MOBILE BODY MANAGEMENT DEVICE, MOBILE BODY MANAGEMENT METHOD, AND MOBILE BODY MANAGEMENT PROGRAM

Abstract

To enable accurate detection of a moving body 70 that has fraudulently entered a monitored area, a moving body management device 50 comprises: a reception unit 51 that receives moving body identification information 700 enabling identification of a moving body 70 and representing the state of the moving body 70 from an information processing terminal device 60 that has received the moving body identification information 700 from the moving body 70 that has transmitted the moving body identification information 700; a determination unit 52 that determines whether or not the moving body 70 has entered an entry-prohibited area by comparing the received moving body identification information 700 with entry permission management information 521 representing an area that the moving body 70 is permitted to enter or prohibited from entering; and a transmission unit 53 that transmits a determination result 522 obtained by the determination unit 52 to the information processing terminal device 60 capable of displaying the determination result 522.

Description

[Technical Field]

[0001] The present invention relates to a mobile object management device, an information processing terminal device, a mobile object control device, a mobile object management method, and a recording medium storing a mobile object management program. [Background technology]

[0002] In recent years, autonomous or manually operated mobile devices such as drones and robots (hereinafter referred to as mobile objects in this application) have been used in a variety of situations, and various technologies for managing the operation of such mobile objects have been developed.

[0003] As a technology related to this technology, Patent Document 1 discloses an unmanned flying device that flies based on instruction information acquired from an external device. This device stores a device ID (Identification) for identifying itself. This device verifies that the instruction information acquired is valid based on the instruction information and a registered operator ID stored in a recording medium. Then, on the condition that the instruction information is determined to be valid, this device flies based on the instruction information within an operable range determined by the relationship between the registered operator ID and the device ID. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2020 / 170332 Summary of the Invention [Problem to be solved by the invention]

[0005] As the use of mobile objects such as drones increases, the number of incidents involving drones entering important facilities and capturing images of those facilities also increases. Therefore, security guards and others are tasked with detecting drones that have entered illegally around those facilities. In such cases, drones flying in the area surrounding an important facility are not necessarily suspicious drones; drones authorized to enter the area may be mistakenly detected as suspicious. Conversely, security guards may mistakenly recognize a drone that is not authorized to enter the area as authorized, resulting in the suspicious drone being overlooked. In other words, the challenge is to accurately detect mobile objects such as drones that have entered the area under surveillance illegally. Patent Document 1 does not specifically address this challenge.

[0006] A primary object of the present invention is to accurately detect a mobile object that has illegally entered a monitored area. [Means for solving the problem]

[0007] A mobile object management device according to one embodiment of the present invention comprises a receiving means for receiving mobile object identification information from an information processing terminal device that receives mobile object identification information transmitted from a mobile object, the mobile object identification information being capable of identifying the mobile object and representing the state of the mobile object; a determining means for determining whether the mobile object has entered an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information representing areas where entry is permitted or prohibited for the mobile object; and a transmitting means for transmitting the determination result by the determining means to the information processing terminal device that is capable of displaying the determination result.

[0008] In another aspect of achieving the above object, a mobile object management method according to one embodiment of the present invention receives, by an information processing device, mobile object identification information transmitted from a mobile object from an information processing terminal device that has received the mobile object identification information, which is capable of identifying the mobile object and represents the state of the mobile object; determines whether the mobile object has entered an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information that represents areas where entry is permitted or prohibited for the mobile object; and transmits the determination result of whether the mobile object has entered an area where entry is prohibited to the information processing terminal device that is capable of displaying the determination result.

[0009] In addition, in a further aspect of achieving the above-mentioned object, a mobile object management program according to one embodiment of the present invention causes a computer to execute the following steps: a receiving process for receiving mobile object identification information from an information processing terminal device that has received mobile object identification information transmitted from a mobile object, the mobile object identification information being capable of identifying the mobile object and representing the state of the mobile object; a determination process for determining whether the mobile object has entered an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information representing areas where entry is permitted or prohibited for the mobile object; and a transmission process for transmitting the determination result from the determination process to the information processing terminal device that is capable of displaying the determination result.

[0010] Furthermore, the present invention can also be realized by a computer-readable non-volatile recording medium in which such a mobile object management program (computer program) is stored. [Effects of the Invention]

[0011] According to the present invention, a mobile object management device and the like can be obtained that can accurately detect a mobile object that has illegally entered an area to be monitored. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram showing the configuration of a drone management system 1 according to a first embodiment of the present invention. FIG. [Figure 2] A figure showing a first example of how the drone management system 1 according to the first embodiment of the present invention displays information about a drone 40 that has entered a restricted area on the display screen 25 of the information processing terminal device 20. [Figure 3] A figure showing a second example of how the drone management system 1 according to the first embodiment of the present invention displays information about a drone 40 that has entered a restricted area on the display screen 25 of the information processing terminal device 20. [Figure 4A] This is a flowchart (1 / 2) showing the operation of the drone management system 1 according to the first embodiment of the present invention to determine whether a drone 40 recognized by an information processing terminal device 20 has entered a no-entry area. [Figure 4B] This is a flowchart (2 / 2) showing the operation of the drone management system 1 according to the first embodiment of the present invention to determine whether a drone 40 recognized by an information processing terminal device 20 has entered a restricted area. [Figure 5A] 1 is a flowchart (1 / 2) showing the operation of the drone management system 1 according to the first embodiment of the present invention to control the drone 40 so that it does not enter a no-entry area. [Figure 5B] 10 is a flowchart (2 / 2) showing the operation of the drone management system 1 according to the first embodiment of the present invention to control the drone 40 so that it does not enter a no-entry area. [Figure 6] FIG. 10 is a block diagram showing a configuration of a mobile object management device 50 according to a second embodiment of the present invention. [Figure 7] A block diagram showing the configuration of an information processing device 900 that can realize the drone management device 10, information processing terminal device 20, drone control device 30, and mobile object management device 50 in each embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0014] First Embodiment 1 is a block diagram showing the configuration of a drone management system 1 according to a first embodiment of the present invention. The drone management system 1 according to this embodiment is a system that manages permitted areas or prohibited areas for each of one or more drones 40 (an example of a moving object) and monitors whether or not the drones 40 are flying illegally (such as entering a prohibited area).

