Route reservation system, route reservation method, and program

Abstract

We provide functions that take into consideration convenience when booking unmanned aerial vehicle flight plans and when flying based on the flight plan. [Solution] A route reservation system for unmanned aerial vehicle flight plans has a reservation unit that reserves spaces and time slots corresponding to the flight route specified in a flight plan reservation instruction, and the reservation unit accepts a reservation instruction for a first flight plan and makes a reservation if, in each of one or more spaces corresponding to a first flight route specified in a reservation instruction for the first flight plan, the sum of the unmanned aerial vehicle's residence time along the first flight route and the residence time along flight routes of other flight plans that have already been reserved does not exceed the time slot specified in the first flight plan.

Description

[Technical Field]

[0001] The present invention relates to a route reservation system, a route reservation method, and a program. [Background technology]

[0002] In recent years, unmanned aerial vehicles (UAVs) such as drones have become widespread and are being used for a variety of services. To ensure the safe flight of multiple unmanned aerial vehicles, there are systems that request permission and report flights when flying within a certain area. One example of such a system is the Drone / UAS Information Platform System (DIPS).

[0003] Furthermore, in order for multiple unmanned aerial vehicles to fly safely, there is a configuration in which flight routes and flight areas are reserved to prevent collisions with other unmanned aerial vehicles. For example, Patent Document 1 discloses a configuration in which, when passing through a spatial cell on the flight route of an unmanned aerial vehicle, it is determined whether the spatial cell has been reserved and movement into the reserved spatial cell is not permitted. Furthermore, Patent Document 2 describes a configuration in which flight permission is set for each divided airspace on the flight route of an unmanned aerial vehicle based on the state of the airspace. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7085680 [Patent Document 2] Patent No. 7546253 Summary of the Invention [Problem to be solved by the invention]

[0005] Flight plans for unmanned aircraft must be submitted in advance, and it is expected that a certain amount of time will be required for approval. Therefore, due to the time constraints of submitting flight plans, sudden route changes are not possible. For example, it is possible to submit a flight application with a certain degree of flexibility by submitting a flight area and flight time in advance over a relatively wide area, but this approach does not allow for efficient use of flight space. Furthermore, for example, when using DIPS, there are no strict restrictions on flight area or flight route permission applications for unmanned aircraft, and sufficient consideration is not given to overlapping flight areas and flight routes that may arise from multiple applications. When multiple flight areas or flight routes overlap, coordination between the parties involved is necessary on the day of flight or immediately before the actual flight for safety reasons.

[0006] For example, even if a flight plan application reveals in advance that there is an overlap in flight area or flight route, there have been cases where it is not possible to change the route due to the time constraints associated with the application. On the other hand, applying strict application restrictions at the flight plan application stage reduces flexibility in flight plan applications. Therefore, there has been a demand for a reservation function that maintains flexibility in unmanned aircraft flight plans. Furthermore, there has been a demand for a configuration that improves convenience in resolving flight route overlaps during flight, even if there is an overlap in flight plans at the time of application.

[0007] In view of the above problems, the present invention aims to provide a function that takes into consideration convenience when booking a flight plan for an unmanned aerial vehicle and when flying based on the flight plan. [Means for solving the problem]

[0008] In order to solve the above problems, one aspect of the present invention has the following configuration: That is, a route reservation system for flight planning of an unmanned aerial vehicle, comprising: a reservation unit that reserves space and time slots corresponding to a flight route designated in a flight plan reservation instruction; The reservation unit accepts a reservation instruction for a first flight plan and makes a reservation if the sum of the residence time of the unmanned aircraft along the first flight route and the residence time along the flight routes of other flight plans that have already been reserved does not exceed the time frame specified in the first flight plan in each of one or more spaces corresponding to the first flight route specified in the reservation instruction for the first flight plan.

[0009] Another aspect of the present invention has the following configuration: A route reservation system for flight planning of an unmanned aerial vehicle, comprising: a reservation step for reserving space and time slots corresponding to a flight route specified in a flight plan reservation instruction; In the reservation process, if the sum of the residence time of the unmanned aircraft along the first flight route and the residence time along the flight routes of other flight plans that have already been reserved does not exceed the time frame specified in the first flight plan in each of one or more spaces corresponding to the first flight route specified in the reservation instruction for the first flight plan, the reservation instruction for the first flight plan is accepted and a reservation is made.

[0010] Another aspect of the present invention has the following configuration: a program comprising: Computer, and functioning as a reservation unit that reserves space and time slots corresponding to flight routes designated in reservation instructions for flight plans of unmanned aerial vehicles; The reservation unit accepts a reservation instruction for a first flight plan and makes a reservation if the sum of the residence time of the unmanned aircraft along the first flight route and the residence time along the flight routes of other flight reservations that have already been reserved does not exceed the time frame specified in the first flight plan in each of one or more spaces corresponding to the first flight route specified in the reservation instruction for the first flight plan. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide functions that take into consideration convenience when making reservations for flight plans for unmanned aerial vehicles and when flying based on the flight plans. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing an example of the configuration of a route reservation system according to a first embodiment of the present invention. [Figure 2] FIG. 1 is a block diagram showing an example of the configuration of a route reservation server according to a first embodiment of the present invention. [Figure 3] FIG. 1 is a schematic diagram illustrating a flight route according to a first embodiment of the present invention; [Figure 4] FIG. 1 is a schematic diagram illustrating overlapping flight routes according to a first embodiment of the present invention; [Figure 5] FIG. 1 is a schematic diagram illustrating updating of overlapping flight routes according to a first embodiment of the present invention. [Figure 6A] FIG. 1 is a schematic diagram illustrating a time frame relative to space according to a first embodiment of the present invention; [Figure 6B] FIG. 1 is a schematic diagram illustrating a time frame relative to space according to a first embodiment of the present invention; [Figure 7] 1 is a flowchart of a route reservation process according to a first embodiment of the present invention; [Figure 8] 1 is a flowchart of a route update process according to a first embodiment of the present invention; [Figure 9] FIG. 10 is a schematic diagram illustrating an airspace corresponding to a flight route according to a second embodiment of the present invention. [Figure 10] FIG. 10 is a schematic diagram illustrating overlapping airspaces according to a second embodiment of the present invention. [Figure 11] FIG. 10 is a schematic diagram illustrating updating of flight routes within overlapping airspaces according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiment described below is one embodiment for explaining the present invention and is not intended to be interpreted as limiting the present invention. Furthermore, not all configurations described in each embodiment are necessarily essential configurations for solving the problems of the present invention. Furthermore, in each drawing, the same components are assigned the same reference numerals to indicate their correspondence. Note that to avoid unnecessary redundancy and to facilitate understanding by those skilled in the art, some of the description may be omitted or simplified. For example, detailed descriptions of already well-known matters or redundant descriptions of substantially identical configurations may be omitted.

