Information processing device, program, and flight route search method

Abstract

To provide an information processing system which determines a flight path on which approval of a land owner becomes less.SOLUTION: An information processing device determines a flight path on which an unmanned aircraft flies from a first point to a second point and comprises a path search unit which determines the flight path on the basis of a first cost of obtaining approval of a land owner of a site above which the unmanned aircraft passes, and a second cost regarding distance of flying from the first point to the second point when the unmanned aircraft flies from the first point to the second point.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Various attempts are being made to utilize unmanned aerial vehicles for the delivery of goods to depopulated areas, imaging at high altitudes, agricultural support, etc. In addition, some technologies have already been put into practical use. Unmanned aerial vehicles can fly in the air, but there are various regulations in place for the flight of unmanned aerial vehicles from the viewpoint of safety, etc.

[0003] A flight path search technology has been devised that takes into account the characteristic of unmanned aerial vehicles, that is, their ability to fly in the air, into account (for example, see Patent Document 1). Patent Document 1 discloses a storage unit that stores structure information, including position information showing the positions of structures that intersect with water bodies, and an aircraft control system that identifies the position of the aircraft based on the structure information, and sets a flight path for the aircraft to avoid the structures based on shape information of the structures. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-018080 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the problem with conventional technology is that it does not take into account the need for landowner consent to fly over a property. In principle, the airspace in which unmanned aerial vehicles fly is limited to an altitude of less than 150 meters, but there is a view that landowners' rights extend up to 300 meters above the ground, and so landowners' consent is required to fly over a property of a landowner. For this reason, if a flight route is set as a simple straight line from the destination to the departure point, the user may need to obtain consent from many landowners.

[0006] In view of the above-mentioned problems, an object of the present invention is to provide an information processing device that searches for a flight route that is less likely to require consent from landowners. [Means for solving the problem]

[0007] In view of the above problems, the present invention provides an information processing device that determines a flight path for an unmanned aerial vehicle to fly from a first point to a second point, the information processing device having a route search unit that determines the flight path based on a first cost of obtaining consent from a landowner of a site over which the unmanned aerial vehicle will fly from the first point to the second point, and a second cost related to the distance traveled from the first point to the second point. The route search unit divides an area including a straight line connecting the first point and the second point into mesh-shaped search areas, calculates the first cost and the second cost of a straight line moving from a site having the smallest first cost in a search area of ​​interest to a site having the smallest first cost in a next search area, and determines, as the flight route, a combination of straight lines for flying from the first point to the second point that results in the smallest sum of the first cost and the second cost. It is characterized by: Effect of the Invention

[0008] It is possible to provide an information processing system that determines flight routes that result in less landowner consent. [Brief description of the drawings]

[0009] [Figure 1] 1 is an example of a diagram illustrating a method for searching a flight path of an unmanned aerial vehicle by an information processing system. [Diagram 2] FIG. 1 is an example of a system configuration diagram of an aircraft system. [Diagram 3] FIG. 2 is a diagram illustrating an example of a hardware configuration of an information processing system and a user terminal. [Figure 4]This is an example of a functional block diagram that explains the functions of an information processing system (or a user terminal) and an unmanned aerial vehicle by dividing them into blocks. [Diagram 5] FIG. 4 is a diagram showing example items included in 3D map information. [Figure 6] FIG. 2 is a diagram showing an example of a 3D map drawn based on 3D map information. [Figure 7] FIG. 1 is a diagram showing an example of a residential map. [Figure 8] FIG. 13 is a diagram showing an example of owner information showing information about household names and owners in a table. [Figure 9] FIG. 2 is an example of a diagram illustrating a flight path. [Figure 10] FIG. 1 is an example of a diagram for explaining a flight route search using a map. [Figure 11] FIG. 11 is a flowchart illustrating an example of a procedure for a route search unit to search for a route. [Figure 12] 13 is a diagram showing an example of an application form created by an application form creation unit. FIG. [Figure 13] FIG. 1 is an example of a diagram illustrating a method for creating a route in a two-dimensional space using the RRT algorithm. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. EXAMPLES

[0011] <Outline of the flight route search method according to this embodiment> First, an outline of the flight route search method of this embodiment will be described with reference to Fig. 1. Fig. 1 is an example of a diagram for explaining a method for searching a flight route of an unmanned aerial vehicle by an information processing system. First, a departure point S (an example of a first location) and a destination point G (an example of a second location) are set in the information processing system by a user.

[0012] For comparison, FIG. 1 shows a flight path 101 that connects a departure point S to a destination G in a straight line. Since an unmanned aerial vehicle can fly in the air, the flight path 101 is the flight path with the shortest distance and flight time. However, if the landowner's rights extend up to 300 meters above the ground, the user cannot fly the unmanned aerial vehicle without the consent of the landowners of all land that overlaps with the flight path 101. In suburban areas, mountainous areas, fields, etc., consent is not required, or even if there is, the workload related to consent is not so great. However, if there are private houses, etc. on the flight path, it is expected to be difficult to obtain consent from all landowners of land that overlaps with the flight path 101.

[0013] Therefore, in the flight route search method of this embodiment, a flight route is determined that has a short distance from the departure point S to the destination G and requires a small number of consents from the landowner, based on data such as a residential map that clearly identifies the land site and its owner. Also, since there are land sites (topography) that do not require consent in the first place, a flight route is determined that includes many such land sites that do not require consent. Examples of land sites (topography) that do not require consent include rivers, seas, mountains, lakes, etc.