[0015] The drone 40 transmits (sends) a remote ID 400. The remote ID is a mechanism for remotely collecting identification information transmitted from the drone by transmitting information that can identify the drone. The remote ID 400 includes, for example, a registration code, a serial number, location information, and time as information that can identify the drone 40. Note that the information included in the remote ID 400 is not limited to the information described above, and may also include, for example, information that indicates the status of the drone 40.

[0016] The drone management system broadly includes a drone management device 10, an information processing terminal device 20, and a drone control device 30. The drone management device 10 and the drone control device 30 are examples of a mobile object management device and a mobile object control device, respectively. The information processing terminal device 20 and the drone control device 30 are communicably connected to the drone management device 10 via, for example, a wireless or wired communication network.

[0017] The information processing terminal device 20 is a device (hereinafter, in this embodiment, may be referred to as a remote identification terminal) having a function capable of collecting the remote ID 400, and is a device carried by a specific person, such as a police officer, a security guard, or a manager of a critical facility. The information processing terminal device 20 may alternatively be a terminal device such as a smartphone carried by an ordinary person, on which an application that realizes the functions of a remote identification terminal is installed. The information processing terminal device 20 includes an identification information receiving unit 21, an identification information transmitting unit 22, an imaging unit 23, a display control unit 24, a display screen 25, and an image recognition unit 26. The display control unit 24 and the image recognition unit 26 are, respectively, examples of a display control means and an image recognition means. The imaging unit 23 is, for example, a camera that can capture an image of the drone 40.

[0018] The identification information receiving unit 21 receives the remote ID 400 transmitted from the drone 40. However, the drone 40 transmits the remote ID 400 using a communication method that the information processing terminal device 20 can receive.

[0019] The identification information transmission unit 22 transmits the remote ID 400 received by the identification information reception unit 21 to the drone management device 10 that manages the drone 40. The identification information transmission unit 22 may attach an image of the drone 40 captured by the imaging unit 23 to the remote ID 400 and transmit the image to the drone management device 10.

[0020] The display control unit 24, the display screen 25, and the image recognition unit 26 in the information processing terminal device 20 will be described later.

[0021] The drone management device 10 is an information processing device such as a server, and includes a receiving unit 11, a determining unit 12, a transmitting unit 13, an updating unit 14, a control information generating unit 15, a control information transmitting unit 16, and a storage unit 17. The receiving unit 11, the determining unit 12, the transmitting unit 13, the updating unit 14, the control information generating unit 15, and the control information transmitting unit 16 are examples of a receiving means, a determining means, a transmitting means, an updating means, a control information generating means, and a control information transmitting means, respectively.

[0022] The storage unit 17 is, for example, a storage device such as a RAM (Random Access Memory) or a hard disk 904, which will be described later with reference to Fig. 7. The storage unit 17 stores entry permission management information 171, determination results 172, control information 173, and drone registration information 174. The information stored in the storage unit 17 will be described later.

[0023] The receiving unit 11 receives the remote ID 400 and the captured image of the drone 40 transmitted as described above by the identification information transmitting unit 22 of the information processing terminal device 20. The receiving unit 11 may also store the captured image of the remote ID 400 and the drone 40 in the storage unit 17.

[0024] The determination unit 12 determines whether the drone 40 identified by the remote ID 400 has entered an area where entry is prohibited by comparing the received remote ID 400 with the entry permission management information 171 stored in the storage unit 17. The entry permission management information 171 is information that indicates, for each drone 40, an area where entry is permitted or prohibited.

[0025] The entry permission management information 171 associates, for example, the registration symbol of the drone 40 included in the remote ID 400 with the location of an area where entry is permitted (an entry-permitted area) or an area where entry is prohibited (an entry-prohibited area) for the drone 40. For example, if the area is represented by a polygon on the Earth's surface, the location of the entry-permitted area or the entry-prohibited area can be represented by the coordinates (e.g., latitude and longitude) on the Earth's surface of each vertex that constitutes the polygon.

[0026] The entry permission management information 171 may also include information indicating the height (altitude) of an entry-permitted area or a no-entry area. For example, with respect to a certain area on the earth's surface expressed in two dimensions, the entry permission management information 171 may indicate that an area expressed in three dimensions less than 300 meters above the earth's surface is a no-entry area, and an area expressed in three dimensions 300 meters or more above the earth's surface is an entry-permitted area.

[0027] When the position of the drone 40 indicated by the received remote ID 400 is inside the no-entry area for the drone 40 indicated by the entry permission management information 171, the determination unit 12 generates a determination result 172 indicating that the drone 40 has entered the no-entry area. Alternatively, when the position of the drone 40 indicated by the received remote ID 400 is outside the permitted entry area for the drone 40 indicated by the entry permission management information 171, the determination unit 12 generates a determination result 172 indicating that the drone 40 has entered the no-entry area.

