Route guidance system, route selection device, and route guidance method

Abstract

To perform an appropriate route guidance using an unmanned flying object.SOLUTION: A route guidance system 1 comprises: a situation information acquisition device 10 for acquiring situation information about a situation of a first route along which a route guidance target is currently being guided; a route selection device 30 for determining whether or not there is a situation that hinders a use of the first route by analyzing the situation information received from the situation information acquisition device 10, and selects a second route different from the first route as a new route to guide the route guidance target when there is the situation that hinders the use of the first route; and an unmanned flying object 70 that guides a route guidance target from the first route to the second route.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a route guidance system for guiding a route by an unmanned aerial vehicle, a route selection device for selecting a route to be guided, and a route guidance method for guiding a route by an unmanned aerial vehicle.

Background Art

[0002] In a disaster area or the like, it is known to use an unmanned aerial vehicle such as a drone to guide a route for people to evacuate to a safe place. For example, Patent Document 1 discloses a system including a drone body, a pilot transceiver possessed by a pilot who operates the drone body or an assistant mainly in charge of evacuation guidance, a drone-side transceiver that receives the voice transmitted from the pilot transceiver, and a speaker that diffuses the voice output from the drone-side transceiver. In this system, the pilot or the assistant uses the pilot transceiver to give an evacuation guidance instruction, and the evacuation guidance instruction is diffused from the drone, so that evacuation guidance can be given to people.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above system, the drone itself that conducts evacuation guidance photographs the situation at the disaster site with a sub-camera, and the pilot or the assistant confirms the photographed video of the disaster site, so that evacuation guidance is carried out. However, in the conventional system, the evacuation route to be guided has not been appropriately changed based on the situation at the disaster site. That is, appropriate evacuation route guidance according to the situation at the disaster site has not been carried out.

[0005] In view of the above viewpoints, an object of the present disclosure is to perform appropriate route guidance in route guidance using an unmanned aerial vehicle.

Means for Solving the Problems

[0006] To solve the above problems, according to one aspect of the present disclosure, a route guidance system for guiding a route guidance target to a predetermined route includes a situation information acquisition device that acquires situation information regarding the situation of a first route on which the route guidance target is currently being guided, and by analyzing the situation information received from the situation information acquisition device, determines whether there is a situation that obstructs the use of the first route. When there is a situation that obstructs the use of the first route, a route selection device that selects a second route different from the first route as a new route for guiding the route guidance target, and a first unmanned aerial vehicle that guides the route guidance target from the first route to the second route.

[0007] According to another aspect of the present disclosure, a route selection device that selects a route for guiding a route guidance target includes a determination unit that determines whether there is a situation that obstructs the use of a first route by analyzing situation information regarding the situation of the first route on which the route guidance target is currently being guided, and when the determination unit determines that there is a situation that obstructs the use of the first route, a selection unit that selects a second route different from the first route as a new route for guiding the route guidance target, and a command unit that commands the first unmanned aerial vehicle to guide the route guidance target from the first route to the second route.

[0008] According to still another aspect of the present disclosure, a route guidance method for guiding a route guidance target to a predetermined route includes a step of acquiring situation information regarding the situation of a first route on which the route guidance target is currently being guided, a step of determining whether there is a situation that obstructs the use of the first route by analyzing the acquired situation information, a step of selecting, when there is a situation that obstructs the use of the first route, a second route different from the first route as a new route for guiding the route guidance target, and a step of causing the first unmanned aerial vehicle to guide the route guidance target from the first route to the second route.

Advantages of the Invention

[0009] In the route guidance system, route selection device, and route guidance method according to the present disclosure, situation information regarding a wider range of a first route is acquired, not only in the vicinity of a first unmanned aerial vehicle that guides a route, and based on this situation information, the situation of a wide range of the first route currently in use can be grasped, so that more appropriate route guidance can be realized.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, a more detailed description may be omitted as necessary. For example, a detailed description of already well-known matters or a redundant description of substantially the same configuration may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0012] In the following description, a "route guidance target" is a target guided by a route guidance system 1 described below. The route guidance target is, for example, a human. In addition to humans, for example, a vehicle, a robot, an animal, etc., a target that can be guided to a predetermined route by an external command or signal can be a route guidance target.

