Information processing device and information processing method

Abstract

To provide an information processing device and an information processing method capable of presenting to an operator in an easily understandable manner whether a flight route displayed on the operator's terminal is a normal route or a modified route. [Solution] The management server MS sets the flight route of the drone Dn from the departure point to the destination as the normal route, sets a flight route that differs from the normal route as an exceptional route depending on the situation within the vicinity of the set normal route, and displays the exceptional route on the operator terminal Tm in a display mode that indicates that it is different from the normal route.

Description

[Technical Field]

[0001] The present invention relates to the technical field of systems that allow operators to remotely monitor unmanned aerial vehicles. [Background technology]

[0002] In recent years, unmanned aerial vehicles such as drones and UAVs (Unmanned Aerial Vehicles) have been used in various fields. Patent Document 1 discloses a technology that receives instructions for a drone's flight route from an operator on a three-dimensional map displayed on the touch panel of a delivery management terminal, and instructs the drone to fly along the flight route by composing flight instruction data using a sequence of many coordinate points including latitude, longitude, and altitude. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-165932 Summary of the Invention [Problem to be solved by the invention]

[0004] In actual operation, the drone's normal flight route, which is the shortest and safest route in the area from the departure point to the destination, is preset as the basic flight route, and this flight route is displayed on the operator's terminal before flight so that the operator can confirm the flight route in advance. However, if the conditions in the area from the departure point to the destination before the drone's flight indicate any problems with flying on the normal route, an alternative route different from the normal route may be set. In this case, it is necessary to clearly indicate to the operator whether the flight route displayed on the operator's terminal is the normal route or the alternative route.

[0005] Therefore, the present invention has been made in consideration of the above points, and one example of its objective is to provide an information processing device and information processing method that can clearly show the operator whether the flight route displayed on the operator's terminal is a normal route or a modified route. [Means for solving the problem]

[0006] (Application Example 1) In order to solve the above problem, the information processing device of this application example is characterized by comprising: a first setting means for setting a flight route of an unmanned aerial vehicle from a departure point to a destination as a normal route; a second setting means for setting a flight route different from the normal route set by the first setting means as an altered route depending on the situation within the vicinity of the normal route set by the first setting means; and a display control means for displaying the altered route set by the second setting means in a display manner indicating that it is different from the normal route set by the first setting means.

[0007] (Application Example 2) The information processing method of this application example is an information processing method executed by one or more computers, and is characterized by including the steps of setting a flight route of an unmanned aerial vehicle from a departure point to a destination as a normal route, setting the flight route different from the normal route as an altered route depending on the situation within the vicinity of the set normal route, and displaying the altered route set by the second setting means on a terminal of an operator monitoring the unmanned aerial vehicle in a display manner indicating that the altered route is different from the normal route set by the first setting means. [Effects of the Invention]

[0008] According to the present invention, it is possible to clearly indicate to the operator whether the flight route displayed on the operator's terminal is a normal route or a modified route. [Brief explanation of the drawings]

[0009] [Figure 1]FIG. 1 is a diagram illustrating an example of a schematic configuration of a remote monitoring system S. [Figure 2] FIG. 1 is a diagram illustrating an example of the general configuration of a drone Dn. [Figure 3] FIG. 2 is a diagram illustrating an example of a schematic configuration of an operator terminal Tm. [Figure 4] FIG. 10 is a diagram showing an example of an action request notification screen displayed on the operator terminal T1 of the operator OP1. [Figure 5] FIG. 10 is a diagram showing an example of a map screen displayed on the operator terminal T1 of the operator OP1. [Figure 6] FIG. 10 is a diagram showing an example of detailed information about avoidance points PO displayed on the operator terminal T1 of the operator OP1. [Figure 7] FIG. 2 is a diagram illustrating an example of a schematic configuration of a management server MS. [Figure 8] FIG. 2 is a diagram illustrating an example of functional blocks in a control unit 33. [Figure 9] FIG. 10 is a diagram illustrating an example of a drone monitoring table. [Figure 10] 10 is a flowchart showing an example of an exceptional route setting and display control process executed by a control unit 33 of a management server MS. [Figure 11] 10 is a flowchart showing an example of a feedback control process executed by a control unit 33 of a management server MS. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present invention will be described below with reference to the drawings. The following embodiment is an embodiment in which the present invention is applied to a remote monitoring system capable of remotely monitoring drones. Note that in this embodiment, a drone will be used as an example of an unmanned aerial vehicle, but the present invention can also be applied to flying robots other than drones.

[0011] [ 1. Overview of the configuration and operation of the remote monitoring system S ] First, with reference to FIG. 1, a configuration and an outline of operation of a remote monitoring system S according to this embodiment will be described. FIG. 1 is a diagram illustrating an example of a schematic configuration of the remote monitoring system S. As shown in FIG. 1, the remote monitoring system S includes a plurality of drones Dn (n = 1, 2, 3, etc.), a plurality of operator terminals Tm (m = 1, 2, etc.), and a management server MS (an example of an information processing device and a predetermined server). The drones Dn, the operator terminals Tm, and the management server MS are each connected to a communication network NW. The communication network NW is composed of, for example, the Internet and a mobile communication network (including wireless base stations). Although not shown, a weather management server, an event management server, and a mobile communication management server are connected to the communication network NW. Here, the weather management server manages weather information (including weather forecasts) for each predetermined area. The event management server manages event information for each predetermined area. The mobile communication management server manages radio wave information of the mobile communication network for each predetermined area.

[0012] Drone Dn is an example of an unmanned aerial vehicle (UAV), also known as a multicopter or UAV. Drone Dn takes off and flies autonomously according to takeoff instructions from a Ground Control Station (GCS). It is used for, for example, delivery, surveying, photography, and monitoring. The GCS is installed as an application on, for example, an operator terminal Tm and is configured to link with a management server MS. Drone Dn can also fly under remote control from the ground using a control terminal (equipped with a GCS) used by the operator. Drone Dn is under the jurisdiction of one of multiple drone bases Bm (in other words, it belongs to one of the drone bases Bm). Drone base Bm is a base (e.g., a facility) from which drone Dn can take off and land. For example, drone D1 is under the jurisdiction of drone base B1, and departs from drone base B1, which is its departure point, and flies to its destination (e.g., the delivery destination) along a preset flight route. When the drone D1 arrives at the destination, it notifies the management server MS of this (arrival at the destination), performs a predetermined operation (for example, dropping an item), and then returns to the drone base B1. Note that one drone Dn may be under the jurisdiction of multiple drone bases Bm.

[0013] Here, the flight route is set before the drone Dn flies. For example, a flight route that is the shortest distance (or shortest time) and safest within the area from the departure point of the drone Dn to its destination (hereinafter referred to as the "target area") is set in advance as the normal (standard) route. However, a flight route different from the normal route may be set as an exceptional (non-standard) route (an example of an altered route) depending on the situation within the vicinity of the preset normal route. Here, the vicinity of the normal route is, for example, a range that includes the normal route and is within a predetermined distance (e.g., several tens of meters) from the normal route. Examples of types of situations within the vicinity of the normal route include weather conditions, event conditions, crowding, flight conditions of other aircraft, and mobile communication signal conditions (connection conditions). For example, if the situation within the vicinity of the normal route does not satisfy predetermined flight conditions, the normal route is changed to an exceptional route. Note that the target area and the vicinity of the normal route may each be represented in two dimensions (latitude and longitude) or three dimensions (latitude, longitude, and altitude).

[0014] Furthermore, at the drone base Bm, a port Pm used for takeoff and landing of the drone Dn and a base device Em used for monitoring the drone Dn are installed. At the drone base Bm, base staff (manually) perform a pre-flight inspection (aircraft condition check) of the drone Dn. For example, the base staff visually inspects a predetermined part of the drone Dn for each inspection item in the manual inspection, or inspects the drone Dn by touching a predetermined part of the drone Dn. Then, manual inspection result information indicating the results of the inspection by the base staff is transmitted from the base staff's terminal, such as a smartphone, to the management server MS via the communication network NW. Furthermore, the drone Dn that has undergone the pre-flight inspection is placed at the port Pm and takes off (departs) from the port Pm according to a predetermined drone schedule. Furthermore, the drone Dn that returns to the drone base Bm lands at the port Pm. Note that multiple ports Pm may be installed at one drone base Bm.

