Flight equipment, programs, and flight management systems

Abstract

To prevent a flying device from colliding with an object that needs to be avoided. [Solution] The flying device 2 has a detection unit 272 that detects an avoidance object, which is an object that the flying device 2 is trying to avoid, that is located within an area including the ground surface below the flight route along which the flying device 2 flies, based on an image captured of the area, a calculation unit 273 that calculates a movable area, which is an area into which the avoidance object may move within a specified time, an identification unit 274 that identifies the range in which the flying device 2 will fall to the ground surface within a specified time based on the flight state of the flying device 2, and a change unit 275 that, if the identified fall area includes the movable area of ​​the avoidance object, changes the flight route to a changed route that does not include the movable area identified based on the flight state corresponding to the changed route.

Description

[Technical Field]

[0001] The present invention relates to a flight device, a program, and a flight management system. [Background technology]

[0002] BACKGROUND ART Conventionally, a flying device that flies based on a flight route indicated by a predetermined flight plan is known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-147583 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need to ensure that flying devices flying along a flight route do not collide with people or other objects that the flying device needs to avoid colliding with.

[0005] The present invention has been made in consideration of these points, and aims to prevent a flying device from colliding with an object that needs to be avoided. [Means for solving the problem]

[0006] A flying device according to a first aspect of the present invention is a flying device that flies in the air based on a flight route, and comprises: an imaging unit that captures images of an area including the ground surface below the flight route along which the flying device flies; a detection unit that detects avoidance targets that are present within the area based on the images captured by the imaging unit and are objects that the flying device must avoid; a calculation unit that calculates a movable area that is an area to which the avoidance target detected by the detection unit may move within a predetermined time; an identification unit that identifies a fall range of the flying device to the ground surface within the predetermined time based on the flight state of the flying device; and a change unit that changes the flight route to a modified route that does not include the fall range identified by the identification unit based on the flight state corresponding to the modified route, if the fall range identified by the identification unit includes the movable area calculated by the calculation unit.

[0007] The detection unit may detect, as the object to be avoided, an object that satisfies a predetermined condition set in advance among objects present within the area. The detection unit may identify a type of the object, and, on condition that the identified type of the object is a predetermined type, identify the object as the object to be avoided.

[0008] If the type of object is a person, the detection unit may determine whether the person as the object is a person involved in the operation of the flying device based on the image captured by the imaging unit, and detect the person as the object to be avoided on the condition that the person as the object is not a person involved.

[0009] If the type of object is a vehicle, the detection unit may determine whether the object, which is a vehicle, can move within the specified time based on the image captured by the imaging unit, and detect the vehicle as the object to be avoided on the condition that the vehicle can move within the specified time.

[0010] The detection unit may identify the object as the object to be avoided on the condition that the type of the identified object is the specified type defined for a flight level indicating the level of flying skill of the flying device.

[0011] The detection unit may identify the object as the object to be avoided, provided that the type of the identified object is the specified type defined for the flight level of the flight device as determined by an operation management device that manages the operation of the flight device.

[0012] The detection unit may identify a movement direction of the object to be avoided, and the calculation unit may calculate the movable area of ​​the object to be avoided based on the movement direction of the object to be avoided identified by the detection unit.

[0013] The calculation unit may calculate the movable area of ​​the object to be avoided based on an altitude of the ground surface included in map information indicating the ground surface included in the area. The detection unit may identify a moving direction of the object to be avoided, and the change unit may change the flight route to the changed route that does not pass ahead of the moving direction of the object to be avoided.

[0014] The detection unit may identify the movement direction and movement speed of the object to be avoided, and the modification unit may determine, based on the movement direction and movement speed of the object to be avoided and the movement direction and movement speed of the flight device as the flight state of the flight device, whether to change the flight route to the modified route that passes in front of the movement direction of the object to be avoided, or to change the flight route to the modified route that passes behind the movement direction of the object to be avoided.

[0015] The change unit may identify multiple changed routes, identify the amount of battery consumption of the flight device when the flight device flies each of the identified multiple changed routes, and change the flight route to the changed route with relatively low battery consumption.

[0016] The change unit may identify the battery consumption of the flight device for each of a first changed route in which the flight device waits or slows down so that the movable area is not included in the changed falling range, and a second changed route in which the flight device avoids the movable area so that the movable area is not included in the changed falling range, and change the flight route to the changed route with the relatively lower identified consumption, between the first changed route and the second changed route.

[0017] A program according to a second aspect of the present invention causes a flying device flying in the air based on a flight route to function as a detection unit that detects an avoidance target, which is an object that the flying device must avoid, located within an area including the ground surface below the flight route along which the flying device flies, based on an image captured by an imaging unit that captures the area, a calculation unit that calculates a movable area, which is an area to which the avoidance target detected by the detection unit may move within a predetermined time, an identification unit that identifies the range in which the flying device will fall to the ground surface within the predetermined time based on the flight state of the flying device, and a change unit that changes the flight route to a modified route in which the fall range identified by the identification unit based on the flight state corresponding to the modified route does not include the movable area calculated by the calculation unit.