[0028] The determination unit 12 also checks whether the registration code of, for example, the drone 40 indicated by the received remote ID 400 is registered in the drone registration information 174 (mobile object registration information). The drone registration information 174 represents, for example, a list of registration codes of drones 40 that have caused problems in the past, such as illegally entering a restricted area. Alternatively, the drone registration information 174 may represent a list of registration codes of drones 40 that have not caused problems since the drone was properly registered. The drone registration information 174 is assumed to be provided in advance by, for example, an administrator of the drone management device 10.

[0029] If the registration symbol indicated by the received remote ID 400 is registered in drone registration information 174 that lists the registration symbols of drones 40 that have caused problems, the determination unit 12 generates a determination result 172 indicating that the drone 40 identified by the received remote ID 400 requires attention. Alternatively, if the registration symbol indicated by the received remote ID 400 is not registered in drone registration information 174 that lists the registration symbols of drones 40 that are not causing problems, the determination unit 12 generates a determination result 172 indicating that the drone 40 identified by the received remote ID 400 requires attention.

[0030] The determination unit 12 stores the determination result 172 generated as described above in the storage unit 17.

[0031] The transmission unit 13 transmits the determination result 172 to the information processing terminal device 20. The transmission unit 13 may also transmit the entry permission management information 171 for the drone 40 represented by the determination result 172 to the information processing terminal device 20. That is, in this case, the transmission unit 13 transmits information representing the location of the entry-permitted area or the entry-prohibited area for the drone 40 represented by the entry permission management information 171 to the information processing terminal device 20.

[0032] The display control unit 24 of the information processing terminal device 20 displays the determination result 172 transmitted from the transmission unit 13 of the drone management device on the display screen 25. The display control unit 24 may also display on the display screen 25 a map showing the registration code or the like of the drone 40 included in the remote ID 400 at the position of the drone 40 indicated by the received remote ID 400.

[0033] FIG. 2 is a diagram illustrating a first example of a manner in which the display control unit 24 of the information processing terminal device 20 according to this embodiment displays information about a drone 40 that has entered a restricted area on the display screen 25. In the example illustrated in FIG. 2, the display control unit 24 displays a warning on the display screen 25 indicating that a drone 40 with a registration code "A1000019" has entered a restricted area. However, the shaded rectangular and pentagonal areas on the map displayed on the display screen 25 illustrated in FIG. 2 represent the restricted area for the drone 40, which is displayed as a double circle on the display screen 25. Note that the information processing terminal device 20 is capable of acquiring information representing the map illustrated in FIG. 2 from the drone management device 10 or another external device.

[0034] FIG. 3 is a diagram illustrating a second example of a manner in which the display control unit 24 of the information processing terminal device 20 according to the present embodiment displays information about a drone 40 that has entered a prohibited area on the display screen 25. In the example illustrated in FIG. 3, the display control unit 24 displays, on the display screen 25, a captured image of the drone 40 with the registration code "A1000019" of the drone 40 superimposed thereon. As in the example illustrated in FIG. 2, the display control unit 24 displays, on the display screen 25, a warning indicating that the drone 40 with the registration code "A1000019" has entered a prohibited area. However, the shaded area superimposed on the captured image displayed on the display screen 25 in FIG. 3 represents the prohibited area for the drone 40 displayed on the display screen 25. In the example illustrated in FIG. 3, the entry permission management information 171 indicates that, with respect to the captured image of the drone 40, an area at a higher altitude than the shaded area is an allowed area.

[0035] The display control unit 24 may display information about the drone 40 on the display screen 25 using a three-dimensional display map acquired from an external device, etc., instead of an image captured by the imaging unit 23, as illustrated in Figure 3.

[0036] Furthermore, when the display control unit 24 displays on the display screen 25 a captured image of the drone 40 with the remote ID 400 superimposed on the drone 40 as described above, the orientation of the drone 40 relative to the information processing terminal device 20, calculated from the value indicated by a geomagnetic sensor (not shown) included in the information processing terminal device 20, may deviate from the actual orientation. Therefore, the display control unit 24 may correct the orientation of the drone 40 calculated from the value indicated by the geomagnetic sensor using a gravitational acceleration vector indicated by a gravitational acceleration sensor (not shown) included in the information processing terminal device 20.

[0037] The image recognition unit 26 of the information processing terminal device 20 recognizes (extracts) the drone 40 included in the captured image by performing image recognition processing on the captured image by the imaging unit 23. Since the image recognition processing is a well-known technique, a detailed description thereof will be omitted in this embodiment.

[0038] If the image recognition unit 26 recognizes the presence of the drone 40 in the captured image but the identification information receiving unit 21 cannot receive the remote ID 400 from the drone 40, the display control unit 24 displays on the display screen 25 that the drone 40 is a suspicious aircraft. It is presumed that the identification information receiving unit 21 cannot receive the remote ID 400 because the drone 40 has not transmitted the remote ID 400. In other words, the display control unit 24 identifies the drone 40 that has not transmitted the remote ID 400 as a suspicious aircraft.

[0039] The display control unit 24 also displays a warning on the display screen 25 that the drone 40 requires caution when the judgment result 172 received from the drone management device 10 indicates that the drone 40 identified by the received remote ID 400 requires caution.

[0040] The control information generation unit 15 of the drone management device 10 generates control information 173 that controls the movement of the drone 40 so that it does not enter the no-entry area indicated by the entry permission management information 171, based on the remote ID 400 related to the drone 40 and the entry permission management information 171.

[0041] The control information transmission unit 16 transmits the control information 173 generated by the control information generation unit 15 as described above to the drone control device 30, which controls the movement of the drone 40. The drone control device 30 may be a device that automatically controls the flight of the drone 40, or may be a controller that accepts input operations from an operator who pilots the drone 40. However, if the drone control device 30 is the controller, the drone control device 30 transmits the remote ID 400 of the drone 40 to be controlled to the drone management device 10. The control information transmission unit 16 may also transmit the entry permission management information 171 related to the drone 40 to be controlled to the drone control device 30. That is, in this case, the control information transmission unit 16 transmits information indicating the location of the entry permission area or the entry prohibition area related to the drone 40 to be controlled, which is represented by the entry permission management information 171, to the drone control device 30.