[0015] The base device Em is connected to the communication network NW, and is equipped with a base camera (e.g., an RGB camera or an infrared camera) for monitoring the drone Dn. The base camera is configured to continuously capture images of the drone Dn placed at the port Pm. Base image information representing the base image (still image or moving image) captured by the base camera is transmitted from the base device Em to the management server MS along with the base ID. The base device Em may also be equipped with a wind sensor that detects (measures) at least one of wind speed and wind direction. The measurement information measured by the wind sensor is transmitted from the base device Em to the management server MS. The base device Em may also be equipped with at least one of a temperature sensor, a humidity sensor, a precipitation (snow) amount sensor, and an air pressure sensor. The measurement information measured by these sensors is transmitted from the base device Em to the management server MS.

[0016] [ 1-1. Drone Dn configuration and functions ] Next, the configuration and functions of the drone Dn will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the schematic configuration of the drone Dn. As shown in Fig. 2, the drone Dn includes a power supply unit 11, a drive unit 12, a positioning unit 13, a communication unit 14, a sensor unit 15, a memory unit 16, and a control unit 17. Furthermore, the drone Dn includes a propeller (rotor) which is a horizontal rotor, and an arm pipe (including an arm joint) for attaching the propeller to the drone body (housing). When the drone Dn is used to deliver goods, the drone Dn is provided with a holding mechanism for holding the goods.

[0017] The power supply unit 11 includes a detachable battery (power storage device) and the like. The power supply unit 11 supplies (feeds) the power stored in the battery to each part of the drone Dn. The power supply unit 11 also continuously measures the remaining battery charge. Battery information indicating the remaining battery charge measured by the power supply unit 11 is output to the control unit 17. The drive unit 12 includes a motor, a rotating shaft, and the like. The drive unit 12 rotates multiple rotors using the motor, rotating shaft, and the like that are driven in accordance with control signals output from the control unit 17.

[0018] The positioning unit 13 includes a radio wave receiver, an altitude sensor, and the like. The positioning unit 13 receives radio waves transmitted from positioning satellites of a GNSS (Global Navigation Satellite System), such as a GPS (Global Positioning System), using the radio wave receiver, and sequentially detects the current position of the drone Dn based on the radio waves. The current position of the UAV 1 may be represented by the latitude and longitude of the UAV 1, or may be represented by the latitude, longitude, and altitude of the UAV 1. Position information indicating the current position detected by the positioning unit 13 is continuously output to the control unit 17. The positioning unit 13 may also detect the altitude of the drone Dn using an altitude sensor. In this case, the position information indicating the current position of the drone Dn includes the altitude detected by the altitude sensor. The communication unit 14 includes an antenna and wireless communication capabilities, and controls communication performed via the communication network NW.

[0019] The sensor unit 15 includes various sensors used to control the drone Dn. The various sensors include, for example, a geomagnetic sensor, a three-axis angular velocity sensor, a three-axis acceleration sensor, and an optical sensor. The optical sensor includes an on-board camera (for example, an RGB camera or an infrared camera). The on-board camera is configured to continuously capture images of the surroundings of the drone Dn (for example, in front of or below the drone Dn). The sensing information sensed by the sensor unit 15 is output to the control unit 17. The storage unit 16 is configured from a non-volatile memory or the like, and stores various programs and data. The storage unit 16 also stores an on-board ID (identification information) for identifying the drone Dn.

[0020] The control unit 17 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and controls the drone Dn based on position information from the positioning unit 13 and sensing information from the sensor unit 15. Such control includes control of the propeller rotation speed, and control of the position, attitude, and direction of travel of the drone Dn. The position information of the drone Dn (i.e., the position information from the positioning unit 13) is transmitted to the management server MS via the communication network NW together with aircraft image information representing an aircraft image (still image or video image) captured by the aircraft camera, battery information from the power supply unit 11, and the aircraft ID of the drone Dn. When the drone Dn arrives at its destination, arrival information indicating arrival at the destination is transmitted to the management server MS via the communication network NW together with the aircraft ID of the drone Dn.

[0021] [ 1-2.Configuration and functions of operator terminal Tm ] Next, the configuration and functions of the operator terminal Tm will be described with reference to Fig. 3. The operator terminal Tm is, for example, a terminal used by an operator OPm who remotely monitors the drone Dn. Fig. 3 is a diagram showing an example of the schematic configuration of the operator terminal Tm. The operator terminal Tm includes an operation and display unit 21, a communication unit 22, a storage unit 23, and a control unit 24. For example, a personal computer can be applied to the operator terminal Tm. The operator terminal Tm may also include an audio processing unit and a speaker.

[0022] The operation and display unit 21 has, for example, an input function for accepting input (selection) by the operator OPm's finger, pen, or mouse, and a display function for displaying various screens on a display. The operator terminal Tm may be provided with multiple displays. The various screens include a login screen for the operator OPm to log in, a drone monitoring screen for the operator OPm to monitor the drone Dn, an action request notification screen for notifying the operator OPm of a request for a predetermined action, and a map screen for the operator OPm to check the flight route of the drone Dn. The drone monitoring screen and the action request notification screen may be simultaneously displayed on separate displays.

[0023] The communication unit 22 is responsible for controlling communications carried out via the communication network NW. The storage unit 23 is composed of non-volatile memory and the like, and stores various programs (program code groups) and data. The various programs include an operating system (OS), a terminal application, a GCS, and a web browser. Here, the terminal application is a program that mainly acquires and displays information about the drone Dn managed by the operator OPm from the management server MS. The terminal application may be downloaded to the operator terminal Tm from a predetermined server.

[0024] The control unit 24 (an example of a computer) includes a CPU, a ROM, a RAM, etc., and executes processing in accordance with a terminal application stored in the ROM (or the storage unit 23). When the terminal application is started in response to an instruction from the operator OPm, the control unit 24 displays a login screen on the display. Then, when the operator OPm inputs a user ID and a password through the login screen, the control unit 24 transmits a login request including the user ID and the password to the management server MS via the communication unit 22 and the communication network NW. The user ID is identification information for identifying the operator OPm.

[0025] Then, in response to the login request, the management server MS performs login processing, and when the operator OPm logs in, for example, a drone monitoring screen and an action request notification screen are displayed on the operator terminal Tm. Note that in the login processing, it is determined whether or not the pair of user ID and password included in the login request has been registered. Then, if the pair of user ID and password has been registered, the operator OPm using the operator terminal Tm that sent the login request is identified, and the operator OPm logs in.

[0026] Although not shown, the drone monitoring screen displays a drone list (a list of drones) that shows multiple drones Dn that require monitoring by the operator OPm. The drone list includes, for example, the drone name (or aircraft ID) of each drone Dn. When the operator OPm selects a drone Dn from the drone list, monitoring information for the selected drone Dn is displayed on the drone monitoring screen. Here, the monitoring information includes, for example, manual inspection result information, battery information, aircraft image information, base image information, and measurement information. The operator OPm can monitor the drone Dn while viewing the monitoring information displayed on the drone monitoring screen.

[0027] The action request notification screen displays an action request list showing drones Dn that require action by the operator OPm. Examples of actions by the operator OPm include aircraft and schedule confirmation, takeoff decision, and flight route change approval. Here, aircraft and schedule confirmation means checking the drone schedule of drone Dn. Takeoff decision means deciding whether to allow drone Dn to take off. Flight route change approval means approving a change to the flight route of drone Dn (i.e., a change from the normal route to an exceptional route). These actions are performed, for example, by specifying (pressing) a button displayed on the action request notification screen or checking a checkbox.