[0014] Furthermore, in the embodiments described below, the purpose of use of the unmanned aerial vehicle is not particularly limited. For example, the unmanned aerial vehicle may be used for scheduled flights on a predefined flight route between a predetermined start point and end point, or for a package delivery service such as home delivery. Alternatively, the unmanned aerial vehicle may be used for inspection or monitoring of targets at predetermined locations. The unmanned aerial vehicle may be applied to various fields and services. Furthermore, the unmanned aerial vehicle may be modified, adjusted, expanded, etc. as appropriate depending on the field or service to which it is applied.

[0015] First Embodiment [System Configuration] 1 is a schematic diagram showing an example of the configuration of a route reservation system (management system) according to a first embodiment of the present invention. In the route reservation system 1, a route reservation server 100, a user terminal 200, an unmanned aerial vehicle 210, and a linkage system 220 are configured to be able to communicate with each other via a network NW.

[0016] The route reservation server 100 reserves a flight route (hereinafter simply referred to as a "route") based on instructions from the user of the unmanned aerial vehicle 210. Reserving a flight route for a future flight (hereinafter referred to as a "route reservation") is synonymous with reserving the space and time to pass through during that flight. Therefore, "route reservation" can also be rephrased as specifying the space and time period, including the position coordinates to be passed through as a flight route. In this embodiment, the time period specified when reserving a route is also referred to as a "time slot." Furthermore, the route reservation server 100 notifies the reservation status and recreates the flight route when the unmanned aerial vehicle 210 flies.

[0017] Note that the system may be configured so that some or all of the functions described below are provided by a linking system 220 that can link via a network NW. The route reservation server 100 may be configured on-premise using a general-purpose computer such as a workstation or personal computer, or may be logically realized by cloud computing. In this embodiment, for the sake of convenience of explanation, one route reservation server 100 is illustrated as an example, but this is not limiting and multiple servers may be used. Furthermore, the route reservation system 1 may be configured to include servers with different roles, such as an authentication server and a database server.

[0018] The user terminal 200 is an information processing device for issuing instructions for reserving a route for the flight of the unmanned aerial vehicle 210. The user terminal 200 may be configured, for example, as a PC (Personal Computer), a mobile phone, a smartphone, or a tablet terminal. The user terminal 200 has a configuration for accessing the route reservation server 100, inputting requested information, and displaying notifications from the route reservation server 100. The user terminal 200 is operated, for example, by an administrator of the unmanned aerial vehicle 210.

[0019] The unmanned aerial vehicle 210 is an air vehicle such as a drone, which is capable of flying a predetermined route under manual or automatic control. The type and specifications of the unmanned aerial vehicle 210 are not particularly limited. Although the example of FIG. 1 shows one unmanned aerial vehicle 210, more unmanned aerial vehicles 210 may be used. The specifications and functions of the multiple unmanned aerial vehicles 210 may be different from each other or may be the same.

[0020] The linking system 220 is an external system that functions in cooperation with the route reservation server 100 via the network NW. The linking system 220 has a function of managing information related to the flight plan and flight approval of the unmanned aerial vehicle 210, for example. The linking system 220 may also manage information related to the unmanned aerial vehicle 210. Note that the functions provided by the linking system 220 are not particularly limited. Also, although only one linking system 220 is shown, the linking system is not limited to this configuration and may be configured with one or more devices depending on the functions and services.

[0021] The network NW is configured by the Internet, an intranet, a wireless LAN (Local Area Network), a WAN (Wide Area Network), Bluetooth (registered trademark), Wi-Fi (registered trademark), a mobile phone communication network, etc. Note that there are no particular limitations on the communication standards or wired / wireless nature of the network NW, and the network NW may be configured by combining multiple communication standards.

[0022] 2 is a block diagram showing an example of the functional configuration of the route reservation server 100 according to this embodiment. The route reservation server 100 includes a control unit 110, a storage unit 130, and a communication unit 140. Each unit is configured to be able to communicate with each other via an internal bus or the like.

[0023] The control unit 110 is responsible for controlling the operation of the route reservation server 100. The control unit 110 is composed of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an NPU (Neural network Processing Unit), etc., and provides various functions by reading and executing various programs and data stored in the storage unit 130. The control unit 110 functions as, for example, a data management unit 111, a data collection unit 112, an instruction reception unit 113, a flight route setting unit 114, a flight route update unit 115, a reservation information setting unit 116, a space reservation unit 117, a space allocation unit 118, a reservation information notification unit 119, a display control unit 120, and a communication control unit 121.

[0024] The data management unit 111 manages the recording, reference, updating, etc. of data in various databases (hereinafter referred to as "DBs") configured in the storage unit 130. Examples of data managed in each DB will be described later.

[0025] The data collection unit 112 collects data related to each process described below, such as information related to the flight plan of the unmanned aerial vehicle 210 and information related to the reservation status. The collected data may be acquired by the route reservation server 100 making an inquiry to an external device (for example, the linkage system 220), or may be transmitted from the external device to the route reservation server 100 at a predetermined timing.

[0026] The instruction receiving unit 113 receives various instructions related to route reservations, route changes, etc., which will be described later. The instructions can be received via the user terminal 200, for example.

[0027] The flight route setting unit 114 sets the flight route of the unmanned aerial vehicle 210. The flight route may be specified by a user who instructs the future flight plan of the unmanned aerial vehicle 210, or may be set by the route reservation server 100 based on predetermined conditions. Specific examples of flight routes will be described later.

[0028] The flight route update unit 115 updates the flight route of the unmanned aerial vehicle 210. The flight route is updated, for example, when an overlap in flight routes occurs at the time when the reserved flight plan is to be executed or when the execution of the flight plan is approaching. The time when the flight plan is to be executed corresponds, for example, to the day of flight by the unmanned aerial vehicle 210. The updated flight route may be specified by the user who instructed the reservation of the flight plan, or may be updated by the route reservation server 100 based on predetermined conditions. Specific examples of flight route updates will be described later.