[0042] When the drone control device 30 is a controller that accepts input operations by a pilot who pilots the drone 40, it includes a display control unit 31, a display screen 32, and an authentication unit 33. The display control unit 31 and the authentication unit 33 are examples of a display control means and an authentication means, respectively.

[0043] If the drone control device 30 is a device that automatically controls the flight of the drone 40, the control information generator 15 generates the control information 173 in a data format that enables the drone control device 30 to control the flight of the drone 40. In this case, the drone control device 30 may be included in the drone management device 10.

[0044] If the drone control device 30 is the controller described above, the control information generator 15 generates control information 173 that instructs the input operation. In this case, the display controller 31 of the drone control device 30 displays the control information 173 received from the drone management device 10 on the display screen 32. In this case, the pilot simply pilots the drone 40 in accordance with the control information 173 displayed on the display screen 32 so as not to enter the restricted area.

[0045] The display control unit 31 may also display, on the display screen 32, information indicating the location of an entry-permitted area or a prohibited area for the drone 40, which is the object of control and represented by the entry permission management information 171 transmitted from the control information transmission unit 16 of the drone management device 10, in a manner similar to that illustrated in FIG. 2 or 3. However, the captured image displayed on the display screen 32 by the display control unit 31 is assumed to be an image captured by a camera mounted on the drone 40, which is the object of control. Therefore, unlike the case of FIG. 3, the captured image displayed on the display screen 32 by the display control unit 31 does not include the drone 40, which is the object of control. By the display control unit 31 displaying, on the display screen 32, the information indicating the location of the entry-permitted area or the prohibited area as described above, the operator of the drone 40 can easily visually identify the prohibited area for the drone 40.

[0046] The authentication unit 33 of the drone control device 30 authenticates the pilot using authentication information that associates the remote ID 400 of the drone 40 to be controlled with pre-registered information identifying the pilot. The authentication unit 33 determines whether biometric information such as a fingerprint or a personal identification number entered by the pilot before controlling the drone matches the pre-registered information associated with the remote ID 400. If the fingerprint or personal identification number entered by the pilot matches the pre-registered information, the authentication unit 33 sets the drone control device 30 to a state in which control operations by the pilot are accepted. If the fingerprint or personal identification number entered by the pilot does not match the pre-registered information, the authentication unit 33 sets the drone control device 30 to a state in which control operations by the pilot are not accepted.

[0047] The update unit 14 of the drone management device 10 updates the entry permission management information 171 so that the higher the amount paid by the user (pilot) of the drone 40 for the permitted entry area of ​​the drone 40, the larger (wider) the permitted entry area of ​​the drone 40 associated with the identification information that can identify the user becomes. However, the drone management device 10 must be able to communicate with a system that manages the amount paid by the user of the drone 40.

[0048] For example, when a drone 40 is capturing images of an event such as a sporting event, the update unit 14 updates the entry permission management information 171 so that the more money paid for the permitted entry area of ​​a drone 40, the larger the permitted entry area will be, so that the drone 40 can capture images of the event under better conditions.

[0049] Next, the operation (processing) of the drone management system 1 according to this embodiment will be described in detail with reference to the flowcharts of Figures 4A to 5B.

[0050] 4A and 4B are flowcharts showing the operation of the drone management system 1 according to this embodiment to determine whether or not the drone 40 recognized by the information processing terminal device 20 has entered a no-entry area.

[0051] The image recognition unit 26 of the information processing terminal device 20 performs image recognition processing on the captured image captured by the imaging unit 23, and recognizes the drone 40 included in the captured image (step S101). If the identification information receiving unit 21 cannot receive the remote ID 400 from the drone 40 (No in step S102), the display control unit 24 displays on the display screen 25 that the captured drone 40 is a suspicious drone (step S103), and the entire process ends.

[0052] When the identification information receiving unit 21 receives the remote ID 400 from the drone 40 (Yes in step S102), the identification information transmitting unit 22 transmits the remote ID 400 received by the identification information receiving unit 21 to the drone management device 10 (step S104). The determining unit 12 of the drone management device 10 compares, for example, a registration symbol included in the remote ID 400 received by the receiving unit 11 from the information processing terminal device 20 with the drone registration information 174 (step S105).

[0053] If the drone registration information 174 indicates that the drone 40 identified by the remote ID 400 requires caution (Yes in step S106), the determination unit 12 generates a determination result 172 indicating that the drone 40 requires caution (step S107). If the drone registration information 174 indicates that the drone 40 identified by the remote ID 400 does not require caution (No in step S106), the process proceeds to step S108.

[0054] The determination unit 12 compares, for example, a registration symbol included in the remote ID 400 received by the receiving unit 11 from the information processing terminal device 20 with the entry permission management information 171 (step S108). If the registration symbol included in the remote ID 400 is registered in the entry permission management information 171 (Yes in step S109), the determination unit 12 generates a determination result 172 indicating whether or not the drone 40 has entered the no-entry area indicated by the entry permission management information 171 (step S110). If the registration symbol included in the remote ID 400 is not registered in the entry permission management information 171 (No in step S109), the process proceeds to step S111.