[0014] In FIG. 1, the information processing system 30 detects a river 102 near the straight line from the departure point S to the destination G, and therefore sets a flight route 107 that flies over the river 102. As will be described in detail later, the information processing system 30 divides the area around the straight line from the departure point S to the destination G into search areas, and adds up the distance cost (an example of the second cost) and the acceptance cost (an example of the first cost) for the straight lines 103-106 that connect the search areas. The flight route 107 is determined by connecting the straight lines 103-106 that result in the smallest sum of the costs. In this way, as shown in FIG. 1, it is possible to determine a flight route 107 over a river with a small cost related to acceptance. In addition, since the distance cost is also taken into consideration, it is possible to determine a flight route 107 with a short distance.

[0015] <Terminology> The unmanned aerial vehicle 10 is an aircraft that cannot accommodate a human due to its structure. The unmanned aerial vehicle 10 can be flown by remote control or automatic piloting. The unmanned aerial vehicle 10 is mainly called a drone, but may also be called an airplane, rotorcraft, glider, airship, multicopter, or radio-controlled aircraft.

[0016] Consent means to listen to or accept the offer or request of another person. Consent may also be called agreement, acknowledgment, consent, approval, etc.

[0017] <System configuration example> 2 shows an example of a system configuration diagram of the aircraft system 100. In the aircraft system 100, the user terminal 50 and the unmanned aircraft 10, or the information processing system 30 and the unmanned aircraft 10, can communicate wirelessly or wired. Generally, the unmanned aircraft 10 can be directly flown by a user using a transmitter (prop), but details of the operation of the unmanned aircraft 10 using a transmitter will be omitted in this embodiment.

[0018] The information processing system 30 and the user terminal 50 can communicate with each other via a network N. The network N is constructed by a combination of one or more of a LAN (Local Area Network), a WAN, the Internet, and the like. A telephone communication network may also be connected to the network N. A part or the whole of the network N may be wired or wireless.

[0019] The user operates the user terminal 50 to connect to the information processing system 30, and a Web application (which may simply be a Web page) provided by the information processing system 30 is displayed on the user terminal 50. The user inputs a destination and a departure point into the Web application. The destination and departure point may be input by the user selecting them from a map using a pointing device, or by inputting an address. The destination and departure point may also be input by the user inputting a telephone number or a place name.

[0020] The information processing system 30 has one or more information processing devices, for example a server device. The information processing system 30 determines the flight route of the unmanned aerial vehicle 10 based on the destination and departure point, and transmits it to the user terminal 50. The user terminal 50 transmits this flight route to the unmanned aerial vehicle 10 wirelessly or via cable. Alternatively, the user may attach a USB memory or the like to the unmanned aerial vehicle 10 to read the flight route. The information processing system 30 may also directly transmit the flight route to the unmanned aerial vehicle 10.

[0021] The user terminal 50 may be, for example, a notebook PC, a tablet terminal, a smartphone, a PDA (Personal Digital Assistant), a game console, a car navigation device, etc., as long as it has a communication function and a display. Application software dedicated to the unmanned aerial vehicle 10 is installed in the user terminal 50. Application software corresponding to the application software of the user terminal 50 is also installed in the unmanned aerial vehicle 10.

[0022] Furthermore, when the unmanned aerial vehicle 10 directly communicates wirelessly with the information processing system 30, the unmanned aerial vehicle 10 is pre-registered in the information processing system 30. The schedule of each unmanned aerial vehicle 10 is managed, and the information processing system 30 can identify unmanned aerial vehicles 10 that are not scheduled to fly. For example, the information processing system 30 determines a flight route to a destination set from a user terminal 50 or an external device (such as a delivery system), and transmits this to the unmanned aerial vehicle 10. The unmanned aerial vehicle 10 then begins flying to the destination.

[0023] Incidentally, the unmanned aerial vehicle 10 is often equipped with an imaging device 9. Images captured by the imaging device 9 mounted on the unmanned aerial vehicle 10 are transmitted in real time to the information processing system 30 (or the user terminal 50). The unmanned aerial vehicle 10 may store the images. In addition to the images captured by the imaging device 9, the unmanned aerial vehicle 10 may periodically transmit current location information, battery status, temperature, humidity, and the like to the information processing system 30 (or the user terminal 50).

[0024] <Hardware configuration> 3 is an example of a hardware configuration diagram of the information processing system 30 and the user terminal 50. The information processing system 30 and the user terminal 50 have the functions of an information processing device. The information processing system 30 and the user terminal 50 have, as the hardware configuration, a CPU (Central Processing Unit) 211, a ROM (Read Only Memory) 215, a RAM (Random Access Memory) 216, an auxiliary storage device 217, an input device 212, a display device 213, and a communication device 214.

[0025] The CPU 211 executes various programs and performs arithmetic processing. The ROM 215 stores programs required at startup, etc. The RAM 216 is a work area for temporarily storing processing by the CPU 211 and storing data. The auxiliary storage device 217 is a non-volatile memory for storing various data and the program 2101. The input device 212 is, for example, a keyboard or a mouse. The display device 213 is a display, a projector, or a HUD (Head Up Display). The communication device 214 is connected to a network N and communicates with devices at multiple locations.

