UAVn to be noted".

[0031] FIG. 7 is a conceptual diagram showing, by means of UAV objects, examples of states (a) and (b) in which it is determined that the front directions of two UAVn face each other, and a state (c) in which it is determined that the front directions of two UAVn do not face each other. Specifically, state (a) is a state in which UAV1 and UAV2 face each other completely. That is, in state (a), if the front direction of UAV1 is 0 degrees, the front direction of UAV2 is 180 degrees. State (b) is a state in which virtual lines L1 and L2 extending toward the front directions of UAV1 and UAV2 intersect within a predetermined range R. State (c) is a state in which virtual lines L1 and L2 extending toward the front directions of UAV1 and UAV2 do not intersect within a predetermined range R. Note that the predetermined range R is set in a rectangular shape in the area between UAV1 and UAV2, but may be set to a different shape (for example, a circular shape) or a different size.

[0032] FIG. 8 is a diagram showing a display example of a two-dimensional map screen on which UAV objects of UAVn (UAV1 and UAV2) to be noted, figures representing the front direction of the UAVn, and information to call attention are arranged. In the example of FIG. 8, on the two-dimensional map screen Sc, circular figures A1 and A2 (an example of information to call attention) are associated with each of the UAV objects O1 and O2 (in this example, they are added so as to surround the UAV objects O1 and O2) and displayed. Here, it is preferable to display the circular figures A1 and A2 so that they stand out by making the display color of the circular figures A1 and A2 different from the display color of the UAV objects O1 and O2. Note that in the example of FIG. 8, it can be seen that UAV1 and UAV2 are completely facing each other from the front direction represented by the figures D1 and D2 associated with the UAV objects O1 and O2, respectively.

[0033] Further, the display control unit 235 may display the speed information of each UAVn associated with each UAV object on the two-dimensional map screen based on the speed information (speed information of UAVn) acquired by the speed information acquisition unit 233. In particular, the display control unit 235 may display the speed information of each UAVn that is the target of attention on the two-dimensional map screen associated with each UAV object of the UAVn that is the target of attention along with information that calls attention. This makes it possible to visually convey to the observer the degree of possibility of a near miss or collision between the target UAVn (for example, the degree of urgency or imminence). Note that the speed information may be displayed as a numerical value representing the speed of the UAVn, or may be displayed as a figure that represents the speed by a display color or a display size.

[0034] In addition, the display control unit 235 may display the speed information in a display mode that indicates that there is a speed difference between the UAVn to be watched when the difference in speed between the UAVn to be watched is equal to or greater than a predetermined second threshold, and may display the speed information in a display mode that indicates that there is no speed difference between the UAVn to be watched when the difference in speed is less than the second threshold. This makes it possible to visually convey to the observer the degree of possibility of a near miss or collision between the UAVn to be watched in an easily understandable manner, and to reduce the CPU processing load caused by the display mode changing more than necessary. The speed difference between the UAVn to be watched is calculated by the speed difference calculation unit 234 based on the speed information acquired by the speed information acquisition unit 233. Examples of the display mode include display size and display color.

[0035] For example, when the difference in speed between the UAVn to be watched is equal to or greater than a predetermined second threshold, the display control unit 235 displays the figures corresponding to the UAV object of the UAVn whose speed is relatively fast so that the display size is larger than the figure corresponding to the UAV object of the UAVn whose speed is relatively slow. On the other hand, when the difference in speed is less than the second threshold, the display control unit 235 displays the figures corresponding to the UAV object of each UAVn so that the display size is the same. Here, the second threshold may be set in a plurality of stages. In this case, the display control unit 235 displays the figures corresponding to the UAV object of each UAVn so that the difference in the display size is larger as the difference in the speed between the UAVn becomes larger. This makes it possible to visually convey to the observer the degree of possibility of a near miss or collision between the UAVn to be watched more easily and to reduce the CPU processing load caused by the display mode changing more than necessary.

[0036] FIG. 9 is a diagram showing an example of the relationship between the speed difference between UAVn to be noticed and the display mode of the figure associated with each UAV object of the UAVn. In the example of FIG. 9, the speed difference between UAVn to be noticed is set to three levels, "small", "medium", and "large", but may be two levels, or four levels or more. In this example, "1 m / s" and "2 m / s" are set as the second threshold. And, it is set so that the difference in the display size of the figure associated with the UAV object becomes larger as the speed difference becomes larger. Also, in the example of FIG. 9, the speed of the faster UAVn among the UAVn to be noticed is set to three levels, "high speed", "medium speed", and "low speed", but may be two levels, or four levels or more. And, it is set so that the display color of the figure associated with the UAV object becomes a color with high visibility (red) as the speed becomes faster.

[0037] FIG. 10 is a diagram showing a display example of a two-dimensional map screen on which UAV objects of UAVn (UAV1 and UAV2) to be noted, a numerical value indicating the speed of the UAVn, a figure indicating the front direction and speed of the UAVn, and information to call attention are arranged. In the example of FIG. 10, on the two-dimensional map screen Sc, numerical values ​​indicating the speed "8m / s" and "5m / s", figures DS1 and DS2 indicating the front direction and speed, and circular figures A1 and A2 (an example of information to call attention) are displayed in association with each of the UAV objects O1 and O2. In the example of FIG. 10, the speed of UAV1 is faster than the speed of UAV2, and the speed difference between them is equal to or greater than a threshold value, so the display size of the figure DS1 associated with the UAV object O1 is displayed larger than the display size of the figure DS2 associated with the UAV object O2.