[0055] The transmission unit 13 transmits the entry permission management information 171 and the determination result 172 related to the remote ID 400 to the information processing terminal device 20 (step S111). The display control unit 24 of the information processing terminal device 20 superimposes the no-entry area or the entry-permitted area for the drone 40 indicated by the entry permission management information 171 received from the drone management device 10 onto at least one of the map and the image captured by the imaging unit 23, and displays it on the display screen 25 together with the determination result 172 (step S112), and the entire processing ends.

[0056] 5A and 5B are flowcharts showing the operation of the drone management system 1 according to this embodiment to control the drone 40 so that it does not enter a restricted area.

[0057] The drone control device 30 transmits the remote ID 400 of the drone 40 to be controlled to the drone management device 10 (step S201). The determination unit 12 of the drone management device compares, for example, a registration symbol included in the remote ID 400 received by the receiving unit 11 from the drone control device 30 with the entry permission management information 171 (step S202).

[0058] If the registration symbol included in the remote ID 400 is not registered in the entry permission management information 171 (No in step S203), the entire process ends. If the registration symbol included in the remote ID 400 is registered in the entry permission management information 171 (Yes in step S203), the process proceeds to step S204.

[0059] If the drone 40 to be controlled is an autopilot (Yes in step S204), the process proceeds to step S205. If the drone 40 to be controlled is not an autopilot (i.e., is controlled by a pilot) (No in step S204), the process proceeds to step S208.

[0060] The control information generation unit 15 of the drone management device 10 generates control information 173 that controls the movement of the drone 40 so that the drone 40 does not enter the no-entry area indicated by the entry permission management information 171 (step S205). The control information transmission unit 16 transmits the control information 173 generated by the control information generation unit 15 to the drone control device 30 (step S205). The drone control device 30 controls the movement of the drone 40 based on the control information 173 received from the drone management device 10 (step S207), and the entire processing ends.

[0061] The control information generation unit 15 of the drone management device 10 generates control information 173 that instructs input operations related to the operation of the drone 40 so as not to enter the no-entry area indicated by the entry permission management information 171 (step S208). The control information transmission unit 16 transmits the control information 173 generated by the control information generation unit 15 to the drone control device 30 together with the entry permission management information 171 related to the drone 40 (step S209). The display control unit 31 of the drone control device 30 displays the received control information 173 on the display screen 32 together with the no-entry area or entry-permitted area indicated by the entry permission management information 171 (step S210), and the entire processing ends.

[0062] The drone management device 10 (mobile object management device) according to this embodiment can accurately detect a drone 40 (mobile object) that has illegally entered a monitored area. This is because the drone management device 10 determines whether the drone 40 has entered a prohibited area by comparing the remote ID 400 (mobile object identification information) received from the information processing terminal device 20 with the entry permission management information 171, and transmits the determination result 172 to the information processing terminal device 20.

[0063] The effects achieved by the drone management device 10 according to this embodiment will be described in detail below.

[0064] As the use of mobile objects such as drones increases, the number of incidents, such as drones entering important facilities and capturing images of those facilities, increases. Therefore, security guards and others are tasked with detecting drones that have entered illegally around those facilities. In such cases, drones flying in the area surrounding an important facility are not necessarily suspicious; drones authorized to enter the area may be mistakenly detected as suspicious. Conversely, security guards may mistakenly recognize a drone that is not authorized to enter the area as authorized, resulting in the suspicious drone being overlooked. In other words, the challenge is to accurately detect mobile objects such as drones that have entered the area under surveillance illegally.

[0065] To address this issue, the drone management device 10 according to this embodiment includes a receiving unit 11, a determining unit 12, and a transmitting unit 13, and operates, for example, as described above with reference to FIGS. 1 to 5B. Specifically, the receiving unit 11 receives a remote ID 400 from the information processing terminal device 20, which has received the remote ID 400. The remote ID 400 is capable of identifying the drone 40 and indicates the state of the drone 40. The determining unit 12 compares the received remote ID 400 with entry permission management information 171, which indicates areas where entry is permitted or prohibited for the drone 40, to determine whether the drone 40 has entered an area where entry is prohibited. The transmitting unit 13 then transmits a determination result 172 by the determining unit 12 to the information processing terminal device 20, which can display the determination result 172.

[0066] That is, the drone management device 10 according to the present embodiment manages the remote IDs 400 in association with prohibited or permitted areas, thereby determining whether a drone 40 identified by the remote ID 400 collected by the information processing terminal device 20 has entered a prohibited area, and presents the determination result 172 to a security guard or the like via the information processing terminal device 20. This enables the drone management device 10 to accurately detect a drone 40 that has entered an area to be monitored in an unauthorized manner.

[0067] Furthermore, the drone management device 10 according to this embodiment updates the entry permission management information 171 so that the higher the amount paid by the user of the drone 40 for the permitted entry area, the larger the area to which the drone 40 is permitted to enter. This allows the drone management device 10 to flexibly respond, for example, at a sporting event, by providing more suitable imaging conditions for the drone 40 to a user of the drone 40 who has paid a high amount for the permitted entry area.

[0068] Furthermore, the drone management device 10 according to this embodiment generates, from the state of the drone 40 represented by the remote ID 400, control information 173 for controlling the movement of the drone 40 so that the drone 40 does not enter a no-entry area for the drone 40 indicated by the entry permission management information 171, and transmits the control information 173 to the drone control device 30. This enables the drone management device 10 to reduce the number of times the drone 40 enters a no-entry area.

[0069] Furthermore, the information processing terminal device 20 according to this embodiment displays, on the display screen 25, at least one of a map showing the remote ID 400 at the position of the drone 40 indicated by the received remote ID 400 and a captured image of the drone 40 with the remote ID 400 superimposed on the drone 40, together with the determination result 172, as exemplified in, for example, Figure 2 or Figure 3. This allows the drone management system 1 to present information about the drone 40 to a security guard or the like who carries the information processing terminal device 20 in an easy-to-understand manner.