[0026] The program 2101 stored in the auxiliary storage device 217 of the information processing system 30 and the user terminal 50 is distributed in a state of being stored in a storage medium such as a USB memory. Alternatively, the program 2101 is distributed by being downloaded from a distribution server that distributes programs.

[0027] Cloud computing may be applied to the information processing system 30. Cloud computing refers to a form of usage in which resources on a network are used without being aware of specific hardware resources.

[0028] Furthermore, the hardware block diagram shown in FIG. 3 merely illustrates the hardware configuration of a general information processing device, and the information processing device may have a configuration other than that shown in FIG.

[0029] The unmanned aerial vehicle 10 has a general hardware configuration diagram, and the hardware configuration diagram is omitted. The unmanned aerial vehicle 10 mainly has a wireless communication device, a flight controller, ESCs (Electric Speed ​​Controllers) for the number of rotors, motors, and various sensors (gyro sensors, thermo sensors, altimeters, speedometers, GPS, imaging devices 9, infrared cameras, range sensors, distance measuring sensors, Lidar, etc.). The flight controller controls the rotation speed of each rotor to perform speed control, ascent / descent, turning, maintaining attitude, etc.

[0030] <About the function> 4 is an example of a functional block diagram that explains the functions of the information processing system 30 (or the user terminal 50) and the unmanned aerial vehicle 10 by dividing them into blocks. In the following, for simplicity of explanation, the functions of the information processing system 30 will be explained assuming that the functions of the user terminal 50 are the same as those of the information processing system 30.

[0031] The information processing system 30 has a communication unit 31, a route search unit 32, and an application form creation unit 33. These functions of the information processing system 30 are functions or means realized by the CPU 211 shown in Fig. 3 executing a program 2101 and cooperating with the hardware of the information processing system 30. Some or all of these functions may be realized by a hardware circuit such as an IC.

[0032] 3. A 3D map information storage unit 391 and a residential map storage unit 392 are configured in the storage unit 39. Each of these storage units does not need to be directly included in the information processing system 30, and may be located at any location on the network accessible by the information processing system 30.

[0033] The communication unit 31 communicates wirelessly or wired with the unmanned aerial vehicle 10. The communication unit 31 receives, for example, location information of the departure point and destination from the user terminal 50 or the like, and transmits route information to the unmanned aerial vehicle 10.

[0034] The route search unit 32 sums up the distance cost and the acceptance cost for each straight line flown from one search area to the next search area, and determines the flight route by connecting the straight lines that have the smallest total cost. The flight route includes a sequence of coordinate points from the departure point to the destination.

[0035] The application form preparation unit 33 prepares an application form for flying the flight path of the unmanned aerial vehicle 10. That is, the application form preparation unit 33 prepares an application form in a fixed format for the landowner of the land that overlaps with the flight path.

[0036] Next, the 3D map information stored in the 3D map information storage unit 391 will be described with reference to Fig. 5. Fig. 5 shows example items of the 3D map information. The 3D map information stores various map data such as three-dimensional data (three-dimensional object data) consisting of texture images and polygon data for configuring a three-dimensional aerial (airspace) map for a drone, vector data, raster data, symbols, and character data in association with latitude and longitude information.

[0037] The 3D map information includes fixed flight obstacle information 1001, variable flight obstacle information 1002, avoidance facility area information 1003, topographical information etc. 1004, and other information 1005.

[0038] The fixed flight obstacle information 1001 is information for indicating the locations of fixed obstacles and obstacles that occur when a drone flies, and is information that is linked to latitude, longitude, and height, such as three-dimensional data for defining the locations of fixed obstacles and obstacles in space. The fixed flight obstacle information 1001 for an object such as a "building or structure" accurately indicates the location and three-dimensional shape of the building or structure. In addition, the fixed flight obstacle information 1001 for an "electric line" accurately indicates the location and height of the electric pole or telephone pole on which the electric line is hung, and the height at which the electric line is hung. Other fixed flight obstacle information 1001 includes, for example, a "glider field" and a "golf course".

[0039] Variable flight obstacle information 1002 is information for indicating locations where obstacles occur variably depending on the season, time, time, etc. when a drone flies, and is made up of information such as three-dimensional data for spatially defining locations where obstacles occur variably depending on the season, time, time, etc., linked to latitude, longitude, and altitude, and information indicating the season, time, and time when the obstacle occurs. Variable flight obstacle information 1002 is made up of information for depicting locations, and information indicating the season, time, and time when the obstacle occurs.

[0040] For example, information on the habitat and activity range of insects such as locusts, grasshoppers, butterflies, moths, planthoppers, and leafhoppers during their emergence period will be added to indicate the activity period (period) of the insects in question, making it possible to grasp the area that will cause flight obstruction only during that period.

[0041] The facility area avoidance information 1003 is information for indicating facilities and areas where flight overhead should be avoided, and is 3D data for spatially defining the facilities and areas where flight overhead should be avoided, linked to latitude, longitude, and height. The facility area avoidance information 1003 is information for depicting facilities and areas. For example, there are "volcanoes," "school routes during school hours," etc.

