Charging Equipment Determination Device, Charging Equipment Determination Method, and Charging Equipment Determination Program

Abstract

In the present invention, to make it possible to reduce the wait time for charging an unmanned aerial vehicle at a charging facility, information that can be used to determine the cruising range of an unmanned aerial vehicle is acquired, a priority on the use of a charging facility by an unmanned aerial vehicle is set according to intended use, and a charging facility to be used by an unmanned aerial vehicle is determined on the basis of the priority and the cruising range calculated on the basis of the information that can be used to determine the cruising range.

Description

Technical Field

[0001] The present invention relates to a charging facility determination device, a charging facility determination method, and a recording medium.

Background Art

[0002] In recent years, the demand for the operation of drones that fly unmanned in the air has been increasing.

[0003] Patent Document 1 describes that a drone port arranged at an appropriate location on a flight route has a charging function in order to station a drone. Further, Patent Document 1 describes that a drone port system charges the battery of a drone at the drone port and flies the drone to another drone port or a logistics center.

[0004] Patent Document 2 describes that when a navigation device can determine that the travelable distance is less than or equal to the distance of a set planned route, the navigation device searches for a charging stand existing within the travelable distance and reconfigures the route.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the methods described in Patent Document 1 to Patent Document 2, when another unmanned aircraft is already using the charging facility, the unmanned aircraft needs to wait until the charging of the other unmanned aircraft is completed. Thus, in the methods described in Patent Document 1 to Patent Document 2, there is a problem that the unmanned aircraft has to wait for charging.

[0007] An example of an object of the present invention is to provide a charging facility determination device, a charging facility determination method, and a recording medium that can reduce the waiting time for charging of an unmanned aerial vehicle at a charging facility in view of the above-described problems. **Means for Solving the Problems**

[0008] In one aspect of the present invention, a charging facility determination device includes an acquisition unit that acquires information capable of grasping the flight range of an unmanned aerial vehicle, a setting unit that sets a priority for using a charging facility for the unmanned aerial vehicle according to the application, and a determination unit that determines a charging facility to be used for the unmanned aerial vehicle based on the flight range calculated by the calculation unit based on the information and the priority.

[0009] Further, in another aspect of the present invention, a charging facility determination method acquires information capable of grasping the flight range of an unmanned aerial vehicle, sets a priority for using a charging facility for the unmanned aerial vehicle according to the application, and determines a charging facility to be used for the unmanned aerial vehicle based on the flight range calculated based on the information and the priority.

[0010] Further, in another aspect of the present invention, a charging facility determination program recorded on a computer-readable recording medium causes a computer to realize an acquisition function for acquiring information capable of grasping the flight range of an unmanned aerial vehicle, a setting function for setting a priority for using a charging facility for the unmanned aerial vehicle according to the application, and a determination function for determining a charging facility to be used for the unmanned aerial vehicle based on the flight range calculated by the calculation function based on the information and the priority. **Advantages of the Invention**

[0011] The charging facility determination device, the charging facility determination method, and the recording medium of the present invention can reduce the waiting time for charging of an unmanned aerial vehicle at a charging facility. **Brief Description of the Drawings**

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0013] [First Embodiment] The first embodiment of the present invention will be described.

[0014] FIG. 1 is a block diagram showing a configuration example of the charging facility determination device 1 of the present embodiment.

[0015] The charging facility determination device 1 of the present embodiment includes an acquisition unit 11, a setting unit 12, and a determination unit 13.

[0016] The acquisition unit 11 is an example of acquisition means. The acquisition unit 11 acquires information capable of grasping the sustainable flight range of an unmanned aerial vehicle (not shown). For example, the acquisition unit 11 acquires information capable of grasping the sustainable flight range from a control device (not shown) used by an operator operating the unmanned aerial vehicle for controlling the unmanned aerial vehicle. The acquisition unit 11 may acquire information capable of grasping the sustainable flight range from a database provided in the control device. The unmanned aerial vehicle is, for example, a drone. Alternatively, the unmanned aerial vehicle is, for example, an eVTOL (electric Vertical Take-Off and Landing). An eVTOL is also referred to as an electric vertical take-off and landing aircraft. The "unmanned aerial vehicle" refers to an aircraft that flies by remote control or automatic control. The unmanned aerial vehicle may carry passengers for transportation.

[0017] The information capable of grasping the sustainable flight range is, for example, information indicating the sustainable flight range itself. For example, the information indicating the sustainable flight range itself is information indicating the range that can be sustained from the current position of the unmanned aerial vehicle. Alternatively, for example, the information capable of grasping the sustainable flight range is information indicating the distance that the unmanned aerial vehicle can sustain from the current position.

[0018] The information capable of grasping the sustainable flight range may be information used in the process of calculating the sustainable flight range. For example, the information capable of grasping the sustainable flight range is at least one or more of the following (1) to (6). (1) Information indicating the current position of the unmanned aerial vehicle (2) Information indicating the current power storage amount of the unmanned aerial vehicle (3) Information indicating the flight ability of the unmanned aerial vehicle (4) Information indicating the weight of the load carried by the unmanned aerial vehicle (5) Information indicating the wind direction at the current position of the unmanned aerial vehicle (6) Information indicating the wind speed at the current position of the unmanned aerial vehicle The calculation unit (not shown) of the charging device determination device 1 or the calculation unit (not shown) of the control device calculates the sustainable range from information that can grasp the sustainable range. The calculation unit is an example of a calculation means. For example, in the process of calculating the sustainable range, the calculation unit uses the value indicated by any one or more of the above (1) to (6) as a calculation parameter. That is, the calculation unit calculates the sustainable range by using the value indicated by any one or more of the above (1) to (6) as a variable of the function for calculating the sustainable range.

[0019] Note that the information indicating the flight ability of the unmanned aerial vehicle is, for example, information indicating the flightable time or flightable distance of the unmanned aerial vehicle. Here, the flightable time may be the flightable time corresponding to the unit battery charge or the flightable time at the maximum battery charge. Also, the flightable distance may be the flightable distance corresponding to the unit battery charge or the flightable distance at the maximum battery charge.

[0020] The setting unit 12 is an example of a setting means. The setting unit 12 sets the priority for the unmanned aerial vehicle to use the charging device according to the application.

[0021] For example, the setting unit 12 sets a higher priority for the unmanned aerial vehicle used in an emergency and a lower priority for the unmanned aerial vehicle used in normal times. For example, the setting unit 12 sets a higher priority for the unmanned aerial vehicle used for spraying fire extinguishing agents over the place where a wildfire has occurred than for the unmanned aerial vehicle carrying normal cargo.

[0022] The determination unit 13 is an example of a determination means. The determination unit 13 determines the charging device to be used by the unmanned aerial vehicle based on the sustainable range calculated by the calculation unit based on the information that can grasp the sustainable range and the priority.

[0023] In this way, the charging facility determination device 1 acquires information that can grasp the flight endurance range of the unmanned aerial vehicle, and sets the priority for the unmanned aerial vehicle to use the charging facility according to the application. The charging facility determination device 1 determines the charging facility to be used by the unmanned aerial vehicle based on the flight endurance range calculated by the calculation unit based on the information that can grasp the flight endurance range, and the priority. By the charging facility determination device 1 determining the charging facility to be used by the unmanned aerial vehicle based on the flight endurance range and the priority, the determined charging facility can be used by the unmanned aerial vehicle. Thereby, it becomes possible to reduce the waiting time for charging at the charging facility of the unmanned aerial vehicle.

[0024] Next, with reference to FIG. 2, an operation example of the charging facility determination device 1 of the present embodiment will be described. FIG. 2 is a flowchart showing an operation example of the charging facility determination device 1.

[0025] The acquisition unit 11 acquires information that can grasp the flight endurance range of the unmanned aerial vehicle (step S101).

[0026] The setting unit 12 sets the priority for the unmanned aerial vehicle to use the charging facility according to the application (step S102).