[0029] The reservation information setting unit 116 sets reservation information related to the use of space when setting a route reservation. In this embodiment, when reserving a route, information such as the space to be used as the flight route, time frame, and residence time is used. In response to this information, the unit sets the conditions for the available space and time frame, and the regulations for residence time according to the flight purpose. Details of the various information used for route reservation will be described later.

[0030] Space reservation unit 117 reserves space corresponding to the flight route along which unmanned aerial vehicle 210 will fly. A specific example of space reservation will be described later.

[0031] The space reservation unit 118 reserves space corresponding to the flight route of the unmanned aerial vehicle 210 based on reservation information, etc. By reserving space, overlapping use during flight is prevented and the risk of collisions, etc. is reduced. Examples of space reservation will be described later.

[0032] The reservation information notification unit 119 notifies the user of the current reservation information, the availability of the space, etc. The notification destination may be the user terminal 200 or the linked system 220, for example.

[0033] The display control unit 120 provides a UI (User Interface) screen related to a route reservation application and updates the displayed content. The display control unit 120 may provide, for example, data of a UI screen (not shown) for display to the user terminal 200.

[0034] The communication control unit 121 controls communication with external devices (for example, the user terminal 200 and the linkage system 220) and transmits and receives data.

[0035] The storage unit 130 is a storage device for storing programs, data, etc. for executing various control processes and functions within the control unit 110. The storage unit 130 is composed of volatile / non-volatile storage devices such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), and flash memory. The storage unit 130 includes a DB for managing data corresponding to the functions described below.

[0036] The program 131 is a program corresponding to each function provided by the route reservation server 100 according to this embodiment. The program 131 may include various parameters and data required for control. Each part provided by the control unit 110 is realized by executing the program 131.

[0037] The space information DB 132 divides a three-dimensional space defined in association with the real space in which the unmanned aerial vehicle 210 can fly into multiple spaces and manages the divided spaces as space information. In this embodiment, a time frame for flight reservations is specified for each space that constitutes the three-dimensional space. The time frames according to this embodiment will be described later.

[0038] The unmanned aerial vehicle DB 133 manages information about the unmanned aerial vehicle 210 that is flying (hereinafter also referred to as "unmanned aerial vehicle information"). The unmanned aerial vehicle information may include, for example, the identification information, size, function, and administrator information of each unmanned aerial vehicle.

[0039] The route DB 134 manages information about the flight route specified in the flight reservation (hereinafter also referred to as "route information"). The route information may include, for example, location information (latitude, longitude, altitude, etc.) of waypoints such as departure points, arrival points, and passing points, information about the corresponding space, and scheduled passing dates and times.

[0040] The reservation DB 135 manages reservation information related to the use of space for the flight of the unmanned aerial vehicle 210. Space is reserved for the position coordinates and time frame of the space to be used during flight. The reservation DB 136 manages information related to the reservation of space, which will be described later. The information related to reservation may include, for example, user information, reservation date and time, corresponding reservation information, etc.

[0041] The communication unit 140 is a communication interface for communicating with external devices via the network NW. The communication unit 140 may be configured to be compatible with a plurality of communication standards depending on the configuration of the network NW.

[0042] The above-described configurations of each part and DB are merely examples and are not limited to these. For example, multiple parts and DBs may be combined into one, or one part or DB may be divided into multiple parts. Furthermore, parts corresponding to additional functions provided by the route reservation server 100 may be provided.

[0043] [Flight Route] FIG. 3 is a conceptual diagram for explaining the concept of a flight route according to this embodiment. The flight route indicates the planned route and date and time of flight of the unmanned aerial vehicle 210. The flight route is indicated, for example, by a plurality of waypoints (hereinafter also referred to as "WP"), and the position information (latitude, longitude, altitude) of at least the start point, intermediate points, and end point is indicated. Furthermore, the planned flight time may be specified at the waypoints that make up the flight route. There are no particular limitations on the time interval and / or distance interval when specifying consecutive WPs that make up the flight route.

[0044] Figure 3(a) shows an example of a flight route 300. It shows WP 301 as the starting point, WP 302 and WP 303 as waypoints, and WP 304 as the end point. Although it is simplified in Figure 3(a), flight route 300 is formed by a series of WPs between each WP.

[0045] FIG. 3(b) shows an example of spaces as flight areas passed through when flying along the flight route 300 shown in FIG. 3(a). In this example, the flight will be in the order of space 311, space 312, space 313, space 314, and space 315. When reserving a route, reservations must be made for these spaces 311 to 315. Note that the size and shape of the spaces are merely examples and may be adjusted as appropriate. For example, the size and shape of the spaces may vary depending on the coordinates, etc.

[0046] [Flight route overlap] FIG. 4 is a diagram illustrating overlapping flight routes during route reservation according to this embodiment. For example, assume that there are two flight routes 400 and 410 in route reservation. Flight route 400 is composed of WPs 401, 402, 403, and 404. Flight route 410 is composed of WPs 411, 412, 413, and 414. Some sections of these routes overlap (overlapping section S). If two unmanned aerial vehicles fly through the overlapping section S at the same time, there is a possibility that a collision may occur between them. In other words, collisions and other such events can be avoided by avoiding flights through the overlapping section S at the same time, or by changing one of the flight routes.

[0047] In this embodiment, when reserving a route, the system accepts the specification of a space as a flight route and a time frame as the planned time of use. Then, based on this information, the system changes the flight route and adjusts the flight timing. At this time, overlapping of the time frames specified for each space is permitted. Details will be described later.

[0048] Figure 5 is a diagram for explaining the updating of flight routes at the timing of actual flight based on the reserved flight route. An example of the two flight routes shown in Figure 4 will be used for explanation. During flight, if the reserved flight routes overlap, that is, if there are flight routes scheduled to fly through the same space, at least one of the flight routes is updated to ensure flight safety. Figure 5 shows an example in which flight route 400 remains unchanged and flight route 410 is updated.

[0049] As shown in Figure 4, an overlapping section S occurred at the time of reservation. To resolve this, immediately before flight, the positions of WPs 412 and 412, which were located in overlapping section S on flight route 410, are changed. Specifically, by adjusting the positions of the waypoints that make up the flight route, WP 412 is changed to WP 415, and WP 413 is changed to WP 416. At this time, the positions of WP 411 and WP 414, which were not located in overlapping section S, route 417 between WP 411 and WP 412, and route 419 between WP 413 and WP 414 are used without change. In other words, the flight route is updated by updating the route (i.e., waypoints) of the overlapping section, while leaving other routes (i.e., waypoints) unchanged.