[0028] Fig. 4 is a diagram showing an example of an action request notification screen displayed on the operator terminal T1 of operator OP1. The action request list L shown in Fig. 4 displays drone information L1 to L3 of each drone Dn that requires an action by operator OP1 in association with check boxes C1 to C3. Each of the drone information L1 to L3 includes the action name of the action, the drone name of the drone Dn that requires the action, the base name of the drone base Bm to which the drone Dn belongs, the port number of the port Pm where the drone Dn takes off and lands, and the deadline for the action (execution deadline). The drone information L1 to L3 (for example, action names) can be selected by the operator OP1.

[0029] In the example of FIG. 4, drone information L3 (action name: flight route change approval, drone name: DroneC) for drone D3 prompts operator OP1 to approve the exceptional route (i.e., approve the flight route change). Therefore, drone information L3 corresponds to information prompting operator OP1 to approve the exceptional route. For example, when operator OP1 checks checkbox C3 with a mouse or the like (or checks and then presses an execute button, not shown), approval information indicating operator OP1's approval of the exceptional route is transmitted to the management server MS via the communication unit 22 and the communication network NW. Before approving the exceptional route, operator OP1 can check the exceptional route of drone D3 on a map screen. For example, when operator OP1 selects (e.g., clicks) an action name in the drone information L3 with a mouse or the like, the action request notification screen transitions to a map screen. Note that the map screen may be a window that pops up on the action request notification screen.

[0030] FIG. 5 is a diagram showing an example of a map screen displayed on the operator terminal T1 of the operator OP1. In the example of FIG. 5, the normal route R1 and the exceptional route R2 of the drone D3 are displayed in different display modes using two-dimensional lines along the flight route from the departure point DS (e.g., drone base B1) to the destination DA. For example, the normal route R1 is displayed in gray, while the exceptional route R2 is displayed in light blue. In other words, the line colors (i.e., the display colors of the two-dimensional lines) of the normal route R1 and the exceptional route R2 are different. This allows the exceptional route R2 to be displayed in a display mode that indicates that it is different from the normal route R1. Note that the line widths (i.e., the thickness of the two-dimensional lines) of the normal route R1 and the exceptional route R2 may be configured to be different. In this case, for example, it is preferable to set the two-dimensional line of the exceptional route R2 thicker than the two-dimensional line of the normal route R1. Furthermore, since it is sufficient for the operator OP1 to recognize that the flight route displayed on the map screen is the exceptional route R2 by using a conspicuous display format or text string, etc., it is also possible to configure the system so that only the exceptional route R2 is displayed without displaying the normal route R1.

[0031] In the example of FIG. 5 , a message M is displayed (i.e., notifies the operator OP1) indicating that the flight route has been changed due to strong winds. The phrase "due to strong winds" in the message M is an example of information indicating the cause (reason) for setting the exceptional route R2. Furthermore, in the example of FIG. 5 , an avoidance point PO (e.g., a section on the normal route) where flight should be avoided on the normal route R1 is highlighted. Here, highlighting refers to displaying in a conspicuous display manner (e.g., a conspicuous display color). For example, the avoidance point PO (e.g., a point where an abnormality has occurred) is displayed in red. The two-dimensional line of the normal route R1 corresponding to the avoidance point PO may be displayed thicker or may flash. For example, when the operator OP1 selects (e.g., clicks) the message M or the avoidance point PO with a mouse or the like, detailed information about the avoidance point PO is displayed, for example, on a map screen. If the normal route R1 is not displayed on the map screen, it is preferable to display (e.g., highlight) only the avoidance point PO where flight should be avoided.

[0032] FIG. 6 is a diagram showing an example of detailed information I about the avoidance point PO displayed on the operator terminal T1 of the operator OP1. In the example of FIG. 6, detailed information I about the avoidance point PO is displayed in a window that pops up on the map screen. In the example of FIG. 6, the detailed information I about the avoidance point PO indicates that a wind with a wind speed of 14 m / s (predicted value) will blow in the XX area (e.g., the name of the avoidance point PO) during the time period from 13:00 to 13:10 (avoidance time period). This wind speed is identified based on, for example, weather information. In addition, the example of FIG. 6 includes delivery information about goods delivered by the drone D3. Note that the detailed information I about the avoidance point PO may be displayed on a details screen (not shown) transitioning from the map screen in response to the selection of the message M or the avoidance point PO. The operator OP1 can determine whether to approve the exceptional route by checking the ordinary route R1 and the exceptional route R2 on the map screen and, if necessary, checking the detailed information I about the avoidance point PO.

[0033] [ 1-3.Configuration and Functions of Management Server MS ] Next, the configuration and functions of the management server MS will be described with reference to FIG. 7. FIG. 7 is a diagram illustrating an example of a schematic configuration of the management server MS. As illustrated in FIG. 7, the management server MS includes a communication unit 31, a storage unit 32, a control unit 33, and the like. The communication unit 31 controls communications via the communication network NW. The communication unit 31 receives manual inspection result information, site image information, measurement information, and site ID transmitted from the site device E. The communication unit 31 receives battery information, aircraft image information, position information of the drone Dn, automatic inspection result information, arrival information, and aircraft ID transmitted from the drone Dn. The management server MS can recognize the current position of the drone Dn based on the position information of the drone Dn. In addition, the communication unit 31 receives a login request transmitted from the operator terminal Tm and approval information indicating approval of the exceptional route. In addition, the communication unit 31 receives weather information transmitted from the weather management server, event information transmitted from the event management server, and radio wave information transmitted from the mobile communication management server.

[0034] The storage unit 32 is configured, for example, with a hard disk drive or the like, and stores various programs including an operating system and applications. Here, applications include programs for executing information processing methods. The storage unit 32 also stores map data to be displayed on a map screen. The storage unit 32 also stores a base management database (DB) 321, a drone management database (DB) 322, an operator management database (DB) 323, a weather management database (DB) 324, an event management database (DB) 325, a mobile communication management database (DB) 326, and the like.

[0035] The base management database 321 is a database for managing information related to drone bases Bm. For example, the base management database 321 stores the base ID of the drone base Bm, base image information, measurement information, and the aircraft ID of the drone Dn under the jurisdiction of the drone base Bm, all associated with each drone base Bm. Note that the base image information and measurement information may be updated as appropriate each time they are received by the communication unit 31.

[0036] The drone management database 322 is a database for managing information related to drones Dn. The drone management database 322 stores the drone Dn's aircraft ID, drone name, drone status, drone schedule, flight route information, manual inspection result information, battery information, aircraft image information, and the like, in association with each drone Dn. Here, the drone status indicates the current state of the drone Dn (e.g., waiting for takeoff, in flight, not allowed to fly, etc.). The drone status is updated as appropriate, for example, in accordance with various information (including information from the drone Dn) received by the communication unit 31, the drone schedule, or instruction information from an administrator or the like.

[0037] The drone schedule includes the planned takeoff time, planned arrival time at the destination, and planned return time of the drone Dn. These times may be time periods. The drone schedule specifies the planned flight time period of the drone Dn. The planned flight time period may be divided into an outbound journey from the departure point to the destination and a return journey from the destination to the arrival point. The arrival point may be the departure point or a return base (e.g., drone base Bm) different from the departure point. Note that when the drone Dn is used to deliver goods, the planned arrival time at the destination is the planned arrival time at the delivery destination. The planned arrival time (or time period) at the delivery destination is also referred to as the delivery time. The manual inspection result information, battery information, and aircraft image information may be updated appropriately each time they are received by the communication unit 31.

[0038] The flight route information includes information indicating the normal route from the departure point to the destination for a drone Dn for which a drone schedule has been determined. In the normal route, the outbound route from the departure point to the destination and the return route from the destination to the arrival point may be the same route. Furthermore, if an exceptional route from the departure point to the destination is set, the flight route information may include information indicating the exceptional route and information indicating the reason for setting the exceptional route. Even in the exceptional route, the outbound route from the departure point to the destination and the return route from the destination to the arrival point may be the same route. However, as described below, there are cases where the outbound route is an exceptional route while the return route is a normal route. In the flight route information, the normal route and the exceptional route may be represented by latitude, longitude, and altitude.