[0070] Furthermore, the information processing terminal device 20 according to this embodiment performs image recognition processing to recognize the drone 40 in the captured image, and if it cannot receive the remote ID 400 from the recognized drone 40, displays on the display screen 25 that the drone 40 is suspicious. The information processing terminal device 20 further displays on the display screen 25 the result of the drone management device 10 comparing the remote ID 400 with the drone registration information 174, which indicates whether the drone 40 requires attention. This allows the drone management system 1 to more reliably notify a security guard or the like who is carrying the information processing terminal device 20 that the drone 40 is a suspicious drone.

[0071] Furthermore, when the drone control device 30 according to this embodiment is a controller that accepts input operations by the operator of the drone 40, it displays the entry permission management information 171 on the display screen 32, superimposing it on at least one of a map displaying the remote ID 400 and an image captured by the drone 40 at the position of the drone 40 indicated by the remote ID 400. The drone control device 30 further uses the entry permission management information 171, which includes three-dimensional coordinates for the no-entry area or the entry-permitted area, to superimpose the no-entry area or the entry-permitted area on at least one of the map and the image, and displays them in a three-dimensional display format on the display screen 32. This allows the drone management system 1 to clearly support the operator in maneuvering the drone 40 so as not to enter the no-entry area.

[0072] Furthermore, when the drone control device 30 according to this embodiment is a controller that accepts input operations by the operator of the drone 40, it authenticates the operator using authentication information that associates the remote ID 400 of the drone 40 to be controlled with pre-registered information that identifies the operator. This allows the drone management system 1 to prevent anyone other than the legitimate operator of the drone 40 from operating the drone 40 fraudulently.

[0073] Furthermore, the information that the information processing terminal device 20 collects to identify the drone 40 is not limited to the remote ID 400. The information processing terminal device 20 may collect information that can identify a drone 40 with specifications different from the remote ID 400.

[0074] Furthermore, the drone management system 1 (mobile object management system) may manage mobile objects other than the drone 40. The drone management system 1 may also manage, for example, mobile robots.

[0075] <Second embodiment> 6 is a block diagram showing the configuration of a mobile object management device 50 according to the second embodiment of the present invention. The mobile object management device 50 includes a receiving unit 51, a determining unit 52, and a transmitting unit 53. The receiving unit 51, the determining unit 52, and the transmitting unit 53 are examples of a receiving means, a determining means, and a transmitting means, respectively.

[0076] The receiving unit 51 receives moving object identification information 700 from the information processing terminal device 60, which has received moving object identification information 700 transmitted from the moving object 70 and capable of identifying the moving object 70 and representing the state of the moving object 70. The moving object 70 is, for example, a moving device such as the drone 40 according to the first embodiment. The moving object identification information 700 is, for example, information similar to the remote ID 400 according to the first embodiment. The information processing terminal device 60 is, for example, a device similar to the information processing terminal device 20 according to the first embodiment. The receiving unit 51 operates in the same manner as the receiving unit 11 of the drone management device 10 according to the first embodiment.

[0077] The determination unit 52 determines whether the mobile object 70 has entered an area where entry is prohibited by comparing the received mobile object identification information 700 with entry permission management information 521 that indicates areas where entry is permitted or prohibited for the mobile object 70. The entry permission management information 521 is, for example, information similar to the entry permission management information 171 according to the first embodiment. The determination result 522 is, for example, information similar to the determination result 172 according to the first embodiment. The determination unit 52 operates in the same manner as the determination unit 12 of the drone management device 10 according to the first embodiment, for example.

[0078] The transmission unit 53 transmits the determination result 522 by the determination unit 52 to the information processing terminal device 60 that can display the determination result 522. The transmission unit 53 operates in the same manner as, for example, the transmission unit 13 of the drone management device 10 according to the first embodiment.

[0079] The mobile object management device 50 according to this embodiment can accurately detect a mobile object 70 that has illegally entered a monitored area. This is because the mobile object management device 50 determines whether the mobile object 70 has entered a prohibited area by comparing the mobile object identification information 700 received from the information processing terminal device 60 with the entry permission management information 521, and transmits the determination result 522 to the information processing terminal device 60.

[0080] <Hardware configuration example> In each of the above-described embodiments, each unit of the drone management device 10, the information processing terminal device 20, the drone control device 30 shown in Fig. 1, or the mobile object management device 50 shown in Fig. 6 can be realized by dedicated HW (Hardware) (electronic circuitry). In Fig. 1 and Fig. 6, at least the following configurations can be considered as functional (processing) units (software modules) of a software program. Receiving units 11 and 51, Determination units 12 and 52, Transmitting units 13 and 53, ·Update part 14, Control information generation unit 15, Control information transmitter 16, A memory control function in the memory unit 17; Identification information receiving unit 21, Identification information transmitting unit 22, Imaging control function in the imaging unit 23, Display control unit 24, Image recognition unit 26, Display control unit 31, ·Authentication section 33.

[0081] However, the division of the various components shown in these drawings is for the sake of convenience, and various configurations may be envisioned for implementation. An example of the hardware environment in this case will be described with reference to FIG.

[0082] 7 is a diagram illustrating an example of the configuration of an information processing device 900 (computer system) that can realize the drone management device 10, the information processing terminal device 20, the drone control device 30 according to the first embodiment of the present invention, or the mobile object management device 50 according to the second embodiment. That is, FIG. 7 shows the configuration of at least one computer (information processing device) that can realize each of the above-mentioned devices shown in FIGS. 1 and 6, and represents a hardware environment that can realize each function in the above-mentioned embodiments.