[0050] In the example of FIG. 5, a flight route is updated by changing the position coordinates of waypoints in three-dimensional space. However, this is not limiting, and control may be performed to change the flight time while maintaining the same flight route, taking into account the time factor. In this case, it is preferable to change the flight route (flight timing) taking into account the availability of the time slot described below. For example, it is preferable to change the flight time so that it falls within the time slot specified at the time of reservation. This can reduce the impact on other route reservations. In order to eliminate overlapping sections, both the flight space and flight timing may be changed, or only one of them may be changed.

[0051] [Reservation for space and time slots] 6A and 6B are conceptual diagrams for explaining the space and time frame according to this embodiment. In this embodiment, the real space in which unmanned aerial vehicle 210 flies is divided into "spaces" of predetermined shapes and sizes for management. The shapes and sizes of the divided spaces here are not particularly limited, and may be set arbitrarily depending on the coordinates, terrain characteristics, etc.

[0052] In a route reservation, one or more spaces that make up the flight route and a time slot that is the planned usage time are specified. The time slot may be specified in any predetermined time unit such as days, hours, or minutes. In addition, a minimum length of the time slot (e.g., at least 30 minutes) may be used when specifying the time slot. In this case, the minimum length of the time slot that can be specified may be stipulated according to the number of spaces in the flight route to be reserved.

[0053] 6A and 6B, four adjacent spaces A to D are used as an example. In this example, it is assumed that three route reservations A to C are being made at a certain point in time. Each route reservation specifies one or more spaces that make up the flight route and a time frame as the time period during which the flight is scheduled. Furthermore, the purpose of the flight may be specified as optional information. (Route Reservation A) Flight route A: Space A ~ Space B ~ Space C ~ Space D Time slot: 9:00~13:00 Flight purpose: target monitoring (Route Reservation B) Flight route B: Space B to Space C Time slot: 9:00~14:30 Flight purpose: delivery (Route Reservation C) Flight route C: Space C~Space D Time slot: 11:30~13:30 Flight purpose: flight training

[0054] Figure 6A shows the correspondence between the time slots of each route reservation and the spaces used as the flight route. In this example, it is assumed that reservations are made in the order of route reservations 601, 602, and 603, which correspond to route reservations A to C, respectively. Route reservation 601 corresponds to a flight route that starts from a start point located in space A and flies to an end point located in space D, for example. Route reservation 602 is a reservation for spaces B and C. Route reservation 603 is a reservation for spaces C and D.

[0055] In addition, in route reservations 601, 602, and 603, the length indicated by the vertical double-headed arrows indicates the "dwell time" in each space. In other words, the dwell time means the length of time that the space is expected to be used. In other words, the length of the time frame specified at the time of reservation differs from the length of time that the actual flight is expected to use. Therefore, the flight timing can be adjusted as desired as long as it is within the time frame specified in the route reservation. The length of the dwell time is specified and set when the route is reserved.

[0056] The dwell time may be set by the user flying the unmanned aerial vehicle 210, or may be specified in settable units (for example, in 5-minute increments) by the route reservation server 100. Furthermore, the dwell time may be automatically set according to the purpose of flying the unmanned aerial vehicle 210 as described above. Any purpose may be specified as the purpose of the flight, such as traveling to a destination, monitoring a predetermined target, inspection, flight training, or delivery. Furthermore, the dwell time may be limited according to the user's attributes and incentives. For example, the reservation priority, the number, size, and location of spaces that can be designated, and the dwell time that can be designated may be controlled according to the user's attributes and authority (such as cost burden).

[0057] In the example of FIG. 6A, reservations are registered in the order in which reservation requests are received, while referencing the availability of each space and each time slot. When reservations for the same time slot are specified, the reservations are registered in the order in which the reservation requests were received within that time slot, with the start timing of the dwell time staggered. For example, route reservation A specifies a time slot of 9:00 to 13:00, and route reservation B specifies a time slot of 9:00 to 14:30. Furthermore, space B and space C overlap on these flight routes. In this case, even if route reservation A and route reservation B are accepted after specifying the dwell time for each route reservation, they will still fit within the specified time slot. Therefore, as shown in FIG. 6A, reservations for route reservation A and route reservation B are registered. Regarding route reservation C, space C and space D, which make up flight route C, overlap with other flight routes that have already been reserved, and there is also an overlap in the time slot (11:30 to 13:30), but they can still be registered as shown in route reservation 603.

[0058] FIG. 6B shows an example in which it is assumed that, in a state in which route reservations A to C have been made as shown in FIG. 6A, route reservations D and E below are further made. (Route Reservation D) Flight route D: Space C~Space D Time slot: 11:30~12:30 Flight purpose: flight training (Route Reservation E) Flight Route E: Space C~Space D Time slot: 11:30~13:30 Flight purpose: flight training

[0059] Considering the space used as the flight route, the specified time frame, and the staying time, route reservation D overlaps with route reservation C as shown in route reservation 611, and therefore cannot be registered as a route reservation. On the other hand, route reservation E overlaps with route reservation D in space, but its time frame is longer than route reservation D. Therefore, route reservation E can be registered, as shown in route reservation 612, even taking the staying time into consideration. In other words, a reservation can be made by adjusting the start timing of the staying time within the time frame. Specifically, route reservation E can be made by adjusting the start timing of the staying time to 12:30 within the time frame of 11:30 to 13:30. Note that FIG. 6B shows an example in which there is a gap between the end timing of the staying time of route reservation 603 (corresponding to route reservation C) and the start timing of the staying time of route reservation 612 (corresponding to route reservation E). However, reservations may be registered closely without such a gap.

[0060] Note that the space is not necessarily used for the duration of the dwell time indicated in the route reservation. For example, even if the time slot is two hours and the dwell time of route reservation 603 is reserved for 45 minutes, as in route reservation C, the actual flight may use a shorter time (for example, only five minutes).

[0061] 6A and 6B, reservations are made with the same dwell time set for all spaces along a single flight route. For example, route reservation 601 makes reservations for the same dwell time for each of the four spaces A to D. Specifically, reservations are made for all four spaces A to D, with a start time of 9:00 and an end time of 9:45, assuming a dwell time of 45 minutes. However, this reservation method is not limited to this. For example, the duration and start time of the dwell time may be varied, taking into account the order in which unmanned aerial vehicle 210 passes. Therefore, the start time of the reservation (start timing of the dwell time) for space A, which is the starting point, may be different from the start time of the reservation (start timing of the dwell time) for space D, which is the ending point.