[0039] The operator management database 323 is a database for managing information related to the operator OPm. The operator management database 323 stores the user ID, password, login status, and the aircraft ID and name of each of the multiple drones Dn that the operator OPm is in charge of, in association with each operator OPm. Here, the login status indicates whether the operator OPm is logged in or not.

[0040] The weather management database 324 is a database for managing information related to weather. For example, weather information from a weather management server is stored in the weather management database 324, associated with each predetermined area and each time period (including future). Here, the weather information includes, for example, information indicating wind direction and wind speed (wind strength). The predetermined area is, for example, a subdivision of the territory of each country, and may be expressed by latitude and longitude. The weather information may be updated as appropriate each time it is received by the communication unit 31.

[0041] The event management database 325 is a database for managing information related to events. For example, the event management database 325 stores event information from the event management server in association with each predetermined area and each time period (including future). Here, the event information includes information such as the name of the event, the venue, the scheduled date and time of the event, and the number of participants expected. Examples of events include concerts, sporting events, and exhibitions. It is preferable that the event information be updated as needed each time it is received by the communication unit 31.

[0042] The mobile communication management database 326 is a database for managing information related to mobile communication network connections. For example, radio wave information from a mobile communication management server is stored in the mobile communication management database 326, associated with each predetermined area and each time period (including the future). The radio wave information includes, for example, the strength of radio waves in the band used for wireless communication between the drone Dn and a wireless base station. The radio wave information may be updated as appropriate each time it is received by the communication unit 31.

[0043] The control unit 33 (an example of a computer) includes a CPU, a ROM, a RAM, and the like. FIG. 8 is a diagram illustrating an example of functional blocks in the control unit 33. The CPU may be a general-purpose processor, a special-purpose processor, or a processor including transistors and other integrated circuits (electrical circuits or electronic circuits). As shown in FIG. 8, the control unit 33 functions as a normal route setting unit 331 (an example of a first setting means), a normal route status identification unit 332 (an example of an identification means), an exceptional route setting unit 333 (an example of a second setting means), a display control unit 334 (an example of a display control means), a flight control unit 335 (an example of a flight control means), and a change cause elimination determination unit 336 (an example of a determination means), in accordance with a program (a group of program codes) stored in, for example, the ROM or the storage unit 32.

[0044] The normal route setting unit 331 sets (initial setting) a flight route from the departure point (e.g., drone base Bm) of the drone Dn to the destination as the normal route of the drone Dn. Information indicating the set normal route is registered as flight route information in the drone management database 322. The normal route setting unit 331 may set, for example, a flight route that is the shortest distance (or the shortest time) and safest in a target area (two-dimensional or three-dimensional area) from the departure point of the drone Dn to the destination as the normal route. Here, the target area corresponds to, for example, a predetermined range including the departure point, a predetermined range including the destination, and a predetermined range including a line connecting the departure point and the destination, and may be expressed by latitude and longitude (or latitude, longitude, and altitude). Such a predetermined range is, for example, a flight range determined according to the battery capacity (maximum capacity) of the drone Dn or the remaining battery power.

[0045] Furthermore, the shortest flight route is the route with the shortest distance from the departure point to the destination. The shortest flight route is the route that takes the shortest time from the departure point to the destination. A safe flight route is, for example, a route with a small number of obstacles, such as buildings (below a threshold) (i.e., a route that avoids obstacles). When the drone Dn is used to deliver goods, for example, a normal route from the departure point to the delivery destination may be set when a delivery destination specified by a delivery requester is registered as the destination of the drone Dn. Furthermore, when setting the normal route, the normal route setting unit 331 may pre-set multiple exceptional route candidates with different distances from the departure point of the drone Dn to the destination. Here, the exceptional route candidate is, for example, a route that is longer (or takes longer) than the normal route in the target area from the departure point of the drone Dn to the destination and is safer. The set exceptional route candidate may be included in flight route information associated with the drone Dn's aircraft ID and registered in the drone management database 322.

[0046] The normal route status identification unit 332 identifies the status within the vicinity of the normal route during the scheduled flight time period of the drone Dn, for example, for which a drone schedule and normal route are set, for each of multiple locations (e.g., multiple sections) within the vicinity of the normal route. The status within the vicinity of the normal route during the scheduled flight time period is appropriately referred to as the "normal route status." The normal route status may include, for example, at least one of weather conditions, event status, crowding, flight status of other aircraft, and mobile communication signal status. The scheduled flight time period (e.g., 12:40-13:40) may be divided into predetermined time periods (e.g., 10-minute intervals) (e.g., sub-time periods such as 12:40-12:50, 12:50-13:00, 13:00-13:10, etc.). In this case, the normal route status is identified for each of multiple locations within the vicinity of the normal route and for each sub-time period.

[0047] Here, the weather conditions refer to the weather conditions within the planned flight time period of the drone Dn and within the vicinity of the normal route. The normal route condition identification unit 332, for example, searches for weather information from the weather management database 324 using the planned flight time period of the drone Dn and the vicinity of the normal route as keys to identify the weather conditions for each of the above-mentioned multiple locations. Furthermore, the event conditions refer to the conditions of an event (currently being held or scheduled to be held) that is being held within the planned flight time period of the drone Dn and within the vicinity of the normal route. The normal route condition identification unit 332, for example, searches for event information from the event management database 325 using the planned flight time period of the drone Dn and the vicinity of the normal route as keys to identify the event conditions (for example, the number of people expected to participate in the event) for each of the above-mentioned multiple locations.

[0048] The human congestion status is the status of human congestion within the vicinity of the normal route during the scheduled flight time of the drone Dn. The normal route status identification unit 332 identifies the congestion status (e.g., the density of people near the event location) for each of the multiple locations by searching for event information from the event management database 325, for example, using the scheduled flight time of the drone Dn and the vicinity of the normal route as keys. Note that the management server MS may access a server that manages the density of people for each specified area and obtain the density. In this case, the normal route status identification unit 332 may identify the congestion status for each of the multiple locations based on the density of people within the scheduled flight time of the drone Dn and the vicinity of the normal route, for example.

[0049] The flight status of other drones refers to the flight status of other drones Dn scheduled to fly within the vicinity of the drone Dn's scheduled flight time zone and normal route. The normal route status identification unit 332 identifies the flight status for each of the multiple locations by searching the drone management database 322 for drone schedules and flight route information for the other drones Dn, for example, using the drone Dn's scheduled flight time zone and the vicinity of the normal route as keys. The mobile communication radio wave status refers to the status of radio waves in the band used for wireless communication within the vicinity of the drone Dn's scheduled flight time zone and normal route as keys. The normal route status identification unit 332 identifies the radio wave status (e.g., radio wave strength) for each of the multiple locations by searching the mobile communication management database 326 for radio wave information, for example, using the drone Dn's scheduled flight time zone and the vicinity of the normal route as keys.

[0050] The exceptional route setting unit 333 sets a flight route different from the normal route as an exceptional route for the drone Dn for which the normal route has been set by the normal route setting unit 331, depending on the normal route conditions identified by the normal route condition identification unit 332. That is, an exceptional route may or may not be set depending on the normal route conditions. For example, the exceptional route setting unit 333 determines whether the normal route conditions (i.e., conditions within the planned flight time zone of the drone Dn and within the vicinity of the normal route) satisfy predetermined flight feasibility conditions for each of the multiple locations a predetermined time (e.g., 5 to 30 minutes) before the scheduled takeoff time of the drone Dn. This enables the exceptional route to be set at a more appropriate time. Then, when it is determined that the normal route conditions include a location that does not satisfy the predetermined flight feasibility conditions (e.g., a location that does not satisfy the flight feasibility conditions in one or more subdivided time zones), the exceptional route setting unit 333 sets an exceptional route for the drone Dn. Note that a location that does not satisfy the flight feasibility conditions is an avoidance location on the normal route where flight should be avoided.

