Information output device, information output method, and program

Abstract

Provide a route for the flight device to fly safely. [Solution] The system is equipped with a second generation unit (235) that generates a time shift schedule, which is a flight schedule that flies to avoid approaching other flying devices by uniformly changing multiple target passage times included in the flight schedule when the target flying device approaches other flying devices at the target passage time when it passes the target passage point at any of multiple target passage points included in the flight schedule, and a sequential avoidance schedule, which is a flight schedule that changes the flight behavior of the target flying device to avoid other flying devices around the target passage point where the target flying device approaches the other flying devices, and an output unit (236) that outputs at least one of the time shift schedule and the sequential avoidance schedule.

Description

[Technical Field]

[0001] The present invention relates to an information output device, an information output method, and a program relating to a flying device. [Background technology]

[0002] The flight schedule of one of the flying devices is adjusted to prevent collisions between multiple flying devices. For example, Patent Document 1 describes a method for determining that an unmanned aerial vehicle may collide with another unmanned aerial vehicle by identifying a time period during which the unmanned aerial vehicle can fly its planned flight path and presenting the identified time period to a user. The method also describes a method for the user to change the departure time of the unmanned aerial vehicle to match the presented time period. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-38479 A Summary of the Invention [Problem to be solved by the invention]

[0004] It is believed that simply changing the departure time, as in the technology described in Patent Document 1, may not be enough to identify a route to avoid collisions when many unmanned aerial vehicles fly in the same area. For this reason, it is believed that the invention described in Patent Document 1 has room for improvement in terms of the technology for identifying a route for a flight device to fly safely.

[0005] The present invention has been made in consideration of these points, and aims to provide a route for a flight device to fly safely. [Means for solving the problem]

[0006] An information output device of a first aspect of the present invention comprises a first generation unit that generates a flight schedule including a plurality of target passing points that a target flying device will pass through during its flight to a destination and a plurality of target passing times at which the target flying device will pass each of the plurality of target passing points; an acquisition unit that acquires a plurality of passing points that other flying devices will pass through during their flight and a plurality of passing times at which the other flying device will pass the plurality of passing points; a second generation unit that generates a time shift schedule, which is a flight schedule that flies to avoid approaching the other flying devices by uniformly changing the plurality of target passing times included in the flight schedule when the target flying device approaches the other flying device at the target passing time at which the target flying device passes the target passing point; and a sequential avoidance schedule, which is a flight schedule that changes the flight behavior of the target flying device to avoid the other flying device around the target passing points at which the target flying device approaches the other flying device; and an output unit that outputs at least one of the time shift schedule and the sequential avoidance schedule.

[0007] The output unit may output as the sequential avoidance schedule a flight schedule that changes the flight behavior of the target flying device around the target passing point using an avoidance method selected based on a predetermined criterion from among spatial avoidance, which avoids the other flying device by detouring so as not to pass through the target passing point where the target flying device approaches the other flying device; stop avoidance, which avoids the other flying device by stopping at a point before the target passing point where the target flying device approaches the other flying device; and deceleration avoidance, which decelerates flight to delay the time when the target flying device passes the target passing point where the target flying device approaches the other flying device.

[0008] The output unit may output the sequential avoidance schedule that changes the flight behavior of the target flight device around the target pass point where the target flight device approaches the other flight device using an avoidance method among the spatial avoidance, the stop avoidance, and the deceleration avoidance that minimizes the difference between the arrival time at the destination after the avoidance and the arrival time at which the flight device arrives at the destination in the flight schedule generated by the first generation unit.The output unit may output the sequential avoidance schedule that changes the flight behavior of the target flight device around the target pass point where the target flight device approaches the other flight device using a method among the spatial avoidance, the stop avoidance, and the deceleration avoidance that minimizes power consumption of the target flight device.

[0009] The output unit may output as the sequential avoidance schedule the flight schedule that changes the flight behavior of the target flight device around one of the plurality of target passing points using an avoidance method selected based on the predetermined criteria from among the spatial avoidance, the stop avoidance, and the deceleration avoidance when the target flight device approaches one of the plurality of other flight devices at another target passing point that the target flight device passes through after changing the flight behavior around the other target passing point among the plurality of target passing points.

[0010] The output unit may output one of the time shift schedule and the sequential avoidance schedule, whichever results in a smaller delay between the arrival time at which the flight device arrives at the destination and the arrival time at the destination in the flight schedule generated by the first generation unit.The output unit may output one of the time shift schedule and the sequential avoidance schedule, which results in a smaller power consumption of the target flight device.

[0011] The information output device may further include an identification unit that identifies the priorities to be assigned to the spatial avoidance, the stop avoidance, and the deceleration avoidance based on the type of aircraft of the target flying device, the weather conditions at the time the target flying device will fly in the flight schedule, or the topography of the area in which the target flying device will fly in the flight schedule, and the output unit may output the sequential avoidance schedule that changes the flight behavior of the target flying device around the target passing point where the target flying device approaches the other flying device using the avoidance method with the highest assigned priority among the spatial avoidance, the stop avoidance, and the deceleration avoidance.

[0012] The first generation unit generates the flight schedule including, as the multiple target passing points, target passing points that the target flight device passes through during the takeoff phase when it ascends from the departure point to take off, target passing points that the target flight device passes through when flying to the destination after takeoff, and target passing points that the target flight device passes through during the landing phase when it descends to land at the destination, and the second generation unit may not generate the sequential avoidance schedule that changes the flight behavior of the target flight device around the target passing point by spatial avoidance when the target flight device approaches the other flight device at the target passing time at the target passing point that the target flight device passes through during the takeoff phase and the landing phase in the flight schedule.

[0013] The second generation unit may generate the sequential avoidance schedule to perform the stop avoidance by stopping at a target passing point one before the target passing point at which the target flying device approaches any of the other flying devices among the plurality of other flying devices, and may generate the sequential avoidance schedule to perform the stop avoidance by stopping at a target passing point two before the target passing point at which the target flying device approaches any of the other flying devices among the plurality of other flying devices when the target flying device approaches any of the other flying devices among the plurality of other flying devices while stopped at the target passing point one before the target passing point at which the target flying device approaches any of the other flying devices among the plurality of other flying devices.

[0014] The output unit may not output the time shift schedule or the sequential avoidance schedule, if the difference between the arrival time at which the target flight device arrives at the destination in the flight schedule generated by the first generation unit and the time shift schedule exceeds an allowable time. The output unit may not output the time shift schedule if the difference between the arrival time at which the flight device arrives at the destination in the time shift schedule and the arrival time at which the flight device arrives at the destination in the flight schedule generated by the first generation unit exceeds an allowable time.

[0015] The information output device may further include a designation unit that designates the target flight device based on a priority assigned to a flight request requesting flight to a destination. The first generation unit may generate a priority flight schedule including a plurality of priority pass points that a priority flight device performing priority flight requested in a priority flight request requesting priority flight to a destination will pass during flight to the destination and a plurality of priority pass times at which the priority flight device will pass each of the plurality of priority pass points, and the second generation unit may change at least one of the plurality of pass points that the other flight device will pass during flight and the plurality of pass times at which the other flight device will pass each of the plurality of pass points when the priority flight device approaches the other flight device at any of the plurality of priority pass points.

[0016] A second aspect of the information output method of the present invention includes the steps of generating a flight schedule executed by a computer, the flight schedule including a plurality of target passing points that a target flying device will pass through during its flight to a destination, and a plurality of target passing times at which the target flying device will pass through each of the plurality of target passing points; acquiring a plurality of passing points that other flying devices will pass through during their flight and a plurality of passing times at which the other flying device will pass through the plurality of passing points; generating a time shift schedule, which is a flight schedule that flies to avoid approaching the other flying devices by uniformly changing the plurality of target passing times included in the flight schedule when the target flying device approaches the other flying device at the target passing time at which the target flying device passes through any of the plurality of target passing points included in the flight schedule; and a sequential avoidance schedule, which is a flight schedule that changes the flight behavior of the target flying device to avoid the other flying device around the target passing point at which the target flying device approaches the other flying device; and outputting at least one of the time shift schedule and the sequential avoidance schedule.