[0038] In addition, when the position information acquired by the position information acquisition unit 231 indicates the horizontal position and the vertical position of each of the multiple UAVn, the display control unit 235 may determine whether or not the multiple UAVn includes two or more UAVn (i.e., UAVn to be watched) in which the distance between the horizontal positions of the multiple UAVn is equal to or less than the first threshold value and the distance between the vertical positions of the multiple UAVn is equal to or less than a predetermined third threshold value (for example, several tens of meters) and the front directions of the multiple UAVn face each other. When the display control unit 235 determines that such two or more UAVn are included, the display control unit 235 may display the above-mentioned information to call attention to the UAV object of the UAVn to be watched on the two-dimensional map screen in association with the information to call attention to the UAVn. This makes it possible to effectively notify the observer of the information to call attention to the observer in a situation in which it is determined that the possibility of a near miss or collision between the UAVn to be watched is even higher.

[0039] On the other hand, the display control unit 235 may display information indicating that no attention is required on the two-dimensional map screen when the distance between the horizontal positions of the two or more UAVs is equal to or less than the first threshold value and the distance between the vertical positions of the two or more UAVs facing each other is greater than the third threshold value. FIG. 11 is a diagram showing a display example of a two-dimensional map screen in which UAV objects of UAVs (UAV1 and UAV2) that are not the attention target, a figure representing the front direction of the UAVs, and information indicating that no attention is required are arranged. In the example of FIG. 11, a message "There is no problem because there is an altitude difference" is displayed in association with the UAV objects O1 and O2 of UAV1 and UAV2 that are not the attention target as information indicating that no attention is required on the two-dimensional map screen Sc. This makes it possible to effectively inform the observer that there is a low possibility of a near miss or collision between the UAVs even if the distance between the horizontal positions is equal to or less than the first threshold value and two or more UAVs facing each other are visible to the observer on the two-dimensional map screen.

[0040] The display control of the UAV object to be monitored is performed by transmitting display control data for displaying the UAV object and the above-mentioned figure to the monitor terminal T through the communication unit 21 by the display control unit 235. Such display control data includes, for example, data indicating the UAV object and data indicating the coordinate position of the UAV object, as well as data indicating the above-mentioned figure (for example, a figure indicating the front direction of the UAVn). Here, the data indicating the UAV object is, for example, image data of the UAV object, and the data indicating the above-mentioned figure is image data of the figure. In addition, the display control of the information indicating that attention is not required is performed by transmitting display control data for displaying information indicating that attention is not required (i.e., display control data including information indicating that attention is not required) to the monitor terminal T through the communication unit 21 by the display control unit 235.

[0041] In addition, the display control of the UAV object of the UAVn to be watched is performed by transmitting display control data (i.e., display control data including information to be watched) for displaying information to be watched (e.g., image data of a circular figure surrounding the periphery of the UAV object) in addition to data indicating the UAV object to the monitor terminal T via the communication unit 21 by the display control unit 235. In this case, the display control data may further show a figure in a display mode (e.g., display color) according to the speed of the UAVn and in a display mode (e.g., display size) according to the speed difference between the UAVn, in addition to data indicating the UAV object and the above figure by a monitoring application installed in the monitor terminal T. In addition, when the image data of the UAV object and the above figure is managed by a monitoring application installed in the monitor terminal T, an identifier corresponding to the image data of the UAV object may be included in the display control data instead of the image data.

[0042] In addition, the display control unit 235 may restrict (for example, prohibit) the acceptance of operation instructions related to flight control for UAVn having a relatively fast speed among UAVn to be watched on the operation screen displayed on the monitor terminal T. This allows flight control to be performed only for UAVn having a relatively slow speed among UAVn to be watched. In other words, this allows flight control to be efficiently performed for UAVn for which flight control is easy to be effective. Note that the restriction on the acceptance of operation instructions is performed, for example, by transmitting acceptance restriction data for restricting the acceptance of operation instructions to the monitor terminal T through the communication unit 21.

[0043] FIG. 12 is a diagram showing a display example of an operation screen (a) when there is no UAVn to be watched, and an operation screen (b) when there is a UAVn to be watched. The operation screens (a) and (b) shown in FIG. 12 are provided with an operation icon display section 51 in which operation icons 51a to 51d for UAV1 are arranged, and an operation icon display section 52 in which operation icons 52a to 52d for UAV2 are arranged. In the operation screen (a) shown in FIG. 12, the operation icons 51a to 51d for UAV1 and the operation icons 52a to 52d for UAV2 are all capable of accepting operation instructions from the observer. On the other hand, in the operation screen (b) shown in FIG. 12, the operation icons 52a to 52d for UAV2, which is slower, are all capable of accepting operation instructions from the observer, but the operation icons 51a to 51d for UAV1, which is faster, are grayed out so that they cannot accept operation instructions from the observer.