[0013] In addition, the "situation that hinders the use of the route" means a situation that hinders the use of the currently used route, and includes not only situations (events) that make the route unusable, but also situations (events) that make it difficult to use the route. For example, a situation where the used route is damaged by ground cracks or the like, a situation where the used route is blocked by a landslide or the like, a situation where it is difficult to pass because the used route is congested, a situation where a part of the used route is blocked and it is difficult to pass, a situation where the route cannot be used because construction work is in progress, etc. can be regarded as the "situation that hinders the use of the route". What kind of situation is regarded as the "situation that hinders the use of the route" can be appropriately determined according to the place where the route guidance system described below guides the route, etc.

[0014] Hereinafter, each embodiment of the present invention will be described.

[0015] 1. Embodiment 1 The route guidance system 1 described below is used for the purpose of guiding a route guidance target to an appropriate route using an unmanned aerial vehicle at a predetermined location. Specifically, for example, at a disaster site, the unmanned aerial vehicle is flown to the vicinity of the route guidance target (for example, an evacuation target person), and then flown along the route to be guided by the unmanned aerial vehicle, so that it can be used for the purpose of guiding the route to the route guidance target. Also, for example, at a large-scale event having a plurality of booths, the unmanned aerial vehicle is flown to a predetermined position in the event venue, and while suppressing the flow of the route guidance target (for example, a sightseer) to the congested booths for the unmanned aerial vehicle, it can be used for the purpose of instructing to guide the route guidance target to the vacant booths. Further, for example, it can be used for the purpose of guiding the route guidance target (for example, a tourist) to a more appropriate tourist route in tourist guidance at a tourist destination.

[0016] 1-1. Configuration 1-1-1. Configuration of the route guidance system FIG. 1 schematically shows the overall configuration of a route guidance system 1 according to the present embodiment. The route guidance system 1 includes a situation information acquisition device 10, a route selection device 30 capable of communicating with the situation information acquisition device 10 via a network N, a control terminal 50 capable of communicating with the route selection device 30 via the network N, and an unmanned aerial vehicle 70 (an example of a first unmanned aerial vehicle) capable of wireless communication with the control terminal 50 and controlled by the control terminal 50 to fly.

[0017] The situation information acquisition device 10 acquires situation information regarding the situation of the route on which the route guidance target is currently being guided by the route guidance system 1. The situation information acquisition device 10 is, for example, an unmanned aerial vehicle (an example of a second unmanned aerial vehicle) having a camera that acquires, as situation information, an image (a still image and / or a moving image) of the situation of the route by flying along the route on which the route guidance target is currently being guided. Since the situation information acquisition device 10 is an unmanned aerial vehicle, the situation of a wide range of the currently guided route can be grasped. Further, when an existing camera device that can be used as the situation information acquisition device 10 fails and situation information cannot be acquired, the unmanned aerial vehicle is flown to the location where the camera device is installed, and the situation information of the location can be acquired by this unmanned aerial vehicle.

[0018] Note that the unmanned aerial vehicle having the function of the situation information acquisition device 10 is a different flying object from the unmanned aerial vehicle 70 that performs route guidance. However, the unmanned aerial vehicle having the function of the situation information acquisition device 10 may also have a function of performing route guidance, or the unmanned aerial vehicle 70 that performs route guidance may have a function of acquiring situation information.

[0019] Further, the situation information acquisition device 10 may be, for example, an existing camera disposed on the route on which the route guidance target is currently being guided or in the vicinity thereof. Thereby, it is not necessary to newly provide a separate unmanned aerial vehicle, camera, or the like in order to acquire an image of the situation of the route as situation information.

[0020] Furthermore, the situation information acquisition device 10 may include both a drone flying along a route for acquiring situation information and an existing camera installed on or near the route for acquiring situation information. As a result, more situation information can be acquired, so that the situation of the route currently being guided for the route guidance target can be grasped more accurately.

[0021] Also, the situation information acquired by the situation information acquisition device 10 is not limited to an image capturing the situation of the route. For example, the situation information acquisition device 10 may receive information regarding the opening / closing of a store located at the destination from the store and use this information as situation information.