[0083] The information processing device 900 shown in FIG. 7 includes the following components, but may not include all of the following components. ·CPU(Central_Processing_Unit)901, ·ROM(Read_Only_Memory)902, ·RAM(Random_Access_Memory)903, Hard disk (storage device) 904, A communication interface 905 for communicating with external devices; Bus 906 (communication line), A reader / writer 908 capable of reading and writing data stored in a recording medium 907 such as a CD-ROM (Compact Disc Read Only Memory), · Input / output interface 909 such as a monitor, speaker, keyboard, etc.

[0084] That is, the information processing device 900 having the above-mentioned components is a general computer in which these components are connected via a bus 906. The information processing device 900 may have multiple CPUs 901 or may have a CPU 901 configured with multiple cores. The information processing device 900 may also have a GPU (Graphical Processing Unit) (not shown) in addition to the CPU 901.

[0085] The present invention, explained using the above-mentioned embodiment as an example, supplies a computer program capable of realizing the following functions to the information processing device 900 shown in FIG. 7. The functions are the above-mentioned configurations in the block diagrams (FIGS. 1 and 6) referred to in the description of the embodiment, or the functions of the flowcharts (FIGS. 4A and 4B, and FIG. 5A and 5B). The present invention is then achieved by reading the computer program into the CPU 901 of the hardware, interpreting it, and executing it. The computer program supplied to the device may be stored in a readable / writable volatile memory (RAM 903) or a non-volatile storage device such as a ROM 902 or a hard disk 904.

[0086] In the above case, the method of supplying the computer program to the hardware can be a currently common procedure, such as installing the program in the device via a recording medium 907 such as a CD-ROM, or downloading the program from an external source via a communication line such as the Internet. In such a case, the present invention can be considered to be constituted by the code constituting the computer program or the recording medium 907 on which the code is stored.

[0087] The present invention has been described above using the above-described embodiments as exemplary examples. However, the present invention is not limited to the above-described embodiments. In other words, the present invention can be applied in various aspects that can be understood by a person skilled in the art within the scope of the present invention.

[0088] Note that part or all of the above-described embodiments can also be described as follows: However, the present invention, which has been exemplarily described using the above-described embodiments, is not limited to the following.

[0089] (Appendix 1) a receiving means for receiving, from an information processing terminal device, moving body identification information transmitted from a moving body, capable of identifying the moving body and indicating a state of the moving body; a determination means for determining whether the mobile object has entered an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information that indicates areas where entry is permitted or prohibited for the mobile object; a transmitting means for transmitting the determination result by the determining means to the information processing terminal device capable of displaying the determination result; A mobile management device comprising:

[0090] (Appendix 2) The moving object identification information includes information representing the position and time of the moving object. 2. A mobile management device according to claim 1.

[0091] (Appendix 3) and updating means for updating the entry permission management information so that the higher the payment amount of the user of the mobile body, the larger the number of areas to which the mobile body is permitted to enter. 2. A mobile management device according to claim 1.

[0092] (Appendix 4) a control information generating means for generating control information for controlling the movement of the moving body from the state of the moving body represented by the moving body identification information so that the moving body does not enter the area where the moving body is prohibited from entering, which is represented by the entry permission management information; a control information transmitting means for transmitting the generated control information to a mobile body control device that controls the movement of the mobile body; 3. The mobile object management device according to claim 1 or 2, further comprising:

[0093] (Appendix 5) the moving object is a drone, The mobile identification information is a remote ID. A mobile object management device according to any one of Supplementary Note 1 to Supplementary Note 4.

[0094] (Appendix 6) 6. The information processing terminal device that transmits the mobile object identification information to the mobile object management device according to any one of Supplementary Note 2 to Supplementary Note 5, a display control means for displaying, on a display screen of the information processing terminal device, at least one of a map showing the moving body identification information at the position of the moving body indicated by the received moving body identification information and a captured image of the moving body with the moving body identification information superimposed on the moving body, together with the determination result; Information processing terminal device.

[0095] (Appendix 7) further comprising image recognition means for performing image recognition processing on the captured image to recognize the moving object in the captured image; When the display control means cannot receive the moving object identification information from the moving object recognized by the image recognition means, the display control means displays on the display screen that the moving object is suspicious. 7. The information processing terminal device according to claim 6.

[0096] (Appendix 8) The display control means displays, on the display screen, a result of the mobile object management device comparing the mobile object identification information with mobile object registration information indicating whether the mobile object is a suspect. 8. An information processing terminal device according to claim 6 or 7.

[0097] (Appendix 9) the entry permission management information represents three-dimensional coordinates relating to the area; the display control means superimposes the area on at least one of the map and the captured image and displays it on the display screen in a three-dimensional display format. 9. The information processing terminal device according to claim 6, wherein the first and second information processing units are connected to each other.

[0098] (Appendix 10) Further comprising a geomagnetic sensor and a gravitational acceleration sensor, when the display control means displays the captured image of the moving body with the moving body identification information superimposed on the moving body on the display screen, the display control means corrects the orientation of the moving body relative to the information processing terminal device, which is indicated by the geomagnetic sensor, using the gravitational acceleration vector indicated by the gravitational acceleration sensor. 10. The information processing terminal device according to any one of Supplementary Note 6 to Supplementary Note 9.

[0099] (Appendix 11) The mobile object control device receives the control information transmitted from the mobile object management device described in Supplementary Note 4 and the mobile object identification information transmitted from the mobile object, and accepts an input operation by an operator of the mobile object, a display control means for superimposing the entry permission management information on at least one of a map showing the mobile body identification information at the position of the mobile body indicated by the received mobile body identification information and an image taken by the mobile body, and displaying the superimposed entry permission management information on a display screen provided in the mobile body control device; Mobile control device.