[0018] A flight management system according to a third aspect of the present invention is a flight management system having an operational management device and a flight device that flies in the air based on a flight route applied for by the operational management device, wherein the operational management device has a setting unit that sets a flight level indicating the level of flying skill of the flight device to the flight device before the flight of the flight device begins, the flight device has an imaging unit that images an area including the ground surface below the flight route along which the flight device will fly, and an imaging unit that images an avoidance target that exists within the area based on the image taken by the imaging unit, the avoidance target being an object for which the flight device needs to take evasive action to avoid a collision, based on the flight level set by the setting unit. the detection unit detects based on the level; a calculation unit calculates a movable area, which is an area into which the object to be avoided detected by the detection unit may move within a predetermined time; an identification unit that identifies the range in which the flying device will fall to the ground surface within the predetermined time based on the flight state of the flying device; and a modification unit that modifies the flight route when the movable area calculated by the calculation unit is included in the fall range identified by the identification unit to change the flight route to a modified route where the movable area calculated by the calculation unit is not included in the fall range identified by the identification unit based on the flight state corresponding to the modified route.

[0019] The setting unit may set the flight level based on at least one of the application details regarding the flight of the flying device along the flight route, the license for flying the flying device held by the user of the flying device, and the insurance that the user of the flying device has taken out in relation to the flying device. [Effects of the Invention]

[0020] The present invention has the effect of preventing a flying device from colliding with an object with which collision avoidance is necessary. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a diagram illustrating an overview of an air vehicle management system. [Figure 2]FIG. 2 is a diagram illustrating the functional configuration of an air vehicle management device. [Figure 3] FIG. 2 is a diagram illustrating an example of flight plan information. [Figure 4] FIG. 2 is a diagram illustrating the functional configuration of the flying device. [Figure 5] 4 is a flowchart showing a processing flow related to flight control of a flight device. DETAILED DESCRIPTION OF THE INVENTION

[0022] [Flight Management System S Overview] FIG. 1 is a diagram showing an overview of a flight management system S. The flight management system S is a system for controlling the flight of a flight device 2, and includes an operation management device 1 and a flight device 2. The operation management device 1 is a computer that manages the flight of the flight device 2. The flight device 2 is, for example, a drone capable of autonomous flight. Note that while only one flight device 2 is shown in FIG. 1, the flight management system S is assumed to include multiple flight devices 2.

[0023] The traffic management device 1 stores flight plan information indicating the flight plan by accepting registration of a flight plan from the user of the flight device 2, the flight plan indicating the flight route of the flight device 2, including the start and end positions of the flight device 2. Before the flight device 2 begins flying, the traffic management device 1 sets the flight plan and a flight level indicating the level of the flight skill of the flight device 2 based on the flight plan for the flight device 2 ((1) in Figure 1). Here, flight skill refers to the flight control skill required of the flight device when it flies autonomously.

[0024] The flight device 2 then flies according to the flight route indicated by the flight plan set by the flight operation management device 1 ((2) in Figure 1). During flight, the flight device 2 captures images of the area below the flight route it is flying, including the ground surface, and detects, based on the set flight level, any objects within that area that the flight device 2 needs to take evasive action to avoid a collision with. The flight device 2 then calculates the area Ao through which the detected object O may move within a specified time, and determines the range A2 within which the object O will fall to the ground surface within the specified time based on its own flight status.

[0025] If the calculated movable area Ao is included in the identified drop range A2, the flight device 2 changes its flight route to a modified route that does not include the calculated movable area Ao in the drop range A2 identified based on the flight state corresponding to the modified route ((3) in Figure 1). In this way, the flight management system S can prevent the flight device 2 from colliding with an object with which collision must be avoided.

[0026] [Functional configuration of traffic control device 1] Next, a description will be given of the functional configuration of the traffic management device 1. Fig. 2 is a diagram showing the functional configuration of the traffic management device 1. The traffic management device 1 has a communication unit 11, a storage unit 12, and a control unit 13.

[0027] The communication unit 11 is a communication interface for transmitting and receiving data to and from the flight device 2 and the like via a communication network such as a mobile phone line or the Internet. The storage unit 12 is a storage medium that stores various types of data, and includes a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, an SSD (Solid State Drive), etc. The storage unit 12 stores a program executed by the control unit 13. The storage unit 12 stores a program that causes the control unit 13 to function as a registration unit 131 and a setting unit 132.