[0017] A third aspect of the program of the present invention causes a computer to execute the steps of generating a flight schedule including a plurality of target passing points that a target flying device will pass through during its flight to a destination, and a plurality of target passing times at which the target flying device will pass through each of the plurality of target passing points; acquiring a plurality of passing points that other flying devices will pass through during their flight and a plurality of passing times at which the other flying device will pass through the plurality of passing points; generating a time shift schedule, which is a flight schedule that flies to avoid approaching the other flying device by uniformly changing the plurality of target passing times included in the flight schedule when the target flying device approaches the other flying device at the target passing time at which the target flying device passes through any of the plurality of target passing points included in the flight schedule; and a sequential avoidance schedule, which is a flight schedule that changes the flight behavior of the target flying device to avoid the other flying device around the target passing points at which the target flying device approaches the other flying device; and outputting at least one of the time shift schedule and the sequential avoidance schedule. [Effects of the Invention]

[0018] The present invention has the effect of providing a route for a flight device to fly safely. [Brief explanation of the drawings]

[0019] [Figure 1] 1 shows a configuration of an information output system according to an embodiment. [Figure 2] 1 shows the configuration of an information output device. [Figure 3] 10 shows an example of a flight schedule generated by the first generation unit. [Figure 4] 10 shows an example in which a target flying device approaches another flying device in a flight schedule generated by the first generation unit. [Figure 5] 10 shows an example of a time shift schedule generated by the second generation unit. [Figure 6] An example of spatial avoidance is shown below. [Figure 7] An example of stop avoidance is shown below. [Figure 8] An example of deceleration avoidance is shown below. [Figure 9] 10 shows a processing procedure for generating a flight schedule for a target flight device by an information output device. [Figure 10] 10 shows a detailed procedure of the time shift process performed by the second generation unit. [Figure 11] 10 shows detailed processing steps of the sequential avoidance processing by the second generation unit. [Figure 12] 10 shows a detailed processing procedure of the space avoidance processing by the second generation unit. [Figure 13] 10 shows a detailed processing procedure of the stop avoidance processing by the second generation unit. [Figure 14] 10 shows a detailed procedure of the deceleration avoidance process performed by the second generation unit. DETAILED DESCRIPTION OF THE INVENTION

[0020] Fig. 1 shows the configuration of an information output system S of this embodiment. The information output system S includes a target flying device 101, another flying device 102, another flying device 103, an information output device 200, and a user's information terminal 300. In the example of Fig. 1, an example is described in which the information output system S includes two flying devices 102 and 103 in addition to the target flying device 101, but the information output system S may also include one or three or more flying devices in addition to the target flying device 101.

[0021] The target flight device 101 is a flight device whose flight schedule has not been determined and is the flight device that is the subject of the flight schedule. On the other hand, the other flight devices 102 or 103 are flight devices whose flight schedules have been determined. The target flight device 101 communicates with the information output device 200 via a network. The target flight device 101 flies from a departure point to a destination based on the flight schedule generated by the information output device 200. The flight schedule includes information indicating a plurality of target waypoints that the target flight device 101 will pass through during its flight to the destination, and a plurality of target pass times at which the target flight device 101 will pass each of the plurality of target waypoints. The user's information terminal 300 is, for example, a smartphone. The information terminal 300 communicates with the information output device 200 via a network.

[0022] The information output device 200 communicates with the target flight device 101, the other flight devices 102, the other flight devices 103, and the user's information terminal 300 via a network. The information output device 200 generates a flight schedule for the flight of the target flight device 101, the other flight devices 102, or the other flight devices 103. For example, when the information output device 200 receives an operation request from the user's information terminal 300 requesting the target flight device 101 to operate to a destination, the information output device 200 generates a flight shift schedule for the target flight device 101.

[0023] The information output device 200 acquires a plurality of passing points through which the other flight devices 102 and 103 pass during flight and a plurality of passing times at which the other flight devices 102 and 103 pass through the plurality of passing points. The information output device 200 determines whether the target flight device 101 approaches the passing point of the other flight device 102 or 103 at the target passing time at which the target flight device 101 passes through any of the plurality of target passing points included in the flight schedule.

[0024] When the target flight device 101 approaches a pass point of the other flight device 102 or 103, the information output device 200 generates a time shift schedule, which is a flight schedule for flying to avoid approaching the other flight device 102 or 103 by uniformly shifting and changing multiple target pass times included in the flight schedule. In addition to the time shift schedule, the information output device 200 further generates a sequential avoidance schedule, which is a flight schedule for changing the flight behavior of the target flight device 101 to avoid the other flight device 102 or 103 around the target pass point where the target flight device 101 approaches the other flight device 102 or 103.

[0025] The information output device 200 outputs at least one of the generated time shift schedule and sequential avoidance schedule to the target flight device 101. The target flight device 101 flies from the departure point to the destination according to the received time shift schedule or sequential avoidance schedule. In this way, if flying the target flight device 101 according to the time shift schedule to avoid another flight device 102 or 103 would delay the target flight device 101's arrival at the destination, the information output device 200 can provide a route for the target flight device 101 to fly safely while reducing the likelihood of delays in arrival at the destination by flying the target flight device 101 according to the sequential avoidance schedule.

[0026] [Configuration of information output device 200] 2 shows the configuration of the information output device 200. The information output device 200 includes a communication unit 21, a storage unit 22, and a control unit 23. The control unit 23 includes an acquisition unit 231, a designation unit 232, a first generation unit 233, an identification unit 234, a second generation unit 235, and an output unit 236.

[0027] The communication unit 21 is an interface for communicating with the target flying device 101, other flying devices 102, or 103 via a network. The communication unit 21 communicates with the user's information terminal 300 via the network. The user's information terminal 300 is, for example, a smartphone.

[0028] The storage unit 22 is a storage medium including a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 22 stores a program executed by the control unit 23.

[0029] The memory unit 22 stores a plurality of passing points through which the other flight devices 102 and 103 pass during flight and a plurality of passing times at which the other flight devices 102 and 103 pass through the plurality of passing points. For example, the memory unit 22 stores passing point data that associates the passing point IDs of the plurality of passing points through which the other flight devices 102 and 103 pass during flight, the three-dimensional coordinates of the plurality of passing points through which the other flight device 102 passes during flight, and the passing times at which the other flight device 102 passes these passing points.

[0030] This waypoint data does not need to store information indicating which of the other flying devices 102 and 103 will pass through the waypoint. The waypoint data is referenced by the second generation unit 235 to determine whether the target flying device 101 in flight will approach the other flying device 102 or 103.

[0031] The control unit 23 is, for example, a CPU (Central Processing Unit). The control unit 23 executes a program stored in the storage unit 22, thereby functioning as an acquisition unit 231, a designation unit 232, a first generation unit 233, an identification unit 234, a second generation unit 235, and an output unit 236.

[0032] The acquisition unit 231 communicates with the user's information terminal 300 via a network. The acquisition unit 231 acquires an operation request from the user's information terminal 300, requesting the target flight device 101 to operate to the destination. The operation request includes, for example, information indicating the departure point, destination, type of operation, the time range acceptable for the start time of operation, and the time range acceptable for the end time of operation. The acquisition unit 231 acquires information indicating the weather conditions at the time the target flight device 101 flies from an external device (not shown). The acquisition unit 231 acquires information indicating the area visible to the administrator from the administrator's information terminal (not shown).

[0033] The acquisition unit 231 acquires multiple waypoints through which the other flight devices pass during flight and multiple time points at which the other flight devices pass through the multiple waypoints. For example, the acquisition unit 231 acquires from the storage unit 22 the waypoint IDs of the multiple waypoints through which the other flight devices 102 and 103 pass during flight, the three-dimensional coordinates of the multiple waypoints through which the other flight device 102 passes during flight, and waypoint data that associates the time points at which the other flight device 102 passes through the waypoints. The acquisition unit 231 outputs the acquired operation request to the designation unit 232. The acquisition unit 231 outputs the acquired waypoint data to the second generation unit 235. The acquisition unit 231 outputs information indicating the weather conditions at the time the target flight device 101 flies to the identification unit 234.

[0034] The designation unit 232 communicates with the user's information terminal 300 via the communication unit 21. The designation unit 232 designates the target flight device 101 from among multiple flight devices. The target flight device 101 is a flight device whose flight schedule has not been determined. On the other hand, the other flight devices 102 or 103 are flight devices whose flight schedules have been determined. For example, when the acquisition unit 231 acquires an operation request requesting operation to a destination, the designation unit 232 designates the flight device that will perform the operation requested in the most recent operation request as the target flight device 101.

[0035] The designation unit 232 may designate the target flight device 101 every time a predetermined time elapses. In this case, the designation unit 232 designates as the target flight device 101 the flight device performing the operation requested in the operation request that has the latest operation start time or operation end time for the operation requested in the operation request.

[0036] The designation unit 232 may designate the target flight device 101 based on the operation priority assigned to the operation request requesting operation to a destination. For example, the designation unit 232 designates the flight device performing the operation assigned the lowest operation priority as the target flight device 101. For example, a flight device transporting fresh food may be assigned a relatively high operation priority, and a flight device transporting furniture may be assigned a relatively low operation priority.

[0037] [Flight Schedule Generation] The first generation unit 233 generates a flight schedule including a plurality of target waypoints that the target flight device 101 will pass through during flight to the destination, and a plurality of target waypoint times at which the target flight device 101 will pass through each of the plurality of target waypoints. This flight schedule includes, as the plurality of target waypoints, target waypoints that the target flight device 101 will pass through during the takeoff phase in which it ascends from the departure point for takeoff, target waypoints that the target flight device 101 will pass through when flying to the destination after takeoff, and target waypoints that it will pass through during the landing phase in which it descends to land at the destination.

[0038] FIG. 3 shows an example of a flight schedule generated by the first generation unit 233. T in FIG. 3 indicates the departure point. G in FIG. 3 indicates the destination. The black circles in FIG. 3 indicate target way points N. FIG. 3 also shows the target pass times at which the target flight device 101 passes through these target way points N, corresponding to the target way points N. The dashed line A1 in FIG. 3 indicates the takeoff phase. For example, in the takeoff phase A1, the target flight device 101 takes off from the departure point T at 9:11:12 and passes the target way point N next to the departure point T at 9:11:33. The dashed line A2 in FIG. 3 indicates the landing phase. For example, in the landing phase A2, the target flight device 101 passes the target way point N immediately before destination G at 9:13:58 and arrives at destination G at 9:14:23.