[0042] The topographical information 1004 is, for example, information for defining various topographical features such as roads, rivers, lakes, coasts, sand dunes, and farmland, information for defining drone ports, and information for defining drone charging spots, which are linked to latitude and longitude. A drone port is a waiting place (parking place) for drones, and is selected from locations where charging (energy replenishment) is possible, where at least one drone can take off and land, and where no dangerous areas such as chemical plants are adjacent to the drone ports. Specifically, various locations such as distribution (distribution centers), logistics warehouses, and post offices are prepared as drone ports. A drone charging spot, unlike a drone port, has a small role as a waiting place (parking place), and is a facility that is set up on the assumption that drones will only charge and take off immediately after charging is completed.

[0043] The other information 1005 includes various figures, symbols, character information, and the like. The 3D map information enables the information processing system 30 to accurately respond to the situation in the real world. Note that the 3D map information does not need to have detailed data that can reproduce the streetscape, and it is sufficient to have cubic data that covers the maximum width, maximum depth, and maximum height of buildings, etc. In other words, it is sufficient to know the size of buildings, etc. on the site, and the approximate shape of the terrain.

[0044] Fig. 6 is an example of a 3D map drawn using 3D map information. As shown in Fig. 6, the 3D map information can accurately show the positions and three-dimensional shapes of roads, rivers, buildings, and other structures. That is, the 3D map accurately shows features, places, and areas that are obstacles to the flight of the unmanned aerial vehicle 10, as well as facilities and areas that should be avoided. Therefore, such a 3D map allows the airspace in which the unmanned aerial vehicle 10 can fly to be properly understood.

[0045] Next, the residential map stored in the residential map storage unit 392 will be described with reference to Figs. 7 and 8. Fig. 7 is an example of a residential map. A residential map is a map that holds household names (residents according to nameplates) together with location information. In other words, it is a map in which the correspondence between plots and landowners is clear. The residential map is divided into a mesh (mesh lines are not shown), and the latitude and longitude of the mesh intersections are held. Therefore, positions other than the mesh intersections can be calculated by interpolation, so the coordinates of any position within the residential map can be found.

[0046] Figure 8 shows the owner information, which shows information about the house name and the owner in a table. The owner information has information about each house listed on the residential map. The owner information has the following items: house name, address, size, whether or not approval is required, and approval cost.

[0047] The household name is the name of the resident who owns the site and gives consent for the unmanned aerial vehicle 10 to fly over the site, the name of the local government, the name of the facility, or the name of the apartment building, etc.

[0048] The address is the address or lot number of each house. Long land parcels such as railroad tracks or elevated tracks are managed by lot number.

[0049] The area is the size of the site. Long sites such as railroad tracks or elevated tracks do not have an area registered.

[0050] "Consent Required / Not Required" indicates whether or not consent is required for unmanned aerial vehicle 10 to fly over a site. Since a residential map is information that organizes the site where residents reside, consent is generally required. Natural landforms such as rivers, oceans, lakes, and ponds do not have household names even if they are listed on a residential map. In addition, consent is not required, and the consent cost can be zero. Note that consent may be required for rivers and mountains if there is a manager (owner).

[0051] The consent cost is a weight when searching for a flight route that includes each site. The more undesirable a site is to be included in the flight route, the higher the consent cost. In this embodiment, the consent cost is higher for sites that place a heavy burden on the user to obtain consent. In FIG. 8, the consent costs are set to 1 to 5. The consent costs are determined as follows: - In the case of private properties or collective housing such as condominiums or apartments, the burden on users to obtain consent is large, and there is a high possibility that consent will not be obtained in the first place, so the costs of obtaining consent are high. - Public facilities such as community centers and city halls can obtain consent for other facilities in the same municipality with a single consent. Since consent can be obtained over a wide range with a single consent, the consent cost is low. Parks are also public facilities, but since they are outdoors and an unspecified number of people are active there, it is thought that municipalities will often refuse to grant consent. For this reason, the consent cost for parks, etc. is high. The same can be said for schools that have schoolyards, etc. Police stations and fire stations are thought to often refuse consent for safety reasons, so the consent cost is high. Even for private land, if it is large, such as a field, approval can be obtained for a wide area in one go, so approval costs are low. In addition, for long sites, such as train tracks or elevated railways, approval can be obtained for a wide area in one go, and approval is relatively easy to obtain, so approval costs are low.

[0052] Returning to Fig. 4, the unmanned aerial vehicle 10 has a communication unit 11, a detection unit 12, and a flight control unit 13.

[0053] The communication unit 11 receives the flight path from the information processing system 30.

[0054] The detection unit 12 detects information related to the flight state of the unmanned aerial vehicle 10 using various sensors, such as a distance measurement sensor, an acceleration sensor, a gyro sensor, a thermo sensor, and various measuring instruments, such as an altimeter, a speedometer, and a Global Positioning System (GPS). The detection unit 12 may detect information related to the external environment of the unmanned aerial vehicle 10, such as a camera, an infrared camera, a range sensor, a distance measurement sensor, Lidar (Light Detection and Ranging, Laser Imaging Detection and Ranging), and the like.

[0055] The flight control unit 13 controls the flight state of the unmanned aerial vehicle 10 so that the unmanned aerial vehicle 10 flies along a determined flight path based on the current position identified by the detection unit 12 and the route information received from the information processing system 30. The unmanned aerial vehicle 10 is equipped with functions that an unmanned aerial vehicle 10 that performs autonomous flight should generally have, such as multiple rotors (rotating wings) arranged radially and a motor that rotates the rotors. The flight control unit 13 controls flight by controlling the operation of each of these units, for example, by controlling the rotation speed of each rotor to adjust the movement and attitude of the unmanned aerial vehicle 10.