[0028] Additionally, under the control of the control unit 13, the memory unit 12 stores flight plan information indicating the flight plan of the flight device 2, including the flight route of the flight device 2 requested by the user of the flight device 2. Figure 3 is a diagram showing an example of flight plan information. As shown in Figure 3, the flight plan information is information that associates a user ID for identifying the user of the flight device 2, an aircraft ID for identifying the flight device 2, and the flight plan of the flight device 2.

[0029] The flight plan includes, for example, the scheduled flight date of the flight device 2, route information indicating the flight route, an execution plan indicating the operations to be performed by the flight device 2, license information indicating the licenses held by the user of the flight device 2, and insurance information indicating the insurance that the user has taken out for the flight device 2.

[0030] The route information includes at least the starting point location of the flight route, the starting point flight time, which is the time when the flight device 2 flies over the starting point location, the ending point location of the flight route, and the locations of one or more passing points. The starting point location, ending point location, and passing point locations include information indicating, for example, latitude, longitude, and altitude. The passing point locations are items that can be registered by the user at their discretion and do not need to be included in the route information. The execution plan also includes operation information indicating the operation of the flight device 2 at each of one or more passing points.

[0031] The execution plan is information indicating a predetermined operation to be performed by the flight device 2 at the start point, end point, or one or more pass points, and is, for example, information that associates point identification information for identifying the start point, end point, and one or more pass points with information indicating the predetermined operation. The predetermined operation is, for example, an operation such as imaging, surveying, or equipment inspection. Note that the predetermined operation does not have to be performed at all of the start point, end point, and one or more pass points, but may be performed at some of the start point, end point, and one or more pass points.

[0032] The control unit 13 is, for example, a CPU (Central Processing Unit). The control unit 13 executes a program stored in the storage unit 12, thereby functioning as a registration unit 131 and a setting unit 132. The functions of the control unit 13 will be described in detail later.

[0033] [Functional configuration of flight device 2] Next, we will explain the functional configuration of the flying device 2. Figure 4 is a diagram showing the functional configuration of the flying device 2. The flying device 2 has a communication unit 21, a memory unit 22, an imaging unit 23, a position sensor 24, an acceleration sensor 25, a flight mechanism 26, and a control unit 27.

[0034] The communication unit 21 is a communication interface for transmitting and receiving data to and from the traffic management device 1 and the like via a communication network such as a mobile phone line or the Internet. The memory unit 22 is a storage medium that stores various types of data, and includes a ROM, a RAM, a hard disk, an SSD, and a flash memory. The memory unit 22 stores programs executed by the control unit 27. The memory unit 22 stores programs that cause the control unit 27 to function as a flight control unit 271, a detection unit 272, a calculation unit 273, an identification unit 274, and a change unit 275. The memory unit 22 also stores flight plan information and flight levels received from the traffic management device 1 in accordance with the control of the control unit 27.

[0035] The imaging unit 23 is, for example, a digital camera, and generates a captured image by capturing an image of an area including the ground surface below the flight route traversed by the flying device 2. The imaging unit 23 outputs the generated captured image to the control unit 27.

[0036] The position sensor 24 is, for example, a GPS sensor that acquires GPS signals. The position sensor 24 acquires the position of the flight device 2, including the altitude at which the flight device 2 is located. The position sensor 24 outputs position data indicating the position of the flight device 2 to the control unit 27. The acceleration sensor 25 is a three-axis acceleration sensor that detects the acceleration acting on the flight device 2. The acceleration sensor 25 outputs to the control unit 27 acceleration data indicating the detected acceleration.

[0037] The flight mechanism 26 includes a propeller, a motor for rotating the propeller, a rudder, etc. By operating these mechanisms, the flight mechanism 26 can change the flight altitude, flight speed, and flight direction of the flight device 2.

[0038] The control unit 27 is, for example, a CPU. The control unit 27 executes the programs stored in the storage unit 22 to function as a flight control unit 271, a detection unit 272, a calculation unit 273, an identification unit 274, and a change unit 275.

[0039] [Flight plan registration] Next, a detailed description will be given of the control unit 13 of the traffic management device 1 and the control unit 27 of the flight device 2. First, a description will be given of the process by which the traffic management device 1 registers a flight plan.

[0040] The registration unit 131 registers the flight plan by accepting the flight plan of the flight device 2, for example, from a user terminal (not shown) used by the user of the flight device 2. Specifically, the registration unit 131 displays an input screen for accepting the flight plan on the user terminal, and accepts the flying object ID of the flight device 2 and the flight plan of the flight device 2 via the input screen.

[0041] As described above, the flight plan includes the scheduled flight date for the flight device 2, the flight route of the flight device 2, and an execution plan. For example, the registration unit 131 accepts, as the flight route, the start point position, the end point position, the flight time from the start point, and the positions of one or more waypoints. The registration unit 131 also accepts, as an execution plan for the predetermined actions, information indicating the predetermined actions to be performed by the flight device 2 at each of the one or more waypoints.