[0039] [Flight schedule generation for priority flight devices] The first generation unit 233 may generate a priority flight schedule for a priority flight device that performs the priority flight requested in a priority flight request that requests priority flight to the destination. A priority flight is, for example, a flight for searching for victims or transporting rescue supplies during a disaster. The priority flight schedule includes multiple priority waypoints that the priority flight device will pass through during its flight to the destination, and multiple priority pass times at which the priority flight device will pass each of the multiple priority waypoints. The first generation unit 233 outputs the generated flight schedule or priority flight schedule to the second generation unit 235.

[0040] [Identifying Avoidance Priorities] The identification unit 234 communicates with an external device via the communication unit 21. The identification unit 234 assigns avoidance priorities to each of a plurality of avoidance methods used by the target flight device 101 to avoid the other flight devices 102 or 103. For example, the identification unit 234 identifies avoidance priorities to be assigned to spatial avoidance, in which the target flight device 101 avoids the other flight devices 102 or 103 by detouring to avoid passing through a target pass point where the target flight device 101 approaches the other flight devices 102 or 103; stop avoidance, in which the target flight device 101 avoids the other flight devices 102 or 103 by stopping at a point before the target pass point where the target flight device 101 approaches the other flight devices 102 or 103; and deceleration avoidance, in which the target flight device 101 decelerates to delay the time at which it passes through a target pass point where it approaches the other flight devices 102 or 103.

[0041] For example, the identification unit 234 identifies the avoidance priorities to be assigned to space avoidance, stop avoidance, and deceleration avoidance based on the type of aircraft of the target flying device 101. The identification unit 234 identifies, for example, the time the aircraft can fly continuously based on the type of aircraft. The identification unit 234 assigns a high avoidance priority to space avoidance and stop avoidance when the time the aircraft can fly continuously is relatively long. On the other hand, the identification unit 234 assigns a low avoidance priority to space avoidance and stop avoidance when the time the aircraft can fly continuously is relatively short.

[0042] When spatial avoidance and stop avoidance are performed, the flight time of the target flight device 101 from the departure point to the destination becomes longer than when spatial avoidance and stop avoidance are not performed. The identification unit 234 makes it difficult to employ spatial avoidance and stop avoidance in an aircraft with a relatively short flight time, thereby preventing battery exhaustion caused by performing spatial avoidance and stop avoidance.

[0043] The identification unit 234 may identify the avoidance priorities assigned to spatial avoidance, stop avoidance, and deceleration avoidance based on the weather conditions at the time the target flight device 101 flies in the flight schedule. The identification unit 234 identifies the flight stability of the target flight device 101 based on the weather conditions. For example, the identification unit 234 identifies wind speed as the weather condition, and determines that the higher the identified wind speed, the lower the flight stability of the target flight device 101. On the other hand, the identification unit 234 determines that the lower the identified wind speed, the higher the flight stability of the target flight device 101.

[0044] The identification unit 234 increases the avoidance priority of spatial avoidance when it determines that the flight stability of the target flight device 101 is relatively high. On the other hand, the identification unit 234 decreases the avoidance priority of spatial avoidance when it determines that the flight stability of the target flight device 101 is relatively low.

[0045] If flight stability is low due to high wind speed or other reasons, it may be difficult to control the attitude of the target flight device 101 when performing spatial avoidance. The identification unit 234 makes it difficult to adopt spatial avoidance when flight stability is relatively low, thereby preventing the attitude of the target flight device 101 from becoming difficult to control due to spatial avoidance.

[0046] The identification unit 234 may identify the avoidance priorities to be assigned to spatial avoidance, stop avoidance, and deceleration avoidance based on the topography of the area in which the target flight device 101 will fly in the flight schedule. When the target flight device 101 is flying in an area with complicated topography, such as a mountainous area, there is a possibility that the target flight device 101 may come into contact with obstacles around the target flight device 101 by performing spatial avoidance. For this reason, the identification unit 234 lowers the avoidance priority of spatial avoidance in mountainous areas and increases the avoidance priority of stop avoidance and deceleration avoidance.

[0047] On the other hand, the identification unit 234 increases the avoidance priority of spatial avoidance in areas other than mountainous areas, such as flat areas, and decreases the avoidance priority of stop avoidance and deceleration avoidance. In this way, when the identification unit 234 identifies that the area in which the target flight device 101 flies is a mountainous area, it makes it difficult to adopt spatial avoidance, thereby preventing the target flight device 101 from coming into contact with surrounding obstacles due to performing spatial avoidance in a mountainous area.

[0048] In a state where the administrator cannot see the target flight device 101, the target flight device 101 performing spatial avoidance has a higher risk of coming into contact with obstacles around the target flight device 101 than in a state where the administrator can see the target flight device 101. For this reason, the identification unit 234 may lower the avoidance priority of spatial avoidance when the target flight device 101 flies in a space that the administrator cannot see compared to when the target flight device 101 flies in a space that the administrator can see.

[0049] [Flight Schedule Generation by the Second Generation Unit 235] The second generation unit 235 regenerates the flight schedule so that the target pass point of the target flight device 101 does not approach the pass point of the other flight device 102 or 103. First, the second generation unit 235 determines whether the target flight device 101 will approach the other flight device 102 or 103 at the target pass time at which the target flight device 101 passes through any of the target pass points included in the flight schedule. For example, the second generation unit 235 determines that the target flight device 101 will approach the other flight device 102 or 103 if the distance from the target pass point to the pass point of the other flight device 102 or 103 is less than the distance threshold and the time difference between the target pass time of the target pass point and the pass time of the pass point is less than the time threshold. The distance threshold and the time threshold are determined, for example, according to the flight speeds of the target flight device 101 and the other flight device 102 or 103.

[0050] Figure 4 shows an example in which the target flight device 101 approaches another flight device 102 or 103 in the flight schedule generated by the first generation unit 233. The black circles N in Figure 4 indicate multiple target passing points through which the target flight device 101 passes in the flight schedule. Figure 4 also shows the target passing time at which the target flight device 101 passes through the target passing point N, in association with the target passing point N. In Figure 4, the movement path of the target flight device 101 is shown by a solid line.

[0051] The black dots F in Figure 4 indicate multiple waypoints that the other flight device 102 passes through during flight. Figure 4 also shows the time at which the other flight device 102 passes through waypoint F, in association with the waypoint F. In Figure 4, the movement path of the other flight device 102 is shown by a dashed line.

[0052] Circle D in Figure 4 indicates the position where the target flight device 101 and the other flight device 102 approach each other. The distance between the target passing point that the target flight device 101 passes at 10:23:41 and the passing point that the other flight device 102 passes at 10:23:42 is less than the distance threshold, and the time difference between the target passing time (10:23:41) when the target flight device 101 passes and the passing time (10:23:42) when the other flight device 102 passes is less than the time threshold. In this case, the second generation unit 235 determines that the target flight device 101 and the other flight device 102 will approach each other.

[0053] In this case, the second generation unit 235 generates a flight schedule (hereinafter also referred to as a time shift schedule) that flies while avoiding close contact with other flying devices 102 by uniformly changing the multiple target passage times included in the flight schedule. The second generation unit 235 may uniformly delay the multiple target passage times included in the flight schedule, or may uniformly advance the multiple target passage times included in the flight schedule. As an example, the second generation unit 235 generates both a time shift schedule that uniformly delays the multiple target passage times included in the flight schedule, and a time shift schedule that uniformly advances the multiple target passage times included in the flight schedule.

[0054] Before generating the time shift schedule, the second generation unit 235 determines whether the frequency of takeoffs and landings of the target flying device 101 and other flying devices 102 at the departure points and destinations included in the flight schedule exceeds a reference value. If the second generation unit 235 determines that the frequency of takeoffs and landings of the target flying device 101 and other flying devices 102 at the departure points and destinations included in the flight schedule is equal to or less than the reference value, it generates a time shift schedule for flying while avoiding close contact with other flying devices 102 by uniformly changing multiple target passing times included in the flight schedule.

[0055] FIG. 5 shows an example of a time shift schedule generated by the second generation unit 235. The second generation unit 235 generates the time shift schedule shown by the solid line in FIG. 5 by uniformly delaying the target passage time at which the target flight device 101 passes each target passage point N by one minute from the state in FIG. 4. In the state in FIG. 5, the distance between the target passage point at which the target flight device 101 passes at 10:24:41 and the passage point at which the other flight device 102 passes at 10:23:42 is less than the distance threshold. However, because the time difference between the target passage time at which the target flight device 101 passes this target passage point (10:24:41) and the passage time at which the other flight device 102 passes this passage point (10:23:41) is greater than the time threshold, the target flight device 101 and the other flight device 102 will not approach each other.

[0056] If other flying devices 102 or 103 take off and land relatively frequently at a departure or destination included in the flight schedule of the target flying device 101, the flight start time and flight end time of the target flying device 101 may not be freely changed. For this reason, the second generation unit 235 does not generate a time shift schedule if it determines that the frequency of takeoffs and landings of the target flying device 101 and other flying devices 102 at a departure or destination included in the flight schedule exceeds a reference value. The reference value is set in advance, for example, by an administrator who manages the operation of the target flying device 101. By generating a time shift schedule, the second generation unit 235 can avoid the target flying device 101 coming close to the other flying devices 102 or 103 without increasing the power consumption required for the target flying device 101 to travel from the departure or destination.