[0022] Furthermore, the situation information acquisition device 10 may use information regarding an obstacle existing on the currently guided route as situation information. For example, information regarding the congestion situation of a store on the currently guided route can be acquired as situation information. Also, for example, information forecasting the occurrence of a disaster such as a tsunami arrival prediction can be acquired as situation information. As a result, for example, it is possible to predict the possibility of congestion or a disaster that becomes an obstacle on the currently guided route and guide the route guidance target to a new route different from the currently guided route.

[0023] The route selection device 30 transmits a route guidance command for causing the drone 70 to perform route guidance to the operation terminal 50. The route guidance command includes, for example, a flight route to the route guidance target and a flight route along the route for guiding the route guidance target. The drone 70 that has received this route guidance command moves to the location where the route guidance target exists and then flies along the route for guiding the route guidance target. When flying along the route to be guided, the drone 70 flies in a state of leading the route guidance target or following the route guidance target. As a result, it is possible to realize route guidance such that the route guidance target follows the drone 70 flying along the route to be guided or the drone 70 guides the route from behind the route guidance target.

[0024] In addition, the route guidance command may include voice content that the unmanned aerial vehicle 70 is to broadcast. The voice content to be broadcast by the unmanned aerial vehicle 70 is for guiding the route guidance target by voice, and for example, it can be content such as "Please come this way", content such as "Please change the destination", and content such as "The currently guided route cannot be used, so please use this route". This allows the route guidance target to more clearly recognize the guided route.

[0025] The above voice content may be voice content in a language other than Japanese. Also, the voice content may include voice content in Japanese and voice content in a language other than Japanese. In this case, the voice content in a language other than Japanese may be broadcast together with the voice content in Japanese.

[0026] Furthermore, the route guidance command may include route data of the route for guiding the route guidance target. Thereby, the unmanned aerial vehicle 70 can transmit, for example, the route data included in the route guidance command to a terminal or the like possessed by the route guidance target. Also, by having the terminal or the like possessed by the route guidance target display the received route data, the route guidance target can visually confirm the currently guided route.

[0027] While causing the unmanned aerial vehicle 70 to perform route guidance, the route selection device 30 receives the status information of the route on which the route guidance target is currently being guided from the status information acquisition device 10, and analyzes the received status information to determine the status of the route on which the route guidance target is currently being guided. Based on this determination result, the route selection device 30 selects the route for guiding the route guidance target. When changing the route for guiding the route guidance target, the route selection device 30 transmits a new route guidance command to the control terminal 50.

[0028] The control terminal 50 receives a route guidance command from the route selection device 30 and causes the unmanned aerial vehicle 70 to execute an operation according to the route guidance command. Specifically, for example, the unmanned aerial vehicle 70 is flown automatically or manually to the sky above the route guidance target, and then flown along the route to be guided for the unmanned aerial vehicle 70. The network N includes a wired LAN (Local Area Network), a wireless LAN, a WAN (Wide Area Network), and / or the Internet, etc.

[0029] 1-1-2. Configuration of Route Selection Device The route selection device 30 shown in FIG. 2 is a computer device that functions as a server or the like, and includes a control unit 31, a storage unit 32, and a communication unit 39. The control unit 31 is an electronic circuit such as a CPU (Central Processing Unit). The control unit 31 operates as an arithmetic processing device and a control device, and controls the route selection device 30 according to various programs to execute the functions described later. The storage unit 32 is a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), an SSD (Solid State Drive), a FeRAM (Ferroelectric Random Access Memory), or the like. The ROM, HDD, SSD, FeRAM, etc. store programs, arithmetic parameters, arithmetic results, etc. used by the control unit 31. The RAM temporarily stores programs used in the execution of the functions of the control unit 31 and parameters that change as appropriate during the execution. The communication unit 39 is, for example, a network interface card for connecting to a wired LAN or the Internet. The communication unit 39 may be a wireless communication interface for connecting to a base station or a communication interface corresponding to a wireless LAN.

[0030] When a plurality of routes to be guided, such as evacuation routes, are determined in advance, the storage unit 32 of the route selection device 30 may store the plurality of predetermined routes as candidate routes that are candidates for the routes to guide the route guidance target. When a plurality of candidate routes are stored in the storage unit 32, the route for guiding the route guidance target is selected from the candidate routes stored in the storage unit 32. Thereby, the route to guide the route guidance target can be quickly determined. Further, the storage unit 32 may store voice content to be amplified to the unmanned aerial vehicle 70.