[0062] It is also assumed that the actual flight duration will differ between the start point and end point of the flight route. For example, even if the flight start time is the same, an error may occur in the estimated arrival time depending on the distance of the flight route, the topography of the space being flown, the purpose, etc. Therefore, for example, the flight route may be set so that the duration in the space located at the end point is longer than the duration in the space located at the start point. More specifically, the duration in space A may be set to 45 minutes, and the duration in space D may be set to 60 minutes. The difference in the duration setting range here may be set arbitrarily.

[0063] Furthermore, in order to effectively utilize available spaces and time slots, if a single flight route specified in a single reservation is made up of multiple spaces, it may be treated as multiple reservations corresponding to each of the multiple spaces. For example, consider route reservation E in the example of Figure 6B. Spaces B and C that make up flight route E may each be treated as separate reservations, and within the specified time slot of 11:30 to 13:30, space B may be registered as a reservation from 11:30 to 12:15, and space C may be registered as a reservation from 12:15 to 13:15.

[0064] [Processing flow] (Route reservation processing) 7 is a flowchart showing the flow of route reservation processing according to this embodiment. This processing flow is realized, for example, by the control unit 110 of the route reservation server 100 reading and executing programs and various data stored in the storage unit 130. For ease of explanation, the processing entity will be collectively described as the route reservation server 100. It is assumed that this processing flow is carried out as part of a flight plan for the unmanned aerial vehicle 210, a predetermined period before the actual flight.

[0065] In step 701, the route reservation server 100 accepts a route reservation request. The route reservation request here may include information such as identification information of the unmanned aerial vehicle 210, flight route information, planned flight date, time frame, flight purpose, and applicant.

[0066] In step S702, the route reservation server 100 refers to the spatial information through which the flight route specified in the route reservation request accepted in step S701 passes. Based on the position of the specified flight route, one or more corresponding spaces may be identified.

[0067] In step S703, the route reservation server 100 identifies availability in the time slot of the space through which the specified flight route passes, based on the space information identified in step S702. Specifically, it identifies availability in the time slot of each space as shown in Figures 6A and 6B.

[0068] In step S704, the route reservation server 100 derives the dwell time in each space through which the flight route passes, based on the route reservation request received in step S701. The dwell time may be specified by the user making the route reservation request, or may be derived by the route reservation server 100 according to the purpose of the flight. For example, in the case of a flight plan for surveillance, the dwell time in the space may be set to be longer than in a flight plan for a movement (passage) purpose. A table of dwell times according to the purpose may be defined in advance, and may be selectable by the user, or may be set on the server side. In addition, the dwell time may be derived according to the size and topographical information of the space, the complexity of the flight route within the space (flight pattern, number of waypoints), etc. Furthermore, the dwell time may be derived for each space through which the flight route passes.

[0069] In step S705, the route reservation server 100 determines whether or not reservations are possible for the entire space along the specified flight route. For example, as illustrated in FIG. 6B, even if only a portion of the space along the flight route is available, the entire flight route cannot be used, so the route reservation server 100 determines that reservations are not possible. If reservations are possible (step S705: YES), the route reservation server 100 proceeds to step S706. If reservations are not possible (step S705: NO), the route reservation server 100 proceeds to step S708.

[0070] In step S706, the route reservation server 100 accepts a route reservation for the space through which the specified flight route passes. The route reservation server 100 records the information of the accepted flight reservation in each DB.

[0071] In step S707, the route reservation server 100 notifies the requestor that a reservation has been made according to the contents of the request accepted in step S701. At this time, the route reservation server 100 may notify, in addition to the information about the registered route reservation, information about reservations in the same time frame or space (for example, information about other overlapping route reservations). Then, this processing flow ends.

[0072] In step S708, the route reservation server 100 notifies the requester that a reservation cannot be made based on the content of the request accepted in step S701. At this time, the route reservation server 100 may search for conditions similar to the content of the request accepted in step S701 and present conditions under which a reservation can be made. Then, this processing flow ends.

[0073] (Route update process) FIG. 8 is a flowchart showing the flow of route update processing according to this embodiment. This processing flow is realized, for example, by the control unit 110 of the route reservation server 100 reading and executing programs and various data stored in the storage unit 130. For ease of explanation, the processing entity is collectively described as the route reservation server 100. This processing flow may be initiated, for example, at a predetermined interval (daily). That is, it may be executed on the day of flight using the reserved flight route, or when the grace period until the scheduled flight date approaches within a certain period (threshold) (for example, the day before or several days before the scheduled flight date). The following processing may be performed on reservation information for one day, with each reservation information being processed in order. The processing order here may be the order in which the reservations were made, as shown in FIGS. 6A and 6B, or may be performed based on a predetermined priority.

[0074] In step S801, the route reservation server 100 acquires the reservation information of interest.

[0075] In step S802, the route reservation server 100 acquires information about the flight start time corresponding to the flight route of the reservation information acquired in step S801. The flight start time may be the scheduled takeoff time of the unmanned aerial vehicle 210. Information about this time may be acquired from the user who made the reservation, or may be set based on the time when the residence time was set at the time of reservation as shown in FIG. 6A.

[0076] In step S803, the route reservation server 100 determines, based on the information acquired in step S802, whether any space corresponding to the flight route of the reservation information in question has already been reserved. That is, the route reservation server 100 determines, based on the flight start time, whether the space can be reserved for the space and residence time of the flight route. If the same space has already been reserved by another user at an overlapping time, the space cannot be reserved. If any space has already been reserved (step S803: YES), the route reservation server 100 proceeds to step S806. On the other hand, if no space has been reserved, that is, if all of the space corresponding to the flight route of the reservation information in question can be reserved (step S803: NO), the route reservation server 100 proceeds to step S804.

[0077] In step S804, the route reservation server 100 reserves space corresponding to the flight route of the reservation information in question. This "reservation" makes it possible to occupy the space corresponding to the flight route during flight. As described above, the staying time is determined depending on the purpose, etc., so the time to reserve (occupy) the space may vary depending on the purpose, etc. when the staying time is determined.

[0078] In step S805, the route reservation server 100 notifies the user who made the route reservation of information about the space secured in step S804, i.e., information about the space that can be used as a flight route when flying. The notification method here is not particularly limited, but for example, the route reservation server 100 may notify the user terminals 200 of the multiple target users via email or a predetermined application. Then, this processing flow ends.