[0057] [Generation of Sequential Avoidance Schedule by Second Generation Unit 235] When the second generation unit 235 determines that the target flight device 101 will approach another flight device 103 at a target passage time when the target flight device 101 passes through one of the target passage points included in the flight schedule, the second generation unit 235 generates a time shift schedule and also generates a flight schedule (hereinafter also referred to as a sequential avoidance schedule) that changes the flight behavior of the target flight device 101 so that it avoids the other flight devices 102 or 103 around the target passage point where the target flight device 101 approaches the other flight devices 102 or 103. The sequential avoidance schedule is a flight schedule that changes the flight behavior of the target flight device 101 by, for example, spatial avoidance, stop avoidance, or deceleration avoidance so that it avoids the other flight devices 102 or 103 around the target passage point where the target flight device 101 approaches the other flight devices 102 or 103.

[0058] For example, the second generation unit 235 generates, as a sequential avoidance schedule, a flight schedule for spatial avoidance in which the target flight device 101 avoids the other flight devices 102 or 103 by detouring to avoid passing through a target pass point where the target flight device 101 approaches the pass point of the other flight devices 102 or 103. The second generation unit 235 does not generate a sequential avoidance schedule that changes the flight behavior of the target flight device 101 around a target pass point by spatial avoidance when the target flight device 101 approaches the other flight device 102 or 103 at a target pass time at which the target flight device 101 passes through the target pass point in the takeoff phase and landing phase in the flight schedule.

[0059] On the other hand, the second generation unit 235 does not generate either a time shift schedule or a sequential avoidance schedule when the target flight device 101 does not approach another flight device 102 or 103 at the target passing time at any of the multiple target passing points included in the flight schedule.

[0060] Before generating a flight schedule for spatial avoidance of the target flight device 101, the second generation unit 235 determines whether a situation exists in which spatial avoidance is prohibited. Situations in which spatial avoidance is prohibited include (A1) the target flight device 101 is in the takeoff phase, in which it takes off from the departure point; (A2) the target flight device 101 is in the landing phase, in which it descends to the destination; (A3) the wind speed is greater than or equal to a permissible value; or (A4) the target flight device 101 is flying in a mountainous area. The permissible value for (A3) and the mountainous area for (A4) are set in advance by, for example, an administrator who manages the operation of the target flight device 101. Situations in which spatial avoidance is prohibited may be all of (A1) to (A4), or any one or more of (A1) to (A4).

[0061] The second generation unit 235 determines that the situation is not one in which spatial avoidance is prohibited when none of (A1) to (A4) applies. In this case, the second generation unit 235 generates a flight schedule for spatial avoidance. When any of (A1) to (A4) applies, the second generation unit 235 determines that the situation is one in which spatial avoidance is prohibited, and does not generate a flight schedule for spatial avoidance.

[0062] 6 shows an example of spatial avoidance. The second generation unit 235 extracts a passing point that is within a predetermined distance from one of the target passing points through which the target flying device 101 passes, among the multiple passing points of the other flying device 102 or 103 acquired by the acquisition unit 231, and where the time difference between the target passing time of this target passing point and the passing time at which the other flying device 102 or 103 passes the passing point is less than a predetermined value. The predetermined distance and the predetermined value are determined, for example, according to the flight speeds of the target flying device 101 and the other flying device 102 or 103.

[0063] The second generation unit 235 determines the direction from the target passing point of the target flying device 101 toward the extracted passing point, and determines the opposite direction as the separation direction. The separation direction determined by the second generation unit 235 is indicated by a thick arrow in FIG. 6. The second generation unit 235 moves the target flying device 101 in the determined separation direction, thereby detouring the target flying device 101 so that the distance to the extracted passing point does not become equal to or less than the reference distance. The reference distance is determined, for example, according to the flight speed of the target flying device 101 and the other flying device 102 or 103.

[0064] Similarly, the second generation unit 235 identifies multiple avoidance directions for moving the target flight device 101 to detour the target flight device 101 so that the distance to the passing point of the extracted other flight device 102 or 103 does not become equal to or less than the reference distance. In the example of Figure 6, the second generation unit 235 identifies the vertically upward direction (+Z in Figure 6), the vertically downward direction (-Z in Figure 6), the eastward direction (+X in Figure 6), the westward direction (-X in Figure 6), the northward direction (+Y in Figure 6), and the southward direction (-Y in Figure 6) as multiple avoidance directions for moving the target flight device 101.

[0065] The second generation unit 235 excludes from the identified avoidance directions any avoidance directions along which the target flight device 101 cannot move due to contact with another flight device 102 or 103 or another obstacle. The second generation unit 235 recalculates the target passage times and operation end times of multiple target passing points to the destination when the target flight device 101 detours to an avoidance direction that has not been excluded. The second generation unit 235 excludes avoidance directions where the recalculated operation end time falls outside the time range of the operation end time requested in the operation request.

[0066] When there are multiple avoidance directions that have not been excluded, the second generation unit 235 selects one of the avoidance directions based on a predetermined criterion. For example, the second generation unit 235 selects the avoidance direction that minimizes the increase in flight time to the destination compared to the flight schedule generated by the first generation unit 233. The second generation unit 235 may also select the avoidance direction that minimizes the angle between the avoidance direction and the traveling direction before starting to avoid the passing point of the other flying device 102 or 103.

[0067] The second generation unit 235 may select an avoidance direction that minimizes the vertically upward or vertically downward component of movement when detouring to avoid the passing points of other flying devices 102. The second generation unit 235 may select an avoidance direction that minimizes the horizontal component of movement when detouring to avoid the passing points of other flying devices 102. The second generation unit 235 moves the target flying device 101 in the selected avoidance direction, and outputs to the output unit 236, as a candidate avoidance schedule, a flight schedule that detouring to avoid the passing points of other flying devices 102. When generating a flight schedule using spatial avoidance, the second generation unit 235 can relatively reduce the delay in the flight end time caused by avoiding other flying devices 102 or 103 compared to other avoidance methods. In this case, the second generation unit 235 can easily generate a flight schedule that avoids other flying devices even when there are a large number of other flying devices.

[0068] [Generation of flight schedule for avoiding stops by the second generation unit 235] The second generation unit 235 generates a stop avoidance flight schedule as a sequential avoidance schedule, in which the target flight device 101 avoids the other flight devices 102 or 103 by stopping at a point before the target passing point where the target flight device 101 approaches the other flight devices 102 or 103. First, the second generation unit 235 determines whether the situation prohibits stop avoidance of the target flight device 101. A situation in which stop avoidance is prohibited is (B1) the model of the target flight device 101 is not compatible with stop avoidance, or (B2) the location is not suitable for stop avoidance.

[0069] The situation in which stop avoidance is prohibited may be either (B1) or (B2), or may be both (B1) and (B2). An example of a location that is not suitable for stop avoidance in (B2) is a location where birds tend to gather. The location that is not suitable for stop avoidance is set, for example, by an administrator who manages the operation of the target flight device 101.

[0070] The second generation unit 235 determines that the situation is one in which stop avoidance is prohibited when neither (B1) nor (B2) applies. In this case, the second generation unit 235 generates a flight schedule for stop avoidance. The second generation unit 235 determines that the situation is one in which stop avoidance is prohibited when either (B1) or (B2) applies, and does not generate a flight schedule for stop avoidance.

[0071] Figures 7(a) and 7(b) show an example of stop avoidance. The black circles N in Figures 7(a) and 7(b) indicate multiple target passing points that the target flight device 101 passes through in the flight schedule. Figures 7(a) and 7(b) also show the target passing times at which the target flight device 101 passes through target passing point N, in association with the target passing point N. In Figures 7(a) and 7(b), the movement path of the target flight device 101 is shown by a solid line.

[0072] The black dots F in Figures 7(a) and 7(b) indicate multiple passing points that the other flight device 102 passes through during flight. Figures 7(a) and 7(b) also show the passing times at which the other flight device 102 passes through passing point F, in association with passing point F. In Figures 7(a) and 7(b), the movement path of the other flight device 102 is shown by a dashed line.

[0073] Circle D in Figure 7(a) indicates the position where the target flight device 101 and the other flight device 102 approach each other. The second generation unit 235 determines that the target flight device 101 and the other flight device 102 will approach each other because the distance between the target passing point that the target flight device 101 passes through at 10:24:54 and the passing point that the other flight device 102 passes through at 10:24:53 is less than the distance threshold, and the time difference between the target passing time of the target passing point (10:24:54) and the passing time of the passing point (10:24:53) is less than the time threshold.

[0074] 7(b) shows a flight schedule for stop avoidance generated by the second generation unit 235 for the purpose of avoiding approach between the target flight device 101 shown in FIG. 7(a) and another flight device 102. The second generation unit 235 stops the target flight device 101 by hovering for one minute from 10:24:01 to 10:25:01 at the target pass point N immediately before the target pass point N at which the target flight device 101 approaches the other flight device 102. After stopping the target flight device 101, the second generation unit 235 moves the target flight device 101 to the next target pass point N.