[0027] The determination unit 13 determines the charging facility to be used by the unmanned aerial vehicle based on the flight endurance range and the priority (step S103). Note that the calculation unit calculates the flight endurance range of the unmanned aerial vehicle based on the information that can grasp the flight endurance range acquired by the acquisition unit 11.

[0028] As described above, by the charging facility determination device 1 determining the charging facility to be used by the unmanned aerial vehicle based on the flight endurance range and the priority, the determined charging facility can be used by the unmanned aerial vehicle. Thereby, it becomes possible to reduce the waiting time for charging at the charging facility of the unmanned aerial vehicle.

[0029] [Second Embodiment] Next, the charging facility determination device 4 in the second embodiment of the present invention will be specifically described.

[0030] FIG. 3 is a block diagram showing a configuration example of a charging facility determination system according to a second embodiment of the present invention.

[0031] As shown in FIG. 3, the charging facility determination system includes an unmanned aerial vehicle 2, a control device 3, and a charging facility determination device 4. In the second embodiment, the charging facility determination device 4 basically includes the configuration and functions of the charging facility determination device 1 of the first embodiment.

[0032] Referring to FIG. 3, the configuration of the unmanned aerial vehicle 2 of the present embodiment will be described in detail. The unmanned aerial vehicle 2 includes a position measurement unit 21, a power storage amount calculation unit 22, a transmission / reception unit 23, and a flight control unit 24.

[0033] The position measurement unit 21 measures the position of the unmanned aerial vehicle 2. For example, the position measurement unit 21 performs positioning by receiving signals from satellites in the GPS (Global Positioning System). The position measurement unit 21 may be configured to perform positioning by receiving signals from satellites or the like in other GNSSs (Global Navigation Satellite System) not limited to GPS.

[0034] The power storage amount calculation unit 22 calculates the current power storage amount of the battery (not shown) of the unmanned aerial vehicle 2. For example, the power storage amount calculation unit 22 calculates the power storage amount by a voltage measurement method that measures the terminal voltage of the battery to calculate the current power storage amount. In addition to this method, any method can be used to calculate the power storage amount.

[0035] The transmission / reception unit 23 transmits the unmanned aerial vehicle identification information, position information, and power storage amount information of the unmanned aerial vehicle 2 to the control device 3 in association with each other. The unmanned aerial vehicle identification information is information that can identify each unmanned aerial vehicle.

[0036] Alternatively, the transceiver unit 23 may transmit the remote identification and the power storage amount information to the control device 3 in association with each other. The remote identification is information included in the signal transmitted from the unmanned aerial vehicle 2 to the control device 3 during flight. The remote identification includes the unmanned aerial vehicle identification information of the unmanned aerial vehicle 2, information capable of identifying the owner of the unmanned aerial vehicle 2, and the position information of the unmanned aerial vehicle 2, etc.

[0037] The transceiver unit 23 receives flight control information from the control device 3.

[0038] The flight control unit 24 controls the unmanned aerial vehicle 2 based on the flight control information. Specifically, the flight control unit 24 controls the movement direction and attitude of the unmanned aerial vehicle 2 by controlling the rotation of the propeller (not shown) of the unmanned aerial vehicle 2 based on the flight control information.

[0039] Under the control of the flight control unit 24, the unmanned aerial vehicle 2 heads for the charging facility determined by the charging facility determination device 4. The unmanned aerial vehicle 2 that has headed for the charging facility determined by the charging facility determination device 4 lands on the charging stand of the charging facility. The unmanned aerial vehicle 2 that has landed on the charging stand has its battery charged by wireless power supply.

[0040] Note that the battery of the unmanned aerial vehicle 2 may be charged by wired power supply. When the battery of the unmanned aerial vehicle 2 is charged by wired power supply, the charging stand of the charging facility is provided with a charging plug insertion port and a connection device. The connection device automatically inserts and removes the charging plug into and from the insertion port of the charging plug of the unmanned aerial vehicle 2. For example, after the unmanned aerial vehicle 2 lands on the charging stand, it extends a charging cable equipped with a charging plug in the direction of the insertion port. The connection device of the charging stand inserts the charging plug of the charging cable of the extended unmanned aerial vehicle 2 into the insertion port. Also, when the charging of the battery of the unmanned aerial vehicle 2 is completed, the connection device removes the charging plug of the charging cable of the unmanned aerial vehicle 2 from the insertion port.

[0041] Referring to FIG. 3, the configuration of the control device 3 of the present embodiment will be described in detail. The control device 3 includes a transmission / reception unit 31, a calculation unit 32, a determination unit 33, a control information generation unit 34, a flight plan storage unit 35, and an unmanned aircraft information storage unit 36.

[0042] The control device 3 controls the unmanned aircraft 2. The control device 3 controls one or a plurality of two or more unmanned aircraft. For example, the control device 3 is used by a delivery operator that provides a luggage transportation service using an unmanned aircraft, a public office or a local government that responds to disasters using an unmanned aircraft, or other organizations that operate unmanned aircraft. The control device 3 can be installed at an arbitrary location. For example, the control device 3 is installed in a server room of a delivery operator, a public office, a local government, or other organizations that operate unmanned aircraft.

[0043] The control device 3 acquires the unmanned aircraft identification information, position information, and power storage amount information of the unmanned aircraft 2. The control device 3 generates information capable of grasping the flight continuation range of the unmanned aircraft 2. The control device 3 transmits the unmanned aircraft identification information, information capable of grasping the flight continuation range, and flight plan information of the unmanned aircraft 2 to the charging facility determination device 4. Further, the control device 3 receives the facility position information and time zone information of the charging facility determined by the charging facility determination device 4 based on each transmitted information from the charging facility determination device 4. The time zone information will be described later. The control device 3 generates flight control information for flying the unmanned aircraft 2 so as to arrive at the position indicated by the facility position information. The control device 3 controls the unmanned aircraft 2 by transmitting the flight control information to the unmanned aircraft 2.

[0044] First, the operation of each configuration of the control device 3 of the present embodiment will be described in detail for the case of transmitting information capable of grasping the flight continuation range to the charging facility determination device 4.

[0045] The transmission / reception unit 31 receives the unmanned aircraft identification information, position information, and power storage amount information from the unmanned aircraft (in this example, the unmanned aircraft 2). The transmission / reception unit 31 outputs the received unmanned aircraft identification information, position information, and power storage amount information of the unmanned aircraft 2 to the calculation unit 32 in an associated manner.

[0046] When the transmission / reception unit 31 receives the remote ID and the power storage amount information, the transmission / reception unit 31 performs the following operations. The transmission / reception unit 31 associates the power storage amount information, the unmanned aircraft identification information of the unmanned aircraft 2 included in the remote ID, and the position information of the unmanned aircraft 2, and outputs the result to the calculation unit 32.

[0047] The calculation unit 32 reads out the flight plan information stored in the flight plan storage unit 35 in association with the unmanned aircraft identification information of the unmanned aircraft 2.

[0048] The flight plan storage unit 35 stores in advance the flight plan information of the unmanned aircraft. The flight plan information may be stored in the flight plan storage unit 35 in response to an operation input from a user input / output interface (not shown). Alternatively, the acquisition unit (not shown) of the control device 3 may acquire the flight plan information from an external server in which the flight plan information is stored or updated at a predetermined frequency. Each time the acquisition unit acquires the flight plan information, the acquisition unit may store the flight plan information in the flight plan storage unit 35.

[0049] The flight plan information indicates the flight plan of the unmanned aircraft (in this example, the unmanned aircraft 2). Specifically, the flight plan information includes the unmanned aircraft identification information of the unmanned aircraft, the flight plan identification information, the usage information, the weight information, the work start date and time information, the departure location information, the departure date and time information, the destination information, the arrival date and time information, and the flight route information. The flight plan identification information is information for identifying the flight plan. The usage information indicates the usage of the unmanned aircraft. The weight information indicates the weight of the load carried by the unmanned aircraft. The work start date and time information indicates the date and time when the unmanned aircraft starts work according to the usage. The departure location information indicates the departure location of the unmanned aircraft. The departure date and time information indicates the departure date and time of the unmanned aircraft. The destination information indicates the destination of the unmanned aircraft. The arrival date and time information indicates the arrival date and time of the unmanned aircraft at the destination. The flight route information indicates the flight route.