[0042] The registration unit 131 also accepts license information indicating the license for flying the flight device 2 held by the user of the flight device 2, and insurance information indicating the insurance taken out by the user of the flight device 2 in relation to the flight device 2. The registration unit 131 stores in the memory unit 22 flight plan information that associates the user ID of the user of the flight device 2, the flying vehicle ID of the flight device 2 accepted via the input screen, the flight plan, the license information, and the insurance information.

[0043] [Flight plan and flight level settings] Next, the process of setting the flight plan and flight level will be described. Before the flight device 2 begins flight, the setting unit 132 sets the flight plan indicated by the flight plan information of the flight device 2 stored in the memory unit 12 in the flight device 2. For example, when the flight device 2 is placed in a predetermined position such as a drone port and the flight device 2 and the traffic management device 1 can communicate with each other, the setting unit 132 transmits the flight plan information of the flight device 2 stored in the memory unit 12 to the flight device 2 and stores the flight plan information in the memory unit 22 of the flight device 2.

[0044] Furthermore, before the flight device 2 begins flying, the setting unit 132 sets a flight level, which indicates the level of flying skill of the flight device 2, for the flight device 2. First, the setting unit 132 sets the flight level based on at least one of the application details regarding the flight route of the flight device 2, the license for flying the flight device 2 held by the user of the flight device 2, and the insurance that the user of the flight device has taken out for the flight device 2.

[0045] For example, the setting unit 132 stores, for each of a plurality of flight levels, the flight area corresponding to the flight level, the type of license, the insurance details, and the conditions for whether or not the insurance is applied, in association with each other. The setting unit 132 identifies the flight area of ​​the flight device 2 based on the flight route as the application details for flight of the flight route.

[0046] The setting unit 132 then determines the highest flight level of the flight device 2 among the flight levels satisfied by the combination of the determined flight area, the license type and presence / absence indicated by the license information included in the flight plan information, and the insurance coverage indicated by the insurance information included in the flight plan information. Here, the higher the flight level, the more advanced the flying technique required. Before the flight device 2 begins flying, the setting unit 132 transmits flight level information indicating the determined flight level to the flight device 2 and stores the flight level information in the memory unit 22 of the flight device 2, thereby setting the flight level to the flight device 2.

[0047] The factors for determining the flight level are not limited to those described above. For example, the setting unit 132 may determine the flight level based on at least one of the flight mode, purpose of flight, and flight area of ​​the flying device, such as when flying over a densely populated area, night flight, out-of-visual-line-of-sight flight where the flying device is flown in an area where the administrator cannot see it, flight where a predetermined distance (e.g., 30 m) or more cannot be secured from people or objects, flight over an event venue, transporting hazardous materials, dropping objects, etc.

[0048] [Flight control of Flight Device 2] Next, the processing related to flight control in the flight device 2 will be described. The flight control unit 271 controls the flight of the flight device 2 based on the flight route included in the flight plan information stored in the memory unit 22. In addition, the flight control unit 271 performs various operations based on the execution plan included in the flight plan information stored in the memory unit 22.

[0049] When the flight device 2 is flying, the detection unit 272 causes the imaging unit 23 to capture an image of the lower region, which is an area including the ground surface below the flight route along which the flight device 2 is flying. Based on the captured image captured by the imaging unit 23, the detection unit 272 detects an avoidance target that exists within the lower region and is an object that the flight device 2 does not want to open.

[0050] The detection unit 272 detects, as an object to be avoided, an object that satisfies a predetermined condition among objects present in the lower region shown in the captured image. Specifically, the detection unit 272 identifies predetermined types of objects present in the lower region by analyzing the lower region shown in the captured image. The predetermined types are, for example, people or objects that carry people, such as automobiles, bicycles, trains, ships, and people.

[0051] For example, the detection unit 272 identifies an object as an object to be avoided if the type of the identified object is a predetermined type. The predetermined types are predetermined for each flight level, and the higher the flight level, i.e., the higher the flying technique of the flight device, the fewer the number of predetermined types.

[0052] The detection unit 272 identifies an object as an object to be avoided, provided that the type of the identified object is a predetermined type determined for the flight level determined by the flight management device 1 and set for the flight device 2. In this way, the flight device 2 can detect different types of objects as objects to be avoided depending on the flight technique of the flight device 2 corresponding to the flight level; for example, in the case of a flight device 2 with advanced flight technique, the number of types of objects detected as objects to be avoided can be reduced.

[0053] In addition, if the specified types include a person and the type of object identified in the captured image is a person, the detection unit 272 may determine whether the person as an object is a person involved in the operation of the flying device 2 based on the captured image captured by the imaging unit 23.