[0075] In this way, the second generation unit 235 delays the passage time of the next target passing point N to 10:25:54, as underlined in FIG. 7(b), thereby preventing the target flying device 101 from approaching the other flying devices 102. The second generation unit 235 outputs the generated stop avoidance flight schedule to the output unit 236 as a candidate for the sequential avoidance schedule. When generating a stop avoidance flight schedule, the second generation unit 235 can suppress an increase in power consumption due to avoiding the other flying devices 102 or 103 compared to when generating a space avoidance flight schedule. In this case, the second generation unit 235 is more likely to generate a flight schedule that avoids other flying devices, even when there are a large number of other flying devices, compared to when generating a time shift schedule.

[0076] [Generation of flight schedule for deceleration avoidance by the second generation unit 235] The second generation unit 235 generates a sequential avoidance schedule, which is a deceleration avoidance flight schedule for decelerating the target flight device 101 to delay the target passing time at which the target flight device 101 passes through a target passing point where the target flight device 101 approaches another flight device 102 or 103. First, the second generation unit 235 determines whether the target flight device 101 is in a situation where deceleration avoidance is prohibited. A situation where deceleration avoidance is prohibited is (C1) when the model of the target flight device 101 is not compatible with deceleration avoidance, or (C2) when the location is unsuitable for deceleration avoidance. A situation where deceleration avoidance is prohibited may be either (C1) or (C2), or both (C1) and (C2). An example of a location unsuitable for deceleration avoidance (C2) is a location where birds tend to gather. A location unsuitable for deceleration avoidance is set, for example, by an administrator who manages the operation of the target flight device 101.

[0077] If neither (C1) nor (C2) applies, the second generation unit 235 determines that the situation is not one in which deceleration avoidance is prohibited. In this case, the second generation unit 235 generates a flight schedule for deceleration avoidance. If either (C1) or (C2) applies, the second generation unit 235 determines that the situation is one in which deceleration avoidance is prohibited, and does not generate a flight schedule for deceleration avoidance.

[0078] Figure 8 shows an example of deceleration avoidance. Figure 8 shows a deceleration avoidance flight schedule generated by the second generation unit 235 for the purpose of avoiding approach between the target flight device 101 and another flight device 102 shown in Figure 7(a). The second generation unit 235 reduces the flight speed at the target pass point N immediately before the target pass point N where the target flight device 101 approaches the other flight device 102. As shown in Figure 8, the second generation unit 235 moves the target flight device 101 to the next target pass point N by decelerating flight.

[0079] As shown by the underline in FIG. 8 , the second generation unit 235 delays the target passage time for passing the next target passage point N to 10:25:54, thereby preventing the target flight device 101 from approaching the other flight devices 102. The second generation unit 235 outputs the generated deceleration avoidance flight schedule to the output unit 236 as a candidate for the sequential avoidance schedule. When generating a deceleration avoidance flight schedule, the second generation unit 235 can suppress an increase in power consumption due to avoiding the other flight devices 102 or 103 compared to when generating flight schedules for spatial avoidance and stop avoidance. In this case, the second generation unit 235 is more likely to generate a flight schedule that avoids other flight devices, even when there are a large number of other flight devices, compared to when generating a time shift schedule.

[0080] [Approach to another flying device after avoiding another flying device 102 or 103] The second generation unit 235 determines whether the target flight device 101 will approach another pass point of one of the multiple other flight devices at another target pass point that the target flight device 101 will pass after changing its flight behavior around one of the multiple target pass points in the generated sequential avoidance schedule. If the second generation unit 235 determines that the target flight device will approach one of the multiple other flight devices at another target pass point that the target flight device will pass after changing its flight behavior, the second generation unit 235 regenerates flight schedules that change the flight behavior of the target flight device around this target pass point using each of the avoidance methods: spatial avoidance, stop avoidance, and deceleration avoidance, as new sequential avoidance schedule candidates. The second generation unit 235 outputs each of the newly generated sequential avoidance schedule candidates to the output unit 236.

[0081] [Generating priority flight schedules for priority flight devices] The second generation unit 235 does not change the priority flight schedule of the priority flight device when the priority flight device approaches a pass point of the other flight device 102 or 103 at one of the priority pass points. In this case, instead of changing the priority flight schedule of the priority flight device, the second generation unit 235 changes at least one of the pass points through which the other flight device 102 or 103 approaching the priority pass point passes during flight and the pass times at which the other flight device 102 or 103 passes the pass points. The second generation unit 235 generates a time shift schedule or a sequential avoidance schedule for the other flight device 102 or 103, similar to when changing the flight schedule of the target flight device 101. In this way, the second generation unit 235 changes the flight schedule of the other flight device 102 or 103 approaching the priority flight device, thereby preventing delays in the flight end time at which the priority flight device arrives at its destination.

[0082] [Output of various information] The output unit 236 communicates with the target flight device 101, other flight devices 102 or 103, or the user's information terminal 300 via the communication unit 21. The output unit 236 outputs the flight schedule generated by the first generation unit 233 or the second generation unit 235 to the target flight device 101. The output unit 236 may also output the flight schedule generated by the first generation unit 233 or the second generation unit 235 to the user's information terminal 300. In this way, the output unit 236 can allow the user to check the flight schedule in advance or select one from multiple flight schedules.

[0083] The output unit 236 outputs, as a sequential avoidance schedule, a flight schedule that changes the flight behavior of the target flight device around the target way point using an avoidance method selected based on predetermined criteria from among spatial avoidance, stop avoidance, and deceleration avoidance. For example, the output unit 236 outputs, as a sequential avoidance schedule, an avoidance method from spatial avoidance, stop avoidance, and deceleration avoidance that minimizes the delay in the arrival time of the target flight device 101 at the destination from the arrival time at the destination in the flight schedule generated by the first generation unit 233.

[0084] The output unit 236 may sequentially output as an avoidance schedule an avoidance method that minimizes the power consumption of the target flight device 101 from among spatial avoidance, stop avoidance, and deceleration avoidance. The power consumption is calculated, for example, using the following formula: Power consumption = Σ (stop state coefficient × duration of stop state) + Σ (f (horizontal distance of movement between target pass points, vertical distance of movement between target pass points, speed of movement between target pass points) × time of movement between target pass points). f (horizontal distance of movement between target pass points, vertical distance of movement between target pass points, speed of movement between target pass points) is a function calculated based on the horizontal distance of movement between the target pass points, the vertical distance of movement between the target pass points, and the speed of movement between the target pass points.

[0085] The coefficient for the stopped state is determined based on the amount of power consumed per unit time when the target flight device 101 is stopped by hovering. The horizontal distance traveled between target pass points is the horizontal component of the distance traveled when the target flight device 101 moves between two target pass points. f increases as the horizontal distance traveled between the target pass points increases, and decreases as the horizontal distance traveled between the target pass points decreases. The vertical distance traveled between target pass points is the vertical component of the distance traveled when the target flight device 101 moves between two target pass points. The vertical distance traveled between target pass points represents an ascent as a positive value and a descent as a negative value. f increases as the positive value of the vertical distance traveled between the target pass points increases, and decreases as the positive value of the vertical distance traveled between the target pass points decreases.

[0086] The target pass point-to-target travel speed is the speed at which the target flight device 101 travels between two target pass points. f increases as the target pass point-to-target travel speed increases, and decreases as the target pass point-to-target travel speed decreases. For example, the target pass point-to-target travel speed is the maximum speed at which the target flight device 101 travels. The target pass point-to-target travel time is the time required for the target flight device 101 to travel between two target pass points. f increases as the target pass point-to-target travel time increases, and decreases as the target pass point-to-target travel time decreases. The formula for calculating power consumption may further include a variable indicating wind volume or wind direction. In this way, the output unit 236 outputs an avoidance method that minimizes power consumption for the target flight device 101, thereby suppressing an increase in power consumption caused by avoiding other flight devices 102 or 103.

[0087] The output unit 236 may output, as a sequential avoidance schedule, a flight schedule that changes the flight behavior of the target flight device 101 around a target waypoint where the target flight device 101 approaches another flight device 102 or 103, using the avoidance method assigned by the identification unit 234 with the highest avoidance priority among spatial avoidance, stop avoidance, and deceleration avoidance. In this way, the output unit 236 can avoid another flight device 102 or 103 using an avoidance method that meets the user's needs.

[0088] For example, the avoidance priority is determined in advance by, for example, the determination unit 234. The avoidance priority may be set in advance by the user for each type of operation. For example, when the type of operation is security, user A assigns the highest avoidance priority to space avoidance, stop avoidance, and deceleration avoidance in that order. When the type of operation is transportation, user A assigns the highest avoidance priority to deceleration avoidance, stop avoidance, and space avoidance in that order.

[0089] On the other hand, when the type of operation is security and transportation, user B assigns increasing avoidance priorities to stop avoidance, deceleration avoidance, and space avoidance in that order. In this case, when the type of operation requested in the operation request acquired by the acquisition unit 231 from user A's information terminal 300 is transportation, the output unit 236 sequentially outputs the flight schedule for deceleration avoidance, which is assigned the highest priority, as the avoidance schedule. In this way, the output unit 236 can adopt an avoidance method that meets the needs of the user.