[0050] The calculation unit 32 reads out the flight ability information stored in the unmanned aircraft information storage unit 36 in association with the unmanned aircraft identification information of the unmanned aircraft 2.

[0051] In the unmanned aircraft information storage unit 36, flight ability information, which is information indicating the flight ability of the unmanned aircraft, is stored. For example, the flight ability information is information indicating the flight available time and the flight available distance of the unmanned aircraft.

[0052] Based on the power storage amount information of the unmanned aircraft 2, the weight information of the flight plan information read from the flight plan storage unit 35, and the flight ability information read from the unmanned aircraft information storage unit 36, the calculation unit 32 generates information capable of grasping the sustainable range. In this embodiment, the information capable of grasping the sustainable range includes information indicating the sustainable distance and the position information of the unmanned aircraft 2.

[0053] The determination unit 33 determines whether the unmanned aircraft (in this example, the unmanned aircraft 2) needs to use a charging facility. When the determination unit 33 determines that the unmanned aircraft 2 needs to use a charging facility, it outputs the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information to the transmission / reception unit 31 in an associated manner. The specific determination operation of the determination unit 33 will be described in the description of the operation.

[0054] The transmission / reception unit 31 receives the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information from the determination unit 33. The transmission / reception unit 31 transmits the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information to the charging facility determination device 4 in an associated manner.

[0055] Next, the operation of each component of the control device 3 of this embodiment when transmitting flight control information to the unmanned aircraft 2 will be described in detail.

[0056] The transmission / reception unit 31 receives the unmanned aircraft identification information of the unmanned aircraft 2, the facility position information of the charging facility determined by the charging facility determination device 4, and the time zone information from the charging facility determination device 4. The time zone information includes start date and time information indicating the date and time when the unmanned aircraft 2 starts using the charging facility and end date and time information indicating the date and time when the use of the charging facility ends.

[0057] The control information generation unit 34 generates flight control information for flying the unmanned aerial vehicle 2 so as to arrive at the position indicated by the facility position information at the date and time indicated by the start date and time information of the time zone information. For example, the control information generation unit 34 generates flight control information for flying the unmanned aerial vehicle 2 so as to land on the charging stand of the charging facility indicated by the facility position information. That is, the position indicated by the facility position information may be the position of the charging stand.

[0058] Note that the control information generation unit 34 may generate flight plan information for the flight route from the departure location to the current position, from the current position to the charging facility at the position indicated by the facility position information, and from the charging facility at the position indicated by the facility position information to the destination. For example, the flight route of the flight plan information generated by the control information generation unit 34 includes a flight route that arrives at the charging facility at the position indicated by the facility position information from the current position at the date and time indicated by the start date and time information of the time zone information. For example, the flight route of the flight plan information generated by the control information generation unit 34 includes a flight route that departs from the charging facility at the date and time indicated by the end date and time information of the time zone information and arrives at the destination. The control information generation unit 34 may replace the flight plan information stored in the flight plan storage unit 35 with the generated flight plan information.

[0059] The transmission / reception unit 31 transmits the flight control information to the unmanned aerial vehicle 2.

[0060] With reference to FIG. 3, the configuration of the charging facility determination device 4 of the present embodiment will be described in detail. The charging facility determination device 4 includes an acquisition unit 41, a setting unit 42, and a determination unit 43. The determination unit 43 receives an input from at least the calculation unit 44. The transmission unit 45 receives an input from at least the determination unit 43. The facility information storage unit 46 will be described later.

[0061] The charging facility determination device 4 determines the charging facility to be used for the unmanned aerial vehicle (in this example, the unmanned aerial vehicle 2). For example, the charging facility determination device 4 is used by a management operator who manages the charging facility. The charging facility determination device 4 may have the functions of the control device 3. When the charging facility determination device 4 has the functions of the control device 3, the information that can be used to grasp the flight range of the unmanned aerial vehicle 2 acquired by the acquisition unit 41 is, for example, the position information and the power storage amount information transmitted from the unmanned aerial vehicle 2. The acquisition unit 41, the setting unit 42, and the determination unit 43 of the charging facility determination device 4 execute processing for at least one unmanned aerial vehicle. The acquisition unit 41, the setting unit 42, and the determination unit 43 of the charging facility determination device 4 may execute processing for two or more unmanned aerial vehicles. The charging facility determination device 4 can be installed at an arbitrary location. For example, the charging facility determination device 4 is installed in the server room of the management operator who manages the charging facility.

[0062] In this embodiment, a case where the charging facility determination device 4 determines the charging facility to be used for the unmanned aerial vehicle 2 during flight will be described as an example. Alternatively, the charging facility determination device 4 may be used when the operator of the unmanned aerial vehicle 2 creates a flight plan.

[0063] In this embodiment, a case where one or two or more charging facilities are provided in the charging area where the charging facility is provided will be described as an example. The charging area is provided, for example, along a corridor which is an airspace where a flying object including an unmanned aerial vehicle can fly in a specific direction. Note that the charging area can be provided at an arbitrary position. In the charging area, an inspection service or a repair service for the unmanned aerial vehicle may be provided. For example, a camera for photographing the unmanned aerial vehicle may be provided in the charging area, and an inspector may check the appearance by viewing an image of the unmanned aerial vehicle from a remote location. Alternatively, an X-ray camera for photographing the unmanned aerial vehicle may be provided in the charging area, and an inspector may check an image obtained by the X-ray camera. For example, the inspector checks the soundness of the internal structure of the unmanned aerial vehicle photographed by the X-ray camera.

[0064] The acquisition unit 41 acquires information that can grasp the flight endurance range of the unmanned aircraft 2. In this embodiment, the acquisition unit 41 acquires information that can grasp the flight endurance range of the unmanned aircraft 2 by receiving the unmanned aircraft identification information of the unmanned aircraft 2, information that can grasp the flight endurance range, and flight plan information from the control device 3.

[0065] The setting unit 42 sets the priority for the unmanned aircraft 2 to use the charging facility according to the application. The setting of the priority will be specifically described.

[0066] The setting unit 42 sets the priority based on a predetermined condition regarding the application of the unmanned aircraft 2. Specifically, for example, the setting unit 42 checks whether the application indicated in the application information of the flight plan information satisfies a predetermined condition for the application where the unmanned aircraft is used to respond to an emergency. Alternatively, for example, when the unmanned aircraft 2 is deployed at a fire station or a fire department, the setting unit 42 sets a higher priority for the unmanned aircraft used for emergency response than for the unmanned aircraft used for normal applications.

[0067] For example, the emergency is a forest fire. When an unmanned aircraft for spraying fire extinguishing agent over the place where the forest fire occurred heads towards the place where the forest fire occurred for fire extinguishing, the setting unit 42 sets a higher priority for the unmanned aircraft used for forest fire extinguishing than for the unmanned aircraft used for normal applications such as transporting goods.

[0068] Alternatively, the emergency is an earthquake. The setting unit 42 sets a higher priority for the unmanned aircraft used for transporting relief supplies to the disaster area than for the unmanned aircraft used for normal applications.

[0069] That is, the setting unit 42 sets a higher priority (for example, "5") for the unmanned aircraft used in an emergency (that is, the unmanned aircraft that meets the condition of being used in an emergency). The setting unit 42 sets a lower priority (for example, "1") for the unmanned aircraft used during normal times (that is, the unmanned aircraft that does not meet the condition of being used in an emergency).

[0070] The setting unit 42 sets a priority based on the conditions regarding the work start date and time of the unmanned aerial vehicle 2. Specifically, the setting unit 42 sets a higher priority for the unmanned aerial vehicle whose work start date and time indicated in the work start date and time information of the flight plan information is closer to the current date and time than the priority of the unmanned aerial vehicle whose work start date and time is farther from the current date and time.