[0051] For example, if the normal route conditions at any one of the multiple locations do not satisfy the flight feasibility conditions, the normal route conditions are determined to not satisfy the flight feasibility conditions. On the other hand, if the normal route conditions at all of the multiple locations satisfy the flight feasibility conditions, the normal route conditions are determined to satisfy the flight feasibility conditions. Here, the flight feasibility conditions (e.g., the respective thresholds described below) referenced by the exceptional route setting unit 333 are predetermined for each type of normal route condition. An exceptional route for the drone Dn may be set when it is determined that any one of the flight feasibility conditions corresponding to each of the multiple types is not satisfied, or when it is determined that multiple flight feasibility conditions (combinations) are not satisfied. An example of a flight feasibility condition corresponding to a weather condition is that wind strength is below a threshold (i.e., there is no strong wind within the vicinity of the normal route). Another example of a flight feasibility condition corresponding to a weather condition may be that rainfall is below a threshold.

[0052] Furthermore, an example of a flight condition corresponding to an event situation is that the number of expected participants is below a threshold (i.e., the scale of the event held within the vicinity of the normal route is small). An example of a flight condition corresponding to a crowded situation is that the density of people is below a threshold (i.e., there are not many people within the vicinity of the normal route). An example of a flight condition corresponding to the flight situation of other aircraft is that the difference in distance between a point on the normal route of the drone Dn to be judged and a point on the flight route (normal route or exceptional route) of another drone Dn is above a threshold (i.e., their normal routes do not overlap). An example of a flight condition corresponding to a mobile communication radio wave situation is that the radio wave strength is above a threshold (i.e., the radio wave strength does not weaken).

[0053] To set an exceptional route, the exceptional route setting unit 333 may search for a flight route that is a safe flight route within a target area from the departure point of the drone Dn to the destination and that satisfies the above-mentioned flight feasibility conditions. Here, the target area from the departure point of the drone Dn to the destination is a flight range determined based on the battery capacity or remaining battery power of the drone Dn, as in the case of setting a normal route. However, if multiple exceptional route candidates are pre-set along with the normal route of the drone Dn, the exceptional route setting unit 333 may set the exceptional route by selecting one of the multiple exceptional route candidates. This allows for more rapid setting of the exceptional route. In this case, the conditions within the planned flight time period of the drone Dn and the vicinity of the exceptional route candidate are identified for each of the multiple exceptional route candidates in the same manner as the normal route conditions. Then, the exceptional route setting unit 333 may set the exceptional route by selecting one of the multiple exceptional route candidates, among which the conditions within the planned flight time period of the drone Dn and the vicinity of the exceptional route candidate satisfy the above-mentioned flight feasibility conditions.

[0054] The display control unit 334 displays information (for example, drone information L3 shown in FIG. 4) that prompts the operator OPm to approve the exceptional route on an action request notification screen (for example, action request list L shown in FIG. 4) of the operator terminal Tm of the operator OPm monitoring the drone Dn for which an exceptional route has been set by the exceptional route setting unit 333. For example, the display control unit 334 transmits display control data for displaying information that prompts the operator OPm to approve the exceptional route to the operator terminal Tm via the communication unit 31. This allows the operator OPm to quickly take approval action.

[0055] Note that when flying the drone Dn along the normal route, information prompting approval of the normal route does not need to be displayed. This reduces the server load and the burden of the approval action on the operator OPm. Furthermore, display control data for displaying information prompting approval of the exceptional route may be transmitted to the operator OPm at the timing when the exceptional route is set by the exceptional route setting unit 333. This allows the operator OPm to quickly select an action name in the drone information L3 shown in FIG. 4, for example, and transition to a map screen displaying the exceptional route.

[0056] Furthermore, the display control unit 334 displays the exceptional route of the drone Dn on the map screen of the operator terminal Tm of the operator OPm monitoring the drone Dn for which an exceptional route has been set by the exceptional route setting unit 333 in a display mode that indicates that the exceptional route of the drone Dn is different from the normal route of the drone Dn. This makes it possible to clearly indicate to the operator OPm whether the flight route displayed on the operator terminal Tm is the normal route or the exceptional route. For example, it is preferable to display the normal route of the drone Dn and the exceptional route (for example, the normal route R1 and the exceptional route R2 shown in FIG. 5) in different display modes on the map screen of the operator terminal Tm of the operator OPm monitoring the drone Dn for which an exceptional route has been set by the exceptional route setting unit 333. This makes it possible to clearly indicate to the operator OPm whether the flight route displayed on the operator terminal Tm is the normal route or the exceptional route. For example, the display control unit 334 transmits map data including the target area from the departure point to the destination of the drone Dn, and display control data for displaying the exceptional route in a display mode that indicates that it is different from the normal route (for example, displaying the normal route and the exceptional route in different display modes), to the operator terminal Tm via the communication unit 31. Such display control data includes, for example, two-dimensional coordinate data corresponding to each of multiple positions on the normal route and multiple positions on the exceptional route, and data representing the display mode of each of the normal route and the exceptional route.

[0057] When the normal route of the drone Dn is not displayed on the map screen of the operator terminal Tm, the display control data may include two-dimensional coordinate data corresponding to each of the multiple positions on the exception route and data representing the display mode of the exception route. When a map screen is already displayed on the operator terminal Tm, the display control unit 334 may transmit display control data including two-dimensional coordinate data corresponding to each of the multiple positions in the target area, the multiple positions on the normal route, and the multiple positions on the exception route to the operator terminal Tm via the communication unit 31.

[0058] Furthermore, the display control unit 334 may highlight avoidance points (e.g., avoidance points PO shown in FIG. 5) where flight should be avoided on the normal route displayed on the map screen of the operator terminal Tm. This allows the operator OPm to grasp at a glance the avoidance points where flight should be avoided on the normal route. In this case, the display control unit 334 transmits display control data for highlighting the avoidance points where flight should be avoided on the normal route to the operator terminal Tm via the communication unit 31. Such display control data includes, for example, two-dimensional coordinate data corresponding to the avoidance points where flight should be avoided on the normal route. Furthermore, the display control unit 334 may display, on the operator terminal Tm, information indicating the cause of the exceptional route being set by the exceptional route setting unit 333 (in other words, the cause of not satisfying the flight feasibility conditions). This allows the operator OPm to grasp at a glance the cause of the exceptional route being set. In this case, the display control unit 334 transmits, for example, display control data for displaying information indicating the cause of the exceptional route being set to the operator terminal Tm via the communication unit 31.

[0059] In response to approval of the exceptional route by the operator OPm (i.e., receipt of the approval information), the flight control unit 335 flies the approved drone Dn along the exceptional route. This allows the drone Dn to fly more safely along the exceptional route approved by the operator OPm. For example, the flight control unit 335 transmits a flight control command indicating the exceptional route set by the exceptional route setting unit 333 and approved by the operator OPm to the drone Dn via the communication unit 31. As a result, upon receiving the flight control command, the drone Dn takes off from the departure point and autonomously flies to the destination along the exceptional route (i.e., flies the outbound route) in accordance with the flight control command. On the other hand, if the exceptional route is not set by the exceptional route setting unit 333 or if the set exceptional route is not approved by the operator OPm, the drone Dn will autonomously fly to the destination along the normal route.

[0060] When the drone Dn flying along the exceptional route arrives at the destination, the change cause resolution determination unit 336 determines whether the cause of the exceptional route being set (e.g., strong winds within the vicinity of the normal route) has been resolved. For example, the change cause resolution determination unit 336 may determine, for each of the multiple locations, whether the situation within the vicinity of the normal route during the scheduled flight time of the drone Dn's return flight from the destination to the arrival point satisfies the flight feasibility conditions referenced when the exceptional route was set. Then, when the change cause resolution determination unit 336 determines that the situation within the vicinity of the normal route satisfies the flight feasibility conditions (i.e., there is no location that does not satisfy the flight feasibility conditions), it determines that the cause of the exceptional route being set has been resolved.