[0090] When the target flight device 101 approaches one of the other flight devices 103 at another target passing point that it passes after changing its flight behavior around one of the multiple target passing points, the output unit 236 outputs to the target flight device 101 a new sequential avoidance schedule that changes the flight behavior of the target flight device 101 around this other target passing point.

[0091] In this case, the output unit 236 acquires the flight schedule generated by the second generation unit 235 as a plurality of candidate sequential avoidance schedules for changing the flight behavior of the target flight device 101 around this other target passing point. The acquisition unit 231 outputs, as the sequential avoidance schedule, a flight schedule that changes the flight behavior of the target flight device using an avoidance method selected based on a predetermined criterion from the acquired plurality of candidate sequential avoidance schedules. The predetermined criterion is the same as the criterion for selecting an avoidance method for avoiding another flight device 102 or 103 in the flight schedule generated by the first generation unit 233.

[0092] [Flight Schedule Selection Between Time-Shift Schedule and Sequential Avoidance Schedule] The output unit 236 outputs at least one of the time shift schedule and the sequential avoidance schedule generated by the second generation unit 235 to the target flight device 101. For example, the output unit 236 outputs the time shift schedule or the sequential avoidance schedule generated by the second generation unit 235, whichever schedule results in a smaller delay in the arrival time at the destination from the arrival time at which the target flight device 101 arrives at the destination in the flight schedule generated by the first generation unit 233, compared to the arrival time at which the target flight device 101 arrives at the destination.

[0093] The output unit 236 may not output either the time shift schedule or the sequential avoidance schedule, if the difference between the arrival time of the target flight device 101 at the destination in the flight schedule generated by the first generation unit 233 and this schedule exceeds an allowable time. The allowable time is set in advance, for example, by an administrator who manages the flight of the target flight device 101. The output unit 236 may output either the time shift schedule or the sequential avoidance schedule, if the difference between the arrival time of the target flight device 101 at the destination in the flight schedule generated by the first generation unit 233 and this schedule is less than or equal to the allowable time.

[0094] The output unit 236 may output both the time shift schedule and the sequential avoidance schedule, or may output either the time shift schedule or the sequential avoidance schedule, if the difference between the arrival time of the target flight device 101 at the destination in the flight schedule generated by the first generation unit 233 and the time shift schedule and the sequential avoidance schedule is less than or equal to the allowable time.

[0095] Furthermore, the output unit 236 may not output the time shift schedule if the difference between the arrival time at which the target flight device arrives at the destination in the time shift schedule and the arrival time at which the target flight device arrives at the destination in the flight schedule generated by the first generation unit 233 exceeds the allowable time. The output unit 236 may output the time shift schedule if the difference between the arrival time at which the target flight device arrives at the destination in the time shift schedule and the arrival time at which the target flight device arrives at the destination in the flight schedule generated by the first generation unit 233 is within the allowable time.

[0096] The output unit 236 may also output either the time shift schedule or the sequential avoidance schedule, whichever results in less power consumption by the target flight device 101. In this case, the time shift schedule often results in less power consumption by the target flight device 101 than the sequential avoidance schedule.

[0097] The output unit 236 may output the flight schedule to which a higher operational priority is assigned, between the time shift schedule and the sequential avoidance schedule. For example, the operational priority is determined in advance by the determination unit 234. The operational priority may be set by the user for each type of operation. In this way, the output unit 236 can adopt an avoidance method that meets the needs of the user.

[0098] In the above example, the output unit 236 outputs a flight schedule for avoiding other flying devices 102 or 103 using an avoidance method selected based on predetermined criteria from among time shifting processing, space avoidance, stop avoidance, or deceleration avoidance. However, the present invention is not limited to this. For example, the output unit 236 may output a flight schedule for avoiding other flying devices 102 or 103 using an avoidance method selected based on predetermined criteria from two or more of time shifting processing, space avoidance, stop avoidance, or deceleration avoidance.

[0099] [Flight Schedule Generation Processing Procedure by Information Output Device 200] 9 shows the processing procedure for generating a flight schedule for the target flight device 101 by the information output device 200. This processing procedure starts, for example, when the acquisition unit 231 acquires an operation request from the information terminal 300 of the user.

[0100] The first generation unit 233 generates a flight schedule including a plurality of target passing points that the target flight device 101 will pass through during flight to the destination and a plurality of target passing times at which the target flight device 101 will pass each of the plurality of target passing points (S101). The acquisition unit 231 acquires a plurality of passing points that the other flight devices 102 and 103 will pass through during flight and a plurality of passing times at which the other flight devices 102 and 103 will pass each of the plurality of passing points (S102).

[0101] The second generation unit 235 determines whether the target flight device 101 will approach a pass point of another flight device 102 or 103 at the target pass time when the target flight device 101 passes through any of the target pass points included in the flight schedule (S103). If the second generation unit 235 determines that the target flight device 101 will approach a pass point of another flight device 102 or 103 at the target pass point (YES in S103), it determines whether the frequency of takeoff and landing of the target flight device 101 and the other flight device 102 at any of the departure and destination points included in the flight schedule exceeds a reference value (S104).

[0102] If the second generation unit 235 determines that the frequency of takeoff and landing of the target flying device 101 and other flying devices 102 at both the departure and destination points included in the flight schedule is below a reference value (NO in S104), it performs a time shift process (S105).

[0103] The second generation unit 235 performs a sequential avoidance process (S106). After avoiding the passing points of the other flight device 102 or 103 through the sequential avoidance process, the second generation unit 235 determines whether it is possible to reach the destination without approaching another passing point of the other flight device 102 or 103 (S107).

[0104] If the output unit 236 determines that the destination can be reached without approaching another pass point of the other flight device 102 or 103 after avoiding the pass points of the other flight device 102 or 103 through the sequential avoidance processing (YES in S107), it confirms the flight schedule for the target flight device 101 by selecting either the time shift schedule or the sequential avoidance schedule (S108). The output unit 236 sets the multiple target pass points and the target pass times of these target pass points included in the confirmed flight schedule as confirmed pass points and pass times, respectively, associates these pass points and pass times, and stores them additionally in the pass point data in the memory unit 22 (S109), and ends the processing.

[0105] If the second generation unit 235 determines in S103 that the target flight device 101 will not approach a pass point of another flight device 102 or 103 at any of the target pass points included in the flight schedule (NO in S103), it proceeds to processing of S109. If the second generation unit 235 determines in S104 that the frequency of takeoff and landing of the target flight device 101 and another flight device 102 at either the departure point or destination included in the flight schedule exceeds a reference value (YES in S104), it proceeds to processing of S106.

[0106] If the second generation unit 235 determines in S107 that after avoiding the pass point of the other flight device 102 or 103 by the sequential avoidance processing, the subject flight device 101 will approach another pass point of the other flight device 102 or 103 before reaching the destination, or that the pass point of the other flight device 102 or 103 cannot be avoided by the sequential avoidance processing (NO in S107), the second generation unit 235 determines whether a time shift schedule has been generated that allows the subject flight device 101 to reach the destination without approaching the pass point of the other flight device 102 or 103 (S110). If the second generation unit 235 determines that a time shift schedule has not been generated that allows the subject flight device 101 to reach the destination without approaching the pass point of the other flight device 102 or 103 (NO in S110), the second generation unit 235 determines that the subject flight device 101 cannot avoid the pass point of the other flight device 102 or 103 (S111), and ends the processing. If the second generation unit 235 determines that it has generated a time shift schedule that allows the flight device 102 or 103 to reach the destination without approaching any passing points of the other flight devices 102 or 103 (YES in S110), it proceeds to the processing of S108.

[0107] [Time shift processing procedure] 10 shows detailed processing steps of the time shift process (S105 in FIG. 9) by the second generation unit 235. First, the second generation unit 235 extracts all target passing points included in the flight schedule that approach passing points of other flight devices 102 or 103 at the target passing time when the target flight device 101 passes through these target passing points (S201).

[0108] The second generation unit 235 calculates all time differences between the target passage times of the extracted target passage points and the passage times when the other flight devices 102 or 103 pass through multiple passage points approaching each of the extracted target passage points, and calculates a list of these time differences (S202). Based on the list of calculated time differences, the second generation unit 235 determines a shift amount that uniformly changes the target passage times included in the flight schedule, and is necessary to avoid approaching the other flight devices 102 (S203).

[0109] When the operation start time and operation end time are changed by the determined shift amount, the second generation unit 235 determines whether the changed operation start time and operation end time satisfy the time range constraints of the operation start time and operation end time requested in the operation request (S204).When the second generation unit 235 determines that the changed operation start time and operation end time satisfy the time range constraints of the operation start time and operation end time requested in the operation request (YES in S204), it determines whether there is a target pass point that approaches a pass point of another flight device 102 or 103 at the changed target pass time of the multiple target pass points included in the flight schedule (S205).

[0110] If the second generation unit 235 determines that there is no target passing point approaching a passing point of another flying device 102 or 103 at the changed target passing time (NO in S205), it generates a time shift schedule (S206) and terminates the processing.

[0111] If the second generation unit 235 determines in S204 that the changed operation start time and operation end time do not satisfy the time range constraints of the operation start time and operation end time requested in the operation request (NO in S204), it terminates the processing without generating a time shift schedule.If the second generation unit 235 determines in S205 that there is a target pass point that approaches a pass point of another flight device 102 or 103 at the changed target pass time (YES in S205), it returns to the processing of S201.