[0056] <Flight route> FIG. 9 shows a schematic diagram of a flight path 110. The flight path 110 is a straight line or a curved line connecting a departure point (start point) S to a destination point (end point) G. The flight path 110 has a sequence of a number of coordinates Pn (n is an integer equal to or greater than 1) including latitude, longitude, and altitude. These coordinates Pn may be called waypoints. A waypoint is a location set so that the unmanned aerial vehicle 10 passes through. If the flight path 110 is a combination of straight lines, the waypoints need only be set at the connecting points between the straight lines. The flight control unit 13 flies the unmanned aerial vehicle 10 so as to pass through the waypoints in order. Furthermore, if the interval between the waypoints is shortened, the unmanned aerial vehicle 10 can fly smoothly along a curved line.

[0057] <Flight route search> A method for searching a flight route will be described with reference to Fig. 10. Fig. 10 is an example of a diagram for explaining a flight route search using a map. When a departure point S and a destination G are input, the route search unit 32 finds a straight line L connecting the departure point S and the destination G.

[0058] In addition, the route search unit 32 divides the 3D map into cubes, and uses one cube as a search area. Although the search area is a cube, the acceptance cost is the same even if the height of the unmanned aerial vehicle 10 is different, so the method of searching for a flight route based on the acceptance cost will be described by viewing the cube in a plan view. For the sake of explanation, one search area will be represented by row numbers A to D and column numbers 1 to 4.

[0059] The route search unit 32 searches for the total cost of the search area of ​​interest, including the search area through which the straight line L connecting the starting point S and the destination G passes and the two search areas on either side of it. The total cost is calculated as follows. Total cost = acceptance cost + distance cost The search area to be searched is (B,1), (B,2), and (B,3) for the search area (A,2) in which the starting point S is located. The route search unit 32 identifies the site with the lowest consent cost from among these three search areas. The consent cost of sites that do not require consent, such as rivers, is zero. It is also possible to identify the site with the lowest consent cost in the search area (A,2) and then identify the site with the lowest consent cost from among the three search areas.

[0060] Then, for each of the three search areas, the route search unit 32 finds straight lines 1 to 3 from the starting point S to the site with the lowest acceptance cost. For a long terrain such as a river, the route search unit 32 finds a straight line from the current location to the closest part that is closest to the line L. The sites with the lowest acceptance cost are as follows. (B,1) Station building 120 (B,2) is a part of the river 121 (B,3) is a part of the river 122 Next, the route search unit 32 calculates the total cost of each of the straight lines 1 to 3. The total costs of each of the straight lines 1 to 3 are set as Cost1 to 3. The route search unit 32 identifies the sites through which the straight lines 1 to 3 pass from a residential map and obtains the agreed costs. The distance cost is proportional to the length of the straight line.

[0061] Next, the route search unit 32 searches for search areas ahead of (on the destination side of) the search area (B,1) and within a certain distance from the search area in which the destination G is located or the search area through which the straight line L passes. For the search area (B,1), the search areas to be searched are (C,1) and (C,2). From these two search areas, the route search unit 32 identifies the site with the lowest acceptance cost.

[0062] Then, the route search unit 32 finds straight lines 4, 5 from the station building 120 to the site with the smallest acceptance cost. If a long terrain such as a river or a railroad is continuous with the search area to be searched, a straight line 4 is found on the terrain. Sites with small acceptance costs are as follows. In (C,1), a part of the track 123 (C,2) is a part of the river 124 Since the same site (here, a railroad track) was identified in search areas (B,1) and (C,1), the route search unit 32 searches for straight line 4 on the same site. In this way, approval is required only once, and straight line 4 passing through a wide site (long in the case of a railroad track) can be obtained with a low approval cost. In search area (C,1), in order to utilize as wide a site as possible, the route search unit 32 extends straight line 4 to the edge of this wide site.

[0063] Next, the route search unit 32 calculates the total cost of the straight lines 4 and 5. The total cost of the straight lines 4 and 5 is defined as Cost4,5.

[0064] Next, the route search unit 32 searches for search areas ahead of the search area (B,2) that are within a certain distance from the search area in which the destination G is located or the search area through which the straight line L passes (excluding (C,4) which is farther away than the destination). For the search area (B,2), the search areas to be searched are (C,2) and (C,3). From these two search areas, the route search unit 32 identifies the site with the lowest acceptance cost.

[0065] Then, the route search unit 32 finds straight lines 6, 7 from the part of the river 121 to the site with the lowest acceptance cost. If the destination G is in the search area, the destination G will be the site with the lowest acceptance cost. If a long terrain such as a river or railroad is continuous with the search area to be searched, a straight line 6 is found on the terrain. Sites with the lowest acceptance cost are as follows. (C,2) is a part of the river 125 (C,3) Destination G Since the same site (here, a river) was specified in (B,2) and (C,2), the route search unit 32 searches for a straight line 6 on the same site. In this way, approval is required only once, and the approval cost is small, and a straight line 6 passing through a wide site (long in the case of a river) can be obtained. In the search area (C,2), in order to utilize as wide a site as possible, the route search unit 32 extends the straight line 6 to the edge of this wide site.