[0031] The control unit 31 executes the functions of the determination unit 311, the selection unit 312, and the command unit 313 by executing a program read from the storage unit 32.

[0032] The determination unit 311 receives, via the communication unit 39, situation information regarding the situation of the route currently guiding the route guidance target from the situation information acquisition device 10. The determination unit 311 analyzes the situation information received from the situation information acquisition device 10 to determine whether there is a situation that obstructs the use of the currently guided route. Specifically, when the situation information is an image capturing the situation of the route, the determination unit 311 executes image recognition processing on the received situation information and extracts the situation of the route included in the situation information. When the extracted situation of the route includes a situation that obstructs the use of the route (for example, destruction of the route, closure of the route due to landslide, etc., a large number of people existing on the route or at the destination, etc.), the determination unit 311 determines that there is a situation that obstructs the use of the currently guided route.

[0033] Further, when the situation information is other than an image capturing the situation of the route, the determination unit 311 determines the situation of the currently guided route based on the content of the received situation information.

[0034] The selection unit 312 selects a route for guiding the route guidance target. The selection unit 312 selects a route to be guided from among a plurality of candidate routes stored in the storage unit 32. When there is no appropriate route in the storage unit 32, etc., the selection unit 312 may instruct an external route search device (not shown) to search for a route to be guided, and acquire the route found as a result of the search as the route to be guided. Alternatively, the selection unit 312 may generate a route for guiding the route guidance target according to a predetermined algorithm.

[0035] Further, when the determination unit 311 determines that there is a situation that hinders the use of the currently guided route, the selection unit 312 changes the route to be guided.

[0036] The command unit 313 generates a route guidance command for instructing the unmanned aerial vehicle 70 to guide the route guidance target to the route selected by the selection unit 312, and transmits it to the operation terminal 50 via the communication unit 39. Specifically, the command unit 313 generates a route guidance command including a flight route to the route guidance target and a flight route along the route selected by the selection unit 312. Also, when it is desired to amplify the voice content for route guidance from the unmanned aerial vehicle 70, the command unit 313 may read out the voice content to be amplified from the storage unit 32 and include it in the route guidance command. The voice content to be included in the route guidance command is not limited to that stored in the storage unit 32, and may be acquired from an external database or server via the communication unit 39 and the network N. Alternatively, the voice content may be input via an input device (not shown) connected to the route selection device 30. This input device is, for example, a microphone, keyboard, touch panel, etc.

[0037] When the voice content includes voice content in a language other than Japanese, the command unit 313 may generate voice content obtained by translating the voice content in the other language into Japanese or another language, and include it in the route guidance command. Also, both the voice content in the other language and the voice content obtained by translating it into Japanese or another language may be included in the route guidance command.

[0038] 1-1-3. Configuration of the Control Terminal The control terminal 50 shown in FIG. 2 is a computer device for executing the control of the unmanned aerial vehicle 70 by wireless communication, and includes a control unit 51, a storage unit 52, an input unit 56, a display unit 57, and a wireless communication unit 59. The control unit 51 is an electronic circuit such as a CPU, and operates as an arithmetic processing device and a control device. The control unit 51 controls the control terminal 50 according to various programs in order to execute the functions described later. The storage unit 52 is a semiconductor memory such as a ROM, a RAM, or a flash memory. The ROM and the flash memory store programs, arithmetic parameters, arithmetic results, etc. used by the control unit 51. The RAM temporarily stores programs used in the execution of the functions of the control unit 51 and parameters that change as appropriate during the execution thereof. The input unit 56 includes a joystick, buttons, a touch panel, etc., and controls the flight of the unmanned aerial vehicle 70 by the input operation of the operator. The input unit 56 also receives an input for controlling the directions of a speaker, a microphone, and a camera mounted on the unmanned aerial vehicle 70. The display unit 57 is composed of a liquid crystal display device or an organic EL display device. The display unit 57 displays information regarding the route guidance command received from the route selection device 30 and the route during flight. The display unit 57 also displays video and images captured by the camera of the unmanned aerial vehicle 70.

[0039] The wireless communication unit 59 may be, for example, a wireless communication interface for connecting to a base station. Further, the wireless communication unit 59 may be a communication interface corresponding to a wireless LAN.