[0044] The operation icons 51a and 52a are operation buttons for receiving an operation instruction to make an emergency stop of the UAVn on the spot. The operation icons 51b and 52b are operation buttons for receiving an operation instruction to return the UAVn to the UAV base. The operation icons 51c and 52c are operation buttons for receiving an operation instruction to fly the UAVn to an emergency landing site and land it. The operation icons 51d and 52d are operation buttons for receiving an operation instruction to land the UAVn on the spot.

[0045] When an operation instruction related to flight control of UAVn is given through the operation screen displayed on the monitor terminal T (i.e., when operation instruction information indicating the operation instruction is received through the communication unit 21), the flight control unit 236 transmits control information corresponding to the operation instruction to the UAVn that is the target of the operation instruction. As described above, such control information includes control information for making an emergency stop of the UAVn on the spot, control information for returning the UAVn to the UAV base, control information for flying the UAVn to an emergency landing site and landing it, or control information for landing the UAVn on the spot.

[0046] [ 1-3. Configuration and functions of monitor terminal T ] Next, the configuration and functions of the monitor terminal T will be described with reference to FIG. 13. FIG. 13 is a diagram showing an example of a schematic configuration of the monitor terminal T. As shown in FIG. 13, the monitor terminal T includes a display unit 31, an operation unit 32, a communication unit 33, a storage unit 34, and a control unit 35. The display unit 31 includes a display (monitor) for displaying a two-dimensional map screen and an operation screen. The display may be physically separated into a display for the two-dimensional map screen and a display for the operation screen. The display may also be a touch panel capable of receiving operation instructions from a user's finger, pen, or the like. The operation unit 32 includes a keyboard, a mouse, and the like operated by the monitor. The communication unit 33 includes a wireless communication function and is responsible for controlling communication performed via the communication network NW.

[0047] The storage unit 34 is composed of, for example, a hard disk drive or a solid state drive, and stores various installed programs and data. The various programs include an operating system (OS), applications, and a web browser. The applications include an application for monitoring the UAVn and an application for controlling the UAVn. The monitoring application may incorporate and manage data constituting a two-dimensional map screen, image data of the UAV object, and the above-mentioned figures. The control application may incorporate and manage data constituting an operation screen.

[0048] The control unit 35 includes a CPU, a ROM, a RAM, and the like. The control unit 35 displays the above-mentioned two-dimensional map screen on the display according to the monitoring application. Data constituting the two-dimensional map screen may be appropriately received from the UAV monitoring server SA. The display range of the two-dimensional map image in the two-dimensional map screen is changed according to an instruction from the operation unit 32. Then, information indicating the display range of the two-dimensional map image may be transmitted to the UAV monitoring server SA. Note that the control unit 35 may receive a web page from the UAV monitoring server SA by specifying the URL (Uniform Resource Locator) of a web page including data constituting the two-dimensional map screen by a web browser, and may display the two-dimensional map screen on the display of the display unit 31. Then, when the above-mentioned display control data is received from the UAV monitoring server SA, the control unit 35 displays the UAV object, etc. on the two-dimensional map screen, for example, as shown in FIG. 6.

[0049] Furthermore, when the control unit 35 receives display control data including information to call attention from the UAV monitoring server SA, the control unit 35 displays the information to call attention in association with the UAV object of UAVn that is the attention target on the two-dimensional map screen, as shown in Fig. 8, for example. On the other hand, when the control unit 35 receives display control data for displaying information indicating that no attention is required from the UAV monitoring server SA, the control unit 35 displays the information indicating that no attention is required in association with the UAV object of UAVn that is not the attention target on the two-dimensional map screen, as shown in Fig. 11, for example.

[0050] The control unit 35 also displays the above-mentioned operation screen on the display according to the control application. The data constituting the operation screen may be appropriately received from the UAV monitoring server SA. The control unit 35 may receive a web page including the data constituting the operation screen from the UAV monitoring server SA by specifying the URL of the web page by the web browser, and display the operation screen on the display of the display unit 31. Then, when an operation instruction related to flight control of the UAVn is received from the monitor via the operation unit 32 while the operation screen is being displayed, control information corresponding to the operation instruction is transmitted to the UAV monitoring server SA.

[0051] Furthermore, when the above-mentioned acceptance restriction data is received from the UAV monitoring server SA, the control unit 35 performs a process of restricting the acceptance of operation instructions related to flight control for a UAVn having a relatively fast speed among the UAVn to be watched. In this process, the control unit 35 grays out the operation icon corresponding to the UAV1 having a relatively fast speed, for example, as shown in the operation icon display unit 51 of the operation screen (b) shown in Fig. 12. As a result, the grayed-out operation icon cannot be designated by the monitor with a mouse, a finger, or the like, so that it is possible to prohibit the acceptance of operation instructions related to flight control for the UAVn having a relatively fast speed.