[0054] For example, based on the captured image, the detection unit 272 determines that the person present in the lower area is a person involved in the operation of the flight device 2, provided that the identified person is identified as wearing a predetermined helmet, work clothes, etc. Furthermore, if the detection unit 272 can recognize the face of the person present in the lower area, it may determine that the person present in the lower area is a person involved in the operation of the flight device 2 by determining whether the recognized face matches a face of a person involved in the operation of the flight device 2 that has been registered in advance.

[0055] Then, when the type of object identified in the captured image is a person, the detection unit 272 may detect the person as an object to be avoided, provided that the person is not a person involved in the operation of the flight device 2, but may not detect the person as an object to be avoided if the person is a person involved in the operation of the flight device 2. In this way, the flight device 2 can exclude a person identified in the captured image from objects to be avoided if the person is a person involved in the operation of the flight device 2 who is able to pay attention to the flight device 2.

[0056] Furthermore, when the predetermined types include vehicles and the type of object identified in the captured image is a vehicle, the detection unit 272 may determine whether the vehicle can move within a predetermined time based on the captured image captured by the imaging unit 23. For example, when the state of the driver's seat of the identified vehicle can be identified based on the captured image, the detection unit 272 determines whether the vehicle can move within a predetermined time on the condition that a person is sitting in the driver's seat.

[0057] If the type of object identified in the captured image is a vehicle, the detection unit 272 may detect the vehicle as an object to be avoided on the condition that the vehicle can move within a predetermined time, and may not detect the vehicle as an object to be avoided if the vehicle cannot move within the predetermined time. In this way, the flying device 2 can exclude a vehicle identified in the captured image from objects to be avoided if the vehicle is a parked vehicle.

[0058] Furthermore, when the detection unit 272 detects an object to be avoided, it identifies the moving direction and moving speed of the object to be avoided based on the position in the area below the object to be avoided detected in the multiple captured images captured by the imaging unit 23.

[0059] The calculation unit 273 calculates a movable area, which is an area into which the object to be avoided detected by the detection unit 272 may move within a predetermined time. For example, the calculation unit 273 calculates the movable area of ​​the object to be avoided based on the moving direction and moving speed of the object to be avoided identified by the detection unit 272.

[0060] The calculation unit 273 may determine a predetermined movement speed for each type of object to be avoided, and calculate the movable area of ​​the object to be avoided based on the movement direction of the object to be avoided identified by the detection unit 272 and the movement speed corresponding to the type of object to be avoided. The detection unit 272 may also identify a path along which the object to be avoided can move, based on an image captured by the imaging unit 23. The calculation unit 273 may then calculate the movable area of ​​the object to be avoided based on the movement direction and movement speed of the object to be avoided identified by the detection unit 272, and the path along which the object to be avoided can move.

[0061] The memory unit 22 may also store map information corresponding to the flight route. The calculation unit 273 may then identify the altitude of the ground surface, i.e., the difference in elevation of the ground surface, included in the map information that indicates the ground surface included in the lower area and that is stored in the memory unit 22, and calculate the movable area of ​​the object to be avoided based on the identified difference in elevation of the ground surface. In this way, the flight device 2 can improve the accuracy of the movable area of ​​the object to be avoided.

[0062] The identification unit 274 identifies the range of fall of the flight device 2 to the ground surface within a predetermined time based on the flight state of the flight device 2. For example, the identification unit 274 identifies the speed and acceleration of the flight device 2 based on acceleration data acquired from the acceleration sensor 25. The identification unit 274 identifies the altitude at which the flight device 2 is located based on position data acquired from the position sensor 24. The identification unit 274 also references map information stored in the memory unit 22 that indicates the ground surface included in the lower area, and identifies the altitude of the ground surface corresponding to the position of the flight device 2 indicated by the position data acquired from the position sensor 24. The identification unit 274 identifies the altitude of the flight device 2 from the ground surface based on the altitude at which the flight device 2 is located and the altitude of the ground surface corresponding to the position of the flight device 2, and then identifies the range of fall of the flight device 2 to the ground surface within a predetermined time based on the identified altitude and the speed and acceleration of the flight device 2.

[0063] When the fall range of the flying device 2 identified by the identification unit 274 includes the movable area of ​​the object to be avoided calculated by the calculation unit 273, the change unit 275 changes the flight route of the flying device 2 indicated by the planning information of the flying device 2 to a modified route, where the fall range identified by the identification unit 274 based on the flight state corresponding to the modified route does not include the movable area calculated by the calculation unit 273.

[0064] For example, the change unit 275 changes the flight route of the flight device 2 to a changed route that does not pass ahead of the object to be avoided in the direction of movement detected by the detection unit 272. In this case, the change unit 275 specifies the flight route of the flight device 2 as a changed route that does not pass ahead of the object to be avoided in the direction of movement detected by the detection unit 272. The changed route is, for example, a detour route that temporarily deviates from the flight route and then returns to the flight route, or a flight route that is the same as the flight route but that causes the flight device 2 to temporarily stop or slow down so that the area in which the object to be avoided can be moved is not included in the range in which the flight device 2 falls.