[0040] By executing the program read from the storage unit 52, the control unit 51 performs the functions of the flight instruction unit 511 and the voice amplification instruction unit 512. The flight instruction unit 511 extracts the flight route of the unmanned aircraft 70 from the route guidance command received from the route selection device 30, and transmits a flight instruction corresponding to the extracted flight route to the unmanned aircraft 70. When the route guidance command received from the route selection device 30 includes voice content, the voice amplification instruction unit 512 extracts the voice content from the route guidance command and transmits the extracted voice content to the unmanned aircraft 70.

[0041] 1-1-4. Configuration of Unmanned Aircraft FIG. 3 shows the front external appearance of the unmanned aircraft 70, and FIG. 4 shows an example of the overall configuration of the unmanned aircraft 70. The unmanned aircraft 70 is an unmanned aircraft capable of remote control and automatic flight, and performs flight operations such as ascending, advancing, rotating, and descending according to a flight instruction from the control terminal 50. The unmanned aircraft 70 includes a main body 70a, a plurality of arms 70b radially extending horizontally from the main body 70a, a plurality of legs 70c extending downward, and rotors 75 attached to the upper tips of the respective legs 70c. The unmanned aircraft 70 flies by the lift generated by rotating the rotors 75 by the rotation of the motors 76. The unmanned aircraft 70 also generates a reaction force by changing the rotation direction of some of the rotors 75 to prevent the main body 70a itself from rotating. A speaker 82 is attached to the main body 70a of the unmanned aircraft 70 facing downward. The speaker 82 amplifies the voice during the flight of the unmanned aircraft 70. The speaker 82 can change the angle in the vertical direction indicated by the arrow by a speaker direction control mechanism 81. Thereby, the voice amplification direction of the speaker 82 can be changed to the downward direction or the front-rear direction.

[0042] As shown in FIG. 4, the unmanned aircraft 70 includes, as components for flight, a control device 71, a storage device 72, a sensor group 73, a GPS receiver 74, a battery 78, and a wireless communication device 79. The control device 71 is an electronic circuit such as a CPU and functions as an arithmetic processing device and a control device. The control device 71 controls the unmanned aircraft 70 according to various programs to execute the functions described later. The storage device 72 is a memory such as a ROM, a RAM, or a flash memory. The ROM and the flash memory store programs, arithmetic parameters, arithmetic results, etc. used by the control device 71. The RAM temporarily stores programs used in the execution of the functions of the control device 71 and parameters that change as appropriate during the execution thereof.

[0043] The sensor group 73 includes an acceleration sensor and an angular velocity sensor that detect acceleration and angular velocity for attitude control of the unmanned aircraft 70, a barometric pressure sensor for detecting the altitude of the unmanned aircraft 70, a geomagnetic sensor for detecting the azimuth of the unmanned aircraft 70, and the like. The GPS receiver 74 includes an antenna and a signal processing unit and receives signals from GPS satellites to detect the position information of the unmanned aircraft 70. The battery 78 stores electric power necessary for the operation of the unmanned aircraft 70 and supplies it to each part. The wireless communication device 79 includes a wireless communication interface for wireless communication with the operation terminal 50.

[0044] The unmanned aircraft 70 further includes a microphone direction control mechanism 83, a microphone 84, a camera direction control mechanism 85, and a camera 86. The microphone 84 can change the sound collection direction by changing the angle in the vertical direction in the same manner as the speaker 82 by the microphone direction control mechanism 83. The camera 86 can change the shooting direction by changing the angle in the vertical direction in the same manner as the speaker 82 by the camera direction control mechanism 85.

[0045] The control device 71 executes the functions of the flight control unit 711, the voice control unit 712, and the image control unit 713 by executing a program read from the storage device 72. The flight control unit 711 controls the rotation speed and rotation velocity of the motor 76 according to a flight instruction from the control terminal 50 to execute the flight of the unmanned aircraft 70. Based on the output data of the above-described sensor group 73 and the GPS receiver 74, the flight control unit 711 acquires the inclination and rotation direction of the main body 70a shown in FIG. 3, and acquires position information including the latitude, longitude, altitude, and azimuth angle of the main body 70a during flight. The storage device 72 stores a program in which an algorithm for controlling the attitude and basic flight operations of the unmanned aircraft 70 during flight is implemented. The program flies the unmanned aircraft 70 while correcting the attitude and position of the main body 70a according to a flight instruction signal transmitted from the control terminal 50. The operation of the unmanned aircraft 70 may be manually performed by an operator using the control terminal 50, or may be autonomously flown along a flight route transmitted from the control terminal 50.