[0052] [ 2. Operation of UAV Surveillance System S ] Next, the operation of the UAV monitoring system S will be described with reference to FIG. 14. FIG. 14 is a flowchart showing an example of UAV monitoring processing by the control unit 23 in the UAV monitoring server SA. Note that, as a premise of the processing shown in FIG. 14, it is assumed that the monitor terminal T starts a monitoring application and a control application, displays the above-mentioned two-dimensional map screen on the display for the two-dimensional map screen, and displays the above-mentioned operation screen on the display for the operation screen. When the processing shown in FIG. 14 is started, the control unit 23 acquires position information, direction information, and speed information of each UAVn in flight (step S1). Here, the position information indicates the horizontal and vertical positions of each UAVn.

[0053] Next, based on the position information and direction information acquired in step S1, the control unit 23 displays a UAV object of UAVn whose coordinate position is included in the two-dimensional map screen and a figure representing the front direction on the two-dimensional map screen display for the two-dimensional map screen (step S2). For example, as described above, the display control unit 235 transmits display control data for displaying the UAV object and the figure to the monitor terminal T. As a result, the UAV object and the figure are displayed on the two-dimensional map screen. Note that the display control data may include the aircraft ID of the UAVn corresponding to the UAV object (same below).

[0054] Next, the control unit 23 determines whether or not two or more UAVn whose two-dimensional positions (i.e., horizontal positions) indicated by the position information of each other are included among the multiple UAVn whose position information was acquired in step S1 are equal to or less than a first threshold value by the display control unit 235 as described above (step S3). If it is determined that two or more UAVn whose distance is equal to or less than the first threshold value are included (step S3: YES), two or more UAVn whose distance is equal to or less than the first threshold value are identified, and the process proceeds to step S4. On the other hand, if it is determined that two or more UAVn whose distance is equal to or less than a predetermined first threshold value are not included (step S3: NO), the process proceeds to step S11. Note that in step S3, it may be determined whether or not two or more UAVn whose coordinate positions are equal to or less than a threshold value are included.

[0055] In step S4, the control unit 23 determines whether the front directions indicated by the direction information of each of the two or more UAVs identified in step S3 are facing each other, as described above, by the display control unit 235. If it is determined that the front directions are facing each other (step S4: YES), the two or more UAVs whose front directions are determined to be facing each other are identified, and the process proceeds to step S5. On the other hand, if it is determined that the front directions are not facing each other (step S4: NO), the process proceeds to step S11.

[0056] In step S5, the control unit 23 determines whether the distance (i.e., altitude difference) between the altitudes (i.e., vertical positions) indicated by the position information of the two or more UAVs identified in step S4 is equal to or less than a third threshold. If it is determined that the altitude difference is not equal to or less than the third threshold (step S5: NO), the process proceeds to step S6. On the other hand, if it is determined that the altitude difference is equal to or less than the third threshold (step S5: YES), the two or more UAVs whose altitude difference is determined to be equal to or less than the third threshold are identified as UAVs to be aware of, and the process proceeds to step S7.

[0057] In step S6, the control unit 23 displays information indicating that no attention is required on the two-dimensional map screen in association with the UAV object as described above, and proceeds to step S11. For example, the display control unit 235 transmits display control data for displaying information indicating that no attention is required to the monitor terminal T. As a result, the information indicating that no attention is required is displayed on the two-dimensional map screen in association with the UAV object of UAVn whose altitude difference is determined to be not equal to or less than the third threshold.

[0058] In step S7, the control unit 23 calculates the speed difference of the UAVn to be the attention target based on the speed information of the UAVn to be the attention target identified in step S5 by the speed difference calculation unit 234. Next, as described above, the control unit 23 causes the information to be displayed on the two-dimensional map screen in association with the UAV object (step S8). For example, the display control unit 235 transmits display control data for displaying the information to be the attention target to the monitor terminal T. As a result, the information to be the attention target is displayed on the two-dimensional map screen in association with the UAV object of the UAVn to be the attention target. At this time, the control unit 23 may cause a figure to be displayed on the two-dimensional map screen in a display mode according to the front direction and speed of the UAVn to be the attention target and in a display mode according to the speed difference between the UAVn to be displayed on the two-dimensional map screen in association with the UAV object.

[0059] Next, the control unit 23 identifies a UAVn having a relatively fast speed among the UAVn of the attention target based on the speed information of the UAVn of the attention target identified in step S5 (step S9). Next, the control unit 23 performs a process of restricting the acceptance of an operation instruction for the UAVn identified in step S9 (step S10). For example, the control unit 23 transmits acceptance restriction data (including the aircraft ID of the UAVn identified in step S9) for restricting the acceptance of an operation instruction related to flight control for the UAVn identified in step S9 to the monitor terminal T. As a result, for example, on the operation screen displayed on the display for the operation screen, the operation icon corresponding to the UAVn having a relatively fast speed is grayed out.

[0060] In step S11, the control unit 23 judges whether or not control information corresponding to an operation instruction by the monitor is received from the monitor terminal T through the operation screen of the monitor terminal T. If it is judged that control information corresponding to the operation instruction is received (step S11: YES), the control unit 23 transmits the control information corresponding to the operation instruction to the UAVn that is the target of the operation instruction by the flight control unit 236 (step S12), and proceeds to the process of step S13. The UAV1 that has received the control information returns or lands, for example, in accordance with the control information. On the other hand, if it is judged that control information corresponding to the operation instruction is not received (step S11: NO), the process proceeds to step S13.