[0065] The change unit 275 identifies the flight state of the flight device 2 when the flight device 2 flies along the identified changed route, and causes the identification unit 274 to identify the range in which the flight device 2 will fall to the ground surface within a predetermined time based on the flight state. Then, when the change unit 275 determines that the fall range identified by the identification unit 274 does not include the movable area, it changes the flight route to the changed route.

[0066] In addition, the modification unit 275 may determine whether to change the flight route to a modified route that passes in front of the direction of movement of the object to be avoided, or to a modified route that passes behind the direction of movement of the object to be avoided, based on the direction of movement and speed of movement of the flight device as a flight state based on the flight route at the current time before the flight device 2 calculates the modified route.

[0067] The modification unit 275 calculates the approach speed, which is the speed at which the object to be avoided approaches the flight device 2, based on the movement direction and movement speed of the object to be avoided and the current movement direction and movement speed of the flight device 2 based on the flight route. If the approach speed is less than a predetermined threshold, the modification unit 275 determines that the flight route will be a modified route that passes ahead of the object to be avoided in the direction of movement, and if the approach speed is equal to or greater than the predetermined threshold, the modification unit 275 determines that the flight route will be a modified route that passes behind the object to be avoided in the direction of movement. In this way, the flight device 2 can avoid the object to be avoided using a modified route that is appropriate for the movement state of the object to be avoided.

[0068] In addition, the change unit 275 may identify multiple changed routes, identify the amount of battery consumption of the flight device 2 when the flight device 2 flies each of the identified multiple changed routes, and change the flight route to the identified changed route with relatively low battery consumption.

[0069] For example, the modification unit 275 determines the battery consumption of the flight device 2 for each of a first modified route in which the flight device 2 waits at or near its current position, or slows down from the flight speed based on the flight plan, so that the movable area is not included in the modified falling range, and a second modified route in which the flight device 2 flies in a way that avoids the movable area, so that the movable area is not included in the modified falling range.

[0070] For example, the memory unit 22 stores consumption information indicating the battery consumption when the flight device 2 is on standby and the battery consumption at each of multiple flight speeds. The change unit 275 refers to the consumption information and calculates the battery consumption from when the flight device 2 flies based on the second changed route to the return point, where the flight device 2 returns to the flight route. The change unit 275 also refers to the consumption information and calculates the battery consumption from when the flight device 2 is on standby based on the first changed route until the flight device 2 reaches the return point.

[0071] The change unit 275 then changes the flight route to the identified changed route that consumes less battery power, out of the first changed route and the second changed route. In this way, the flight device 2 can avoid the object to be avoided based on the changed route that consumes less battery power and is more efficient.

[0072] [Flight device 2 processing flow] Next, we will explain the processing flow in the flight device 2. Figure 5 is a flowchart showing the processing flow related to flight control of the flight device 2.

[0073] First, the detection unit 272 acquires an image of the lower area, which is an area including the ground surface below the flight route, captured by the imaging unit 23 (S1). The detection unit 272 analyzes the acquired captured image and determines whether or not an object to be avoided has been detected inside the lower area (S2). If the detection unit 272 determines that an object to be avoided has been detected (YES in S2), it proceeds to S3, and if it determines that an object to be avoided has not been detected (NO in S2), it ends the processing according to this flowchart.

[0074] In S3, the calculation unit 273 calculates a movable area, which is an area into which the object to be avoided detected by the detection unit 272 may move within a predetermined time. Next, the identification unit 274 identifies the range of fall of the flight device 2 onto the ground surface within a predetermined time based on the flight state of the flight device 2 (S4).

[0075] Next, the change unit 275 determines whether the calculated movable area is included in the identified drop area (S5). If the change unit 275 determines that the movable area is included in the drop area (YES in S5), it proceeds to S6, and if it determines that the movable area is not included in the drop area (NO in S5), it ends the processing related to this flowchart.

[0076] In S6, the change unit 275 changes the flight route to a changed route in which the flight route has been changed and the movable area is not included in the falling range of the flight device 2 based on the flight state of the flight device 2 corresponding to the changed route.

[0077] [Effects of this embodiment] As explained above, the flight device 2 detects objects to be avoided that exist within an area including the ground surface below the flight route along which the flight device 2 flies, based on captured images of that area, calculates a movable area within which the object to be avoided may move within a predetermined time, and if the movable area is included in the range within which the flight device 2 will fall to the ground surface within the predetermined time, changes the flight route to a modified route that does not include the movable area within the range determined based on the flight state corresponding to the modified route. In this way, the flight device 2 can avoid colliding with objects with which collision must be avoided.