[0071] The setting unit 42 may also set a priority based on the condition that the unmanned aerial vehicle 2 that is the target of priority setting can preferentially use the charging facility. Specifically, the setting unit 42 may set a higher priority for the unmanned aerial vehicle 2 that can preferentially use the charging facility than for the unmanned aerial vehicle that cannot preferentially use the charging facility, based on the information indicating whether it can preferentially use the charging facility. For example, it is assumed that the owner of the unmanned aerial vehicle 2 subscribes to a service that can preferentially use the charging facility. When the owner subscribes to a service that can preferentially use the charging facility, information indicating that it can preferentially use the charging facility is included in the flight plan information of the owner's unmanned aerial vehicle. When the information indicating that it can preferentially use the charging facility is included in the flight plan information, the setting unit 42 determines that the unmanned aerial vehicle 2 satisfies the condition that it can preferentially use the charging facility. The setting unit 42 sets a higher priority for the unmanned aerial vehicle 2 determined to be able to preferentially use the charging facility than for the unmanned aerial vehicle that cannot preferentially use the charging facility.

[0072] The setting unit 42 may set a priority based on the conditions regarding the cargo carried by the unmanned aerial vehicle. For example, information indicating that the cargo carried by the unmanned aerial vehicle is to be delivered earlier than normal cargo may be included in the flight plan information. For example, when information indicating that the cargo carried by the unmanned aerial vehicle 2 is to be delivered earlier than normal cargo is included in the flight plan information, the setting unit 42 sets a higher priority for the unmanned aerial vehicle 2 carrying the cargo to be delivered earlier than normal cargo than for the unmanned aerial vehicle carrying normal cargo.

[0073] The setting unit 42 may set priorities based on conditions regarding the distance that the unmanned aerial vehicle will fly in the future. For example, the setting unit 42 may set a higher priority for an unmanned aerial vehicle with a longer distance from its current position to the destination. Alternatively, the setting unit 42 may set priorities based on conditions regarding the remaining flight distance of the unmanned aerial vehicle. The setting unit 42 may set a higher priority for an unmanned aerial vehicle with a flightable distance shorter than a predetermined threshold value based on information capable of grasping the flightable range, compared to an unmanned aerial vehicle with a flightable distance equal to or longer than the predetermined threshold value. When the flightable distance is shorter than the predetermined threshold value, it is assumed that the unmanned aerial vehicle may crash and the urgency of charging is high.

[0074] In addition, the setting unit 42 may set priorities based on conditions regarding the current battery level of the unmanned aerial vehicle. For example, the setting unit 42 may set a higher priority for an unmanned aerial vehicle with a lower current battery level. Also, for example, when the current battery level of the unmanned aerial vehicle meets the condition of being less than a predetermined value, the setting unit 42 may be configured to set the priority set according to the use of the unmanned aerial vehicle to a higher priority (for example, one level higher).

[0075] Note that the setting unit 42 may be configured to set different priorities for a plurality of unmanned aerial vehicles according to their uses and the like.

[0076] The setting unit 42 may use any one of the exemplified predetermined conditions, or may use two or more of the plurality of predetermined conditions. Note that, in addition to the exemplified conditions, the setting unit 42 can use any conditions as the predetermined conditions. For example, when wildfires occur at multiple locations or over a wide area, it is assumed that a plurality of unmanned aerial vehicles will be used for extinguishing the wildfires. Among a plurality of unmanned aerial vehicles with the same priority for conditions regarding the use, it is assumed that there are unmanned aerial vehicles with different operation start dates, that is, different priorities for the operation start date.

[0077] When using two or more predetermined conditions, the setting unit 42 may set the priority according to the first predetermined condition, and set the priority of the second predetermined condition to be used when the determination unit 43 cannot determine the charging facility based on the priority of the first predetermined condition. For example, the second predetermined condition is a condition of a different type from the first predetermined condition.

[0078] Also, when the determination unit 43 cannot determine the charging facility based on the priority of the first predetermined condition, the determination unit 43 determines the charging facility of the unmanned aerial vehicle 2 with respect to the priority of the second predetermined condition. For example, the setting unit 42 sets the priority of the predetermined condition regarding the use, and sets the priority of the predetermined condition regarding the work start date and time to be used when the charging facility cannot be determined.

[0079] Alternatively, when using two or more predetermined conditions, the setting unit 42 may calculate an added priority obtained by adding the priorities set for each predetermined condition. Alternatively, the setting unit 42 may calculate a weighted priority which is a value obtained by aggregating the priorities set for each predetermined condition after weighting according to the importance for each preset priority.

[0080] Note that when calculating the added priority or the weighted priority, the setting unit 42 outputs the added priority or the weighted priority to the determination unit 43 instead of the priority. The determination unit 43 and the transmission unit 45, which will be described later, execute processing on the added priority or the weighted priority.

[0081] The calculation unit 44 calculates the flight endurance range based on the information capable of grasping the flight endurance range of the unmanned aerial vehicle 2 acquired by the acquisition unit 41. Specifically, the calculation unit 44 calculates the flight endurance range based on the information indicating the flight endurance distance included in the information capable of grasping the flight endurance range and the position information. For example, the calculation unit 44 calculates, as the flight endurance range, the reachable range within the distance indicated by the information indicating the flight endurance distance from the current position of the unmanned aerial vehicle 2 indicated by the position information.

[0082] The determination unit 43 determines the charging facility to be used for the unmanned aerial vehicle 2 based on the flight endurance range calculated by the calculation unit 44 and the priority.

[0083] The determination unit 43 reads out the charging facility management information associated with the facility position information within the sustainable range from the facility information storage unit 46.

[0084] The charging facility management information includes charging facility identification information, charging area identification information, facility position information, usage status information, unmanned aircraft identification information, priority information, and time zone information. The charging facility identification information is information that can identify each charging facility. The charging area identification information is information that can identify each charging area. The facility position information indicates the position of each charging facility. In the facility information storage unit 46, the unmanned aircraft identification information, usage status information, priority information, and time zone information of the unmanned aircraft that is scheduled to use the charging facility or is using the charging facility are stored in association with the charging facility identification information. The usage status information indicates the usage status of the charging facility. The priority information indicates the priority set for the unmanned aircraft using the charging facility. The time zone information is information indicating the time zone when the unmanned aircraft uses the charging facility. The time zone information includes start date and time information indicating the date and time when the use of the charging facility starts and end date and time information indicating the date and time when the use of the charging facility ends.

[0085] The charging facility management information is stored in the facility information storage unit 46. FIG. 4 is a diagram showing an example of the charging facility management information stored in the facility information storage unit 46 of the charging facility determination device 4. In FIG. 4, for each of the charging facilities with charging facility identification information being "CFID1", "CFID2", "CFID3", "CFID4", and "CFID5", an example of the charging facility management information is shown.

[0086] The determination unit 43 identifies the charging facility based on the read charging facility management information. Specifically, the determination unit 43 identifies the charging facility for which the usage status indicated by the usage status information indicates that it is available for use, and the charging facility used by another unmanned aircraft associated with a priority lower than the priority indicated by the priority information set by the setting unit 42. Note that the other unmanned aircraft is an unmanned aircraft other than the unmanned aircraft 2.

[0087] For example, assume that the charging facility management information shown in FIG. 4 is stored in the facility information storage unit 46, and the priority indicated by the priority information set by the setting unit 42 is "3". Also assume that the higher the value of the priority, the more priority should be given to the unmanned aerial vehicle. In this case, the determination unit 43 identifies the charging facilities with charging facility identification information of "CFID3" and "CFID4", where the usage status shown in the usage status information is "reservable", as the charging facilities whose usage status indicates that they are available for use. Further, the determination unit 43 identifies the charging facilities with charging facility identification information of "CFID1" and "CFID5", which are associated with a priority lower than the priority (in this example, "3") indicated by the priority information set by the setting unit 42 and are used by other unmanned aerial vehicles. Note that the "charging facilities used by other unmanned aerial vehicles" may be the charging facilities currently being used by other unmanned aerial vehicles (in the example of FIG. 4, the charging facilities whose usage status shown in the usage status information is "in use"). Alternatively, the "charging facilities used by other unmanned aerial vehicles" may be the charging facilities that other unmanned aerial vehicles are scheduled to use (in the example of FIG. 4, the charging facilities whose usage status shown in the usage status information is "reserved").