[0061] In step S13, the control unit 23 determines whether a preset display update timing has arrived. Here, the display update timing is set to arrive at a predetermined time interval (for example, 0.01 to 1 second). If it is determined that the preset display update timing has not arrived (step S13: NO), the process returns to step S11. On the other hand, if it is determined that the preset display update timing has arrived (step S13: YES), the process returns to step S1. As a result, the display of the UAV object of UAVn whose coordinate position is included in the two-dimensional map screen is updated.

[0062] In the above step S3, it is determined whether or not two or more UAVn are included whose two-dimensional positions are equal to or less than the first threshold value. However, instead of this, it may be determined whether or not two or more UAVn are included whose three-dimensional positions (i.e., positions determined by horizontal and vertical positions) are equal to or less than the first threshold value. In this case, if it is determined in the above step S4 that the front directions are facing each other (step S4: YES), the two or more UAVn whose front directions are determined to be facing each other may be identified as UAVn to be watched, and the process may proceed to step S7. In other words, in this case, the processes of steps S5 and S6 may not be performed.

[0063] As described above, according to the above embodiment, the UAV monitoring server SA acquires position information indicating the respective positions of a plurality of UAVn in flight, acquires direction information indicating the front direction of each of the plurality of UAVn, and when the plurality of UAVn includes two or more UAVn whose positions indicated by their position information are in a positional relationship such that the distance between the positions is equal to or less than a first threshold value and whose front directions indicated by their direction information are facing each other, the server displays information that calls attention to the UAV objects of the two or more UAVn on the two-dimensional map screen in association with the UAV objects. Therefore, when it is determined that there is a high possibility of a near miss or collision between the UAVn, the server can notify the monitor of information that calls attention to the monitor. In other words, according to the above embodiment, it is possible to prevent the monitor from being unnecessarily alerted.

[0064] Furthermore, UAVn such as drones are expected to fly more frequently and at a lower speed in a narrower area than aircraft such as passenger planes. Therefore, if a mark consisting of a triangle with three vertices, the first and second points corresponding to the UAV objects of two adjacent UAVn and another third point, is displayed as in the conventional technology, the marks may overlap, which may impair visibility (i.e., ease of visibility) for the observer. However, in this embodiment, by configuring as described above, it is possible to improve visibility for the observer who is observing the flight status of the UAVn that is the target of attention.

[0065] The above embodiment is an embodiment of the present invention, and the present invention is not limited to the above embodiment. Various configurations and the like may be changed from the above embodiment within the scope of the present invention, and such changes are also included in the technical scope of the present invention. In the above embodiment, the UAV monitoring server SA has been described as an example of an information processing device of the present invention, but the monitor terminal T may be an information processing device. In this case, the control unit 35 of the monitor terminal T functions in the same manner as the above-mentioned position information acquisition unit 231, direction information acquisition unit 232, speed information acquisition unit 233, speed difference calculation unit 234, display control unit 235, and flight control unit 236 while communicating with the UAV monitoring server SA via the communication network NW. For example, the control unit 35 of the monitor terminal T acquires position information indicating the position of each of the multiple UAVn in flight and direction information indicating the front direction of each of the multiple UAVn from the UAV monitoring server SA. Then, the control unit 35 of the monitor terminal T determines whether the multiple UAVn include two or more UAVn whose positional relationship is such that the distance between the positions indicated by each other's position information is equal to or less than a first threshold value and whose forward directions indicated by each other's directional information are facing each other, and if it determines that two or more UAVn are included, displays information calling attention to the UAV objects of the two or more UAVn on the two-dimensional map screen in association with the UAV objects.

[0066] The control unit 35 of the monitor terminal T may acquire speed information indicating the speed of the UAVn to be the attention target from the UAV monitoring server SA, and may display the speed information of each UAVn in association with each UAV object on the two-dimensional map screen based on the speed information. The control unit 35 of the monitor terminal T may display the speed information in a display mode indicating that there is a speed difference between the UAVn to be the attention target when the difference in speed between the UAVn to be the attention target is equal to or greater than a predetermined second threshold, and may display the speed information in a display mode indicating that there is no speed difference between the UAVn to be the attention target when the difference in speed is less than the second threshold. Furthermore, the control unit 35 of the monitor terminal T may display information indicating that no attention is required on the two-dimensional map screen when the distance between the horizontal positions of the UAVn to be the attention target is equal to or less than the first threshold and the distance between the vertical positions of two or more UAVn whose front directions face each other is greater than the third threshold. In the above embodiment, a UAV is used as an example of an unmanned aerial vehicle, but the present invention is also applicable to a flying robot or the like as an example of an unmanned aerial vehicle.