[0046] The voice control unit 712 amplifies voice content transmitted from the control terminal 50 and received via the wireless communication device 79 through the speaker 82. The voice control unit 712 controls the speaker direction control mechanism 81 so as to direct the speaker 82 in a desired direction. The voice control unit 712 also transmits the voice collected by the microphone 84 to the control terminal 50 via the wireless communication device 79. The image control unit 713 temporarily stores the video and images captured by the camera 86 in the storage device 72, and transmits them to the control terminal 50 via the wireless communication device 79.

[0047] 1-2. Operations With reference to FIG. 5, the operation of the route guidance system 1 shown in FIGS. 1 to 4 will be described. First, The selection unit 312 of the route selection device 30 determines an initial route (referred to as the first route) for guiding a route guidance target to a predetermined destination (S101).

[0048] Thereafter, the route guidance target is guided to the first route determined in step S101 (S102). Specifically, the command unit 313 of the route selection device 30 generates a route guidance command including a flight route to the route guidance target and a flight route for flying along the first route determined in step S101, and transmits it to the control terminal 50. As a result, the unmanned aerial vehicle 70 can first fly to the location where the route guidance target exists, and then fly along the first route to guide the route guidance target to the first route.

[0049] While guiding to the first route, the determination unit 311 of the route selection device 30 checks the status of the first route (S103). Specifically, the determination unit 311 receives the status information acquired by the status information acquisition device 10. More specifically, when the status information acquisition device 10 is an unmanned aerial vehicle, when some event occurs on the first route or in its vicinity, the unmanned aerial vehicle is flown to the site of the event or its vicinity, and an image taken of the site situation by the unmanned aerial vehicle can be acquired as the status information. On the other hand, when the status information acquisition device 10 is an existing camera device, a camera device existing at the site of the event or its vicinity is searched, and an image taken by the camera device found by the search can be acquired as the status information.

[0050] After acquiring the status information, the determination unit 311 analyzes the acquired status information to determine whether there is a situation that obstructs the use of the first route (S104). That is, the determination unit 311 determines whether the use of the first route has become impossible or difficult due to the occurrence of the above event.

[0051] If it is determined that there is no situation that obstructs the use of the first route (''No'' in S104), the guidance to the first route and the confirmation of the status of the first route are continued.

[0052] On the other hand, when it is determined that there is a situation that hinders the use of the first route (Yes in S104), the selection unit 312 of the route selection device 30 changes the route for guiding the route guidance target from the first route to a second route different from the first route (S105). Then, the route guidance target is guided to the second route selected in step S105 (S106).

[0053] The first route determined in step S101 is the optimal route to a predetermined destination. Here, the "optimal route" means the shortest and safest route to a predetermined destination. On the other hand, since the second route selected in step S105 is often a detour route, it may not necessarily be said to be the optimal route to a predetermined destination. Therefore, during the guidance to the second route, the determination unit 311 receives the status information of the first route acquired by the status information acquisition device 10, and analyzes the received status information to determine whether the situation that hinders the use of the first route has been resolved (S107).

[0054] When it is determined that the situation that hinders the use of the first route has not been resolved (No in step S107), the selection unit 312 continues the guidance to the second route (S108). On the other hand, when it is determined that the situation that hinders the use of the first route has been resolved (Yes in step S107), the selection unit 312 re-selects the first route as the route for guiding the route guidance target (S109). In this case, the selection unit 312 may generate a route that combines the first route and the second route as the route for guiding. Specifically, for example, a route can be generated by combining the route from the current position to a predetermined position on the second route, the route from the predetermined position to return to the first route, and the route from the position where the return to the first route is made to the destination of the first route (that is, the remaining first route).

[0055] The above steps S101 to S109 are repeatedly executed while the route guidance system 1 guides the route guidance target to a predetermined route.