[0088] The determination unit 43 determines the charging facility to be used by the unmanned aerial vehicle 2 from the identified charging facilities. For example, the determination unit 43 determines the charging facility to be used by the unmanned aerial vehicle 2 in the following manner. The determination unit 43 determines the charging facilities on the planned flight route of the unmanned aerial vehicle 2 as the charging facilities to be used by the unmanned aerial vehicle 2.

[0089] The determination unit 43 determines the time period during which the unmanned aerial vehicle 2 is to use the determined charging facility. For example, the determination unit 43 determines the time period from the scheduled date and time until the date and time when the battery reaches the power storage level sufficient for the unmanned aerial vehicle 2 to reach the destination, and generates time period information indicating the determined time period. Note that the determination unit 43 may determine the time period from the scheduled date and time until the battery of the unmanned aerial vehicle 2 is fully charged up to the upper limit. The determination unit 43 updates the charging facility management information stored in the facility information storage unit 46 of the determined charging facility. For example, the determination unit 43 updates the usage status information ("reserved"), the unmanned aerial vehicle identification information of the unmanned aerial vehicle 2, the priority information set by the setting unit 42, and the time period information stored in the facility information storage unit 46.

[0090] When determining the time period during which the unmanned aerial vehicle 2 is to use the determined charging facility, the determination unit 43 may determine the time period during which the unmanned aerial vehicle 2 waits in the air above the charging facility. For example, when it is possible for the unmanned aerial vehicle 2 to wait in the air above the charging facility until another unmanned aerial vehicle finishes charging, the determination unit 43 determines the time period during which the unmanned aerial vehicle 2 waits in the air above the charging facility until another unmanned aerial vehicle finishes charging. The information capable of grasping the sustainable flight range may include information indicating the flightable time of the unmanned aerial vehicle 2. Based on the information indicating the flightable time of the unmanned aerial vehicle 2, the determination unit 43 may determine whether it is possible for the unmanned aerial vehicle 2 to wait in the air above the charging facility until another unmanned aerial vehicle finishes charging. The determination unit 43 determines the time period during which the unmanned aerial vehicle 2 uses the charging facility after the waiting time period. When it is not possible for the unmanned aerial vehicle 2 to wait in the air above the charging facility until another unmanned aerial vehicle finishes charging, the determination unit 43 may determine another charging facility instead of the determined charging facility, or may exclude another unmanned aerial vehicle from the determined charging facility. The details of the case of excluding another unmanned aerial vehicle from the determined charging facility will be described in a modified example.

[0091] The transmission unit 45 transmits the unmanned aircraft identification information of the unmanned aircraft 2, the determined facility location information of the charging facility, and the time zone information to the control device 3 in an associated manner. When a storage unit (not shown) of the control device 3 stores the facility location information and the charging facility identification information in an associated manner, the determination unit 43 may cause the transmission unit 45 to transmit the charging facility identification information instead of the facility location information.

[0092] In this way, the charging facility determination device 4 acquires information capable of grasping the flight range of the unmanned aircraft 2, and sets the priority for the unmanned aircraft 2 to use the charging facility according to the application. The charging facility determination device 4 determines the charging facility to be used by the unmanned aircraft 2 based on the flight range calculated based on the information capable of grasping the flight range and the priority. By determining the charging facility to be used by the unmanned aircraft 2 based on the flight range and the priority, the determined charging facility can be used by the unmanned aircraft 2. Thereby, it becomes possible to reduce the waiting time for charging at the charging facility of the unmanned aircraft 2.

[0093] Next, with reference to FIG. 5, an operation example of the charging facility determination system of the present embodiment will be described. FIG. 5 is a sequence diagram showing an operation example of the charging facility determination system.

[0094] The position measurement unit 21 of the unmanned aircraft 2 measures the position of the unmanned aircraft 2. The position measurement unit 21 outputs position information indicating the measured position to the transmission and reception unit 23. The power storage amount calculation unit 22 calculates the power storage amount of the battery of the unmanned aircraft 2 (step S201). The power storage amount calculation unit 22 outputs power storage amount information indicating the calculated power storage amount to the transmission and reception unit 23. Note that the position measurement unit 21 and the power storage amount calculation unit 22 operate in an arbitrary order.

[0095] The position information is input to the transmission and reception unit 23 from the position measurement unit 21. The power storage amount information is input to the transmission and reception unit 23 from the power storage amount calculation unit 22. The transmission and reception unit 23 transmits the unmanned aircraft identification information, the position information, and the power storage amount information of the unmanned aircraft 2 to the control device 3 in an associated manner (step S202).

[0096] The transmission / reception unit 31 of the control device 3 receives the UAV identification information, position information, and battery level information of the unmanned aerial vehicle 2. The transmission / reception unit 31 outputs the received UAV identification information, position information, and battery level information of the unmanned aerial vehicle 2 to the calculation unit 32 in an associated manner.

[0097] The calculation unit 32 receives the UAV identification information, position information, and battery level information of the unmanned aerial vehicle 2 from the transmission / reception unit 31. The calculation unit 32 generates information capable of grasping the flight range of the unmanned aerial vehicle 2 corresponding to the battery level indicated by the battery level information (step S203). Specifically, the calculation unit 32 calculates the distance that the unmanned aerial vehicle 2 can continue to fly corresponding to the battery level indicated by the battery level information. The calculation unit 32 outputs the UAV identification information of the unmanned aerial vehicle 2 and the information capable of grasping the flight range of the unmanned aerial vehicle 2 to the determination unit 33 in an associated manner. In the present embodiment, the information capable of grasping the flight range includes information indicating the flightable distance and the position information of the unmanned aerial vehicle 2.

[0098] In step S203, for example, the calculation unit 32 calculates the distance that the unmanned aerial vehicle 2 can continue to fly as follows. For example, the calculation unit 32 calculates the distance that the unmanned aerial vehicle 2 can continue to fly based on the battery level information of the unmanned aerial vehicle 2, the weight information of the flight plan information read from the flight plan storage unit 35, and the position information of the unmanned aerial vehicle 2. In addition to this method, any method can be used to calculate the flightable distance.

[0099] The determination unit 33 receives the position information, the UAV identification information of the unmanned aerial vehicle 2, and the information capable of grasping the flight range from the calculation unit 32. The determination unit 33 reads the flight plan information stored in the flight plan storage unit 35 in association with the UAV identification information of the unmanned aerial vehicle 2. The determination unit 33 calculates the planned flight distance, which is the distance that the unmanned aerial vehicle 2 will fly according to the flight route indicated by the flight route information, from the current position of the unmanned aerial vehicle 2 indicated by the position information to the destination indicated by the destination information included in the flight plan information.

[0100] The determination unit 33 determines whether the unmanned aircraft 2 needs to use a charging facility (step S204). When the determination unit 33 determines that the distance indicated in the information indicating the sustainable flight distance is longer than the planned flight distance, it determines that the unmanned aircraft 2 does not need to use a charging facility. When the determination unit 33 determines that the distance indicated in the information indicating the sustainable flight distance is shorter than the planned flight distance, it determines that the unmanned aircraft 2 needs to use a charging facility. When the determination unit 33 determines that the unmanned aircraft 2 needs to use a charging facility, it outputs the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information to the transmission / reception unit 31 in association with each other. When the determination unit 33 determines that the unmanned aircraft 2 does not need to use a charging facility, the transmission / reception unit 31 does not perform the operation of step S205 described later.

[0101] The transmission / reception unit 31 transmits the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information to the charging facility determination device 4 in association with each other (step S205).