[0061] When the change cause resolution determination unit 336 determines that the cause of setting the exceptional route has been resolved, the flight control unit 335 causes the drone Dn that arrived at the destination along the exceptional route to return along the normal route. This allows the drone Dn that arrived at the destination along the exceptional route to return quickly along the normal route. For example, the flight control unit 335 transmits a flight control command indicating the normal route to the drone Dn via the communication unit 31. As a result, the drone Dn that receives the flight control command will autonomously fly to the destination along the normal route (i.e., fly the return route) in accordance with the flight control command. On the other hand, when the change cause resolution determination unit 336 determines that the cause of setting the exceptional route has not been resolved, the drone Dn that arrived at the destination along the exceptional route will return along the exceptional route.

[0062] [ 2. Operation of the remote monitoring system S ] Next, the operation of the remote monitoring system S will be described. In the operation example described below, it is assumed that multiple operators OPm are logged in and that an action request notification screen is displayed on the operator terminal Tm of each logged-in operator OPm. It is also assumed that a session is established between the operator terminal Tm of each logged-in operator OPm and the management server MS. It is also assumed that the management server MS stores a drone monitoring table that registers the aircraft ID, etc. of drones Dn for which pre-flight inspections have been completed and drone schedules have been determined.

[0063] FIG. 9 is a diagram showing an example of a drone monitoring table. The drone monitoring table shown in FIG. 9 registers flight numbers, aircraft IDs, drone schedules, flight route information, and the like. Here, the flight numbers are, for example, serial numbers assigned based on the order of registration in the drone monitoring table. When a drone Dn is used for delivery, the flight number becomes a delivery number. The flight route information includes information indicating a default normal route. Furthermore, the flight route information of a drone Dn for which multiple exceptional route candidates have been set includes information indicating the exceptional route candidates. Furthermore, when an exceptional route is set in the processing described below, the flight route information may be supplemented with information indicating the exceptional route and information indicating the reason for setting the exceptional route.

[0064] (2.1. Exceptional Route Setting and Display Control Processing) First, with reference to Fig. 10, an exceptional route setting and display control process executed by the control unit 33 of the management server MS will be described. Fig. 10 is a flowchart showing an example of the exceptional route setting and display control process executed by the control unit 33 of the management server MS. As a premise for the process shown in Fig. 10, the control unit 33 of the management server MS refers to the drone monitoring table and determines at a predetermined cycle whether there is a drone Dn that has arrived a predetermined time before the scheduled takeoff time (for example, 5 to 30 minutes before). If it is determined that there is a drone Dn that has arrived a predetermined time before the scheduled takeoff time, the process shown in Fig. 10 is started. Note that if there are multiple drones Dn that have arrived a predetermined time before the scheduled takeoff time, the process shown in Fig. 10 is executed in parallel for each drone Dn.

[0065] 10 starts, the control unit 33 of the management server MS identifies the aircraft ID, planned flight time period (e.g., the planned flight time period for the outbound flight), and normal route of the drone Dn that is a predetermined time before the scheduled takeoff time, for example, from the drone monitoring table (step S1). Next, the control unit 33 uses the normal route status identification unit 332 to identify the conditions within the planned flight time period and the vicinity of the normal route identified in step S1 (i.e., normal route conditions) for each of multiple locations within the vicinity of the normal route (or for each of multiple locations and each subdivided time period) (step S2). The normal route conditions identified here may be of one type (e.g., weather conditions), or may be of multiple types (e.g., weather conditions, event conditions, flight conditions of other aircraft, and mobile communication radio wave conditions), and such types can be set arbitrarily.

[0066] Next, the control unit 33 refers to the flight feasibility conditions corresponding to the type of normal route situation identified in step S2 and determines whether the normal route situation satisfies the flight feasibility conditions for each of the multiple locations (or for each of the multiple locations and each subdivided time period) (step S3). If it is determined that the normal route situation does not satisfy the flight feasibility conditions at any location (or that there is a location in one or more subdivided time periods that does not satisfy the flight feasibility conditions), it is determined that the normal route situation does not satisfy the flight feasibility conditions (step S3: NO), and the process proceeds to step S4. On the other hand, if it is determined that the normal route situation satisfies the flight feasibility conditions (step S3: YES), the process shown in FIG. 10 for the drone Dn whose aircraft ID was identified in step S1 ends. In this case, the drone Dn takes off according to the drone schedule and flies to the destination along the initially set normal route.

[0067] If multiple types of normal route conditions are identified in step S2, it is determined whether each normal route condition satisfies the corresponding flight feasibility condition for each of the multiple locations (or for each of the multiple locations and each subdivided time period). In this case, if it is determined that, for example, any one of the multiple types of normal route conditions does not satisfy the flight feasibility condition, the process may proceed to step S4.

[0068] In step S4, the control unit 33 sets an exceptional route different from the normal route identified in step S1 using the exceptional route setting unit 333. For example, the exceptional route setting unit 333 sets the exceptional route by searching for a flight route that is a safe flight route in the target area from the departure point to the destination of the drone Dn whose aircraft ID was identified in step S1 and that satisfies the flight feasibility conditions corresponding to the type of normal route situation identified in step S2. Note that if multiple exceptional route candidates are set for the drone Dn whose aircraft ID was identified in step S1, as described above, the situation within the planned flight time zone of the drone Dn (e.g., the planned flight time zone of the outbound journey) and within the vicinity of the exceptional route candidate may be identified for each of the multiple exceptional route candidates. In this case, the exceptional route is set by selecting one exceptional route candidate whose exceptional route candidate situation satisfies the flight feasibility conditions from among the multiple exceptional route candidates.

[0069] Next, the control unit 33 identifies the reason why the exceptional route was set (step S5). The reason why the exceptional route was set is identified, for example, based on the normal route situation that was determined in step S3 to not satisfy the flight feasibility conditions. Next, the control unit 33 identifies an avoidance point (or an avoidance point or an avoidance time period) on the normal route where flight should be avoided (step S6). The avoidance point and time period are identified, for example, based on the normal route situation that was determined in step S3 to not satisfy the flight feasibility conditions.

[0070] Next, the control unit 33 stores information indicating the exceptional route set in step S4 and information indicating the cause identified in step S5 in the flight route information associated with the aircraft ID identified in step S1 in the drone management database 322 and the drone monitoring table (step S7). Note that the flight route information may also store the avoidance location (or avoidance location or avoidance time period) identified in step S6.

[0071] Next, the control unit 33 displays information prompting approval of the exceptional route set in step S4 on an action request notification screen (action request list) of the operator terminal Tm of the operator OPm monitoring the drone Dn whose aircraft ID was identified in step S1 (step S8). As described above, this display is performed by the display control unit 334 transmitting display control data for displaying the information prompting approval of the exceptional route to the operator terminal Tm. Here, the information prompting approval of the exceptional route includes drone information about the drone Dn whose aircraft ID was identified in step S1. Note that the display control data may be data for a web page displayed by a web browser (the same applies to display control data described later).

[0072] Then, when the operator OPm who has confirmed the information prompting approval of the exceptional route selects, for example, an action name in the drone information of the drone Dn on the action request notification screen, a display request for the exceptional route of the drone Dn is sent to the management server MS, and the action request notification screen transitions to a map screen. Alternatively, when the operator OPm who has confirmed the information prompting approval of the exceptional route checks a checkbox associated with the drone information of the drone Dn on the action request notification screen, approval information indicating approval of the exceptional route of the drone Dn is sent to the management server MS.

[0073] Next, the control unit 33 determines whether or not a request to display an exceptional route has been received from the operator terminal Tm (step S9). If it is determined that a request to display an exceptional route has been received from the operator terminal Tm (step S9: YES), the process proceeds to step S10. On the other hand, if it is determined that a request to display an exceptional route has not been received from the operator terminal Tm (step S9: NO), the process proceeds to step S11.