[0067] <Additional Notes>

[0068] [1] The information processing device according to the present disclosure includes a first acquisition unit that acquires position information indicating the position of each of a plurality of unmanned aerial vehicles in flight, a second acquisition unit that acquires direction information indicating the front direction of each of the plurality of unmanned aerial vehicles, and a display control unit that displays an object representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information, and the display control unit is characterized in that, when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles that are in a positional relationship in which the distance between the positions indicated by the position information is equal to or less than a predetermined first threshold and the front directions indicated by the direction information are opposite to each other, the display control unit displays information that calls attention to the objects representing the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the objects. This makes it possible to notify an observer of information that calls attention in a situation in which it is determined that there is a high possibility of a near miss or collision between the unmanned aerial vehicles.

[0069] [2] In the information processing device described in [1] above, the two or more unmanned aerial vehicles are in a state in which virtual lines extending from the positions indicated by the position information to the forward direction indicated by the direction information intersect within a predetermined range, thereby making it possible to quickly determine whether the unmanned aerial vehicles are facing each other.

[0070] [3] The information processing device according to [1] or [2] above further comprises a third acquisition unit that acquires speed information indicating the speed of each of the two or more unmanned aerial vehicles, and the display control unit displays the speed information of each of the two or more unmanned aerial vehicles in association with the information calling attention to the objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen. This makes it possible to visually convey to an observer the degree of possibility of a near miss or collision between the unmanned aerial vehicles.

[0071] [4] The information processing device described in [3] above further comprises a calculation unit that calculates a difference in speed between the two or more unmanned aerial vehicles based on the speed information, and the display control unit displays the speed information in a display manner that indicates that there is a speed difference between the two or more unmanned aerial vehicles when the speed difference is equal to or greater than a predetermined second threshold, and displays the speed information in a display manner that indicates that there is no speed difference between the two or more unmanned aerial vehicles when the speed difference is less than the second threshold. This makes it possible to visually convey to an observer the degree of possibility of a near miss or collision between the unmanned aerial vehicles in an easily understandable manner.

[0072] [5] In the information processing device described in [3] above, the display control unit displays a figure representing the forward direction and the speed of each of the two or more unmanned aerial vehicles in association with an object representing each of the two or more unmanned aerial vehicles, thereby making it possible to visually convey to an observer the degree of possibility of a near miss or collision between the unmanned aerial vehicles in an easily understandable manner.

[0073] [6] The information processing device described in [5] above further includes a calculation unit that calculates a difference in speed between the two or more unmanned aerial vehicles based on the speed information, and the display control unit, when the speed difference is equal to or greater than a predetermined second threshold, displays the figures associated with the object representing the unmanned aerial vehicle with the relatively faster speed in a larger size than the figure associated with the object representing the unmanned aerial vehicle with the relatively slower speed among the two or more unmanned aerial vehicles, and when the speed difference is less than the second threshold, displays the figures associated with the object representing each of the two or more unmanned aerial vehicles in the same size. This makes it possible to visually convey to an observer the degree of possibility of a near miss or collision between the unmanned aerial vehicles in an even easier-to-understand manner.

[0074] [7] In the information processing device described in [6] above, the second threshold is set in multiple stages, and the display control unit displays the difference in the display size of the figures so that the greater the difference in the speeds, the greater the difference in the display size of the figures. This makes it possible to visually convey to an observer the degree of the possibility of a near miss or collision between unmanned aerial vehicles in an even easier-to-understand manner.

[0075] [8] In the information processing device described in any one of [1] to [7] above, the position information indicates the horizontal and vertical positions of each of the plurality of unmanned aerial vehicles, and the display control unit, when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles that are in a positional relationship in which the distance between the horizontal positions of each of the unmanned aerial vehicles is equal to or less than the first threshold value and the distance between the vertical positions of each of the unmanned aerial vehicles is equal to or less than a predetermined third threshold value and that face each other in the front direction, displays information that calls attention to objects representing the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the objects. This makes it possible to effectively notify an observer of information that calls attention to an observer in a situation in which the possibility of a near miss or collision between the unmanned aerial vehicles is determined to be even higher.

[0076] [9] The information processing device described in [8] above is characterized in that, when the distance between the horizontal positions is equal to or less than the first threshold value and the distance between the vertical positions of the two or more unmanned aerial vehicles facing each other in the front direction is greater than the second threshold value, information indicating that no caution is required is displayed on the two-dimensional map screen. This makes it possible to effectively inform an observer that there is a low possibility of a near miss or collision between the unmanned aerial vehicles, even if the distance between the horizontal positions is equal to or less than the first threshold value and the two or more unmanned aerial vehicles facing each other in the front direction are visible to an observer on the two-dimensional map screen.

[0077]

[10] The information processing device according to any one of [1] to [9] above, further comprising a third acquisition unit that acquires speed information indicating the speed of each of the two or more unmanned aerial vehicles, and the display control unit displays an operation screen for receiving operation instructions related to flight control for the two or more unmanned aerial vehicles from an operator, and restricts the reception of operation instructions related to flight control for the unmanned aerial vehicles having a relatively fast speed among the two or more unmanned aerial vehicles. This makes it possible to efficiently perform flight control for unmanned aerial vehicles for which flight control is easy to apply.