[0112] [Procedure for sequential avoidance processing] Figure 11 shows detailed processing steps of the sequential avoidance processing (S106 in Figure 9) by the second generation unit 235. First, the second generation unit 235 determines whether or not the situation is such that spatial avoidance of the target flight device 101 is prohibited (S301). If the second generation unit 235 determines that the situation is not such that spatial avoidance of the target flight device 101 is prohibited (NO in S301), it performs spatial avoidance processing (S302).

[0113] The second generation unit 235 determines whether the situation prohibits stop avoidance of the target flight device 101 (S303). If the second generation unit 235 determines that the situation does not prohibit stop avoidance of the target flight device 101 (NO in S303), it performs stop avoidance processing (S304).

[0114] The second generation unit 235 determines whether or not the situation prohibits deceleration avoidance of the target flight device 101 (S305). If the second generation unit 235 determines that the situation does not prohibit deceleration avoidance of the target flight device 101 (NO in S305), it performs deceleration avoidance processing (S306).

[0115] The second generation unit 235 determines whether or not at least one of space avoidance, stop avoidance, and deceleration avoidance is possible (S307). When the second generation unit 235 determines that at least one of space avoidance, stop avoidance, and deceleration avoidance is possible (YES in S307), it selects one of the avoidance methods from space avoidance, stop avoidance, and deceleration avoidance based on a predetermined criterion (S308), and ends the processing.

[0116] If the second generation unit 235 determines in S301 that the situation prohibits spatial avoidance of the target flight device 101 (YES in S301), it proceeds to the determination of S303. If the second generation unit 235 determines in S303 that the situation prohibits stop avoidance of the target flight device 101 (YES in S303), it proceeds to the determination of S305.

[0117] If the second generation unit 235 determines in S305 that the situation prohibits deceleration avoidance of the target flight device 101 (YES in S305), it proceeds to the determination in S307. If the second generation unit 235 determines that none of spatial avoidance, stop avoidance, and deceleration avoidance are possible (NO in S307), it ends the process.

[0118] [Spatial avoidance processing procedure] Figure 12 shows detailed processing steps of the spatial avoidance processing (S302 in Figure 11) by the second generation unit 235. First, the second generation unit 235 extracts a pass point of the other flying device 102 or 103 that is within a predetermined distance from one of the multiple target pass points passed by the target flying device 101, from among multiple pass points passed by the other flying device 102 or 103 during flight, where the time difference between the pass time of this pass point and the target pass time of the corresponding target pass point is less than a predetermined value. The second generation unit 235 determines the direction from the target pass point of the target flying device 101 to the extracted pass point (S401).

[0119] The second generation unit 235 identifies a direction from the target passing point of the target flight device 101 toward the extracted passing point, and identifies the opposite direction as a departure direction. The second generation unit 235 identifies multiple avoidance directions including this departure direction as a direction in which the target flight device 101 should detour so that the distance to the extracted passing point does not become equal to or less than a reference distance (S402). The second generation unit 235 excludes from these multiple avoidance directions avoidance directions in which the target flight device 101 cannot move due to contact with another flight device 102 or 103 or another obstacle, and thereby identifies an avoidance direction for detouring the target flight device 101 so that the distance to the passing point of the other flight device 102 or 103 does not become equal to or less than the reference distance.

[0120] The second generation unit 235 recalculates the target passing times and the operation end times of the multiple target passing points to the destination after the target flight device 101 is detouring so that the distance to the extracted passing points does not become equal to or less than the reference distance due to the target flight device 101 moving in the identified avoidance direction (S403). Similarly, the second generation unit 235 recalculates the operation end time to the destination when the target flight device 101 is detouring.

[0121] The second generation unit 235 excludes, from the identified multiple avoidance directions, any avoidance direction whose recalculated operation end time does not satisfy the constraint of the time range of the operation end time requested in the operation request (S404). The second generation unit 235 determines whether or not there are one or more avoidance directions that have not been excluded (S405). If there are one or more avoidance directions that have not been excluded (YES in S405), the second generation unit 235 selects one of the avoidance directions based on a predetermined criterion (S406) and ends the processing. If there are not one or more avoidable directions that have not been excluded in the determination of S405 (NO in S405), the second generation unit 235 ends the processing.

[0122] [Procedure for preventing stoppage] Figure 13 shows detailed processing steps of the stop avoidance process (S304 in Figure 11) by the second generation unit 235. The second generation unit 235 recalculates the target passage time of the target passage point at which the target flight device 101 approaches another flight device 102 after hovering and stopping the target flight device 101 for the stopping time at the target passage point immediately before the target passage point at which the target flight device 101 approaches the other flight device 102 (S501). The second generation unit 235 recalculates the operation end time when the target flight device 101 is stopped by hovering. The second generation unit 235 determines whether there is a passage point of another flight device 102 or 103 approaching the target passage point while the target flight device 101 is stopped (S502).

[0123] If the second generation unit 235 determines that there are no pass points of other flight devices 102 or 103 approaching the target pass point while the target flight device 101 is stopped (NO in S502), it determines whether the recalculated flight end time satisfies the time range constraint of the flight end time requested in the flight request (S503). If the second generation unit 235 determines that the recalculated flight end time satisfies the time range constraint of the flight end time requested in the flight request (YES in S503), it recalculates the target pass times of multiple target pass points from the target pass point immediately before the target pass point where the target flight device 101 approaches the other flight device 102, after hovering the target flight device 101 for the stop time at this target pass point to the destination (S504). The second generation unit 235 adds the generated stop avoidance flight schedule as a candidate for the sequential avoidance schedule (S505) and terminates processing.

[0124] If the second generation unit 235 determines in S502 that there is a pass point of another flight device 102 or 103 approaching the target pass point while the target flight device 101 is stopped (YES in S502), it terminates processing without adding the generated stop avoidance flight schedule as a candidate for the sequential avoidance schedule.If the second generation unit 235 determines in S503 that the recalculated operation end time does not satisfy the time range constraint of the operation end time requested in the operation request (NO in S503), it terminates processing without adding the generated stop avoidance flight schedule as a candidate for the sequential avoidance schedule.

[0125] [Deceleration avoidance processing procedure] Figure 14 shows detailed processing steps of the deceleration avoidance process (S306 in Figure 11) by the second generation unit 235. The second generation unit 235 decelerates the flight speed from the target passing point immediately before the target passing point where the target flight device 101 approaches another flight device 102 or 103 (S601). The second generation unit 235 recalculates the target passing times of the multiple target passing points up to the destination after decelerating the target flight device 101 (S602). Similarly, the second generation unit 235 recalculates the operation end time when the target flight device 101 is decelerated.

[0126] The second generation unit 235 determines whether the recalculated flight end time satisfies the time range constraint of the flight end time requested in the flight request (S603). If the second generation unit 235 determines that the recalculated flight end time satisfies the time range constraint of the flight end time requested in the flight request (YES in S603), it adds the generated deceleration avoidance flight schedule to the candidate sequential avoidance schedules (S604) and terminates processing. If the second generation unit 235 determines in S603 that the recalculated flight end time does not satisfy the time range constraint of the flight end time requested in the flight request (NO in S603), it terminates processing without adding the generated deceleration avoidance flight schedule to the candidate sequential avoidance schedules.

[0127] [Modification when approaching other flying devices 102, 103 while stopped] In this embodiment, an example has been described in which the second generation unit 235 generates a sequential avoidance schedule for performing stop avoidance in which the target flight device 101 avoids one of the other flight devices 102 or 103 by stopping at a target passing point immediately before the target passing point at which the target flight device 101 approaches one of the other flight devices 102 or 103. In this case, the second generation unit 235 is not limited to an example in which stop avoidance is not performed when it is determined that the target flight device 101 will approach another passing point of the other flight device 102 or 103 while stopping at a target passing point immediately before the target passing point at which the target flight device 101 approaches the passing point of the other flight device 102 or 103.

[0128] For example, if the second generation unit 235 determines that the target flying device 101 will approach another passing point of the other flying device 102 or 103 while stopped at a target passing point immediately before the target passing point at which the target flying device 101 approaches the passing point of the other flying device 102 or 103, the second generation unit 235 may cause the target flying device 101 to stop at a position different from the target passing point immediately before the target passing point at which the target flying device 101 approaches the passing point of the other flying device 102 or 103.

[0129] For example, the second generation unit 235 may generate a stop avoidance flight schedule that avoids the other flying device 102 or 103 by stopping at a target pass point two passes before the target pass point at which the other flying device 102 or 103 approaches. In this way, the second generation unit 235 can generate a stop avoidance flight schedule even if the target flying device 101 cannot be stopped at a target pass point one pass point before the target pass point at which the target flying device 101 approaches the other flying device 102 or 103.

[0130] [Effects of the information output device 200 of the present invention] The information output device 200 of this embodiment can provide a route that meets various needs of the user while allowing the target flying device 101 to fly safely.

[0131] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is "Build resilient infrastructure, promote inclusive and sustainable industrialization, and promote innovation and resilience."