[0066] Next, the route search unit 32 calculates the total cost of the straight lines 6 and 7. The total cost of the straight lines 6 and 7 is defined as Cost6,7.

[0067] Next, the route search unit 32 searches for search areas ahead of the search area (B, 3) that are within a certain distance from the search area in which the destination G is located or the search area through which the straight line L passes (excluding (C, 2) which is farther away than the destination). For the search area (B, 3), the search areas to be searched are (C, 3) and (C, 4). From these two search areas, the route search unit 32 identifies the site with the lowest acceptance cost.

[0068] Then, the route search unit 32 finds straight lines 8, 9 from the part of the river 122 to the site with the lowest acceptance cost. If the destination G is in the search area, the destination G will be the site with the lowest acceptance cost. Sites with the lowest acceptance costs are as follows. Note that the straight line 9 to the spacious playground 126 is found on the side closer to the straight line L. (C,3) Destination G (C,4) Playground 126 Next, the route search unit 32 calculates the total cost of the straight lines 8 and 9. The total cost of the straight lines 8 and 9 is defined as Cost8,9.

[0069] For the search areas (C,1), (C,2), and (C,4), the destination G is present in the rows, so the route search unit 32 searches for straight lines from each search area to the destination G. A straight line 10 connecting a part of the track 123 to the destination G, a straight line 11 connecting a part of the river 125 to the destination G, and a straight line 12 connecting a playground 126 to the destination G are searched for. For the part of the river 124 in (C,2), it is possible to directly connect it to the destination G, or to travel on the river and then connect it to the destination G by a straight line over the shortest distance. For processing purposes, it is sufficient to determine the total cost, but here, for convenience, the part of the river 124 and the destination G are directly connected by a straight line 13. The route search unit 32 calculates the total cost of each of the straight lines 10 to 13. The total cost of each of the straight lines 10 to 13 is set as Cost10 to 13.

[0070] The total cost of the combination of straight lines connecting the starting point S and the destination G can be calculated as follows: Straight line 1+4+10=Cost1+4+10 Straight line 1+5+13=Cost1+5+13 Straight line 2+6+11=Cost2+6+11 Straight line 2+7=Cost2+7 Straight line 3+8=Cost3+8 Straight line 3+9+12=Cost3+9+12 The route search unit 32 adopts the combination of straight lines with the smallest total cost as the flight route. In the map of Fig. 10, it is considered that the total cost of "straight lines 2 + 6 + 11" including a river in the flight route or "straight lines 1 + 4 + 10" including a railroad in the flight route, which have a small acceptance cost, is smallest.

[0071] In the explanation of Fig. 10, the consent cost is used to search for a flight route, but the number of consents may be used to search for a flight route. In the case of the number of consents, a flight route is searched for so as to pass over a large site. In this case, the route search unit 32 may convert the number of consents into a cost, or may use it as it is to search for a flight route.

[0072] 10, the search area to be searched is limited to the area in front of the search area of ​​interest and within a certain distance from the straight line L or the destination G. However, a straight line may be drawn from the site of the search area of ​​interest to the site of a search area on the side, or the site may be expanded to within a certain distance from the straight line L or the destination G.

[0073] <Operation procedure> Fig. 11 is an example of a flowchart illustrating a procedure for searching a route by the route search unit 32. The process in Fig. 11 starts, for example, when a destination G and a departure point S are input to the information processing system 30 and a request is made to determine a flight route.

[0074] First, the route search unit 32 determines a straight line L connecting the destination G and the starting point S (S1). Next, the route search unit 32 acquires site information around the straight line L (S2). In this embodiment, the site information is a residential map.

[0075] Next, the route search unit 32 determines the altitude during flight (S3). The route search unit 32 determines the altitude to be, for example, about 100 to 140 meters, which is slightly lower than the altitude (150 meters) of the unmanned aerial vehicle 10 specified by laws and regulations. Since the flight distance is shorter if the altitude is as constant as possible, it is considered to set the maximum height permitted by laws and regulations in advance, taking into account the height of buildings, etc.

[0076] Next, the route search unit 32 determines a search area (S4). As explained in Fig. 10, the search starts from the search area of ​​the departure point S, and searches for a search area in a direction approaching the destination G. The search area to be searched may be a certain distance from the straight line L in step S1. This allows a flight route that takes distance into consideration to be obtained.

[0077] The route search unit 32 calculates the total cost from the site of the search area of ​​interest to the site of the next search area (S5), as described in Fig. 10. The point of interest is the starting point or the site with the smallest acceptance cost (the end of the straight line).

[0078] The route search unit 32 repeats steps S4 and S5 (S6) until the calculation of the total cost to the destination is completed (until the destination is reached by a combination of straight lines). The route search unit 32 repeats steps S4 and S5 until it has searched for N routes to reach the destination or has determined that there are no other searched routes.