[0078]

[11] The display control method of the present disclosure is a display control method executed by one or more computers, and includes the steps of: acquiring position information indicating the position of each of a plurality of unmanned aerial vehicles in flight; acquiring direction information indicating the forward direction of each of the plurality of unmanned aerial vehicles; displaying objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; and, when the plurality of unmanned aerial vehicles includes two or more unmanned aerial vehicles that are in a positional relationship such that the distance between the positions indicated by the position information is below a predetermined threshold and the forward directions indicated by the direction information of each unmanned aerial vehicle are facing each other, displaying information to alert the users of the objects representing the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the objects. [Explanation of symbols]

[0079] 1,2 UAV 11 Drive unit 12 Positioning unit 13. Communications Department 14 Sensor section 15 Storage section 16 Control section 21 Communications Department 22 Memory section 23 Control Unit 31 Display section 32 Operation section 33 Communications Department 34 Storage section 35 Control section 231 Location information acquisition unit 232 Direction information acquisition unit 233 Speed ​​information acquisition section 234 Speed ​​difference calculation section 235 Display control unit 236 Flight Control Unit SA UAV Surveillance Server T Monitor terminal S UAV Surveillance System

Claims

1. A first acquisition unit that acquires location information indicating the location of each of a plurality of unmanned aerial vehicles in flight; A second acquisition unit that acquires direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; a display control unit that displays objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; Equipped with The display control unit is an information processing device characterized in that when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles in a positional relationship where the distance between the positions indicated by the position information of each vehicle is equal to or less than a predetermined first threshold value, and where virtual lines extending from the positions indicated by the position information of each vehicle toward the forward direction indicated by the direction information intersect within a predetermined range, the display control unit displays circular figures surrounding each of the objects representing the two or more unmanned aerial vehicles on the two-dimensional map screen as information to draw attention to the objects representing each of the two or more unmanned aerial vehicles.

2. A first acquisition unit that acquires location information indicating the location of each of a plurality of unmanned aerial vehicles in flight; A second acquisition unit that acquires direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; a third acquisition unit that acquires speed information indicating the respective speeds of two or more unmanned aerial vehicles among the plurality of unmanned aerial vehicles, the two or more unmanned aerial vehicles being in a positional relationship in which the distance between the positions indicated by the position information of each unmanned aerial vehicle is equal to or less than a predetermined first threshold value, and the two or more unmanned aerial vehicles being in a state in which virtual lines extending from the positions indicated by the position information of each unmanned aerial vehicle toward the forward direction indicated by the direction information intersect within a predetermined range; a display control unit that displays objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; Equipped with The information processing device is characterized in that, when the multiple unmanned aerial vehicles include two or more unmanned aerial vehicles, the display control unit displays the speed information of each of the two or more unmanned aerial vehicles in association with information calling attention to objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen.

3. A calculation unit that calculates a difference in speed between the two or more unmanned aerial vehicles based on the speed information, The information processing device described in claim 2, characterized in that the display control unit displays the speed information in a display manner indicating that there is a speed difference between the two or more unmanned aerial vehicles when the speed difference is equal to or greater than a predetermined second threshold, and displays the speed information in a display manner indicating that there is no speed difference between the two or more unmanned aerial vehicles when the speed difference is less than the second threshold.

4. The information processing device according to claim 2, characterized in that the display control unit displays a figure representing the forward direction and the speed of each of the two or more unmanned aerial vehicles in association with an object representing each of the two or more unmanned aerial vehicles.

5. A calculation unit that calculates a difference in speed between the two or more unmanned aerial vehicles based on the speed information, The information processing device described in claim 4, characterized in that when the speed difference is equal to or greater than a predetermined second threshold, the display control unit displays the figure associated with the object representing the unmanned aerial vehicle whose speed is relatively faster than the figure associated with the object representing the unmanned aerial vehicle whose speed is relatively slower among the two or more unmanned aerial vehicles so that the display size of the figure associated with the object representing each of the two or more unmanned aerial vehicles is the same when the speed difference is less than the second threshold.

6. The second threshold is set in a plurality of stages, The information processing apparatus according to claim 5 , wherein the display control unit controls the display so that the difference in display size of the graphics increases as the difference in the speed increases.

7. the position information indicating a horizontal position and a vertical position of each of the plurality of unmanned aerial vehicles; The information processing device described in any one of claims 1 to 6, characterized in that when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles that are in a positional relationship such that the distance between their horizontal positions is less than or equal to the first threshold and the distance between their vertical positions is less than or equal to a predetermined third threshold, and that are facing each other in the forward direction, the display control unit displays information calling attention to objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the objects.

8. a first acquisition unit that acquires position information indicating a horizontal position and a vertical position of each of a plurality of unmanned aerial vehicles in flight; A second acquisition unit that acquires direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; a display control unit that displays objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; Equipped with The display control unit, when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles in a positional relationship such that the distance between their horizontal positions is equal to or less than a predetermined first threshold and the distance between their vertical positions is equal to or less than a predetermined third threshold, and when virtual lines extending from each other's horizontal positions toward the forward direction indicated by the directional information intersect within a predetermined range, displays information calling attention to objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the two or more unmanned aerial vehicles, while when the distance between the horizontal positions is equal to or less than the first threshold and the distance between the vertical positions of the two or more unmanned aerial vehicles in a state in which virtual lines extending from each other's horizontal positions toward the forward direction indicated by the directional information intersect within a predetermined range is greater than the third threshold, displays information indicating that attention is not required on the two-dimensional map screen.