[0102] The acquisition unit 41 of the charging facility determination device 4 acquires the information capable of grasping the sustainable range of the unmanned aircraft 2 by receiving the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information from the control device 3. The acquisition unit 41 outputs the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information to the setting unit 42 in association with each other.

[0103] The setting unit 42 sets the priority for the unmanned aircraft 2 to use a charging facility according to the application (step S206). The setting unit 42 outputs the priority information indicating the set priority, the unmanned aircraft identification information of the unmanned aircraft 2, the information capable of grasping the sustainable range, and the flight plan information to the calculation unit 44 in association with each other.

[0104] The calculation unit 44 receives, from the setting unit 42, priority information, the UAV identification information of the unmanned aerial vehicle 2, information capable of grasping the sustainable flight range, and flight plan information. The calculation unit 44 calculates the sustainable flight range based on the information capable of grasping the sustainable flight range of the unmanned aerial vehicle 2 acquired by the acquisition unit 41. The calculation unit 44 inputs information indicating the calculated sustainable flight range, priority information, the UAV identification information of the unmanned aerial vehicle 2, and flight plan information to the determination unit 43.

[0105] Note that the acquisition unit 41 of the charging facility determination device 4 may acquire information capable of grasping the sustainable flight range including the position information of the unmanned aerial vehicle 2, the power storage amount information of the unmanned aerial vehicle 2, and the flight ability information of the unmanned aerial vehicle 2. The calculation unit 44 of the charging facility determination device 4 may calculate the sustainable flight distance in the same manner as the operation of the calculation unit 32 in step S203 of the control device 3.

[0106] The determination unit 43 receives, from the calculation unit 44, information indicating the sustainable flight range, priority information, the UAV identification information of the unmanned aerial vehicle 2, and flight plan information. The determination unit 43 determines the charging facility to be used by the unmanned aerial vehicle 2 based on the sustainable flight range calculated by the calculation unit 44 and the priority (step S207). The determination unit 43 outputs, to the transmission unit 45, the UAV identification information of the unmanned aerial vehicle 2, the facility position information of the determined charging facility, and the time zone information in association with each other.

[0107] The transmission unit 45 transmits, to the control device 3, the UAV identification information of the unmanned aerial vehicle 2, the facility position information of the determined charging facility, and the time zone information in association with each other (step S208).

[0108] The transceiver unit 31 of the control device 3 receives the UAV identification information of the unmanned aerial vehicle 2, the facility position information of the determined charging facility, and the time zone information from the charging facility determination device 4. The transceiver unit 31 outputs the UAV identification information of the unmanned aerial vehicle 2, the facility position information of the determined charging facility, and the time zone information in association with each other to the control information generation unit 34.

[0109] The control information generation unit 34 receives the unmanned aircraft identification information, facility position information, and time zone information of the unmanned aircraft 2 from the transmission / reception unit 31. The control information generation unit 34 generates flight control information for flying the unmanned aircraft 2 so as to arrive at the position indicated by the facility position information at the date and time indicated by the start date and time information of the time zone information (step S209). The control information generation unit 34 associates the unmanned aircraft identification information of the unmanned aircraft 2 with the generated flight control information and outputs the result to the transmission / reception unit 31.

[0110] The transmission / reception unit 31 receives the unmanned aircraft identification information and the flight control information of the unmanned aircraft 2 from the control information generation unit 34. The transmission / reception unit 31 transmits the flight control information to the unmanned aircraft 2 (step S210).

[0111] The transmission / reception unit 23 of the unmanned aircraft 2 receives the flight control information from the control device 3. The transmission / reception unit 23 outputs the received flight control information to the flight control unit 24.

[0112] The flight control unit 24 receives the flight control information from the transmission / reception unit 23. The flight control unit 24 controls the unmanned aircraft 2 based on the flight control information. The unmanned aircraft 2 heading for the charging facility determined by the charging facility determination device 4 lands on the charging platform of the charging facility. The unmanned aircraft 2 that has landed on the charging platform receives power supply from the charging platform and its battery is charged (step S211).

[0113] Note that regardless of whether the unmanned aerial vehicle 2 needs to use a charging facility, the charging facility determination device 4 may determine a charging facility when requested to determine a charging facility. For example, each time the transmission / reception unit 31 of the control device 3 receives the unmanned aerial vehicle identification information, position information, and remaining battery level information from the unmanned aerial vehicle 2, it performs the operation of step S205. The determination unit 33 does not perform the operation of step S204. The setting unit 42 of the charging facility determination device 4 performs the operation of step S206. The determination unit 43 determines at least one candidate for the charging facility to be used by the unmanned aerial vehicle 2 in step S207, and the transmission unit 45 transmits the facility position information and time zone information of the charging facility determined in step S208 to the control device 3 in association with each other. The control device 3 that has received an operation input for selecting a charging facility of the user via an input / output interface (not shown) of the control device 3 requests the charging facility determination device 4 for permission to use the selected charging facility according to the operation input of the user. The determination unit 43 of the charging facility determination device 4 updates the charging facility management information stored in the facility information storage unit 46 for the selected charging facility. The transmission unit 45 of the charging facility determination device 4 performs the operation of step S208 for the selected charging facility. The control device 3 performs the operations from step S209 to step S210. The unmanned aerial vehicle 2 performs the operation of step S211.

[0114] Next, with reference to FIG. 6, the operation of the charging facility determination device 4 will be described. The operation in FIG. 6 details the operations from step S206 to step S208 in FIG. 5.

[0115] The acquisition unit 41 acquires information capable of grasping the flight range of the unmanned aerial vehicle 2 by receiving the unmanned aerial vehicle identification information, information capable of grasping the flight range, and flight plan information of the unmanned aerial vehicle 2 from the control device 3 (step S301).

[0116] The setting unit 42 sets the priority for the unmanned aerial vehicle 2 to use a charging facility according to the application (step S302).

[0117] The calculation unit 44 calculates the flight range based on the information capable of grasping the flight range acquired by the acquisition unit 41 (step S303).

[0118] The determination unit 43 determines a charging facility to be used by the unmanned aircraft 2 based on the flyable range calculated by the calculation unit 44 and the priority (step S304).

[0119] The determination unit 43 determines the time period during which the determined charging facility is to be used by the unmanned aircraft 2 (step S305). The determination unit 43 updates the charging facility management information stored in the facility information storage unit 46 for the determined charging facility (step S306).

[0120] The transmission unit 45 transmits, to the control device 3, the unmanned aircraft identification information of the unmanned aircraft 2, the facility position information of the determined charging facility, and the time period information in association with each other (step S307).

[0121] As described above, the charging facility determination device 4 of the present embodiment acquires information capable of grasping the flyable range of the unmanned aircraft 2, and sets the priority for using the charging facility for the unmanned aircraft 2 according to the application. The charging facility determination device 4 determines a charging facility to be used by the unmanned aircraft 2 based on the flyable range calculated based on the information capable of grasping the flyable range and the priority. By determining the charging facility to be used by the unmanned aircraft 2 based on the flyable range and the priority, the determined charging facility can be used by the unmanned aircraft 2. Thereby, it is possible to reduce the waiting for charging at the charging facility of the unmanned aircraft.

[0122] Further, the charging facility determination device 4 of the present embodiment determines a charging facility to be used by the unmanned aircraft according to the flyable range and the priority. Thereby, even when workers evacuate from the charging area in the event of an earthquake or wildfire and the battery of the unmanned aircraft 2 cannot be charged by the workers, or in the case of an unmanned charging area, the battery of the unmanned aircraft 2 can be charged according to the priority. One or two or more unmanned aircraft can be automatically charged without human intervention.

[0123] In addition, each time the charging facility determination device 4 acquires information that enables it to grasp the flight range of the unmanned aerial vehicle from the control device 3 that has received the remaining battery level information transmitted in association with the remote ID or unmanned aerial vehicle identification information from the unmanned aerial vehicle to be charged, the charging facility determination device 4 determines the charging facility. As a result, the charging facility determination device 4 can manage the charging facilities to be used by the unmanned aerial vehicle in real time according to the priorities.