[0078] Furthermore, this invention will make it possible to contribute to Goal 9 of the United Nations' Sustainable Development Goals (SDGs), which is "Build resilient infrastructure, promote inclusive and sustainable industrialization, and promote innovation and resilience."

[0079] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. For example, all or part of the device can be configured by functionally or physically distributing or integrating any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combination also have the effects of the original embodiments. [Explanation of symbols]

[0080] 1. Operation control device 2 Flight equipment 11 Communications Department 12 Storage section 13 Control Unit 21 Communications Department 22 Memory section 23 Imaging unit 24 Position Sensor 25 Acceleration sensor 26 Flight mechanism 27 Control Unit 131 Registration Department 132 Settings 271 Flight Control Unit 272 Detection unit 273 Calculation Unit 274 Specific part 275 Changes

Claims

1. A flying device that flies through the air based on a flight route, an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a detection unit that identifies the type of object present within the area based on the captured image captured by the imaging unit, and detects, among the objects present within the area, an object that is identified as a predetermined type as an avoidance target that is an object to be avoided by the flying device; a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit may move within a predetermined time; an identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, the changed route being such that the movable area calculated by the calculation unit is not included in the drop area identified by the identification unit based on a flight state corresponding to the changed route; and When the type of the object is a vehicle, the detection unit determines whether the vehicle as the object can move within the predetermined time based on the image captured by the imaging unit, and detects the vehicle as the object to be avoided on the condition that the vehicle can move within the predetermined time. flight equipment.

2. When the type of the object is a person, the detection unit determines whether the person as the object is a person involved in the operation of the flying device based on the image captured by the imaging unit, and detects the person as the object to be avoided on the condition that the person as the object is not the person involved. The flight device according to claim 1 .

3. The detection unit identifies the object as the object to be avoided when the type of the identified object is the predetermined type defined for a flight level indicating a level of flying skill of the flight device. The flight device according to claim 1 .

4. The detection unit identifies the object as the object to be avoided on the condition that the type of the identified object is the predetermined type defined for the flight level of the flight device determined by an operation management device that manages the operation of the flight device. The flight device according to claim 3.

5. A flying device that flies through the air based on a flight route, an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a detection unit that detects an avoidance target that is an object to be avoided by the flying device and exists within the area based on the captured image captured by the imaging unit; a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit is likely to move within a predetermined time, based on an altitude of the ground surface included in map information indicating the ground surface included in the area; an identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, the changed route being such that the movable area calculated by the calculation unit is not included in the drop area identified by the identification unit based on a flight state corresponding to the changed route; A flying device having:

6. A flying device that flies through the air based on a flight route, an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a detection unit that detects an avoidance target that is an object to be avoided by the flying device and exists within the area based on the captured image captured by the imaging unit; a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit may move within a predetermined time; an identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, the changed route being such that the movable area calculated by the calculation unit is not included in the drop area identified by the identification unit based on a flight state corresponding to the changed route; and the detection unit identifies a moving direction and a moving speed of the object to be avoided; the change unit determines whether to change the flight route to the changed route that passes in front of the object to be avoided in the direction of movement, or to change the flight route to the changed route that passes behind the object to be avoided in the direction of movement, based on the direction of movement and speed of movement of the object to be avoided and the direction of movement and speed of movement of the flight device as the flight state of the flight device. flight equipment.

7. the detection unit identifies a moving direction of the object to be avoided, the calculation unit calculates the movable area of ​​the object to be avoided based on the movement direction of the object to be avoided identified by the detection unit.

7. A flying device according to claim 1, 5 or 6.

8. the detection unit identifies a moving direction of the object to be avoided, the change unit changes the flight route to the changed route that does not pass in front of the object to be avoided in a moving direction.

7. A flying device according to claim 1, 5 or 6.

9. The change unit identifies a plurality of changed routes, identifies the amount of battery consumption of the flight device when the flight device flies each of the identified plurality of changed routes, and changes the flight route to the changed route with a relatively low identified amount of battery consumption.

7. A flying device according to claim 1, 5 or 6.

10. The change unit identifies the battery consumption of the flight device for each of a first changed route, in which the flight device waits or decelerates so that the movable area is not included in the changed falling range, and a second changed route, in which the flight device avoids the movable area so that the movable area is not included in the changed falling range, and changes the flight route to the changed route with the relatively smaller identified consumption, between the first changed route and the second changed route. The flight device according to claim 9.

11. A flying device that flies through the air based on a flight route, a detection unit that identifies the type of object present within the area based on an image captured by an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies, and detects, among the objects present within the area, objects of a predetermined type that have been identified as objects to be avoided by the flight device; a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit may move within a predetermined time; An identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; and a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, wherein the changed route does not include the movable area calculated by the calculation unit in the drop area identified by the identification unit based on a flight state corresponding to the changed route; It functions as When the type of the object is a vehicle, the detection unit determines whether the vehicle as the object can move within the predetermined time based on the image captured by the imaging unit, and detects the vehicle as the object to be avoided on the condition that the vehicle can move within the predetermined time. program.