[0056] 1-3. Features The route guidance method, route guidance system 1, and route selection device 30 that use the unmanned aircraft 70 according to the above-described embodiment acquire situation information regarding the situation of the route, and based on the situation information, determine whether a situation that hinders the use of the guided route has occurred, and based on this determination result, decide whether to change the route for guiding the route guidance target. Further, when the route selection device 30 changes the guided route, it commands the unmanned aircraft 70 to guide the route guidance target to the changed route. In this way, the route guidance method, route guidance system 1, and route selection device 30 that use the unmanned aircraft 70 according to the above-described embodiment can appropriately select an appropriate route according to the situation of the route and guide the route guidance target to the selected route.

[0057] 2. Other Embodiments As described above, each embodiment has been described as an example of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and is also applicable to embodiments in which appropriate changes, replacements, additions, omissions, etc. are made. In addition, it is also possible to combine the respective components described in the above embodiments to form a new embodiment. For example, the following embodiments are conceivable.

[0058] (1) The unmanned aircraft 70 to be flown for route guidance is not limited to one, and may be a plurality of unmanned aircraft 70. Further, among the plurality of unmanned aircraft 70, an unmanned aircraft 70 that has not performed route guidance may be used for acquiring situation information.

[0059] (2) The situation information acquisition device 10 for acquiring situation information is not limited to one, and a plurality of them may be provided.

[0060] (3) The route guidance system 1 according to the above embodiment includes the control terminal 50, but is not limited thereto. The route guidance system 1 may have a configuration in which a route guidance command is directly transmitted from the route selection device 30 to the unmanned aerial vehicle 70. Specifically, the route selection device 30 may be arranged as a part of the control system of the unmanned aerial vehicle 70, and the determined flight route may be automatically flown by the unmanned aerial vehicle 70 through remote communication via the communication unit 39.

[0061] (4) In the above embodiment, the movable situation information acquisition device 10 was an unmanned aerial vehicle, but is not limited thereto. For example, the situation information acquisition device 10 may be a moving body such as a drive recorder mounted on a vehicle or a rescue robot.

[0062] (5) When the above route guidance system 1 is used for route guidance of animals (for example, livestock), route guidance for the animals can be performed, for example, by amplifying a special sound (for example, a high-frequency sound) that the animal can hear from the unmanned aerial vehicle 70.

[0063] (6) In the above embodiment, each device or system can adopt a cloud computing configuration in which one function is shared and jointly processed by a plurality of devices via a network.

[0064] In the above embodiment, the device or system includes the case where it means a collection of a plurality of components (devices, modules (parts), etc.), and it does not matter whether all the components are in the same housing. Also, a plurality of devices housed in separate housings and connected via a network, and one device in which a plurality of modules are housed in one housing may both be referred to as a system in some cases.

[0065] Each step described in the above flowchart can be executed by one device or can be shared and executed by a plurality of devices. Further, when a plurality of processes are included in one step, the plurality of processes included in that one step can be executed by one device or can be shared and executed by a plurality of devices.

[0066] In the above embodiment, the control unit or control device of each device or equipment may include a processor composed of a dedicated electronic circuit designed to realize a predetermined function according to the functions required for each device or equipment. Further, the control unit or control device can be realized by various processors or electronic circuits such as an MPU, GPU, DSP, FPGA, ASIC, etc. in addition to the CPU. The control unit or control device may be composed of one or more processors.

[0067] Part or all of the storage unit or storage device of each device or equipment may be composed of any computer-readable recording medium, for example, an optical disk, magnetic disk, magneto-optical disk, magnetic tape, HDD, SD card, SSD, etc., according to the functions required for each device or equipment.

[0068] The above computer program is not limited to being recorded on a recording medium, and may be obtained via an electric communication line, a wireless or wired communication line, a network represented by the Internet, etc.

[0069] The communication unit or communication device of each device or equipment may be any communication interface, for example, a wireless LAN, wired LAN, 3G (3rd Generation), LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), millimeter wave wireless communication interface, according to the functions required for each device or equipment.

[0070] Each process of the above embodiment may be realized by hardware, or may be realized by software (including the case where it is realized together with an OS (operating system), middleware, or a predetermined library). Further, each process may be realized by a mixed process of software and hardware.

[0071] The execution order of the operations of the system, apparatus, or device in the above embodiment is not necessarily limited to the description in the above embodiment, and within the scope not departing from the gist of the invention, the execution order can be swapped, or a plurality of operations can be executed simultaneously.

Industrial Applicability

[0072] The present disclosure is widely applicable to a route guidance system, a route selection device, and a route guidance method for guiding a route guidance target to a predetermined route.