[0124] In addition, the charging facility determination device 4 of the present embodiment sets the priority of the unmanned aerial vehicle 2 using two or more predetermined conditions. As a result, even when the priorities for a certain predetermined condition among the predetermined conditions are equal, the charging facility determination device 4 of the present embodiment can determine the charging facility for the unmanned aerial vehicle 2 based on the priorities of the other conditions.

[0125] In addition, the charging facility determination device 4 of the present embodiment determines to use, for the unmanned aerial vehicle 2, a charging facility that is on the planned flight route of the unmanned aerial vehicle 2 among the available charging facilities. As a result, the charging facility determination device 4 can charge the battery of the unmanned aerial vehicle 2 with the charging facility on the route of the unmanned aerial vehicle 2.

[0126] [Modification Example of the Second Embodiment] The charging facility determination device according to the modification example of the second embodiment is different from the charging facility determination device 4 of the second embodiment in that it excludes other unmanned aerial vehicles from the charging facilities determined for the unmanned aerial vehicle 2.

[0127] The determination unit of this modification example determines, as the charging facility to be used by the unmanned aerial vehicle 2, the charging facility used by another unmanned aerial vehicle associated with a priority lower than the priority indicated by the priority information set by the setting unit 42.

[0128] The determination unit of this modification example predicts the remaining battery level to be charged to the battery of another unmanned aerial vehicle at the scheduled date and time when the unmanned aerial vehicle 2 is to use the charging facility. For example, the scheduled date and time is the date and time when the unmanned aerial vehicle 2 reaches the position indicated by the facility position information of the charging facility from the current position.

[0129] When the determination unit predicts that the amount of power that another unmanned aerial vehicle can reach the destination will be charged to the battery of another unmanned aerial vehicle, it performs the following operations. The determination unit updates the charging facility management information of another unmanned aerial vehicle so that another unmanned aerial vehicle uses the charging facility by the scheduled date and time. Also, the determination unit requests the control device that controls another unmanned aerial vehicle via the transmission unit 45 to control another unmanned aerial vehicle so that it heads to the destination of another unmanned aerial vehicle at the scheduled date and time. Specifically, the determination unit requests the control device of another unmanned aerial vehicle to control another unmanned aerial vehicle so that it heads to the destination after being charged at the charging facility determined for the unmanned aerial vehicle 2 by the scheduled date and time.

[0130] When the determination unit predicts that the amount of power that another unmanned aerial vehicle can reach the destination will not be charged to the battery of another unmanned aerial vehicle, it performs the following processing. The determination unit determines the charging facility to be used by another unmanned aerial vehicle next after the charging facility determined to be used by the unmanned aerial vehicle 2. The determination unit updates the charging facility management information of the charging facility used by another unmanned aerial vehicle, the charging facility management information of the charging facility to be used by another unmanned aerial vehicle next, and the charging facility management information of the charging facility related to the unmanned aerial vehicle 2. Also, the determination unit requests the control device that controls another unmanned aerial vehicle to control another unmanned aerial vehicle via the transmission unit 45. Specifically, the determination unit requests the control device of another unmanned aerial vehicle to control another unmanned aerial vehicle so that it heads to the charging facility determined to be used next after being charged at the charging facility determined for the unmanned aerial vehicle 2 by the scheduled date and time.

[0131] Alternatively, when the determination unit predicts that the amount of power that another unmanned aerial vehicle can reach at the destination cannot be charged to the battery of the other unmanned aerial vehicle, the following processing may be performed. The determination unit updates the charging facility management information of the other unmanned aerial vehicle so that the other unmanned aerial vehicle uses the charging facility by the scheduled date and time. The determination unit determines whether the other unmanned aerial vehicle can wait in the air from the date and time indicated by the start date and time information to the date and time indicated by the end date and time information based on the charging time until the date and time indicated by the start date and time information. When it is determined that it is possible to wait, the determination unit requests the control device of the other unmanned aerial vehicle to charge the other unmanned aerial vehicle with the charging facility determined for the unmanned aerial vehicle 2 by the scheduled date and time, and then wait for the other unmanned aerial vehicle in the air until the date and time indicated by the end date and time information of the unmanned aerial vehicle 2. Further, the determination unit requests the control device of the other unmanned aerial vehicle to reuse the same charging facility for the other unmanned aerial vehicle after the date and time indicated by the end date and time information of the unmanned aerial vehicle 2.

[0132] Note that when the determination unit predicts that the amount of power that another unmanned aerial vehicle can reach at the destination cannot be charged to the battery of the other unmanned aerial vehicle, it may not be necessary to determine the charging facility to be used by the unmanned aerial vehicle 2. The determination unit may determine the charging facility to be used by the unmanned aerial vehicle 2 from other available charging facilities and the charging facilities used by other unmanned aerial vehicles.

[0133] By performing the processing in this way, the charging facility determination device of this modification example can determine the charging facility used by another unmanned aerial vehicle whose priority is lower than that of the unmanned aerial vehicle 2 as the charging facility to be used by the unmanned aerial vehicle 2. Further, since the charging facility determination device 4 requests the control device of the other unmanned aerial vehicle to perform control according to the power storage amount at the scheduled date and time of the other unmanned aerial vehicle, it is possible to balance the charging of the other unmanned aerial vehicle and the charging of the unmanned aerial vehicle 2.

[0134] [Hardware Configuration Example] The procedures shown in the above-described embodiments can be realized by a charging facility determination program that causes an information processing apparatus (computer) functioning as a charging facility determination apparatus to realize these functions. The information processing apparatus executes a charging facility determination method according to the program. Hereinafter, a configuration example of hardware resources for realizing each of the charging facility determination apparatuses (1, 4) in the above-described embodiments of the present invention using one information processing apparatus (computer) will be described. Note that the charging facility determination apparatus may be realized using at least two information processing apparatuses physically or functionally. Further, the charging facility determination apparatus may be realized as a dedicated apparatus. Also, only some functions of the charging facility determination apparatus may be realized using an information processing apparatus.

[0135] FIG. 7 is a diagram schematically showing a hardware configuration example of an information processing apparatus capable of realizing the charging facility determination apparatus according to each embodiment of the present invention. The information processing apparatus 5 includes a communication interface 51, an input / output interface 52, an arithmetic unit 53, a storage device 54, a nonvolatile storage device 55, and a drive device 56.

[0136] For example, the acquisition unit 11 of the charging facility determination apparatus 1 in FIG. 1 can be realized by the communication interface 51 and the arithmetic unit 53. The setting unit 12 and the determination unit 13 of the charging facility determination apparatus 1 in FIG. 1 can be realized by the arithmetic unit 53.

[0137] The communication interface 51 is a communication means for the charging facility determination apparatus of each embodiment to communicate with an external apparatus by wire or / and wirelessly. Note that when the charging facility determination apparatus is realized using at least two information processing apparatuses, they may be connected so as to be able to communicate with each other via the communication interface 51.

[0138] The input / output interface 52 is a man-machine interface such as a keyboard as an example of an input device and a display as an output device.

[0139] The arithmetic unit 53 is implemented by an arithmetic processing unit such as a general-purpose CPU (Central Processing Unit) or a microprocessor, or a plurality of electric circuits. The arithmetic unit 53 can, for example, read various programs stored in the non-volatile storage device 55 into the storage device 54 and execute processing according to the read programs.

[0140] The storage device 54 is a memory device such as a RAM (Random Access Memory) that can be referenced by the arithmetic unit 53, and stores programs, various data, and the like. The storage device 54 may be a volatile memory device.

[0141] The non-volatile storage device 55 is a non-volatile storage device such as a ROM (Read Only Memory) or a flash memory, and can store various programs, data, and the like.

[0142] The drive device 56 is a device that processes, for example, reading and writing of data to the recording medium 57 described later.

[0143] The recording medium 57 is an arbitrary recording medium capable of recording data, such as an optical disk, a magneto-optical disk, or a semiconductor flash memory.