[0074] In step S10, the control unit 33 displays the normal route and the exceptional route of the drone Dn whose aircraft ID was identified in step S1 in different display modes on the map screen of the operator terminal Tm of the operator OPm monitoring the drone Dn whose aircraft ID was identified in step S1. As described above, this display is performed by the display control unit 334 transmitting to the operator terminal Tm map data including the target area from the departure point to the destination of the drone Dn and display control data for displaying the normal route and the exceptional route in different display modes. Note that the map data may be installed in the operator terminal Tm in advance, and in this case, the map data does not need to be transmitted from the management server MS to the operator terminal Tm. Furthermore, in step S10, the control unit 33 may display the exceptional route of the drone Dn whose aircraft ID was identified in step S1 in a display mode that indicates that it is different from the normal route, without displaying the normal route of the drone Dn whose aircraft ID was identified in step S1, on the map screen of the operator terminal Tm of the operator OPm monitoring the drone Dn whose aircraft ID was identified in step S1.

[0075] Furthermore, in step S10, the control unit 33 may display information indicating the cause identified in step S5 on the map screen of the operator terminal Tm, and may also highlight the avoidance points identified in step S6 on the normal route. As described above, this display is performed by the display control unit 334 transmitting display control data to the operator terminal Tm for displaying information indicating the cause of the exceptional route being set and highlighting the avoidance points on the normal route where flight should be avoided. Then, when the operator OPm, who has confirmed the avoidance points on the normal route where flight should be avoided, for example, selects the avoidance point, a display request for detailed information about the avoidance point is transmitted to the management server MS.

[0076] In step S11, the control unit 33 determines whether or not a request to display detailed information about the avoidance location has been received from the operator terminal Tm. If it is determined that a request to display detailed information about the avoidance location has been received from the operator terminal Tm (step S11: YES), the process proceeds to step S12. On the other hand, if it is determined that a request to display detailed information about the avoidance location has not been received from the operator terminal Tm (step S11: NO), the process proceeds to step S13. Note that if the location has not yet been displayed on the map screen of the operator terminal Tm, it is determined that a request to display detailed information about the avoidance location has not been received.

[0077] In step S12, the control unit 33 displays detailed information about the avoidance points identified in step S6, for example, as a pop-up on a map screen. Such display is performed by the display control unit 334 transmitting display control data for displaying the detailed information about the avoidance points to the operator terminal Tm. Note that the detailed information about the avoidance points may include the normal route status that was determined not to satisfy the flight feasibility conditions, the reason why the exceptional route was set, the avoidance points where flight should be avoided, and the avoidance time periods.

[0078] In step S13, the control unit 33 determines whether approval information indicating approval of the exceptional route has been received from the operator terminal Tm. If it is determined that approval information indicating approval of the exceptional route has been received from the operator terminal Tm (step S13: YES), the process proceeds to step S14. On the other hand, if it is determined that approval information indicating approval of the exceptional route has not been received from the operator terminal Tm (step S13: NO), the process proceeds to step S15.

[0079] In step S14, in response to the approval of the exceptional route by the operator OPm, the control unit 33 transmits a flight control command indicating the approved exceptional route to the drone Dn via the flight control unit 335. As a result, the drone Dn will fly autonomously to the destination along the exceptional route set in step S4.

[0080] In step S15, the control unit 33 determines whether or not to end the exceptional route setting and display control processing. For example, when the operator OPm logs out or when a screen transition request is received from the operator terminal Tm in response to an instruction from the operator OPm to transition to another screen, it is determined to end the processing (step S15: YES), and the processing shown in Fig. 10 ends. On the other hand, when it is determined not to end the exceptional route setting and display control processing (step S15: NO), the processing returns to step S9.

[0081] (2.2. Feedback control processing) Next, with reference to FIG. 11, a return control process executed by the control unit 33 of the management server MS will be described. FIG. 11 is a flowchart showing an example of the return control process executed by the control unit 33 of the management server MS. The process shown in FIG. 11 is started when arrival at a destination of a drone Dn registered in the drone monitoring table is detected. For example, arrival at a destination of a drone Dn is detected when arrival information indicating arrival at a destination is received from a drone Dn registered in the drone monitoring table (aircraft ID registered). Alternatively, arrival at a destination of a drone Dn may be detected when position information is received from a drone Dn registered in the drone monitoring table and the position information indicates the destination position. Note that if arrival at a destination of multiple drones Dn is detected, the process shown in FIG. 11 is executed in parallel for each drone Dn.

[0082] 11 starts, the control unit 33 of the management server MS identifies the aircraft ID of the drone Dn that has arrived at the destination, the planned flight time period for the return flight, and the normal route, for example, from a drone monitoring table (step S21). Next, the control unit 33 of the management server MS determines whether the drone Dn that has arrived at the destination has flown along an exceptional route based on the flight route information identified in step S21 (step S22). For example, if the flight route information identified in step S21 includes information indicating an exceptional route and information indicating the cause of setting the exceptional route, it is determined that the drone Dn that has arrived at the destination has flown along the exceptional route (step S22: YES), and the process proceeds to step S23. At this time, the cause of setting the exceptional route for the drone Dn that has arrived at the destination is identified.

[0083] On the other hand, if the flight route information identified in step S21 does not include information indicating the exceptional route or information indicating the cause of setting the exceptional route, it is determined that the drone Dn that arrived at the destination did not fly along the exceptional route (that is, flew along the normal route) (step S22: NO), and the processing shown in Fig. 11 ends. In this case, the drone Dn will return along the normal route on the return trip as well as on the outbound trip.

[0084] In step S23, the control unit 33 identifies the conditions within the vicinity of the normal route during the planned flight time slot identified in step S21 (i.e., normal route conditions) for each of multiple locations within the vicinity of the normal route (or for each of multiple locations and each subdivided time slot) by the normal route condition identification unit 332. The normal route conditions identified here may be of one type, but preferably of multiple types.

[0085] Next, the control unit 33 determines whether the cause of the exceptional route being set has been resolved based on the normal route status identified in step S23 using the change cause resolution determination unit 336 (step S24). For example, the change cause resolution determination unit 336 determines whether the normal route status identified in step S23 satisfies the flight feasibility conditions corresponding to the cause of the exceptional route being set for each of the multiple locations (or for each of the multiple locations and for each subdivided time period).

[0086] If it is determined that the normal route situation does not satisfy the flight conditions in any part (or that the flight conditions are not satisfied in one or more subdivided time periods), it is determined that the cause of the exceptional route being set has not been resolved (i.e., the normal route situation does not satisfy the flight conditions) (step S24: NO), and the processing shown in Fig. 11 ends. In this case, the drone Dn will return along the exceptional route on the return trip as well as on the outbound trip.

[0087] If multiple types of normal route conditions are identified in step S23, it is determined whether each normal route condition satisfies the corresponding flight conditions for each of the multiple locations (or for each of the multiple locations and each subdivided time period). In this case, if it is determined that, for example, any one of the multiple types of normal route conditions does not satisfy the flight conditions, the processing shown in Fig. 11 ends, and the drone Dn returns along the exceptional route on the return trip as well as on the outbound trip.

[0088] On the other hand, if it is determined that the cause of the setting of the exceptional route has been resolved (i.e., the normal route situation satisfies the flight feasibility conditions) (step S24: YES), the control unit 33 sends a flight control command indicating the normal route to the drone Dn via the flight control unit 335 (step S25). As a result, the drone Dn will fly (return) to the destination autonomously along the initially set normal route. Note that when the flight control command indicating the normal route is sent, the processing shown in FIG. 11 ends.

[0089] As described above, according to the above embodiment, the management server MS sets the flight route of the drone Dn from the departure point to the destination as the normal route, sets a flight route that differs from the normal route as an exceptional route depending on the situation within the vicinity of the set normal route, and displays the exceptional route on the operator terminal Tm in a display mode that indicates that it differs from the normal route. This makes it possible to present to the operator OPm in an easy-to-understand manner whether the flight route displayed on the operator terminal Tm is the normal route or the exceptional route. In other words, according to the above embodiment, the difference between the normal route and the exceptional route can be presented to the operator OPm in an easy-to-understand manner on the map screen of the operator terminal Tm.