[0079] In step S806, the route reservation server 100 notifies the user who made the route reservation that the space that constitutes the flight route cannot be secured, and asks whether the flight route can be updated. Here, the notification may explicitly indicate the space (overlapping section) and time that cannot be secured among the multiple spaces that constitute the flight route. For example, even if a reservation has been made, there may be cases where the flight will not take place on the day. Therefore, in this embodiment, the flight route securing status is confirmed on the day of flight, and then the user is notified. The notification method here is not particularly limited, but for example, the route reservation server 100 may notify the user terminals 200 of the multiple target users via email, a specified application, or the like.

[0080] In step S807, the route reservation server 100 determines whether a route update instruction has been received. For example, the route reservation server 100 may receive an instruction to update the flight route from a user who has learned that the flight routes overlap based on the notification received in step S806. The update instruction may be input by the route reservation server 100 providing an instruction UI screen (not shown) to the user terminal 200. The route reservation server 100 may also receive a designation of the updated flight route via the instruction UI screen. In this case, the route reservation server 100 may present information on available times and spaces in each space as of the day and provide an IU screen that the user can select as the updated flight route. The route reservation server 100 may also inquire of a user who has already reserved spaces that constitute the flight route about whether the reserved spaces can be changed. The route reservation server 100 may also receive an instruction to cancel the reservation or not to fly. If a route update instruction has been received (step S807: YES), the process of the route reservation server 100 proceeds to step S809. On the other hand, if a route update instruction has not been received (step S807: NO), the process of the route reservation server 100 proceeds to step S808.

[0081] In step S808, the route reservation server 100 notifies the user who made the route reservation of attention information indicating precautions to be taken when flying because the space that constitutes the flight route has not been secured. The attention information may, for example, urge the user to take greater care when flying in overlapping sections. More specifically, the user may be notified not to fly in a space or at a time that has been secured by at least another user. Furthermore, information about users who have secured the flight route may be provided, encouraging the users to coordinate with each other when actually flying. The route reservation server 100 then proceeds to step S815.

[0082] In step S809, the route reservation server 100 determines whether or not it has accepted the specification of an updated flight route in the route update instruction accepted in step S807. That is, the route reservation server 100 determines whether or not it has accepted an updated route manually specified by the user. If it has accepted the specification of an updated route (step S809: YES), the process of the route reservation server 100 proceeds to step S810. On the other hand, if it has accepted the specification of an updated route (step S809: NO), the process of the route reservation server 100 proceeds to step S811.

[0083] In step S810, the route reservation server 100 generates an updated route. The generation of the updated route here may be performed based on the flight route conditions and the current reservation and allocation status (space and time availability). The updated route generation algorithm and generation conditions are not particularly limited, but the user may set the generation conditions, or the route reservation server 100 may set them arbitrarily. The route reservation server 100 then sets the updated route as a new flight route. After that, the process of the route reservation server 100 proceeds to step S812.

[0084] In step S811, the route reservation server 100 sets the updated route specified by the user as a new flight route. After that, the process of the route reservation server 100 proceeds to step S812.

[0085] In step S812, the route reservation server 100 reserves space corresponding to the updated flight route. The time for reserving the space may be adjusted depending on the purpose of the flight as described above.

[0086] In step S813, the route reservation server 100 notifies the user terminal 200 of the information about the space secured in step S812, i.e., the information about the space that can be used as a flight route during flight. The notification method here is not particularly limited, but for example, the route reservation server 100 may notify the user terminals 200 of the multiple target users via email, a predetermined application, etc. Then, this processing flow ends.

[0087] As described above, this embodiment makes it possible to provide a reservation function that maintains flexibility in flight planning for unmanned aerial vehicles. Furthermore, it makes it possible to provide a configuration that improves convenience in resolving overlapping flight routes during flight.

[0088] Second Embodiment A second embodiment of the present invention will be described. Note that explanations of parts that overlap with the first embodiment will be omitted and the explanation will focus on the differences. The system configuration is the same as in the first embodiment.

[0089] In the first embodiment, a flight route consisting of multiple WPs is used as the flight route at the time of reservation, as shown in Fig. 3(a). In this embodiment, a certain area is set based on the flight route at the time of reservation, and a space corresponding to that area is reserved.

[0090] [Flight Route] FIG. 9 is a conceptual diagram for explaining the concept of an area based on a flight route according to this embodiment. As described above with reference to FIG. 3, the flight route is indicated by a plurality of waypoints, and the position information (latitude, longitude, and altitude) of at least the start point, intermediate points, and end point is indicated. The flight route 900 shown in FIG. 9 indicates WP901 as the start point, WP902 and WP903 as intermediate points, and WP904 as the end point. Although simplified in FIG. 9, the flight route 900 is configured by a series of WPs between each WP.

[0091] In this embodiment, a predetermined range is set based on the configured flight route 900. In the example of FIG. 9, areas 911, 912, and 913 are set for the flight route 900. The range, size, shape, and the like of the areas are not particularly limited. For example, the predetermined range set based on the flight route may be specified by the user making the route reservation, or may be set by the route reservation server 100 based on predetermined conditions. Furthermore, although the example of FIG. 9 shows an example of three areas along the flight route, a single area including all of the waypoints that make up the flight route may also be set.

[0092] In this embodiment, the reservation of the corresponding spaces is performed for areas 910, 911, and 912 instead of the flight route 900. The reservation method and time frame are the same as in the first embodiment.

[0093] [Overlapping areas including flight routes] 10 is a diagram illustrating overlapping areas including flight routes when reserving a route according to this embodiment. In this embodiment, overlapping flight route reservations are also permitted when reserving a route. For example, assume that there are two flight routes, 1000 and 1010, for a route reservation within a certain time frame.

[0094] Flight route 1000 is configured to include WPs 1001, 1002, 1003, and 1004. Furthermore, in this embodiment, areas 1005, 1006, and 1007 are set based on flight route 1000. Similarly, flight route 1010 is configured to include WPs 1011, 1012, 1013, and 1014. Furthermore, in this embodiment, areas 1015, 1016, and 1017 are set based on flight route 1010. Flight routes 1000 and 1010 partially overlap (overlapping section S). In this embodiment, such spatial overlap is permitted at the route reservation stage, and reservations are registered for both routes based on residence time.