[0144] Each embodiment of the present invention may configure a charging facility determination device by the information processing device 5 illustrated in FIG. 7, for example. And each embodiment of the present invention may be realized by supplying a program capable of realizing the functions described in the above embodiments to this charging facility determination device.

[0145] In this case, the embodiments can be realized by the arithmetic unit 53 executing the program supplied to the charging facility determination device. Also, it is possible to configure not all but some of the functions of the charging facility determination device by the information processing device 5.

[0146] Furthermore, the above program may be recorded on a recording medium 57, and the charging facility determination device may be configured such that the above program is appropriately stored in the non-volatile memory device 55 at the shipping stage or the operation stage of the charging facility determination device. In this case, as the method for supplying the above program, a method of installing it into the charging facility determination device using an appropriate jig may be adopted at the manufacturing stage before shipping or the operation stage. Also, as the method for supplying the above program, a general procedure such as a method of downloading from the outside via a communication line such as the Internet may be adopted.

[0147] Some or all of the above embodiments may be described as follows in the appended claims, but are not limited thereto.

[0148] (Appended Claim 1) An acquisition means for acquiring information capable of grasping the flight endurance range of the unmanned aircraft, A setting means for setting the priority for using a charging facility for the unmanned aircraft according to the application, Based on the flight endurance range calculated by the calculation means based on the information, and based on the priority, a determination means for determining the charging facility to be used for the unmanned aircraft A charging facility determination device comprising:

[0149] (Appended Claim 2) When the remaining battery level of the unmanned aircraft indicated by the information acquired by the acquisition means is less than a predetermined value, the setting means sets a higher priority The charging facility determination device according to Appended Claim 1.

[0150] (Appended Claim 3) The setting means sets the priority based on the work start date and time of the unmanned aircraft and the current date and time The charging facility determination device according to Appended Claim 1 or Appended Claim 2.

[0151] (Appended Claim 4) The determination means determines that among the available charging facilities, the charging facility on the planned flight route of the unmanned aircraft is to be used by the unmanned aircraft The charging facility determination device according to any one of Appendices 1 to 3.

[0152] (Appendix 5) The setting means sets different priorities for each of the plurality of unmanned aerial vehicles. The charging facility determination device according to any one of Appendices 1 to 4.

[0153] (Appendix 6) Obtain information capable of grasping the available flight range of the unmanned aerial vehicle, Set the priority for the unmanned aerial vehicle to use the charging facility according to the application, Based on the available flight range calculated based on the information and the priority, determine the charging facility to be used by the unmanned aerial vehicle. Charging facility determination method.

[0154] (Appendix 7) Furthermore, when the power storage amount of the unmanned aerial vehicle indicated by the obtained information is less than a predetermined value, set a higher priority. The charging facility determination method according to Appendix 6.

[0155] (Appendix 8) Set the priority based on the work start date and time of the unmanned aerial vehicle and the current date and time. The charging facility determination method according to Appendix 6 or Appendix 7.

[0156] (Appendix 9) Among the available charging facilities, determine that the charging facility on the planned flight route of the unmanned aerial vehicle is to be used by the unmanned aerial vehicle. The charging facility determination method according to any one of Appendices 6 to 8.

[0157] (Appendix 10) Set different priorities for each of the plurality of unmanned aerial vehicles. The charging facility determination method according to any one of Appendices 6 to 9.

[0158] (Appendix 11) To the computer, An acquisition function for acquiring information capable of grasping the available flight range of the unmanned aircraft, A setting function for setting the priority for causing the unmanned aircraft to use a charging facility according to the application, A determination function for determining a charging facility to be used by the unmanned aircraft based on the available flight range calculated by a calculation function based on the information and the priority A computer-readable recording medium on which a charging facility determination program for realizing the above is recorded.

[0159] (Appendix 12) When the power storage amount of the unmanned aircraft indicated by the information acquired by the acquisition function is less than a predetermined value, the setting function further sets a higher priority. A computer-readable recording medium on which the charging facility determination program described in Appendix 11 is recorded.

[0160] (Appendix 13) The setting function sets the priority based on the work start date and time of the unmanned aircraft and the current date and time. A computer-readable recording medium on which the charging facility determination program described in Appendix 11 or Appendix 12 is recorded.

[0161] (Appendix 14) The determination function determines to cause the unmanned aircraft to use a charging facility on the planned flight route of the unmanned aircraft among the available charging facilities. A computer-readable recording medium on which the charging facility determination program described in any one of Appendices 11 to 13 is recorded.

[0162] (Appendix 15) The setting function sets different priorities for each of a plurality of unmanned aircraft. A computer-readable recording medium on which the charging facility determination program described in any one of Appendices 11 to 14 is recorded.

[0163] Although the present invention has been described with reference to the embodiments above, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

Explanation of Signs

[0164] 1, 4 Charging Facility Determination Device 11, 41 Acquisition Unit 12, 42 Setting Unit 13, 43 Determination Unit 44 Calculation Unit 45 Transmission Unit 46 Facility Information Storage Unit 2 Unmanned Aerial Vehicle 21 Position Measurement Unit 22 Battery Capacity Calculation Unit 23 Transmission / Reception Unit 24 Flight Control Unit 3 Control Device 31 Transmission / Reception Unit 32 Calculation Unit 33 Judgment Unit 34 Control Information Generation Unit 35 Flight Plan Storage Unit 36 Unmanned Aerial Vehicle Information Storage Unit 5 Information Processing Device 51 Communication Interface 52 Input / Output Interface 53 Arithmetic Unit 54 Storage Device 55 Non-Volatile Storage Device 56 Drive Device 57 Recording Medium

Claims

1. An acquisition means for acquiring information capable of grasping the sustainable flight range of the unmanned aircraft, A setting means for setting the priority for the unmanned aircraft to use a charging facility by using a predetermined relationship between the priority for the unmanned aircraft to use a charging facility and the use of the unmanned aircraft, A determination means for determining a charging facility to be used for the unmanned aircraft based on the sustainable flight range calculated by the calculation means based on the information and the priority A charging facility determination device comprising the same.

2. When the remaining power amount of the unmanned aircraft indicated by the information acquired by the acquisition means is less than a predetermined value, the setting means sets a higher priority. The charging facility determination device according to claim 1.

3. The setting means sets the priority based on the operation start date and time of the unmanned aircraft and the current date and time. The charging facility determination device according to claim 1 or claim 2.

4. The determination means determines to use, for the unmanned aircraft, a charging facility that is on the planned flight route of the unmanned aircraft among the available charging facilities. The charging facility determination device according to any one of claims 1 to 3.

5. The setting means sets different priorities for each of a plurality of unmanned aircraft. The charging facility determination device according to any one of claims 1 to 4.

6. Acquire information capable of grasping the sustainable flight range of the unmanned aircraft, Set the priority for the unmanned aircraft by using a predetermined relationship between the priority for the unmanned aircraft to use a charging facility and the use of the unmanned aircraft, Determine a charging facility to be used for the unmanned aircraft based on the sustainable flight range calculated based on the information and the priority. A charging facility determination method.

7. Further, when the power storage amount of the unmanned aerial vehicle indicated by the acquired information is less than a predetermined value, set the higher priority The charging facility determination method according to claim 6.

8. Set the priority based on the work start date and time of the unmanned aerial vehicle and the current date and time The charging facility determination method according to claim 6 or claim 7.

9. Among the available charging facilities, determine that the charging facility on the planned flight route of the unmanned aerial vehicle is to be used by the unmanned aerial vehicle The charging facility determination method according to any one of claims 6 to 8.

10. On a computer, An acquisition function for acquiring information capable of grasping the flight range of the unmanned aerial vehicle, A setting function for setting the priority for the unmanned aerial vehicle using a predetermined relationship between the priority for using a charging facility for the unmanned aerial vehicle and the use of the unmanned aerial vehicle, A determination function for determining a charging facility to be used for the unmanned aerial vehicle based on the flight range calculated by the calculation function based on the information and the priority A charging facility determination program for realizing the above.

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