9. A first acquisition unit that acquires location information indicating the location of each of a plurality of unmanned aerial vehicles in flight; A second acquisition unit that acquires direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; a third acquisition unit that acquires speed information indicating the respective speeds of two or more unmanned aerial vehicles among the plurality of unmanned aerial vehicles, the two or more unmanned aerial vehicles being in a positional relationship in which the distance between the positions indicated by the position information of each unmanned aerial vehicle is equal to or less than a predetermined first threshold value, and the two or more unmanned aerial vehicles being in a state in which virtual lines extending from the positions indicated by the position information of each unmanned aerial vehicle toward the forward direction indicated by the direction information intersect within a predetermined range; a display control unit that displays objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; Equipped with The display control unit, when the multiple unmanned aerial vehicles include two or more unmanned aerial vehicles, displays information calling attention to objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen in association with the objects, and further displays an operation screen for receiving operation instructions from an operator related to flight control of the two or more unmanned aerial vehicles, and restricts the acceptance of operation instructions related to flight control of an unmanned aerial vehicle having a relatively fast speed among the two or more unmanned aerial vehicles.

10. 1. A display control method executed by one or more computers, comprising: obtaining location information indicating a location of each of a plurality of unmanned aerial vehicles in flight; obtaining direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; displaying an object representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; When the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles in a positional relationship in which the distance between the positions indicated by the position information of each vehicle is equal to or less than a predetermined threshold value and virtual lines extending from the positions indicated by the position information of each vehicle toward the forward direction indicated by the direction information intersect within a predetermined range, displaying circular figures surrounding objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen as information to call attention to the objects representing each of the two or more unmanned aerial vehicles; A display control method comprising:

11. obtaining location information indicating a location of each of a plurality of unmanned aerial vehicles in flight; obtaining direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; acquiring speed information indicating the respective speeds of two or more unmanned aerial vehicles among the plurality of unmanned aerial vehicles, the two or more unmanned aerial vehicles being in a positional relationship in which the distance between the positions indicated by the position information of each unmanned aerial vehicle is equal to or less than a predetermined first threshold value, and the two or more unmanned aerial vehicles being in a state in which virtual lines extending from the positions indicated by the position information of each unmanned aerial vehicle toward the forward direction indicated by the direction information intersect within a predetermined range; a display control step of displaying objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; Including, In the display control step, when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles, the display control method is characterized in that the speed information of each of the two or more unmanned aerial vehicles is displayed in association with information calling attention to objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen.

12. obtaining position information indicative of a horizontal position and a vertical position of each of a plurality of unmanned aerial vehicles in flight; obtaining direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; a display control step of displaying objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; Including, In the display control step, when the plurality of unmanned aerial vehicles include two or more unmanned aerial vehicles in a positional relationship in which the distance between their horizontal positions is equal to or less than a predetermined first threshold and the distance between their vertical positions is equal to or less than a predetermined third threshold, and when virtual lines extending from each other's horizontal positions toward the forward direction indicated by the directional information intersect within a predetermined range, information calling attention is displayed in association with objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen, while when the distance between the horizontal positions is equal to or less than the first threshold and the distance between the vertical positions of the two or more unmanned aerial vehicles in a state in which virtual lines extending from each other's horizontal positions toward the forward direction indicated by the directional information intersect within a predetermined range is greater than the third threshold, information indicating that attention is not required is displayed on the two-dimensional map screen.

13. obtaining location information indicating a location of each of a plurality of unmanned aerial vehicles in flight; obtaining direction information indicating a forward direction of each of the plurality of unmanned aerial vehicles; acquiring speed information indicating the respective speeds of two or more unmanned aerial vehicles among the plurality of unmanned aerial vehicles, the two or more unmanned aerial vehicles being in a positional relationship in which the distance between the positions indicated by the position information of each unmanned aerial vehicle is equal to or less than a predetermined first threshold value, and the two or more unmanned aerial vehicles being in a state in which virtual lines extending from the positions indicated by the position information of each unmanned aerial vehicle toward the forward direction indicated by the direction information intersect within a predetermined range; a display control step of displaying objects representing each of the plurality of unmanned aerial vehicles on a two-dimensional map screen based on the position information; Including, In the display control step, when the multiple unmanned aerial vehicles include two or more unmanned aerial vehicles, information calling attention is displayed in association with objects representing each of the two or more unmanned aerial vehicles on the two-dimensional map screen, and an operation screen for accepting operation instructions related to flight control of the two or more unmanned aerial vehicles from an operator is displayed, and the acceptance of operation instructions related to flight control of an unmanned aerial vehicle having a relatively fast speed among the two or more unmanned aerial vehicles is restricted, characterized by the display control method.

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