[0079] When the calculation of the total cost up to the destination is completed (S6), the route search unit 32 judges whether or not the obstacle on the combination of straight lines with the smallest total cost can be avoided (S7). The obstacle may be a building, a bridge, a steel tower, or the like, but simply refers to a structure or terrain with a height of 150 meters or more. If there is an obstacle with a height of 150 meters or more, the route search unit 32 judges that it cannot be avoided. Alternatively, the route search unit 32 may set a detour. The route search unit 32 can determine the detour using a Rapidly-exploring Random Tree (RRT) or the like described in the second embodiment. Alternatively, the route search unit 32 may perform a route search similar to the search of a planar map. In this case, the route search unit 32 searches for a route between two points (in front of and behind the obstacle) where the straight lines intersect with the obstacle. As one method, the route search unit 32 obtains an area slightly larger than the obstacle from a residential map or a 3D map, and divides it into meshes. The route search unit 32 regards the intersections of the mesh as nodes, and the connections between the intersections as links, and searches for a route that avoids the obstacles using a general route search method such as Dijkstra's algorithm. The route search unit 32 also calculates the total cost of detours, adds the total cost of the detours to the total cost of the combination of straight lines, and determines the combination of straight lines with the smallest total cost.

[0080] If the determination in step S7 is No, flying is difficult, so the route search unit 32 determines the combination of straight lines with the next smallest total cost (S11). In this case, the process returns to step S7.

[0081] If the determination in step S7 is Yes, the route search unit 32 performs avoidance processing (S8). The avoidance processing is to increase the height to the upper limit of 150 meters, or to search for a detour. The route search unit 32 determines the combination of straight lines that have been subjected to the avoidance processing as the flight route (S9). The communication unit 31 transmits the flight route to the unmanned aerial vehicle 10.

[0082] The application form creation unit 33 creates documents to apply to the landowners of the sites that overlap with the flight path for permission to fly over the sites (S10). The landowners of the sites for which permission is required are identified when calculating the consent cost. The application form creation unit 33 creates an application form in a fixed format using the landowners and addresses of each site that overlaps with some of the straight lines included in the flight path. This reduces the workload of the user in obtaining permission. Note that applications to local governments do not need to be created on paper, and the application form may be sent by calling an API (Application Programming Interface) of the application server of the local government.

[0083] 12 is an example of an application prepared by the application preparation unit 33. The application preparation unit 33 sets the addressee 1015, applicant information 1016, purpose of flight 1011, flight date and time 1012, flight route 1013, and flight altitude 1014, etc. The addressee is the name of the landowner, and the applicant information is information about the user of the unmanned aircraft 10. The purpose of flight and flight date and time may be entered by the user in advance or later. The flight route, flight altitude, etc. have already been input, so they can be set automatically.

[0084] 12 is only a part of the application form, and the application form creation unit 33 enters other necessary items in the application form. As for the contents to be filled in by the user, the application form creation unit 33 may display a Web page on the user terminal and accept input from the user.

[0085] In addition, while the application form in FIG. 12 is for obtaining consent from the landowner, the application form preparation unit 33 may prepare an application form for flying in areas surrounding airports, densely populated areas, or at altitudes of 150 meters or higher.

[0086] In this way, application forms are created automatically, reducing the workload for users.

[0087] <Major Effects> According to the information processing system 30 of this embodiment, a flight route with low distance cost and low compliance cost can be determined. EXAMPLES

[0088] In this embodiment, a method of searching for a flight route using RRT will be described. RRT is one of the algorithms for determining a travel route.

[0089] In this embodiment, it is assumed that the hardware configuration diagram of FIG. 3 and the functional block diagram of FIG. 4 described in the above embodiment can be used.

[0090] A method for creating a route in a two-dimensional space using the RRT algorithm will be described with reference to Fig. 13. For convenience of explanation, a two-dimensional space will be used as an example in Fig. 13, but this is not a problem because the acceptance cost is not related to height.

[0091] RRT is an algorithm that creates a route from a starting point to a destination by repeatedly placing a new node at a point a certain distance (Δq) away from a point (node) set in space and connecting these two nodes with a line segment. Δq is also called incremental distance or step size. In FIG. 13, Qinit is the starting point and Qgoal is the destination. Qinit is also a node. Area X indicates an area where the unmanned aerial vehicle 10 is prohibited from passing.

[0092] First, the route search unit 32 randomly places a point Qrand in the space V (FIG. 13(a)). Next, the route search unit 32 selects a node Qnear that is closest to the point Qrand. In FIG. 13(a), since there is only a node Qinit, the route search unit 32 selects Qinit as the node Qnear. Next, the route search unit 32 places a new node Qnew at a point Δq away from Qinit on the line segment leading from Qinit to the point Qrand (FIG. 13(b)), and adds a line segment L between Qinit and Qnew (FIG. 13(c)).

[0093] Next, the route search unit 32 randomly places the next Qrand in the space V (FIG. 13(c)), and selects Qnew as the node Qnear closest to Qrand. Next, the route search unit 32 places a new node Qnew at a point Δq away from Qnear on the line segment leading from Qnear to the point Qrand (FIG. 13(d)). At this time, if the distance from node Qnear to Qrand is less than Δq, the point Δq away from node Qnear may be set as the new node Qnew, or Qrand may be set as the new node Qnew.

[0094] In the example of FIG. 13(d), since Qnew is located in area X where passage is prohibited, the route search unit 32 discards this Qnew and starts over the process of placing a new Qrand.

[0095] Furthermore, even if Qnew is not located in an area X where passage is prohibited, if a prohibited area X is included between Qnear and Qnew, the route search unit 32 discards this Qnew and redoes the process of placing a new Qrand. If Qnew is not located in an area X where passage is prohibited and a prohibited area X is not included between Qnear and Qnew, a line segment is added between Qnear and Qnew.