[0090] The above embodiment is merely one embodiment of the present invention, and the present invention is not limited to the above embodiment. Various configurations and other changes may be made to the above embodiment without departing from the spirit and scope of the present invention, and such changes are still within the technical scope of the present invention. In the above embodiment, the normal route of the drone Dn may be displayed on the map screen in response to an instruction from the operator OPm before the exceptional route is set. In the above embodiment, for example, when an exceptional route is not set (YES in step S3 shown in FIG. 10 ), only the normal route of the drone Dn may be displayed on the map screen. Furthermore, the map screen may be configured to display, together with the normal route of the drone Dn, the conditions within the vicinity of the normal route during the scheduled flight time of the drone Dn for each of multiple locations within the vicinity. In this case, when the operator OPm, having checked the normal route and the conditions within the vicinity of the normal route on the map screen, determines that the drone should fly a flight route different from the normal route and issues an instruction to set an exceptional route from the operator terminal Tm, the management server MS sets the exceptional route in the same manner as in the above embodiment and displays the exceptional route in a manner that indicates that it is different from the normal route. In this case, the second setting means sets a flight route different from the normal route as an exceptional route in response to an instruction to set an exceptional route (altered route) from the operator OPm. With this configuration, it is possible to clearly indicate to the operator OPm whether the flight route displayed on the operator terminal Tm is a normal route or an exceptional route.

[0091] <Additional Notes> [1] The information processing device according to the present disclosure is characterized by comprising: a first setting means for setting a flight route of an unmanned aerial vehicle from a departure point to a destination as a normal route; a second setting means for setting the flight route different from the normal route set by the first setting means as an altered route depending on the situation within the vicinity of the normal route set by the first setting means; and a display control means for displaying the altered route set by the second setting means on a terminal of an operator monitoring the unmanned aerial vehicle in a display mode that indicates that the altered route is different from the normal route set by the first setting means. This makes it possible to clearly show to the operator whether the flight route displayed on the operator's terminal is the normal route or the altered route.

[0092] [2] In the information processing device described in [1] above, the display control means displays the modified route set by the second setting means and the normal route set by the first setting means in different display modes, thereby making it easier for the operator to understand whether the flight route displayed on the operator's terminal is the normal route or the modified route.

[0093] [3] In the information processing device described in [1] or [2] above, the second setting means sets the altered route according to the situation within the vicinity of the normal route during the scheduled flight time period of the unmanned aerial vehicle for which the normal route has been set, thereby enabling the unmanned aerial vehicle to fly more safely along an altered route that is more appropriate than the normal route.

[0094] [4] In the information processing device described in [1] to [3] above, the second setting means sets the changed route by selecting one of a plurality of flight route candidates having different distances from the departure point to the destination, thereby enabling the changed route to be set more quickly.

[0095] [5] In the information processing device described in any one of [1] to [4] above, the display control means is characterized in that it highlights areas on the normal route where flight should be avoided. This makes it possible to clearly show the operator whether the flight route displayed on the operator's terminal is the normal route or the modified route, and also allows the operator to grasp at a glance the areas on the normal route where flight should be avoided.

[0096] [6] In the information processing device described in any one of [1] to [5] above, the display control means displays information indicating the reason why the changed route was set on the terminal. This makes it possible to clearly show the operator whether the flight route displayed on the operator's terminal is the normal route or the changed route, and also allows the operator to understand at a glance the reason why the changed route was set.

[0097] [7] The information processing device according to any one of [1] to [6] above further comprises a determination means for determining whether the cause of setting the altered route has been resolved when the unmanned aerial vehicle arrives at the destination, and a flight control means for returning the unmanned aerial vehicle along the normal route when the determination means determines that the cause has been resolved. This allows the unmanned aerial vehicle that has arrived at the destination along the altered route to quickly return along the normal route.

[0098] [8] In the information processing device according to any one of [1] to [7] above, the display control means displays information on the terminal prompting the operator to approve the change route, thereby enabling the operator to quickly take approval action.

[0099] [9] The information processing device described in [8] above is characterized by further comprising a flight control means for flying the unmanned aerial vehicle along the changed route in response to approval of the changed route by the operator, thereby enabling the unmanned aerial vehicle to fly more safely along the changed route approved by the operator.

[0100]

[10] In the information processing device described in any one of [1] to [9] above, the second setting means determines whether the situation within the vicinity of the normal route satisfies predetermined flight conditions a predetermined time before the scheduled takeoff time of the unmanned aerial vehicle for which the normal route has been set, and sets an alternative route for the unmanned aerial vehicle if it is determined that the normal route situation does not satisfy the flight conditions. This allows the alternative route to be set at a more appropriate time.

[0101]

[11] The information processing method of the present disclosure is an information processing method executed by one or more computers, and is characterized by including the steps of: setting a flight route of an unmanned aerial vehicle from a departure point to a destination as a normal route; setting the flight route different from the normal route as an altered route depending on the situation within the vicinity of the set normal route; and displaying the set altered route on a terminal of an operator monitoring the unmanned aerial vehicle in a display manner indicating that it is different from the set normal route. [Explanation of symbols]

[0102] 11 Power supply section 12 Drive unit 13 Positioning unit 14 Communications Department 15 Sensor section 16 Memory section 17 Control Unit 21 Operation / display section 22 Communications Department 23 Memory section 24 Control Unit 31 Communications Department 32 Storage section 33 Control Unit 331 Normal Route Setting Section 332 Normal Route Status Identification Unit 333 Exception Route Setting Section 334 Display control unit 335 Flight Control Unit 336 Change Cause Elimination Judgment Unit Dn Drone Tm Operator Terminal MS Management Server EM base equipment S Remote Monitoring System

Claims

1. a first setting means for setting a flight route of the unmanned aerial vehicle from a departure point to a destination point as a normal route; a second setting means for setting the flight route different from the normal route as an altered route in accordance with a situation within a vicinity range of the normal route set by the first setting means; a display control means for displaying, on a terminal of an operator monitoring the unmanned aerial vehicle, the altered route set by the second setting means in a display manner that indicates that the altered route is different from the normal route set by the first setting means; a determination means for determining, when the unmanned aerial vehicle arrives at the destination, whether or not the cause of setting the changed route has been resolved; a flight control means for returning the unmanned aerial vehicle along the normal route when the determination means determines that the cause has been resolved; An information processing device comprising:

2. 2. The information processing apparatus according to claim 1, wherein the display control means displays the modified route set by the second setting means and the normal route set by the first setting means in different display modes.

3. The information processing device described in claim 1 or 2, characterized in that the second setting means sets the modified route according to the situation within the vicinity of the normal route during the scheduled flight time period of the unmanned aircraft for which the normal route has been set.

4. The information processing device described in claim 1 or 2, characterized in that the second setting means sets the changed route by selecting one of a plurality of flight route candidates having different distances from the departure point to the destination.

5. 3. The information processing device according to claim 1, wherein the display control means highlights areas on the normal route where flight should be avoided.

6. 3. The information processing apparatus according to claim 1, wherein the display control means causes the terminal to display information indicating a reason why the changed route has been set.

7. 3. The information processing apparatus according to claim 1, wherein the display control means causes the terminal to display information prompting the operator to approve the changed route.

8. 8. The information processing device according to claim 7, further comprising a flight control means for causing the unmanned aerial vehicle to fly along the changed route in response to approval of the changed route by the operator.

9. The information processing device described in claim 1 or 2, characterized in that the second setting means determines whether the conditions within the vicinity of the normal route satisfy predetermined flight conditions a predetermined time before the scheduled takeoff time of the unmanned aircraft for which the normal route has been set, and sets an altered route for the unmanned aircraft if it is determined that the normal route conditions do not satisfy the flight conditions.

10. 1. An information processing method executed by one or more computers, comprising: A step of setting a flight route of the unmanned aerial vehicle from a departure point to a destination point as a normal route; setting the flight route different from the normal route as an altered route according to a situation within a vicinity of the set normal route; a step of displaying the set altered route on a terminal of an operator monitoring the unmanned aerial vehicle in a display manner that indicates that the set altered route is different from the set normal route; When the unmanned aerial vehicle arrives at the destination, determining whether the cause of setting the changed route has been resolved; returning the unmanned aerial vehicle along the normal route when it is determined that the cause has been resolved; An information processing method comprising:

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