[0095] FIG. 11 is a diagram for explaining the updating of flight routes at the timing of actual flight based on the reserved flight route. An example of two flight routes shown in FIG. 10 will be used for explanation. During flight, if the reserved flight routes overlap in space, at least one of the flight routes is updated to ensure flight safety. FIG. 11 shows an example in which flight route 1000 remains unchanged and flight route 1010 is updated.

[0096] As shown in FIG. 10, an overlapping section S occurred at the time of reservation. To resolve this, the positions of WP1012 and 1013, which were located in overlapping section S on flight route 1010, are changed. Specifically, WP1012 is changed to WP1018, and WP1013 is changed to WP1019 so that the flight routes do not overlap. At this time, the positions of WP1012 and 1013, which were located in overlapping section S, are moved within the range of the corresponding space 1016, thereby eliminating the overlap of flight routes (spaces passed through). Also, as in the example shown in FIG. 5, the positions of WP1011 and WP1014, which did not overlap, the route between WP1011 and WP1012, and the route 419 between WP413 and WP414 are used without change. In other words, the flight route is updated so that the routes (i.e., waypoints) of the overlapping sections are updated, and other routes (i.e., waypoints) are not changed.

[0097] In this embodiment, flight route reservations and updated route generation are performed based on the above. The processing flow is the same as the flow shown in Figures 7 and 8 described in the first embodiment.

[0098] As described above, this embodiment makes it possible to provide a reservation function that maintains flexibility in the flight plan of an unmanned aerial vehicle. Furthermore, it makes it possible to provide a configuration that improves convenience when resolving overlapping flight routes during flight. The difference from the first embodiment is that the route is changed to fit within the range of the space reserved in advance, making adjustments during flight easier.

[0099] <Other embodiments> In addition, in the present invention, a program or application for realizing the functions of one or more of the above-mentioned embodiments can be supplied to a system or device using a network or a storage medium, etc., and one or more processors in the computer of the system or device can read and execute the program.

[0100] Alternatively, it may be realized by a circuit that realizes one or more functions (for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array)).

[0101] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to these examples. It is clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents may be made within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention.

[0102] As such, the present invention is not limited to the above-described embodiments, and the present invention also contemplates the mutual combination of the various components of the embodiments, as well as modifications and applications by those skilled in the art based on the description in the specification and well-known techniques, and these modifications and applications are included in the scope of protection sought.

[0103] As described above, the present specification discloses the following:

[0104] (Technology 1) A route reservation system (e.g., 1, 100) for flight planning of an unmanned aerial vehicle (e.g., 210), comprising: a reservation unit (e.g., 110, 117) for reserving space and time slots corresponding to flight routes specified in flight plan reservation instructions; A route reservation system in which the reservation unit accepts a reservation instruction for a first flight plan and makes a reservation in each of one or more spaces corresponding to a first flight route specified in a reservation instruction for the first flight plan if the sum of the residence time of the unmanned aircraft along the first flight route and the residence time of flight routes of other flight plans that have already been reserved does not exceed the time frame specified in the first flight plan. This configuration makes it possible to provide, for example, a reservation function that maintains flexibility in flight planning for unmanned aerial vehicles.

[0105] (Technology 2) The route reservation system according to technology 1 further comprises a reservation unit that reserves space and time during flight to be occupied based on the space and dwell time corresponding to the reserved flight route. This configuration makes it possible, for example, to avoid or prevent collisions between multiple unmanned aerial vehicles during flight.

[0106] (Technology 3) A determination unit (e.g., 110, 115) that determines whether the space can be secured based on the scheduled flight start time and the space and residence time corresponding to the reserved flight route; an update unit (e.g., 110, 115) that updates the flight route by changing at least one of the space or the time to be secured when the determination unit determines that the space cannot be secured; The route reservation system according to technology 1 or technology 2, further comprising: This configuration makes it possible to provide a configuration that improves convenience when securing space for a flight route during flight, for example.

[0107] (Technology 4) The route reservation system according to Technology 2 or Technology 3, wherein, when a part of the flight route cannot be secured, the update unit updates the flight route so as to change only the part that cannot be secured without changing the part that can be secured. This configuration makes it possible to ensure safety by taking into account collisions between unmanned aerial vehicles, for example, by utilizing non-overlapping flight routes and adjusting routes for overlapping areas. It also makes it possible to reduce the processing load associated with updating flight routes.

[0108] (Technology 5) Further, a setting unit (e.g., 110, 117) is provided for setting a predetermined range based on a flight route designated by a flight plan reservation instruction, The route reservation system according to Technology 1 or Technology 2, wherein the reservation unit reserves a space corresponding to the predetermined range. This configuration makes it possible to reserve a space within a predetermined range based on the flight route, thereby improving the degree of freedom of flight during actual flight.

[0109] (Technology 6) A determination unit (e.g., 110, 115) that determines whether the space can be secured based on the scheduled flight start time and the space and residence time corresponding to the reserved flight route; an update unit (e.g., 110, 115) that updates the flight route by changing the space to be secured so that it falls within the predetermined range when the determination unit determines that the space cannot be secured; The route reservation system according to technology 5 further comprises: This configuration makes it possible, for example, to adjust flight routes within an already reserved area, thereby minimizing impacts on spaces corresponding to other flight routes.

[0110] (Technology 7) A route reservation system described in any of Technology 1 to Technology 6, in which the residence time in each of one or more spaces corresponding to the flight route specified at the time of reservation is specified according to the purpose of the flight of the unmanned aerial vehicle. This configuration allows, for example, reservations to be made for the time slot of a space with a length of time according to the purpose of the flight, thereby enabling effective use of the time slot in each space.

[0111] (Technology 8) A route reservation system according to any one of Technology 1 to Technology 7, wherein the residence time in each of one or more spaces corresponding to the flight route specified at the time of reservation is set so that, among the multiple spaces corresponding to the flight route, the space where the flight ends is longer than the space where the flight starts. This configuration allows for more appropriate space reservations by setting the residence time taking into account, for example, delays that may occur during the actual flight.

[0112] (Technology 9) The route reservation system according to Art 2 further comprises a notification unit that notifies information about the space and time reserved by the reservation unit. This configuration allows the user to easily grasp, for example, the space and time periods available during an actual flight.