12. A flying device that flies through the air based on a flight route, a detection unit that detects an avoidance target that is an object to be avoided by the flight device and exists within the area based on an image captured by an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit is likely to move within a predetermined time, based on the altitude of the ground surface included in map information indicating the ground surface included in the area; An identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; and a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, wherein the changed route does not include the movable area calculated by the calculation unit in the drop area identified by the identification unit based on a flight state corresponding to the changed route; A program that functions as a

13. A flying device that flies through the air based on a flight route, a detection unit that detects an avoidance target that is an object to be avoided by the flight device and exists within the area based on an image captured by an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit may move within a predetermined time; An identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; and a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, wherein the changed route does not include the movable area calculated by the calculation unit in the drop area identified by the identification unit based on a flight state corresponding to the changed route; It functions as the detection unit identifies a moving direction and a moving speed of the object to be avoided; the change unit determines whether to change the flight route to the changed route that passes in front of the object to be avoided in the direction of movement, or to change the flight route to the changed route that passes behind the object to be avoided in the direction of movement, based on the direction of movement and speed of movement of the object to be avoided and the direction of movement and speed of movement of the flight device as the flight state of the flight device. program.

14. A flight management system having an operation management device and a flight device that flies in the air based on a flight route applied for in the operation management device, The traffic management device a setting unit that sets a flight level indicating a level of flying skill of the flight device to the flight device before the flight of the flight device begins, The flying device is an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a detection unit that identifies the type of object present within the area based on the captured image captured by the imaging unit, and detects, among the objects present within the area, the identified type of object is a predetermined type and is determined based on the flight level, as an avoidance target that is an object for which the flying device needs to take evasive action to avoid a collision; a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit may move within a predetermined time; an identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, the changed route being such that the movable area calculated by the calculation unit is not included in the drop area identified by the identification unit based on a flight state corresponding to the changed route; having Flight management system.

15. A flight management system having an operation management device and a flight device that flies in the air based on a flight route applied for in the operation management device, The traffic management device a setting unit that sets a flight level indicating a level of flying skill of the flight device to the flight device before the flight of the flight device begins, The flying device is an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a detection unit that detects an avoidance target that is present within the area based on the captured image captured by the imaging unit and that is an object for which the flying device needs to take evasive action to avoid a collision, based on the flight level set by the setting unit; and a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit is likely to move within a predetermined time, based on an altitude of the ground surface included in map information indicating the ground surface included in the area; an identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, the changed route being such that the movable area calculated by the calculation unit is not included in the drop area identified by the identification unit based on a flight state corresponding to the changed route; having Flight management system.

16. A flight management system having an operation management device and a flight device that flies in the air based on a flight route applied for in the operation management device, The traffic management device a setting unit that sets a flight level indicating a level of flying skill of the flight device to the flight device before the flight of the flight device begins, The flying device is an imaging unit that captures an image of an area including the ground surface below the flight route along which the flight device flies; a detection unit that detects an avoidance target that is present within the area based on the captured image captured by the imaging unit and that is an object for which the flying device needs to take evasive action to avoid a collision, based on the flight level set by the setting unit; and a calculation unit that calculates a movable area, which is an area into which the object to be avoided detected by the detection unit may move within a predetermined time; an identification unit that identifies a range of the flight device that will fall to the ground surface within the predetermined time based on the flight state of the flight device; a change unit that changes the flight route to a changed route when the movable area calculated by the calculation unit is included in the drop area identified by the identification unit, the changed route being such that the movable area calculated by the calculation unit is not included in the drop area identified by the identification unit based on a flight state corresponding to the changed route; and the detection unit identifies a moving direction and a moving speed of the object to be avoided; the change unit determines whether to change the flight route to the changed route that passes in front of the object to be avoided in the direction of movement, or to change the flight route to the changed route that passes behind the object to be avoided in the direction of movement, based on the direction of movement and speed of movement of the object to be avoided and the direction of movement and speed of movement of the flight device as the flight state of the flight device. Flight management system.

17. The flight management device has a memory unit that stores, for each of a plurality of flight levels, a flight area corresponding to the flight level, a type of license, insurance details, and conditions for insurance application, in association with each other; The setting unit refers to the memory unit, and identifies a flight area identified based on the flight route indicated in the application content for flight of the flight route of the flight device, a flight level corresponding to the license for flying the flight device held by the user of the flight device, and an insurance policy taken out by the user of the flight device for the flight device, and sets the highest flight level among the identified flight levels as the flight level of the flight device.

17. A flight management system according to any one of claims 14 to 16.

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