[0132] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by functionally or physically distributing or integrating any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination also have the effects of the original embodiments. [Explanation of symbols]

[0133] 21 Communications Department 22 Memory section 23 Control Unit 101 Target Flight Device 102 Flight equipment 103 Flight equipment 200 Information output device 231 Acquisition Department 232 Specified part 233 1st generation part 234 Specific Department 235 Generation 2 236 Output Department

Claims

1. a first generation unit that generates a flight schedule including a plurality of target passing points that a target flight device will pass through during flight to a destination, and a plurality of target passing times at which the target flight device will pass each of the plurality of target passing points; an acquisition unit that acquires a plurality of passing points that another flying device passes through during flight and a plurality of passing times that the other flying device passes through the plurality of passing points; a second generation unit that generates a time shift schedule, which is a flight schedule in which the target flight device flies to avoid approaching the other flight devices by uniformly changing the time at which the target flight device takes off from a departure point and the multiple target passage times when the target flight device approaches the other flight devices at a target passage time at which the target flight device passes through one of the multiple target passage points included in the flight schedule; and a sequential avoidance schedule, which is a flight schedule in which the target flight device changes its flight behavior to avoid the other flight devices around the target passage points at which the target flight device approaches the other flight devices without changing the time at which the target flight device takes off from the departure point; an output unit that outputs either the time shift schedule or the sequential avoidance schedule, whichever schedule results in a smaller delay between the arrival time at which the flight device arrives at the destination and the arrival time at the destination in the flight schedule generated by the first generation unit; An information output device comprising:

2. a first generation unit that generates a flight schedule including a plurality of target passing points that a target flight device will pass through during flight to a destination, and a plurality of target passing times at which the target flight device will pass each of the plurality of target passing points; an acquisition unit that acquires a plurality of passing points that another flying device passes through during flight and a plurality of passing times that the other flying device passes through the plurality of passing points; a second generation unit that generates a time shift schedule, which is a flight schedule in which the target flight device flies to avoid approaching the other flight devices by uniformly changing the time at which the target flight device takes off from a departure point and the multiple target passage times when the target flight device approaches the other flight devices at a target passage time at which the target flight device passes through one of the multiple target passage points included in the flight schedule; and a sequential avoidance schedule, which is a flight schedule in which the target flight device changes its flight behavior to avoid the other flight devices around the target passage points at which the target flight device approaches the other flight devices without changing the time at which the target flight device takes off from the departure point; an output unit that outputs either the time shift schedule or the sequential avoidance schedule, whichever results in a smaller amount of power consumption for the target flight device; An information output device comprising:

3. The output unit outputs as the sequential avoidance schedule a flight schedule that changes the flight behavior of the target flight device around the target passing point using an avoidance method selected based on a predetermined criterion from among spatial avoidance, which avoids the other flight device by detouring so as not to pass through the target passing point where the target flight device approaches the other flight device; stop avoidance, which avoids the other flight device by stopping at a point before the target passing point where the target flight device approaches the other flight device; and deceleration avoidance, which decelerates flight to delay the time when the target flight device passes through the target passing point where the target flight device approaches the other flight device.

3. The information output device according to claim 1 or 2.

4. The output unit outputs the sequential avoidance schedule that changes the flight behavior of the target flight device around the target passing point where the target flight device approaches the other flight device using an avoidance method that minimizes the difference between the arrival time at the destination after the avoidance and the arrival time at which the flight device arrives at the destination in the flight schedule generated by the first generation unit, among the spatial avoidance, the stop avoidance, and the deceleration avoidance. The information output device according to claim 3 .

5. The output unit outputs the sequential avoidance schedule, which changes the flight behavior of the target flight device around the target passing point where the target flight device approaches the other flight device, using one of the spatial avoidance, the stop avoidance, and the deceleration avoidance in a way that minimizes the power consumption of the target flight device. The information output device according to claim 3 .

6. When the target flight device approaches one of the plurality of other flight devices at another target passing point that the target flight device passes after changing its flight behavior around one of the plurality of target passing points, the output unit outputs, as the sequential avoidance schedule, the flight schedule that changes the flight behavior of the target flight device around the other target passing point using an avoidance method selected based on the predetermined criteria from among the spatial avoidance, the stop avoidance, and the deceleration avoidance. The information output device according to claim 3 .

7. Further provided is an identification unit that identifies the priorities to be assigned to the space avoidance, the stop avoidance, and the deceleration avoidance based on the type of aircraft of the target flight device, the weather conditions at the time when the target flight device flies in the flight schedule, or the topography of the area where the target flight device flies in the flight schedule, The output unit outputs the sequential avoidance schedule that changes the flight behavior of the target flight device around the target passing point where the target flight device approaches the other flight device using the avoidance method with the highest assigned priority among the space avoidance, the stop avoidance, and the deceleration avoidance. The information output device according to claim 3 .

8. The first generation unit generates the flight schedule including, as the plurality of target passing points, target passing points that the target flight device passes through during a takeoff phase in which the target flight device ascends from the departure point for takeoff, target passing points that the target flight device passes through when flying to the destination after takeoff, and target passing points that the target flight device passes through during a landing phase in which the target flight device descends for landing at the destination; The second generation unit does not generate the sequential avoidance schedule that changes the flight behavior of the target flight device around the target passing point by the spatial avoidance when the target flight device approaches the other flight device at the target passing time at the target passing point that the target flight device passes through in the takeoff phase and the landing phase in the flight schedule. The information output device according to claim 3 .

9. the second generation unit generates the sequential avoidance schedule for performing the stop avoidance to avoid any of the other flying devices among the plurality of other flying devices by stopping at the target passing point one before the target passing point at which the target flying device approaches the other flying device, and when the target flying device approaches any of the other flying devices among the plurality of other flying devices while stopping at the target passing point one before the target passing point at which the target flying device approaches the other flying device among the plurality of other flying devices, generates the sequential avoidance schedule for performing the stop avoidance to avoid any of the other flying devices among the plurality of other flying devices by stopping at the target passing point two before the target passing point at which the target flying device approaches the other flying device among the plurality of other flying devices. The information output device according to claim 3 .

10. the output unit does not output, between the time shift schedule and the sequential avoidance schedule, one of which the difference between the arrival time at which the target flight device arrives at the destination in the flight schedule generated by the first generation unit exceeds an allowable time.

3. The information output device according to claim 1 or 2.

11. the output unit does not output the time shift schedule when a difference between an arrival time at which the flight device arrives at the destination in the time shift schedule and an arrival time at which the flight device arrives at the destination in the flight schedule generated by the first generation unit exceeds an allowable time; 3. The information output device according to claim 1 or 2.

12. a designation unit that designates the target flight device based on a priority assigned to a flight request requesting flight to a destination; 3. The information output device according to claim 1 or 2.

13. The first generation unit generates a priority flight schedule including a plurality of priority passing points that a priority flight device performing priority operation requested in a priority operation request requesting priority operation to the destination will pass through during flight to the destination, and a plurality of priority passing times at which the priority flight device will pass through each of the plurality of priority passing points; the second generation unit, when the priority flight device approaches the other flight device at any one of the plurality of priority pass points, changes at least one of a plurality of pass points through which the other flight device passes during flight and a plurality of pass times at which the other flight device passes the plurality of pass points; 3. The information output device according to claim 1 or 2.

14. The computer executes generating a flight schedule including a plurality of target waypoints that the target flight device will pass through during flight to the destination and a plurality of target waypoint times at which the target flight device will pass through each of the plurality of target waypoints; acquiring a plurality of passing points that the other flying device passes through during flight and a plurality of passing times that the other flying device passes through the plurality of passing points; generating a time shift schedule, which is a flight schedule for avoiding approaching the other flying devices by uniformly changing the time at which the target flying device takes off from a departure point and the multiple target passing times included in the flight schedule when the target flying device approaches the other flying devices at a target passing time at which the target flying device passes through one of the multiple target passing points included in the flight schedule; and a sequential avoidance schedule, which is a flight schedule for changing the flight behavior of the target flying device so as to avoid the other flying devices around the target passing points at which the target flying device approaches the other flying devices without changing the time at which the target flying device takes off from the departure point; outputting the time shift schedule or the sequential avoidance schedule, whichever schedule results in a smaller delay between the arrival time at which the flight device arrives at the destination and the arrival time at the destination in the generated flight schedule; An information output method comprising:

15. The computer executes generating a flight schedule including a plurality of target waypoints that the target flight device will pass through during flight to the destination and a plurality of target waypoint times at which the target flight device will pass through each of the plurality of target waypoints; acquiring a plurality of passing points that the other flying device passes through during flight and a plurality of passing times that the other flying device passes through the plurality of passing points; generating a time shift schedule, which is a flight schedule for avoiding approaching the other flying devices by uniformly changing the time at which the target flying device takes off from a departure point and the multiple target passing times included in the flight schedule when the target flying device approaches the other flying devices at a target passing time at which the target flying device passes through one of the multiple target passing points included in the flight schedule; and a sequential avoidance schedule, which is a flight schedule for changing the flight behavior of the target flying device so as to avoid the other flying devices around the target passing points at which the target flying device approaches the other flying devices without changing the time at which the target flying device takes off from the departure point; outputting one of the time shift schedule and the sequential avoidance schedule that results in less power consumption for the target flight device; An information output method comprising:

16. On the computer, A program for executing the information output method according to claim 14 or 15.

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