[0113] (Technology 10) A method for reserving a route in flight planning for an unmanned aerial vehicle (e.g., 210), comprising: a reservation step for reserving space and time slots corresponding to a flight route specified in a flight plan reservation instruction; A route reservation method in which, in the reservation process, if the sum of the residence time of the unmanned aerial vehicle along the first flight route and the residence time of flight routes of other flight plans that have already been reserved does not exceed the time frame specified in the first flight plan in each of one or more spaces corresponding to the first flight route specified in the reservation instruction for the first flight plan, the reservation instruction for the first flight plan is accepted and a reservation is made. This configuration makes it possible to provide, for example, a reservation function that maintains flexibility in flight planning for unmanned aerial vehicles.

[0114] (Technology 11) A computer (e.g., 100) Acting as a reservation unit (e.g., 110, 117) that reserves space and time slots corresponding to flight routes specified in reservation instructions of a flight plan for an unmanned aerial vehicle (e.g., 210); The reservation unit is a program that accepts a reservation instruction for a first flight plan and makes a reservation in each of one or more spaces corresponding to a first flight route specified in a reservation instruction for the first flight plan, if the sum of the residence time of the unmanned aircraft along the first flight route and the residence time of flight routes of other flight plans that have already been reserved does not exceed the time frame specified in the first flight plan. This configuration makes it possible to provide, for example, a reservation function that maintains flexibility in flight planning for unmanned aerial vehicles. [Industrial Applicability]

[0115] The present invention is useful, for example, as an apparatus, system, and method that provides functions that take into consideration convenience when reserving a flight plan for an unmanned aerial vehicle and when flying based on the flight plan. [Explanation of symbols]

[0116] 1. Route reservation system 100... Route reservation server 110...Control unit 111...Data Management Department 112...Data collection section 113...Instruction Reception Department 114...Flight route setting unit 115...Flight Route Update Department 116...Reservation information setting section 117...Space Reservation Department 118...Space Securing Department 119…Reservation Information Notification Department 120...Display control unit 121...Communication control unit 130...Storage section 131...Program 132…Spatial information DB 133…Unmanned aerial vehicle DB 134...Root DB 135…Reservation DB 140…Communications Department 200...User terminal 210...Unmanned aerial vehicle 220... Collaboration system NW...Network

Claims

1. A route reservation system for flight planning of an unmanned aerial vehicle, comprising: a reservation unit that makes a reservation for a flight plan based on a reservation instruction for the flight plan in which at least a space and a time frame corresponding to a flight route are specified; The reservation unit Identifying other flight plans that have been reserved within the time slots specified in the first flight plan from among other flight plans that have already been reserved in each of one or more spaces corresponding to the first flight route specified in the reservation instruction for the first flight plan, and identifying the residence time of the unmanned aircraft according to the first flight plan and the residence time of the unmanned aircraft according to the identified other flight plans based on the setting information of each flight plan; A route reservation system that accepts a reservation instruction for the first flight plan and makes a reservation if the sum of the residence time of the unmanned aircraft according to the identified first flight plan and the residence time of the unmanned aircraft according to the identified other flight plans in all of one or more spaces corresponding to the first flight route does not exceed the time frame specified in the first flight plan.

2. The route reservation system according to claim 1 , further comprising a reservation unit that reserves space and time during flight to be occupied based on the space and dwell time corresponding to the booked flight route.

3. a determination unit that determines whether the space can be secured based on a scheduled flight start time for the flight, and the space and residence time corresponding to the reserved flight route; an update unit that updates the flight route by changing at least one of the space to be secured or the time when the determination unit determines that the space cannot be secured; The route reservation system of claim 1 further comprising:

4. The route reservation system according to claim 3 , wherein, when a portion of the flight route cannot be secured, the update unit updates the flight route so as to change only the portion that cannot be secured without changing the portion that can be secured.

5. A setting unit sets a predetermined range based on a flight route specified in a flight plan reservation instruction, The route reservation system according to claim 1 , wherein the reservation unit reserves a space corresponding to the predetermined range.

6. a determination unit that determines whether the space can be secured based on a scheduled flight start time for the flight, and the space and residence time corresponding to the reserved flight route; an update unit that updates the flight route by changing the space to be secured so that the space falls within the predetermined range when the determination unit determines that the space cannot be secured; 6. The route reservation system of claim 5, further comprising:

7. The route reservation system of claim 1, wherein the residence time in each of one or more spaces corresponding to the flight route specified at the time of reservation is specified according to the purpose of the flight of the unmanned aerial vehicle.

8. 2. The route reservation system of claim 1, wherein the residence time in each of one or more spaces corresponding to the flight route specified at the time of reservation is set so that, among the multiple spaces corresponding to the flight route, the residence time in the space where the flight ends is longer than the space where the flight starts.

9. 3. The route reservation system according to claim 2, further comprising a notification unit that notifies information about the space and time reserved by said reservation unit.

10. A computer-implemented method for reserving routes in flight planning for an unmanned aerial vehicle, comprising: a reservation step of making a reservation for the flight plan based on a reservation instruction for the flight plan in which at least a space and a time slot corresponding to the flight route are specified; In the reservation step, Identifying other flight plans that have been reserved within the time slots specified in the first flight plan from among other flight plans that have already been reserved in each of one or more spaces corresponding to the first flight route specified in the reservation instruction for the first flight plan, and identifying the residence time of the unmanned aircraft according to the first flight plan and the residence time of the unmanned aircraft according to the identified other flight plans based on the setting information of each flight plan; A route reservation method that accepts a reservation instruction for the first flight plan and makes a reservation if the sum of the residence time of the unmanned aircraft according to the identified first flight plan and the residence time of the unmanned aircraft according to the identified other flight plans in all of one or more spaces corresponding to the first flight route does not exceed the time frame specified in the first flight plan.

11. Computer, a reservation unit that reserves a flight plan for an unmanned aerial vehicle, based on a reservation instruction for the flight plan in which at least a space and a time frame corresponding to the flight route are specified; The reservation unit Identifying other flight plans that have been reserved within the time slots specified in the first flight plan from among other flight plans that have already been reserved in each of one or more spaces corresponding to the first flight route specified in the reservation instruction for the first flight plan, and identifying the residence time of the unmanned aircraft according to the first flight plan and the residence time of the unmanned aircraft according to the identified other flight plans based on the setting information of each flight plan; A program that accepts a reservation instruction for the first flight plan and makes a reservation if the sum of the residence time of the unmanned aircraft according to the identified first flight plan and the residence time of the unmanned aircraft according to the identified other flight plans in all of one or more spaces corresponding to the first flight route does not exceed the time frame specified in the first flight plan.

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