Explanation of Signs

[0073] 1: Route guidance system 10: Situation information acquisition device 30: Route selection device 31: Control unit 311: Judgment unit 312: Selection unit 313: Command unit 32: Storage unit 39: Communication unit 50: Control terminal 51: Control unit 511: Flight instruction unit 512: Loudspeaker instruction unit 52: Storage unit 56: Input unit 57: Display unit 59: Wireless communication unit 70: Unmanned aerial vehicle 70a: Main body 70b: Arm 70c: Leg 71: Control device 711: Flight control unit 712: Voice control unit 713: Image control unit 72: Storage device 73: Sensor group 74: GPS receiver 75: Rotor 76: Motor 78: Battery 79: Wireless communication device 81: Speaker direction control mechanism 82: Speaker 83: Microphone direction control mechanism 84: Microphone 85: Camera direction control mechanism 86: Camera N: Network

Claims

1. A first unmanned aircraft that guides a route guidance target along a predetermined route, a situation information acquisition device that acquires situation information regarding the situation of a first route along which the route guidance target is currently being guided by the first unmanned aircraft, a route selection device that determines whether there is a situation that hinders the use of the first route by analyzing the situation information received from the situation information acquisition device, and if there is a situation that hinders the use of the first route, selects a second route different from the first route as a new route for guiding the route guidance target by the first unmanned aircraft, comprising, during the process of guiding the route guidance target to the second route by the first unmanned aircraft, the route selection device determines whether there is a situation that hinders the use of the first route, and if it is determined that there is no longer a situation that hinders the use of the first route, the first route is reselected as the route for guiding the route guidance target by the first unmanned aircraft, a route guidance system.

2. The route selection device includes a storage unit that stores a plurality of candidate routes that are candidates for the route along which the route guidance target is to be guided by the first unmanned aircraft, and a selection unit that selects the second route from the plurality of candidate routes stored in the storage unit. The route guidance system according to claim 1.

3. The situation information acquisition device is a moving body that moves along the first route to acquire the situation information. The route guidance system according to claim 1 or 2.

4. The situation information acquisition device is a camera installed on the first route. The route guidance system according to any one of claims 1 to 3.

5. The route selection device transmits the flight route of the first unmanned aircraft to the control terminal of the first unmanned aircraft, and the control terminal displays the flight route received from the route selection device. The route guidance system according to any one of claims 1 to 4.

6. A route selection device that selects a route for guiding a route guidance target by a first unmanned aircraft, a determination unit that determines whether there is a situation that hinders the use of the first route by analyzing situation information regarding the situation of the first route along which the route guidance target is currently being guided by the first unmanned aircraft; a selection unit that, when the determination unit determines that there is a situation that hinders the use of the first route, selects a second route different from the first route as a new route for guiding the route guidance target by the first unmanned aircraft; a command unit that commands the first unmanned aircraft to guide the route guidance target from the first route to the second route; and comprising: the determination unit determines whether there is a situation that hinders the use of the first route while the first unmanned aircraft is guiding the route guidance target to the second route; the selection unit reselects the first route as the route for guiding the route guidance target by the first unmanned aircraft when the situation that hinders the use of the first route no longer exists while the first unmanned aircraft is guiding the route guidance target to the second route; a route selection device.

7. A route guidance method for guiding a route guidance target to a predetermined route by a first unmanned aircraft, a step in which a situation information acquisition device acquires situation information regarding the situation of the first route along which the route guidance target is currently being guided by the first unmanned aircraft; a step in which a route selection device determines whether there is a situation that hinders the use of the first route by analyzing the acquired situation information; a step in which the route selection device, when there is a situation that hinders the use of the first route, selects a second route different from the first route as a new route for guiding the route guidance target by the first unmanned aircraft; a step in which the route selection device causes the first unmanned aircraft to guide the route guidance target from the first route to the second route; The step of the route selection device determining whether there is a situation that obstructs the use of the first route while guiding the route guidance target to the second route by the first unmanned aerial vehicle; The step of the route selection device reselecting the first route as the route for guiding the route guidance target by the first unmanned aerial vehicle when the situation that obstructs the use of the first route no longer exists while guiding the route guidance target to the second route by the first unmanned aerial vehicle; A route guidance method comprising the above.

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