[0096] The route search unit 32 repeats these processing procedures until the condition (condition 1) that the line segment connecting Qnew and Qgoal does not pass through area X and the line segment is less than a predetermined distance, or the condition (condition 2) that the line segment connecting Qnear and Qnew and Qgoal are less than a predetermined distance and the line segment connecting Qnear and Qgoal does not pass through area X is satisfied (FIG. 13(e)). When condition 1 is satisfied, the route search unit 32 connects Qnew and Qgoal with a line segment. When condition 2 is satisfied, the route search unit 32 connects Qnear and Qgoal with a line segment. As a result, one route is created between Qinit and Qgoal. Since the RRT algorithm does not specify a condition for ending the search, the route search unit 32 can also search for other routes by repeating the processing procedures described above.

[0097] The route search unit 32 performs the same process multiple times to calculate the total cost of the distance cost and the acceptance cost for each route. The route search unit 32 determines the route with the smallest total cost as the flight route.

[0098] Although the RRT algorithm has been described as an example in FIG. 13, the RRT* algorithm may be used, or an algorithm that is an improvement of the RRT* algorithm may be used.

[0099] <Major Effects> According to the information processing system 30 of this embodiment, a flight route with low distance cost and low compliance cost can be determined using a general algorithm such as RRT.

[0100] <Other application examples> The above describes the best mode for carrying out the present invention using examples, but the present invention is not limited to these examples in any way, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention.

[0101] In addition, the configuration example in Fig. 4 and the like is divided according to main functions in order to facilitate understanding of the processing of the information processing system 30. The present invention is not limited by the manner in which the processing units are divided or the names of the processing units. Furthermore, the processing of the information processing system 30 can be divided into more processing units depending on the processing content. Moreover, it can also be divided so that one processing unit includes more processes. [Explanation of symbols]

[0102] 10 Unmanned aerial vehicle 30 Information Processing Systems 50 user terminals 100 Air Vehicle Systems

Claims

1. An information processing device that determines a flight path for an unmanned aerial vehicle to fly from a first point to a second point, A first cost of obtaining consent from a landowner of a site over which the unmanned aerial vehicle will fly from the first point to the second point; a route search unit that determines the flight route based on a second cost related to a distance traveled from the first point to the second point; the route search unit divides an area including a straight line connecting the first point and the second point into mesh-shaped search areas, and calculates the first cost and the second cost of a straight line moving from a site having the smallest first cost in a search area of ​​interest to a site having the smallest first cost in a next search area; An information processing device characterized in that, among the combinations of straight lines for flying from the first point to the second point, a combination of straight lines that results in the smallest sum of the first cost and the second cost is determined as the flight path.

2. The information processing device according to claim 1, characterized in that the route search unit determines the first cost by referring to site information in which the first cost of obtaining consent from the landowner is associated with the site.

3. The information processing device according to claim 1, characterized in that, when a site having the smallest first cost in a current search area is the same site as a site having the smallest first cost in a next search area, the route search unit calculates the first cost and the second cost of a straight line passing through the same site.

4. 4. The information processing apparatus according to claim 1, wherein the first cost is smaller when the landowner is a local government than when the landowner is an individual, and the larger the site, the smaller the first cost.

5. 5. The information processing apparatus according to claim 1, wherein the first cost is zero for a river, an ocean, a mountain, or a lake.

6. The information processing device according to any one of claims 1 or 3 to 5, characterized in that when there is an obstacle on the flight path determined by the combination of straight lines that minimizes the sum of the first cost and the second cost, the route search unit adds a route that avoids the obstacle to the flight path.

7. The information processing device according to claim 6, characterized in that the route search unit obtains the cost of obtaining consent from a landowner for a route that avoids the obstacle, adds the cost to a first cost, and determines the flight route that minimizes the sum of the first cost and the second cost.

8. The site information includes information about the landowner of the site, 3. The information processing device according to claim 2, further comprising an application form creation unit for creating an application form for obtaining consent from the landowner of the land on which the flight path overlaps to fly over the land.

9. An information processing device that determines a flight path for an unmanned aerial vehicle to fly from a first point to a second point, A first cost of obtaining consent from a landowner of a site over which the unmanned aerial vehicle will fly from the first point to the second point; a second cost relating to a distance traveled from the first point to the second point; and the route search unit divides an area including a straight line connecting the first point and the second point into mesh-shaped search areas, and calculates the first cost and the second cost of a straight line moving from a site having the smallest first cost in a search area of ​​interest to a site having the smallest first cost in a next search area; A program for determining, as the flight path, a combination of straight lines for flying from the first point to the second point that results in the smallest sum of the first cost and the second cost.

10. A flight route search method performed by an information processing device that determines a flight route for an unmanned aerial vehicle to fly from a first point to a second point, A first cost of obtaining consent from a landowner of a site over which the unmanned aerial vehicle will fly from the first point to the second point; and a second cost relating to a distance traveled from the first point to the second point when determining the flight path based on the second cost. dividing an area including a straight line connecting the first point and the second point into mesh-shaped search areas, and calculating the first cost and the second cost of a straight line moving from the site having the smallest first cost in a search area of ​​interest to the site having the smallest first cost in a next search area; a flight route search method comprising: determining, as the flight route, a combination of straight lines for flying from the first point to the second point that results in a minimum sum of the first cost and the second cost.

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