[0100] (Appendix 12) the entry permission management information represents three-dimensional coordinates relating to the area; the display control means superimposes the area on at least one of the map and the captured image and displays it on the display screen in a three-dimensional display format. 12. A mobile object control device according to claim 11.

[0101] (Appendix 13) The control system further includes an authentication unit that authenticates a pilot using authentication information that associates the moving body identification information of the moving body to be controlled with pre-registered information representing the pilot. 13. A mobile object control device according to claim 11 or 12.

[0102] (Appendix 14) By the information processing device, receiving, from an information processing terminal device that has received moving body identification information transmitted from a moving body, the moving body identification information being capable of identifying the moving body and indicating a state of the moving body; determining whether the mobile object is entering an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information that indicates areas where entry is permitted or prohibited for the mobile object; transmitting a determination result as to whether the moving object has entered an area where entry is prohibited to the information processing terminal device capable of displaying the determination result; Mobile object management method.

[0103] (Appendix 15) a receiving process of receiving, from an information processing terminal device, moving body identification information transmitted from a moving body, capable of identifying the moving body and representing a state of the moving body; a determination process for determining whether the mobile object has entered an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information that indicates areas where entry is permitted or prohibited for the mobile object; a transmission process of transmitting a determination result obtained by the determination process to the information processing terminal device capable of displaying the determination result; A recording medium storing a mobile object management program for causing a computer to execute the above. [Explanation of symbols]

[0104] 1. Drone Management System 10 Drone Management Device 11 Receiving unit 12 Judgment section 13 Transmitter 14 Update section 15 Control information generation unit 16 Control information transmitter 17 Memory section 171 Entry permission management information 172 Judgment result 173 Control Information 174 Drone Registration Information 20 Information processing terminal equipment 21 Identification information receiving unit 22 Identification information transmission unit 23 Imaging unit 24 Display control unit 25 Display screen 26 Image Recognition Unit 30 Drone control device 31 Display control unit 32 Display screen 33 Authentication Section 40 Drone 400 Remote ID 50 Mobile management device 51 Receiving unit 52 Judgment section 521 Entry permission management information 522 Judgment result 53 Transmitter 60 Information processing terminal equipment 70 Mobile 700 Mobile Identification Information 900 Information Processing Equipment 901 CPU 902 ROM 903 RAM 904 Hard disk (storage device) 905 Communication Interface 906 Bus 907 Recording Media 908 Reader / Writer 909 Input / Output Interface

Claims

1. a receiving means for receiving, from an information processing terminal device, moving body identification information transmitted from a moving body, capable of identifying the moving body and indicating a state of the moving body; a determination means for determining whether the mobile object has entered an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information that indicates areas where entry is permitted or prohibited for the mobile object; a transmitting means for transmitting the determination result by the determining means to the information processing terminal device capable of displaying the determination result; a control information generating means for generating control information for controlling the movement of the moving body from the state of the moving body represented by the moving body identification information so that the moving body does not enter the area where the moving body is prohibited from entering, which is represented by the entry permission management information; a control information transmitting means for transmitting the entry permission management information and the generated control information to a mobile body control device that receives an input operation by a driver who controls the mobile body and controls the movement of the mobile body in accordance with the input operation; Equipped with The entry permission management information is used by the mobile body control device to display an area into which the mobile body is permitted or prohibited from entering. Mobile management device.

2. The moving object identification information includes information representing the position and time of the moving object. The mobile object management device according to claim 1 .

3. and updating means for updating the entry permission management information so that the higher the payment amount of the user of the mobile body, the more areas the mobile body is permitted to enter. The mobile object management device according to claim 1 .

4. the moving object is a drone, The mobile identification information is a remote ID. The mobile object management device according to any one of claims 1 to 3.

5. By the information processing device, receiving, from an information processing terminal device that has received moving body identification information transmitted from a moving body, the moving body identification information being capable of identifying the moving body and indicating a state of the moving body; determining whether the mobile object is entering an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information that indicates areas where entry is permitted or prohibited for the mobile object; transmitting a determination result as to whether or not the moving object has entered an area where entry is prohibited to the information processing terminal device capable of displaying the determination result; generating control information for controlling the movement of the moving body from the state of the moving body represented by the moving body identification information so that the moving body does not enter the area where entry of the moving body is prohibited, which is represented by the entry permission management information; transmitting the entry permission management information and the generated control information to a mobile body control device that receives an input operation by a driver who controls the mobile body and controls the movement of the mobile body in accordance with the input operation; The entry permission management information is used by the mobile body control device to display an area into which the mobile body is permitted or prohibited from entering. Mobile management method.

6. a receiving process of receiving, from an information processing terminal device, moving body identification information transmitted from a moving body, capable of identifying the moving body and representing a state of the moving body; a determination process for determining whether the mobile object has entered an area where entry is prohibited by comparing the received mobile object identification information with entry permission management information that indicates areas where entry is permitted or prohibited for the mobile object; a transmission process of transmitting a determination result obtained by the determination process to the information processing terminal device capable of displaying the determination result; a control information generation process for generating control information for controlling the movement of the moving body from the state of the moving body represented by the moving body identification information so that the moving body does not enter the area where entry of the moving body is prohibited, which is represented by the entry permission management information; a control information transmission process for transmitting the entry permission management information and the generated control information to a mobile body control device that receives an input operation by a driver who controls the mobile body and controls the movement of the mobile body in accordance with the input operation; on the computer, The entry permission management information is used by the mobile body control device to display an area into which the mobile body is permitted or prohibited from entering. Mobility management program.

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